Petrochemical device inspection robot with multi-sensor fusion

Abstract

The invention relates to the technical field of petrochemical device inspection equipment, in particular to a multi-sensor fusion petrochemical device inspection robot which comprises a moving part, a climbing part and a collecting part, the moving part comprises a moving frame, the climbing part is arranged above the moving frame, and the climbing part comprises a climbing frame, a clamping part, a driving part, an adjusting part and a lifting part; the climbing frames are detachably assembled on the top face of the movable frame, clamping pieces are horizontally assembled on the two sides of each climbing frame in a sliding mode, a driving piece is horizontally arranged in the middle of each climbing frame, the number of the climbing frames is two, adjusting pieces are horizontally arranged on the lower portions between the two climbing frames, and lifting pieces are arranged on one sides of the upper portions of the two climbing frames. And a collecting piece is assembled on the lifting piece. Therefore, the heights needing inspection are different, the moving part, the climbing part and the collecting part are separated and singly used to automatically change the inspection height, the inspection range of the petrochemical device is expanded, and the inspection range is expanded.

Description

Technical Field

[0001] The present invention relates to the technical field of petrochemical plant inspection equipment, and in particular to a petrochemical plant inspection robot with multi-sensor fusion. Background Art

[0002] Petrochemical enterprises often encounter safety problems or safety accidents. In order to ensure timely detection and resolution of emergencies in petrochemical enterprises, including leakage of toxic or irritating liquids caused by untimely equipment maintenance or improper manual operation, sudden fires or fire spread, petrochemical enterprises generally use fixed monitoring points in conjunction with manual inspections to detect petrochemical leaks or fires, and then check for leaks and fill gaps, perform subsequent repairs on pipelines, or extinguish fire sources in a timely manner. Inspection robots in the petrochemical industry are a type of equipment specially designed for automatic or remotely controlled inspection tasks in petrochemical facilities. These robots can perform inspection tasks in dangerous, difficult-to-reach environments or environments that require continuous monitoring, thereby reducing the risks faced by human workers while improving efficiency and the accuracy of data collection.

[0003] The existing announcement number is CN219946237U, and the name is a patrol robot, which belongs to the field of robotics. The device includes wheels, shock absorbers, a main control board, a chassis, a power module, a motor, a servo, a servo connector, a camera, an infrared sensor and a motor fixing plate. One end of the shock absorber is installed on the chassis, and the other end is connected to the motor. The motor is installed on the chassis through the motor fixing plate, and the torque output end of the motor is connected to the wheel; the infrared sensor is installed at the front end of the chassis, the servo is installed at the front of the chassis, the output end of the servo is connected to the servo connector, and the camera is installed on the servo connector; the motor, servo, camera, infrared sensor and power module are respectively connected to the main control board, and the main control board is set on the chassis. The above-mentioned patrol robot is not prone to collision, and the camera can achieve horizontal and vertical shooting, so there is no blind spot for the camera to shoot. The patrol robot has good adaptability to more complex laboratory environments.

[0004] However, the above-mentioned petrochemical plant inspection robot adopts a self-propelled chassis to carry multiple sensors to inspect the petrochemical plant, but the above-mentioned self-propelled chassis can only move on the ground, and the inspection height range is limited. The installation heights of the petrochemical plants are different, so the inspection heights required are different. However, the above-mentioned inspection robot cannot change the inspection height by itself, resulting in a limited inspection range of the petrochemical plant, affecting the inspection range. Summary of the Invention

[0005] The present invention solves the problems in the related art and proposes a petrochemical device inspection robot with multi-sensor fusion.

[0006] In order to solve the above technical problems, the present invention is achieved through the following technical solutions: A multi-sensor fusion petrochemical plant inspection robot, including a moving part, a climbing part and a collecting part, the moving part includes a moving frame, a climbing part is arranged above the moving frame, the climbing part includes a climbing frame, a clamping part, a driving part, an adjusting part and a lifting part, the climbing frame is detachably assembled on the top surface of the moving frame, and both sides of the climbing frame are horizontally slidingly assembled with clamping parts, the middle of the climbing frame is horizontally provided with a driving part, and there are two climbing frames, and an adjusting part is horizontally provided below the two climbing frames, and a lifting part is arranged on the upper side of the two climbing frames, and the collecting part is assembled on the lifting part.

[0007] As a preferred solution, two vertically penetrating vertically are symmetrically fixed on both sides of the mobile frame, and the horizontal threads on the two vertical frames are assembled with locking bolts. Two swivel seats are symmetrically vertically arranged on both sides of the bottom surface of the mobile frame, and a guide insertion frame is vertically fixed on the top surface of the two swivel seats. The guide insertion frame slides vertically through and is assembled in the vertical frame, and a plurality of screw holes are horizontally opened on the guide insertion frame in the vertical direction. The horizontal threads on the vertical frames are assembled with locking bolts, and the locking bolt threads are inserted into the screw holes of the guide insertion frame. The bottom end of the swivel seat is rotatably connected to a roller, and a mobile motor is horizontally fixed to one end of the swivel seat, and the output end of the mobile motor is fixed on the roller shaft.

[0008] As a preferred solution, two plug posts are vertically fixed on both sides of the top surface of the mobile frame, and a battery box is horizontally fixed on the bottom surface of the mobile frame. A pull-out frame is horizontally inserted into the battery box, and a battery is embedded and fixed in the pull-out frame. Two hole seats are symmetrically fixed vertically in the middle of both sides of the top surface of the mobile frame, and positioning rods are horizontally slidably inserted in the two hole seats. A positioning spring is horizontally fixed between the positioning rods on the two hole seats, and the two ends of the positioning spring are respectively fixed on the adjacent end faces of the two positioning rods.

[0009] As a preferred solution, two insertion cylinders are vertically fixed on the bottom surface of the climbing frame, and the two insertion cylinders are slidably inserted into the two insertion columns on the mobile frame. Two socket seats are vertically fixed on the bottom surface of the climbing frame, and the two socket seats are slidably inserted into the positioning rod.

[0010] As a preferred solution, a hole frame is vertically fixed on the top surface of the climbing frame, and a pushing hole frame is horizontally fixed in the middle of the hole frame. A pressure screw is assembled through the horizontal thread in the middle of the pushing hole frame, a slide is fixed on the top surface of the hole frame, and screw tubes are horizontally fixed on both sides of the climbing frame.

[0011] As a preferred solution, the adjusting part includes an adjusting rotary frame, and the vertical end faces on both sides of the adjusting rotary frame are horizontally rotatably connected with adjusting screws, and the adjusting screw threads on both sides of the adjusting rotary frame are assembled in the screw tube, and a dial wheel is vertically arranged inside the adjusting rotary frame, and the two rotating shafts of the dial wheel are respectively fixedly connected to the ends of the adjusting screws on both sides of the adjusting rotary frame.

[0012] As a preferred solution, the clamping member includes a rod frame, which is vertically arranged on the outside of the hole frame, and the cross bar on the rod frame slides through and is inserted into the side end face of the hole frame, a clamping spring is horizontally arranged inside the hole frame, and the two ends of the clamping spring are respectively fixed to the cross bar ends of the rod frame, a slide plate is horizontally fixed to the outside of the rod frame, and a push-pull slide frame is horizontally assembled on the slide plate, a rotating frame is vertically fixed to the other end of the push-pull slide frame, and the upper and lower ends of the rotating frame are horizontally rotatably connected to clamp wheels, a pressure spring is horizontally fixed to the outside of the slide plate, and the other end of the pressure spring is fixed to the end of the push-pull slide frame.

[0013] As a preferred solution, the driving member includes a driving rotary frame, which is horizontally arranged on the side of the pushing hole frame away from the hole frame, and a guide rod is horizontally fixed on the driving rotary frame, the guide rod of the driving rotary frame slides through and is inserted into the pushing hole frame, and a driving wheel is horizontally connected to the driving rotary frame for rotation, a driving motor is horizontally fixed at one end of the driving rotary frame, and the output end of the driving motor is fixed to the end of the rotating shaft of the driving wheel, and the driving rotary frame is rotatably connected to the end of the pressing screw.

[0014] As a preferred solution, the lifting member includes a lifting frame, an electrical box is fixed on the bottom surface of the lifting frame, and a lower bracket is symmetrically fixed horizontally on the top surface of the lifting frame, a sliding bar is horizontally fixed on one side of the lifting frame, and the sliding bar and the sliding frame are assembled for horizontal sliding, a damping rod is horizontally fixed at both ends of the sliding bar, and the other end of the damping rod is fixed on the slide, the outer sleeve of the damping rod is provided with a push spring, and the other end of the push spring is fixed on the slide.

[0015] As a preferred solution, the collection component includes a drone body, a frame is vertically fixed on the bottom surface of the drone body, and the frame is connected to the lower bracket through an upper bracket, the middle part of the upper bracket is vertically rotated and connected with a rotating bolt, the middle part of the lower bracket is vertically fixed with a screw barrel, and the screw barrel is threadedly assembled with the rotating bolt, and a sensor probe is installed at the bottom of the drone body.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: during use, the moving part, the climbing part and the collecting part are assembled together in the vertical direction, the moving part is started to support and move on the ground to perform a safety inspection of the petrochemical device, and then the moving part is separated from the fixedly assembled climbing part and the collecting part, and then the climbing part is clamped on the outer wall of the petrochemical pipeline, the climbing part is started to climb and move on the petrochemical pipeline, and the collecting part is driven to inspect the petrochemical equipment on pipelines at different heights. When the collecting part is used alone to inspect the height of the petrochemical equipment, the collecting part rises and drives the petrochemical device at a higher position to be inspected, so that the installation height of the petrochemical device is different, and therefore the height to be inspected is different. The inspection height can be changed by splitting the moving part, climbing part and collecting part and using them alone, thereby improving the limited inspection range of the petrochemical device and expanding the inspection range. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall structure of a multi-sensor fusion petrochemical plant inspection robot; Figure 2 This is a schematic diagram of the decomposition structure of a multi-sensor fusion petrochemical plant inspection robot; Figure 3 This is a schematic diagram of the structure of the moving parts in the disassembled state in an embodiment of a multi-sensor fusion petrochemical device inspection robot; Figure 4 2. It is a schematic structural diagram of a mobile frame in a disassembled state in an embodiment of a multi-sensor fusion petrochemical device inspection robot; Figure 5 2. It is a schematic structural diagram of a climbing member in a disassembled state in an embodiment of a multi-sensor fusion petrochemical device inspection robot; Figure 6 2. It is a schematic structural diagram of a climbing frame in a disassembled state in an embodiment of a petrochemical device inspection robot with multi-sensor fusion; Figure 7 This is a schematic diagram of the structure of the drive components in a disassembled state in an embodiment of a multi-sensor fusion petrochemical device inspection robot; Figure 8 2. It is a schematic structural diagram of a gripper in a disassembled state in an embodiment of a multi-sensor fusion petrochemical device inspection robot; Figure 9 This is a schematic diagram of the structure of the adjustment part in the disassembled state in an embodiment of the petrochemical device inspection robot with multi-sensor fusion; Figure 10 2. It is a schematic structural diagram of a lifting member in a disassembled state in an embodiment of a multi-sensor fusion petrochemical device inspection robot; Figure 11 It is a structural schematic diagram of the collection part in the disassembled state in an embodiment of the multi-sensor fusion petrochemical device inspection robot.

[0018] In the figure: 1. moving part; 11. moving frame; 111. vertical frame; 112. locking bolt; 12. battery box; 13. pull-out frame; 14. battery; 15. plug-in column; 16. hole seat; 17. positioning rod; 171. positioning spring; 18. swivel seat; 181. moving motor; 182. guide plug-in frame; 19. roller; 2. climbing part; 21. climbing frame; 211. hole frame; 212. plug-in cylinder; 213. hole seat; 214. push hole frame; 215. pressing screw; 216. screw tube; 217. slide frame; 22. clamping part; 221. rod frame; 222. slide plate; 223. push-pull slide frame; 224. Rotating frame; 225. Clamping wheel; 226. Compression spring; 23. Driving part; 231. Driving rotating frame; 232. Guide rod; 233. Driving wheel; 234. Driving motor; 24. Adjusting part; 241. Adjusting rotating frame; 242. Adjusting screw; 243. Dial wheel; 25. Lifting part; 251. Lifting frame; 252. Electromechanical box; 253. Lower bracket; 254. Screw barrel; 255. Sliding bar; 256. Damping rod; 257. Push spring; 26. Clamping spring; 3. Collection part; 31. UAV body; 32. Frame; 33. Upper bracket; 34. Rotating bolt; 35. Sensor probe. DETAILED DESCRIPTION

[0019] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0020] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0021] Unless otherwise specifically stated, the relative arrangement of the parts and steps, the numerical expressions and the numerical values ​​set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The techniques, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific values ​​should be interpreted as being merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0022] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0023] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0024] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0025] like Figures 1 to 11As shown, a multi-sensor fusion petrochemical device inspection robot includes a moving part 1, a climbing part 2 and a collecting part 3. The moving part 1 includes a moving frame 11, and a climbing part 2 is arranged above the moving frame 11. The climbing part 2 includes a climbing frame 21, a clamping part 22, a driving part 23, an adjusting part 24 and a lifting part 25. The climbing frame 21 is detachably assembled on the top surface of the moving frame 11, and both sides of the climbing frame 21 are horizontally slidably assembled with clamping parts 22. The middle part of the climbing frame 21 is horizontally provided with a driving part 23, and there are two climbing frames 21. An adjusting part 24 is horizontally provided below the two climbing frames 21, and a lifting part 25 is provided on the upper side of the two climbing frames 21. The collecting part 3 is assembled on the lifting part 25. When in use, the moving part 1 and the climbing part 2 are assembled. 2 and the collecting part 3 are assembled together in the vertical direction, and the moving part 1 is started to support and move on the ground to perform a safety inspection of the petrochemical device. Then the moving part 1 and the fixedly assembled climbing part 2 and the collecting part 3 are separated, and then the climbing part 2 is clamped on the outer wall of the petrochemical pipeline, and the climbing part 2 is started to climb and move on the petrochemical pipeline, driving the collecting part 3 to inspect the petrochemical equipment on pipelines at different heights. When the collecting part 3 is used alone to inspect the height of the petrochemical equipment, the collecting part 3 rises and drives the petrochemical device at a higher place to be inspected, so that the installation height of the petrochemical device is different, and therefore the height to be inspected is different. The inspection height can be changed by splitting the moving part 1, the climbing part 2 and the collecting part 3 for single use, thereby improving the limited inspection range of the petrochemical device and expanding the inspection range.

[0026] In one embodiment, Figure 3 and 4As shown, two vertical vertical frames 111 are symmetrically fixed on both sides of the mobile frame 11, and the horizontal threads on the two vertical frames 111 are assembled with locking bolts 112. Two swivel seats 18 are symmetrically arranged vertically on both sides of the bottom surface of the mobile frame 11, and a guide insert frame 182 is vertically fixed on the top surface of the two swivel seats 18. The guide insert frame 182 slides vertically through and is assembled in the vertical frame 111, and a plurality of screw holes are horizontally opened on the guide insert frame 182 along the vertical direction. The horizontal threads on the vertical frame 111 are assembled with locking bolts 112, and the locking The bolt 112 threadedly penetrates and is inserted into the screw hole of the guide insert frame 182. The bottom end of the swivel seat 18 is rotatably connected to the roller 19, and one end of the swivel seat 18 is horizontally fixed with a mobile motor 181, and the output end of the mobile motor 181 is fixed on the rotating shaft of the roller 19. Two plug-in columns 15 are vertically fixed on both sides of the top surface of the mobile frame 11, and a battery box 12 is horizontally fixed on the bottom surface of the mobile frame 11. A pull-out frame 13 is horizontally inserted in the battery box 12, and a battery 14 is embedded and fixed in the pull-out frame 13. The middle of the top surface of the mobile frame 11 is symmetrically vertically fixed on both sides. There are two hole seats 16 fixed vertically, and the two hole seats 16 are horizontally slidably inserted with positioning rods 17. A positioning spring 171 is horizontally fixed between the positioning rods 17 on the two hole seats 16, and the two ends of the positioning spring 171 are respectively fixed on the adjacent end faces of the two positioning rods 17. During use, according to the height of the road surface to be inspected, the locking bolts 112 in the vertical frames 111 on both sides of the mobile frame 11 are pulled out, and then the guide insert frame 182 at the top of the swivel seat 18 is pulled vertically down in the vertical frame 111, driving the roller 19 on the swivel seat 18 to move vertically on the mobile frame 11. Slide down and vertically adjust the height of the roller 19 supporting the mobile frame 11 to meet the support height requirements of the petrochemical road inspection. During the inspection, the battery 14 is embedded and installed in the pull-out frame 13, and then the pull-out frame 13 with the battery 14 installed is slid into the battery box 12. The battery 14 powers the mobile motor 181 on the turntable 18, driving the mobile motor 181 to drive the roller 19 to rotate, and assemble the mobile part 1, the climbing part 2 and the collecting part 3 together in the vertical direction, and start the mobile part 1 to support and move on the ground to perform a safe inspection of the petrochemical device.

[0027] In one embodiment, Figure 5 and 6As shown, two insertion tubes 212 are vertically fixed on the bottom surface of the climbing frame 21, and the two insertion tubes 212 are slidably inserted into the two insertion columns 15 on the mobile frame 11. Two socket seats 213 are vertically fixed on the bottom surface of the climbing frame 21, and the two socket seats 213 are slidably inserted into the positioning rods 17. When the climbing frame 21 of the moving part 1 and the climbing frame 2 are fixed and assembled during use, the positioning rod 17 on the socket seat 213 is first pulled to slide, squeezing the positioning spring 171 to deform, and the two insertion tubes 212 on the bottom end surface of the climbing frame 21 are slidably inserted into the two insertion columns 15 on the mobile frame 11. Then, the positioning rod 17 is released and the positioning spring 171 is used to deform, so that the two insertion tubes 212 on the bottom end surface of the climbing frame 21 are slidably inserted into the two insertion columns 15 on the mobile frame 11.

[0028] In one embodiment, Figure 6 、 Figure 7 and Figure 9 As shown, a hole frame 211 is vertically fixed on the top surface of the climbing frame 21, and a push hole frame 214 is horizontally fixed in the middle of the hole frame 211. The middle horizontal thread of the push hole frame 214 is assembled with a pressure screw 215. A slide 217 is fixed on the top surface of the hole frame 211. Screw tubes 216 are horizontally fixed on both sides of the climbing frame 21. The adjustment member 24 includes an adjustment rotating frame 241. The vertical end surfaces on both sides of the adjustment rotating frame 241 are horizontally rotatably connected with adjustment screws 242, and the adjustment screws 242 on both sides of the adjustment rotating frame 241 are threadedly assembled in the screw tubes 216. The adjustment rotating frame 241 A dial wheel 243 is vertically provided inside the frame 241, and the two rotating shafts of the dial wheel 243 are fixedly connected to the ends of the adjusting screws 242 on both sides of the adjusting frame 241. In use, in order to adjust the distance between the two climbing parts 2 according to the outer diameter of the petrochemical pipeline to be climbed, the adjusting frame 241 is held and the dial wheel 243 inside is rotated to drive the adjusting screws 242 at both ends to rotate. The rotating adjusting screws 242 threadably drive the solenoid 216 at the bottom of the climbing frame 21, thereby vertically adjusting the adjacent distance between the two climbing parts 2 to meet the clamping requirements of the outer diameter of the petrochemical pipeline to be climbed.

[0029] In one embodiment, Figure 6 and 8As shown, the clamping member 22 includes a rod frame 221, which is vertically arranged on the outside of the hole frame 211, and the cross bar on the rod frame 221 slides through and is inserted into the side end surface of the hole frame 211. A clamping spring 26 is horizontally arranged inside the hole frame 211, and the two ends of the clamping spring 26 are respectively fixed to the cross bar ends of the rod frame 221, and a slide plate 222 is horizontally fixed to the outside of the rod frame 221, and a push-pull slide frame 223 is horizontally assembled on the slide plate 222. A rotating frame 224 is vertically fixed to the other end of the push-pull slide frame 223, and the upper and lower ends of the rotating frame 224 are horizontally rotatably connected to the clamping wheel 225, and a pressure spring 226 is horizontally fixed to the outside of the slide plate 222, and the other end of the pressure spring 226 is fixed to the end of the push-pull slide frame 223 The clamping wheel 225 on the rotating frame 224 is pressed against the outer wall of the petrochemical pipe, ensuring that the climbing member 2 under the guidance of the clamping member 22 is clamped outside the petrochemical pipe for vertical climbing.

[0030] In one embodiment, Figure 6 and 7 As shown, the driving member 23 includes a driving rotating frame 231, which is horizontally arranged on the side of the pushing hole frame 214 away from the hole frame 211, and a guide rod 232 is horizontally fixed on the driving rotating frame 231, and the guide rod 232 of the driving rotating frame 231 slides through and is inserted into the pushing hole frame 214, and a driving wheel 233 is horizontally connected to the driving rotating frame 231, and a driving motor 234 is horizontally fixed at one end of the driving rotating frame 231, and the output end of the driving motor 234 is fixed to the end of the rotating shaft of the driving wheel 233, and the driving rotating frame 231 is connected to the pressing screw The end of the rod 215 is rotatably connected. During use, in order to ensure that the climbing member 2 is clamped on the outside of the petrochemical pipeline for vertical climbing and change the effectiveness of the petrochemical inspection, the pressing screw 215 on the pushing hole frame 214 is rotated to push the driving rotary frame 231 toward the climbing petrochemical pipeline, and the driving motor 234 is started to drive the driving wheel 233 on the rotary frame 231 to rotate. The rotating driving wheel 233 is pressed against the outer wall of the petrochemical pipeline, driving the climbing member 2 to climb vertically, ensuring that the climbing member 2 is clamped on the outside of the petrochemical pipeline for vertical climbing and changing the height of the climbing detection.

[0031] In one embodiment, Figure 5 and 10As shown, the lifting member 25 includes a lifting frame 251, an electrical box 252 is fixed on the bottom surface of the lifting frame 251, and a lower bracket 253 is symmetrically fixed horizontally on the top surface of the lifting frame 251, a slide bar 255 is horizontally fixed on one side of the lifting frame 251, and the slide bar 255 is assembled with the slide 217 for horizontal sliding, and a damping rod 256 is horizontally fixed at both ends of the slide bar 255, and the other end of the damping rod 256 is fixed on the slide 217, and a push spring 257 is provided on the outside of the damping rod 256, and the other end of the push spring 257 is fixed to the slide 217. In use, in order to vertically change the height requirement of climbing the petrochemical pipeline 20 and change the distance between the clamping members 22 on both sides of the climbing frame 21, the slide 217 slides on the lifting frame 251 on the lifting member 25, supporting the electromechanical box 252 while facilitating the later adaptation to the distance between the clamping members 22 on both sides of the climbing frame 21. At the same time, in order to ensure the support stability on the lifting frame 251, the damping rod 256 and the push spring 257 act to ensure that the damping rod 256 and the push spring 257 absorb vibrations during climbing, thereby ensuring the stability of the support and collection member 3.

[0032] In one embodiment, Figure 2 and 11 As shown, the collecting component 3 includes a drone body 31, a frame 32 is vertically fixed on the bottom surface of the drone body 31, and the frame 32 is clamped on the lower bracket 253 through the upper bracket 33, the middle part of the upper bracket 33 is vertically rotatably connected with a rotating bolt 34, and the middle part of the lower bracket 253 is vertically fixed with a screw barrel 254, and the screw barrel 254 is threadedly assembled with the rotating bolt 34, and a sensor probe 35 is installed at the bottom of the drone body 31. During use, the frame 32 on the drone body 31 is clamped on the lower bracket 253 through the upper bracket 33, and then the rotating bolt 34 is threadedly assembled in the screw barrel 254, ensuring that the drone body 31 is stable on the lifting frame 251. At the same time, a sensor probe 35 is installed at the bottom of the drone body 31 to collect petrochemical data, and then the electrical components set in the electromechanical box 252 control the inspection height and position of the drone body 31 carrying the sensor probe 35.

[0033] In this embodiment, during use, the moving part 1, the climbing part 2 and the collecting part 3 are assembled together in the vertical direction, and the moving part 1 is started to move on the ground to carry out a safety inspection of the petrochemical device. Then, the moving part 1 and the fixedly assembled climbing part 2 and the collecting part 3 are separated, and then the climbing part 2 is clamped on the outer wall of the petrochemical pipeline, and the climbing part 2 is started to climb and move on the petrochemical pipeline, driving the collecting part 3 to inspect the petrochemical equipment on pipelines at different heights. When the collecting part 3 is used alone to inspect the height of the petrochemical equipment, the collecting part 3 rises and drives the petrochemical device at a higher position to be inspected. Therefore, the installation height of the petrochemical device is different, and therefore the height to be inspected is different. The moving part 1, the climbing part 2 and the collecting part 3 are separated and used alone to change the inspection height, thereby improving the limited inspection range of the petrochemical device.

[0034] The above are preferred embodiments of the present invention. Those skilled in the art to which the present invention belongs can also change and modify the above embodiments. Therefore, the present invention is not limited to the above specific embodiments. Any obvious improvements, replacements or modifications made by those skilled in the art on the basis of the present invention fall within the scope of protection of the present invention.

Claims

1. A multi-sensor fusion petrochemical plant inspection robot, characterized in that: The invention comprises a moving part (1), a climbing part (2) and a collecting part (3), wherein the moving part (1) comprises a moving frame (11), the climbing part (2) is arranged above the moving frame (11), the climbing part (2) comprises a climbing frame (21), a clamping part (22), a driving part (23), an adjusting part (24) and a lifting part (25), the climbing frame (21) is detachably assembled on the top surface of the moving frame (11), and the clamping parts (22) are assembled horizontally on both sides of the climbing frame (21), the driving part (23) is horizontally arranged in the middle of the climbing frame (21), and there are two climbing frames (21), the adjusting part (24) is horizontally arranged below the two climbing frames (21), and the lifting part (25) is arranged on one side above the two climbing frames (21), and the collecting part (3) is assembled on the lifting part (25).

2. The multi-sensor fusion petrochemical plant inspection robot according to claim 1, characterized in that: Two vertical vertical frames (111) are symmetrically fixed on both sides of the movable frame (11), and the horizontal threads on the two vertical frames (111) are assembled with locking bolts (112). Two swivel seats (18) are symmetrically arranged vertically on both sides of the bottom surface of the movable frame (11), and a guide insert frame (182) is vertically fixed on the top surface of the two swivel seats (18). The guide insert frame (182) is vertically slidably assembled in the vertical frame (111), and the guide insert frame (182) is assembled in the vertical frame (111). A plurality of screw holes are horizontally provided on the insert frame (182) along the vertical direction, a locking bolt (112) is assembled through the horizontal thread on the vertical frame (111), and the locking bolt (112) is threadedly inserted into the screw hole of the guide insert frame (182), the bottom end of the rotating seat (18) is rotatably connected to the roller (19), and a moving motor (181) is horizontally fixed to one end of the rotating seat (18), and the output end of the moving motor (181) is fixed on the rotating shaft of the roller (19).

3. The multi-sensor fusion petrochemical plant inspection robot according to claim 2, characterized in that: Two plug posts (15) are vertically fixed on both sides of the top surface of the movable frame (11), and a battery box (12) is horizontally fixed on the bottom surface of the movable frame (11), a pull-out frame (13) is horizontally inserted in the battery box (12), and a battery (14) is embedded and fixed in the pull-out frame (13), two hole seats (16) are symmetrically vertically fixed in the middle of both sides of the top surface of the movable frame (11), and positioning rods (17) are horizontally slidably inserted in the two hole seats (16), a positioning spring (171) is horizontally fixed between the positioning rods (17) on the two hole seats (16), and the two ends of the positioning spring (171) are respectively fixed on the adjacent end faces of the two positioning rods (17).

4. The multi-sensor fusion petrochemical plant inspection robot according to claim 3, characterized in that: Two plug-in cylinders (212) are vertically fixed on the bottom surface of the climbing frame (21), and the two plug-in cylinders (212) are slidably plugged into two plug-in columns (15) on the movable frame (11). Two socket seats (213) are vertically fixed on the bottom surface of the climbing frame (21), and the two socket seats (213) are slidably plugged into the positioning rod (17).

5. The multi-sensor fusion petrochemical plant inspection robot according to claim 1, characterized in that: A hole frame (211) is vertically fixed on the top surface of the climbing frame (21), and a push hole frame (214) is horizontally fixed in the middle of the hole frame (211), and a pressing screw (215) is assembled through the horizontal thread in the middle of the push hole frame (214), a slide (217) is fixed on the top surface of the hole frame (211), and screw tubes (216) are horizontally fixed on both sides of the climbing frame (21).

6. The multi-sensor fusion petrochemical plant inspection robot according to claim 5, characterized in that: The adjusting member (24) comprises an adjusting rotating frame (241), and adjusting screws (242) are horizontally rotatably connected to the vertical end surfaces on both sides of the adjusting rotating frame (241), and the adjusting screws (242) on both sides of the adjusting rotating frame (241) are threadedly assembled in the screw tube (216). A thumbwheel (243) is vertically arranged inside the adjusting rotating frame (241), and two rotating shafts of the thumbwheel (243) are fixedly connected to the ends of the adjusting screws (242) on both sides of the adjusting rotating frame (241).

7. The multi-sensor fusion petrochemical plant inspection robot according to claim 5, characterized in that: The clamping member (22) includes a rod frame (221), the rod frame (221) is vertically arranged on the outside of the hole frame (211), and the cross bar on the rod frame (221) is slidably inserted into the side end surface of the hole frame (211), a clamping spring (26) is horizontally arranged inside the hole frame (211), and the two ends of the clamping spring (26) are respectively fixed to the end of the cross bar of the rod frame (221), a sliding groove plate (222) is horizontally fixed on the outside of the rod frame (221), and a push-pull slide frame (223) is horizontally slidably assembled on the sliding groove plate (222), the other end of the push-pull slide frame (223) is vertically fixed to a rotating frame (224), and the upper and lower ends of the rotating frame (224) are horizontally rotatably connected to clamping wheels (225), the outer side of the sliding groove plate (222) is horizontally fixed to a pressure spring (226), and the other end of the pressure spring (226) is fixed to the end of the push-pull slide frame (223).

8. The multi-sensor fusion petrochemical plant inspection robot according to claim 5, characterized in that: The driving member (23) includes a driving rotating frame (231), the driving rotating frame (231) is horizontally arranged on a side of the pushing hole frame (214) away from the hole frame (211), and a guide rod (232) is horizontally fixed on the driving rotating frame (231), the guide rod (232) of the driving rotating frame (231) is slidably inserted into the pushing hole frame (214), and a driving wheel (233) is horizontally rotatably connected to the driving rotating frame (231), a driving motor (234) is horizontally fixed to one end of the driving rotating frame (231), and the output end of the driving motor (234) is fixed to the end of the rotating shaft of the driving wheel (233), and the driving rotating frame (231) is rotatably connected to the end of the pressing screw (215).

9. The multi-sensor fusion petrochemical plant inspection robot according to claim 5, characterized in that: The lifting member (25) includes a lifting frame (251), an electrical box (252) is fixed on the bottom surface of the lifting frame (251), and a lower bracket (253) is symmetrically and horizontally fixed on the top surface of the lifting frame (251), a sliding bar (255) is horizontally fixed on one side of the lifting frame (251), and the sliding bar (255) is assembled with the slide frame (217) in a horizontal sliding manner, and damping rods (256) are horizontally fixed at both ends of the sliding bar (255), and the other end of the damping rod (256) is fixed on the slide frame (217), and a push spring (257) is provided on the outside of the damping rod (256), and the other end of the push spring (257) is fixed on the slide frame (217).

10. The multi-sensor fusion petrochemical plant inspection robot according to claim 9, characterized in that: The collecting component (3) comprises a drone body (31), a frame (32) is vertically fixed on the bottom surface of the drone body (31), and the frame (32) is clamped on the lower bracket (253) through an upper bracket (33), a rotating bolt (34) is vertically rotatably connected in the middle of the upper bracket (33), a screw barrel (254) is vertically fixed in the middle of the lower bracket (253), and the screw barrel (254) is threadedly assembled with the rotating bolt (34), and a sensor probe (35) is installed at the bottom of the drone body (31).

Images