Track inspection robot used in micro-module machine room

Abstract

The invention belongs to the technical field of inspection robots, and particularly relates to a track inspection robot used in a micro-module machine room, the track inspection robot comprises a mounting disc, a telescopic mechanism is fixedly mounted on the upper surface of the mounting disc, a chassis is fixedly connected to the bottom of the mounting disc, sliding grooves are formed in the two sides of the bottom of the chassis, and protection mechanisms are slidably connected to the interiors of the sliding grooves; by means of the protection mechanism arranged in cooperation with the structure, when the inspection robot works and senses that obstacles around the advancing path can affect the inspection robot, real-time monitoring is conducted through an inductive sensor, the protection mechanism is automatically triggered, a magnetic sheet A and a magnetic sheet B in the protection mechanism are rapidly bounced off in a magnetic repulsion mode, and a bouncing plate can be conveniently ejected out for protection; the inspection robot can autonomously identify obstacles and take protective measures, so that frequent human intervention is reduced, the inspection continuity and efficiency are improved, inaccurate detection data caused by collision or track deviation is avoided, and the reliability of inspection results is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of inspection robots, in particular to a track inspection robot for a micro-module machine room. BACKGROUND

[0002] The track inspection robot in the micro-module machine room is an automatic device specially designed for the micro-module machine room environment, mainly used for monitoring and maintaining the track and related infrastructure to ensure the safety and efficiency of the machine room operation. The inspection robot is a kind of automatic device designed to detect and monitor various facilities, environments or systems regularly or at any time to ensure their safe, stable and efficient operation. According to different application fields, the design and function of the inspection robot will be different.

[0003] The traditional inspection robot is suspended on the top of the machine room and moves by magnetic attraction for inspection. During the inspection process, if personnel add equipment or goods in front of the robot and the inspection trajectory overlaps, the inspection robot will continue to walk and collide, which may cause damage to the sensor or transmission interruption, affecting the integrity and accuracy of the detection data. It is not convenient to detect whether there is an obstacle in front of the robot in real time during the inspection process and trigger the protection avoidance function. The inspection robot opens the defense device to reduce the damage to the inspection robot.

[0004] Therefore, the application provides a track inspection robot for a micro-module machine room. SUMMARY

[0005] In order to make up for the shortcomings of the prior art and solve at least one technical problem raised in the background art.

[0006] The technical solution adopted by the application to solve its technical problems is: the track inspection robot for a micro-module machine room comprises a mounting disc, a telescopic mechanism is fixedly installed on the upper surface of the mounting disc, a bottom disc is fixedly connected to the bottom of the mounting disc, sliding grooves are formed on both sides of the bottom of the bottom disc, a protection mechanism is slidably connected in the sliding grooves, and a track inspection robot body is fixedly installed on the middle of the bottom of the mounting disc. The protection mechanism comprises A rotating members, telescopic rods are fixedly connected to both ends of the A rotating members, B rotating members are fixedly connected to one end of the telescopic rods, A magnetic sheets are fixedly connected to one end of one of the B rotating members, the outer surfaces of the B rotating members are slidably connected to the inside of the sliding grooves, pushing springs are fixedly connected to the surfaces of the A magnetic sheets, B magnetic sheets are fixedly connected to one end of the pushing springs, and pushing mechanisms are fixedly connected to the surfaces of the B rotating members.

[0007] As a preferred technical scheme of the present application, the telescopic mechanism comprises an A mounting seat, the bottom of the A mounting seat is fixedly connected to the upper surface of the mounting disc, the bottom of one side of the A mounting seat is rotationally connected with an A connecting rod through an A rotating rod, one end of the A connecting rod is rotationally connected with a triangular support through a B rotating rod, one end of the triangular support is rotationally connected with a B connecting rod through a C rotating rod, one end of the B connecting rod is rotationally connected with a B mounting seat through a D rotating rod.

[0008] As a preferred technical scheme of the present application, the bottom of one side of the B mounting seat is rotationally connected with a C connecting rod through an E rotating rod, the surface of the C connecting rod is rotationally connected with a D connecting rod through an A supporting rod, one end of the D connecting rod is rotationally connected with an E connecting rod through an F rotating rod, and the E connecting rod is rotationally connected to the top of one side of the A mounting seat through an M rotating rod.

[0009] As a preferred technical scheme of the present application, the outer surface of the A supporting rod is fixedly connected with an electric push rod, one end of the electric push rod is fixedly connected with a B supporting rod, both ends of the B supporting rod are rotationally connected to the middle of one side of the A mounting seat, and the middle of the A mounting seat is fixedly installed with a grabbing mechanism.

[0010] As a preferred technical scheme of the present application, the push-and-pop mechanism comprises a moving plate, the side surface of the moving plate is fixedly connected to the surface of the B rotating piece, the inner side wall of the moving plate is fixedly connected with a baffle, the outer surface of the baffle is clamped with a clamping ring, and the surface of the clamping ring is fixedly connected with an extrusion spring.

[0011] As a preferred technical scheme of the present application, one end of the extrusion spring is fixedly connected with a push-and-pop plate, a vertical rod is sleeved on the middle of the extrusion spring, one end of the vertical rod is fixedly connected to the back surface of the push-and-pop plate, the surface of the baffle is provided with a hole groove, and the outer surface of the vertical rod is inserted into the inside of the hole groove.

[0012] As a preferred technical scheme of the present application, the grabbing mechanism comprises a vacuum air pump, the bottom of the vacuum air pump is fixedly connected to the middle of the A mounting seat, and the output end of the vacuum air pump is fixedly connected with an air suction pipe.

[0013] As a preferred technical scheme of the present application, one end of the air suction pipe is fixedly connected with a transmission pipe, one end of the transmission pipe is fixedly connected with a suction disc, the outer surface of the transmission pipe is inserted into the inside of the push-and-pop plate, and the top end of the suction disc is installed on the bottom of the push-and-pop plate.

[0014] As a preferred technical scheme of the present application, the upper surface of the bottom disc is fixedly installed with an induction sensor on both sides, and the induction sensor is electrically connected with the protection mechanism.

[0015] Preferably, the upper surface of the B mounting base is fixedly connected with a slide rail shell, and a magnetic rail is magnetically attracted and slid in the middle of the slide rail shell.

[0016] The present application has the following advantages: 1. The protection mechanism is automatically triggered when the A magnetic sheet and the B magnetic sheet repel each other quickly, and the push-out plate is popped out for protection. The robot can autonomously identify obstacles and take protective measures, reducing frequent human intervention, improving the continuity and efficiency of the inspection, avoiding inaccurate detection data caused by collision or deviation from the track, and improving the reliability of the inspection results. 2. The vacuum grabbing mechanism can flexibly respond to different grabbing needs. When encountering small obstacles, the grabbing mechanism can quickly grab and move them away, thereby avoiding obstacles that hinder the normal inspection path of the robot, ensuring the continuity and integrity of the inspection, actively removing obstacles, effectively reducing the risk of stasis or damage caused by collision or jamming, and avoiding secondary collision and damage. 3. The telescopic mechanism can adjust the height of the robot according to the actual situation, the height of the track or the monitoring area, and facilitate the inspection and detection of different positions. The telescopic mechanism can reduce the blind area and improve the quality of the inspection. BRIEF DESCRIPTION OF DRAWINGS

[0017] The present application will be further described below with reference to the accompanying drawings.

[0018] Figure 1 Figure 1 is a structural schematic diagram of a whole micro-module machine room track inspection robot; Figure 2 Figure 2 is an installation schematic diagram of a B rotating member in a micro-module machine room track inspection robot; Figure 3 Figure 3 is an installation schematic diagram of a suction cup in a micro-module machine room track inspection robot; Figure 4 Figure 4 is an installation schematic diagram of a push-pull spring in a micro-module machine room track inspection robot; Figure 5 This is a schematic diagram of the installation of a baffle for a track inspection robot in a micro-module machine room; Figure 6 This is a schematic diagram of the installation of an electric push rod in a track inspection robot in a micro-module machine room; Figure 7 for Figure 5 A in the enlarged view.

[0019] In the figure: 1. Mounting plate; 2. Chassis; 3. Inspection robot body; 4. Rotating part A; 5. Telescopic rod; 6. Rotating part B; 7. Magnetic plate A; 8. Push spring; 9. Magnetic plate B; 10. Mounting base A; 11. Connecting rod A; 12. Triangular bracket; 13. Connecting rod B; 14. Mounting base B; 15. Connecting rod C; 16. Support rod A; 17. Connecting rod D; 18. Connecting rod E; 19. Electric push rod; 20. Support rod B; 21. Moving plate; 22. Baffle; 23. Snap ring; 24. Extrusion spring; 25. Push plate; 26. Vertical pole; 27. Vacuum pump; 28. Exhaust pipe; 29. ​​Transmission pipe; 30. Suction cup; 31. Inductive sensor; 32. Slide rail shell; 33. Magnetic rail. DETAILED DESCRIPTION

[0020] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0021] Reference Figure 1 - Figure 7 , the present invention provides two technical solutions: Example 1: A track inspection robot for use in a micro-module machine room comprises a mounting plate 1, a telescopic mechanism fixedly mounted on the upper surface of the mounting plate 1, a chassis 2 fixedly connected to the bottom of the mounting plate 1, a chute provided on both sides of the bottom of the chassis 2, a protective mechanism slidably connected to the interior of the chute, and an inspection robot body 3 fixedly mounted in the middle of the bottom of the mounting plate 1; The protective mechanism includes an A rotating part 4, both ends of the A rotating part 4 are fixedly connected to a telescopic rod 5, one end of the telescopic rod 5 is fixedly connected to a B rotating part 6, one end of one of the B rotating parts 6 is fixedly connected to an A magnetic piece 7, and the outer surface of the other B rotating part 6 is slidably connected to the inside of the slide groove, the surface of the A magnetic piece 7 is fixedly connected to a pushing spring 8, one end of the pushing spring 8 is fixedly connected to the B magnetic piece 9, and the surface of the B rotating part 6 is fixedly connected to a push-up mechanism. When the inspection robot feels that there is an obstacle in front that will affect itself during work, it will monitor in real time through the induction sensor 31 and automatically trigger the protective mechanism, so that the A magnetic piece 7 and the B magnetic piece 9 in the protective mechanism will be magnetically repelled and quickly ejected, so as to facilitate the ejection plate 25 to eject the protection. The inspection robot can autonomously identify obstacles and take protective measures, reduce frequent human intervention, improve the continuity and efficiency of inspections, avoid inaccurate detection data caused by collisions or deviations from the track, and improve the reliability of inspection results.

[0022] Example 2: The telescopic mechanism includes an A mounting seat 10, the bottom of the A mounting seat 10 is fixedly connected to the upper surface of the mounting plate 1, and the bottom of one side of the A mounting seat 10 is rotatably connected to the A connecting rod 11 through the A rotating rod, one end of the A connecting rod 11 is rotatably connected to the triangular bracket 12 through the B rotating rod, one end of the triangular bracket 12 is rotatably connected to the B connecting rod 13 through the C rotating rod, and one end of the B connecting rod 13 is rotatably connected to the B mounting seat 14 through the D rotating rod. When the inspection robot is working, it is convenient to adapt its height to actual conditions through the telescopic mechanism, adjust the height according to the height of the track or monitoring area, and facilitate inspection and detection of different positions. Flexible adjustment at different heights can capture more subtle changes and improve the accuracy of fault diagnosis. Traditional robots with fixed heights may have blind spots, and the telescopic mechanism can reduce blind spots and improve inspection quality.

[0023] The bottom of one side of the B mounting seat 14 is rotatably connected to the C connecting rod 15 through the E rotating rod, and the surface of the C connecting rod 15 is rotatably connected to the D connecting rod 17 through the A support rod 16. One end of the D connecting rod 17 is rotatably connected to the E connecting rod 18 through the F rotating rod. The E connecting rod 18 is rotatably connected to the top of one side of the A mounting seat 10 through the M rotating rod. When adjusting, the electric push rod 19 is started. When the electric push rod 19 is extended or retracted, it pushes the A support rod 16 to move. The A support rod 16 rotates and retracts in the C connecting rod 15, driving the C connecting rod 15 to retract or retract. When the C connecting rod 15 is extended or retracted, it rotates on the B mounting seat 14, and also drives the D connecting rod 17 to rotate. The D connecting rod 17 drives the E connecting rod 18 to rotate on the A mounting seat 10. The A mounting seat 10 then drives the A connecting rod 11 to rotate. The A connecting rod 11 rotates on the tripod bracket 12, and the tripod bracket 12 rotates the B connecting rod 13. The above structure rotates in coordination, and the height of the inspection robot body 3 can be adjusted.

[0024] The outer surface of the A support rod 16 is fixedly connected to an electric push rod 19, one end of the electric push rod 19 is fixedly connected to the B support rod 20, both ends of the B support rod 20 are rotatably connected to the middle of one side of the A mounting seat 10, and a grabbing mechanism is fixedly installed in the middle of the A mounting seat 10. The electric push rod 19 plays a driving role, which facilitates the telescopic mechanism to adjust the height.

[0025] The push-and-pop mechanism includes a movable plate 21, the side of which is fixedly connected to the surface of the B rotating member 6, the inner side wall of the movable plate 21 is fixedly connected to a baffle 22, the outer surface of the baffle 22 is clamped with a snap ring 23, and the surface of the snap ring 23 is fixedly connected to an extrusion spring 24. When the B rotating member 6 is pushed, the movable plate 21 is driven to move, and the movable plate 21 drives the baffle 22 to move. The surface of the baffle 22 is clamped with a snap ring 23. When it is collided, it hits the push-and-pop plate 25, and the push-and-pop plate 25 is squeezed on the snap ring 23 by the extrusion spring 24.

[0026] One end of the extrusion spring 24 is fixedly connected to the push plate 25, and the middle part of the extrusion spring 24 is sleeved with a vertical rod 26. One end of the vertical rod 26 is fixedly connected to the back of the push plate 25. A hole groove is provided on the surface of the baffle 22, and the outer surface of the vertical rod 26 is inserted into the inside of the hole groove. The vertical rod 26 is extended and retracted in the baffle 22, and the two cooperate with each other to reduce the impact force of the collision.

[0027] The gripping mechanism includes a vacuum pump 27, the bottom of which is fixedly connected to the middle of the A mounting base 10, and the output end of the vacuum pump 27 is fixedly connected to the exhaust pipe 28. In the micromodule room environment, there may be various equipment and lines. The vacuum gripping can flexibly respond to different gripping needs. When encountering smaller obstacles, the gripping mechanism can be used to quickly grip and move them away, thereby avoiding obstacles that block the normal inspection path of the robot, ensuring the continuity and integrity of the inspection, actively clearing obstacles, and effectively reducing the risk of stagnation or damage due to collision or jamming. At the same time, it can avoid secondary collisions and damage, quickly clear obstacles, and prevent equipment damage or environmental damage due to repeated collisions.

[0028] One end of the exhaust pipe 28 is fixedly connected to the transmission pipe 29, and one end of the transmission pipe 29 is fixedly connected to the suction cup 30. The outer surface of the transmission pipe 29 is inserted into the inside of the push plate 25, and the top of the suction cup 30 is installed at the bottom of the push plate 25. The vacuum exhaust pump 27 is started, and the vacuum exhaust pump 27 exhausts air in the transmission pipe 29 through the exhaust pipe 28, and the object is vacuum-adsorbed by the suction cup 30 to achieve the effect of grabbing.

[0029] Induction sensors 31 are fixedly installed on both sides of the upper surface of the chassis 2. The induction sensors 31 are electrically connected to the protection mechanism. The induction sensors 31 can detect in real time whether there are obstacles in front of the inspection robot body 3. The protection mechanism can be activated at any time to protect the inspection robot body 3.

[0030] The upper surface of the B mounting base 14 is fixedly connected with a slide rail shell 32, and the middle part of the slide rail shell 32 is magnetically attracted and slidably connected with a magnetic rail 33. The slide rail shell 32 and the magnetic rail 33 are used in cooperation to enable the patrol robot body 3 to move along the rail for patrol.

[0031] Working principle: when the patrol robot body 3 works, its height can be adjusted according to actual conditions. When the height is adjusted, the electric push rod 19 is started, the electric push rod 19 is extended and retracted to push the A support rod 16 to move, the A support rod 16 is rotated and retracted in the C connecting rod 15 to drive the C connecting rod 15 to be extended and retracted, the C connecting rod 15 is rotated on the B mounting base 14 when it is extended and retracted, and simultaneously drives the D connecting rod 17 to rotate, the D connecting rod 17 drives the E connecting rod 18 to rotate on the A mounting base 10, the A mounting base 10 drives the A connecting rod 11 to rotate, the A connecting rod 11 is rotated on the triangular support 12, and the triangular support 12 rotates the B connecting rod 13. The above-mentioned structure is cooperated and rotated to enable the height of the patrol robot body 3 to be adjusted. Subsequently, when the slide rail shell 32 moves on the magnetic rail 33, the induction sensor 31 is turned on, when an obstacle is detected around the travel path of the patrol robot body 3, the induction sensor 31 triggers the control system, and then drives the protection mechanism to act, realizes effective protection of the left and right sides of the patrol robot body 3, ensures the safe operation of the patrol robot body 3 in the unstructured environment, is electrically connected to the A magnetic sheet 7, starts the magnetism of the A magnetic sheet 7 and the B magnetic sheet 9, the magnetism of the A magnetic sheet 7 and the B magnetic sheet 9 repels each other, the A magnetic sheet 7 pushes the B magnetic sheet 9 to move, and when the B magnetic sheet 9 moves, the B rotating part 6 is driven to move, the B rotating part 6 drives the extension rod 5 to rotate on the A rotating part 4 to move, so that the B magnetic sheet 9 achieves the effect of moving, the B rotating part 6 drives the moving plate 21 to move when it moves, the moving plate 21 drives the blocking plate 22 to move, the blocking plate 22 is clamped with the snap ring 23 on the surface, when it is impacted, it is impacted on the push spring plate 25, the push spring plate 25 is extruded on the snap ring 23 through the extrusion spring 24, and then the vertical rod 26 is retracted in the blocking plate 22, and the two are cooperated to reduce the impact force of the collision, and the patrol robot body 3 achieves the automatic defense effect. Subsequently, in the micro module machine room environment, various devices and lines may exist, when a small obstacle is encountered, the grabbing mechanism can quickly grab and move it away, so as to avoid the obstacle from hindering the normal patrol path of the robot, ensure the continuity and integrity of the patrol, start the vacuum air pump 27, the vacuum air pump 27 draws air in the transmission pipe 29 through the air pipe 28, and the object is vacuum adsorbed through the suction cup 30 to achieve the effect of grabbing, actively remove the obstacle, effectively reduce the risk of stagnation or damage caused by collision or being stuck, quickly remove the obstacle, and prevent the equipment from being damaged or the environment from being destroyed due to repeated collisions.

[0032] The above-mentioned front, rear, left, right, upper and lower are all in the drawings of the specification Figure 1As a benchmark, according to the person's observation perspective, the side of the device facing the observer is defined as the front, the left side of the observer is defined as the left, and so on.

[0033] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present invention.

[0034] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the foregoing embodiments. The foregoing embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A track inspection robot for use in a micro-module machine room, characterized by: The invention comprises a mounting plate (1), a telescopic mechanism being fixedly mounted on the upper surface of the mounting plate (1), a chassis (2) being fixedly connected to the bottom of the mounting plate (1), a chute being provided on both sides of the bottom of the chassis (2), a protective mechanism being slidably connected to the inside of the chute, and an inspection robot body (3) being fixedly mounted on the middle of the bottom of the mounting plate (1); The protective mechanism comprises an A rotating member (4), both ends of the A rotating member (4) are fixedly connected to a telescopic rod (5), one end of the telescopic rod (5) is fixedly connected to a B rotating member (6), one end of one of the B rotating members (6) is fixedly connected to an A magnetic sheet (7), the outer surface of the other B rotating member (6) is slidably connected to the inside of a slide groove, the surface of the A magnetic sheet (7) is fixedly connected to a pushing spring (8), one end of the pushing spring (8) is fixedly connected to a B magnetic sheet (9), and the surface of the B rotating member (6) is fixedly connected to a push-pull mechanism.

2. A track inspection robot for use in a micro-module machine room according to claim 1, characterized in that: The telescopic mechanism comprises an A mounting seat (10), the bottom of the A mounting seat (10) being fixedly connected to the upper surface of the mounting plate (1), the bottom of one side of the A mounting seat (10) being rotatably connected to an A connecting rod (11) via an A rotating rod, one end of the A connecting rod (11) being rotatably connected to a triangular bracket (12) via a B rotating rod, one end of the triangular bracket (12) being rotatably connected to a B connecting rod (13) via a C rotating rod, and one end of the B connecting rod (13) being rotatably connected to a B mounting seat (14) via a D rotating rod.

3. A track inspection robot for use in a micro-module machine room according to claim 2, characterized in that: The bottom of one side of the B mounting seat (14) is rotatably connected to the C connecting rod (15) via the E rotating rod, the surface of the C connecting rod (15) is rotatably connected to the D connecting rod (17) via the A supporting rod (16), one end of the D connecting rod (17) is rotatably connected to the E connecting rod (18) via the F rotating rod, and the E connecting rod (18) is rotatably connected to the top of one side of the A mounting seat (10) via the M rotating rod.

4. A track inspection robot for use in a micro-module machine room according to claim 3, characterized in that: The outer surface of the A support rod (16) is fixedly connected to an electric push rod (19), one end of the electric push rod (19) is fixedly connected to a B support rod (20), both ends of the B support rod (20) are rotatably connected to the middle of one side of the A mounting seat (10), and a gripping mechanism is fixedly installed in the middle of the A mounting seat (10).

5. The track inspection robot for use in a micro-module machine room according to claim 1, characterized in that: The ejection mechanism comprises a movable plate (21), the side surface of the movable plate (21) being fixedly connected to the surface of the rotating member B (6), the inner side wall of the movable plate (21) being fixedly connected to a baffle (22), the outer surface of the baffle (22) being clamped with a snap ring (23), and the surface of the snap ring (23) being fixedly connected to a compression spring (24).

6. The track inspection robot for use in a micro-module machine room according to claim 5, characterized in that: One end of the extrusion spring (24) is fixedly connected to the push plate (25), the middle part of the extrusion spring (24) is sleeved with a vertical rod (26), one end of the vertical rod (26) is fixedly connected to the back of the push plate (25), a hole groove is opened on the surface of the blocking plate (22), and the outer surface of the vertical rod (26) is inserted into the inside of the hole groove.

7. The track inspection robot for use in a micro-module machine room according to claim 4, characterized in that: The gripping mechanism comprises a vacuum pump (27), the bottom of the vacuum pump (27) is fixedly connected to the middle of the A mounting seat (10), and the output end of the vacuum pump (27) is fixedly connected to a vacuum pipe (28).

8. The track inspection robot for use in a micro-module machine room according to claim 7, characterized in that: One end of the exhaust pipe (28) is fixedly connected to a transmission pipe (29), and one end of the transmission pipe (29) is fixedly connected to a suction cup (30). The outer surface of the transmission pipe (29) is inserted into the interior of the push plate (25), and the top end of the suction cup (30) is installed on the bottom of the push plate (25).

9. The track inspection robot for use in a micro-module machine room according to claim 1, characterized in that: Inductive sensors (31) are fixedly mounted on both sides of the upper surface of the chassis (2), and the inductive sensors (31) are electrically connected to the protective mechanism.

10. The track inspection robot for use in a micro-module machine room according to claim 2, characterized in that: The upper surface of the B mounting seat (14) is fixedly connected to a slide rail shell (32), and a magnetic rail (33) is magnetically slidably provided in the middle of the slide rail shell (32).

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