Intelligent ship inspection robot with shockproof soft arm

Abstract

The invention relates to the technical field of intelligent ship inspection robots, and discloses an intelligent ship inspection robot with a shockproof soft arm, which comprises a machine body, the machine body is composed of a mechanical structure, a driving system, a sensor network and an intelligent control algorithm, four groups of feet are arranged on the outer side of the machine body, and each foot is composed of a first supporting leg and a second supporting leg. The outer side of the first supporting leg is connected with a connecting plate body, the lower portion of the connecting plate body is connected with a support through a damping component capable of elastically stretching out and drawing back, the bottom end of the support is provided with a soft arm, and the top of the soft arm is connected with a ratchet wheel. The suction cups are installed at the bottoms of the feet of the intelligent inspection robot, meanwhile, through cooperation of the telescopic parts, the inner space can be closed when the suction cups fall to the ground and are pressed, and therefore when the feet of the intelligent inspection robot fall to the ground, relative fixed connection between the feet and the ship ground can be achieved; and the advancing stability of the intelligent inspection robot is improved while normal work of the intelligent inspection robot is ensured.

Description

Technical Field

[0001] This invention relates to the field of intelligent ship inspection robot technology, specifically to an intelligent ship inspection robot with a shock-resistant flexible arm. Background Technology

[0002] Inspection robots are intelligent devices based on OCR and image recognition technologies. They can simulate professional human operations and perform inspection operations such as clicking, recognizing, and checking on multiple pages across the entire website and in various scenarios throughout the entire financial transaction process. They can achieve automated inspection and monitoring of APP pages.

[0003] Currently, intelligent inspection robots on ships can be rechargeable mechanical dogs that use various sensors such as vision, temperature, vibration, and smell for detection. They can also be equipped with robotic arms to open and close certain valves or switches during inspections. They are generally used to inspect pipelines, cabins, control rooms, engine rooms, etc., and can also check paint or access cabins that are inconvenient for people to enter to view instruments.

[0004] However, in actual use, existing intelligent inspection robots cannot maintain stability during operation due to the swaying caused by external environmental factors such as waves during ship navigation. They are prone to tipping over. Furthermore, if an engine is present in the inspection environment, the vibration generated by the engine will also affect the inspection results, making it impossible to achieve stable and accurate inspection. Summary of the Invention

[0005] In view of the shortcomings of existing intelligent ship inspection robots mentioned in the background art, the present invention provides an intelligent ship inspection robot with a shockproof soft arm, which has the advantages of good stability and shock resistance, and solves the technical problems mentioned in the background art of poor stability and unsuitability for use on ships, and easy to be affected by external vibrations affecting the detection data.

[0006] This invention provides the following technical solution: a ship intelligent inspection robot with shock-absorbing flexible arms, comprising a body, which is composed of a mechanical structure, a drive system, a sensor network, and an intelligent control algorithm. Four sets of legs are configured on its outer side, each leg consisting of a first leg and a second leg. A connecting plate is connected to the outer side of the first leg. A support is connected to the lower part of the connecting plate via a shock-absorbing component capable of elastic extension and retraction. A flexible arm is provided at the bottom of the support, and a ratchet is connected to the top of the flexible arm. The two ends of the ratchet are connected to the support via damping shafts and springs. A stop block is movably connected inside the support via a spring. When the intelligent inspection robot falls due to ship rocking, the stop block, under inertia, locks into the ratchet, thus locking the flexible arm and preventing the robot from falling.

[0007] Furthermore, a buffer connector is connected to the bottom of the second leg. The buffer connector consists of a damping telescopic rod and a spring. The bottom end of the buffer connector is connected to a foot suction cup, and the top of the foot suction cup has an air hole. A sealing block is connected to the movable part of the buffer connector. When the second leg contacts the ground and supports the weight of the intelligent inspection robot, the buffer connector is shortened by force. At the same time, the sealing block is inserted into the air hole and seals the inside of the foot suction cup. At this time, the foot suction cup functions as a normal suction cup and adheres to the ground. When the second leg is lifted, the buffer connector is lengthened due to reduced pressure, and the sealing block leaves the air hole. At this time, the air pressure inside and outside the foot suction cup is balanced, and it can easily leave the ground.

[0008] Furthermore, a mounting frame is connected to the lower part of the connecting plate body, and a connecting rod is movably inserted inside the mounting frame. The top of the connecting rod is movably connected to the connecting plate body via a spring. The connecting rod is a damping telescopic rod, and the bottom of the connecting plate body is connected to the mounting frame via a telescopic spring. A bracket is also connected to the bottom of the connecting plate body. The top of the connecting plate body is connected to the second leg via a pull rope. The pull rope passes through the fulcrum on the connecting plate body. When the second leg is in contact with the ground, the connecting rod is in a suspended state. When the second leg is raised, the angle of motion of the foot suction cup is greater than that of the first leg. The pull rope is released, and the connecting rod moves down under the action of the top spring, so that the bottom of the flexible arm is maintained at a stable height.

[0009] Furthermore, a ratchet is connected to the top of the flexible arm, and a roller is connected to the bottom of the flexible arm. The outer teeth of the ratchet face the direction of rotation of the ratchet when the flexible arm is deflected upward. The roller is connected to the bottom of the flexible arm via a damping shaft and a spring. In its natural state, the roller is vertical. When the first leg is subjected to external pressure, it will deflect and return to its original state after the external force is removed. A guide arm is connected to the front of the flexible arm. The guide arm bends towards the middle of the body. When the flexible arm is subjected to external force, it will deflect.

[0010] Furthermore, the stop block, affected by inertia and gravity, will get stuck in the ratchet teeth of the ratchet, preventing the soft arm from continuing to deflect.

[0011] Furthermore, the pull rope is inelastic and passes through the first leg and the corresponding limiting ring on the connecting plate to connect with the teammate component on the connecting plate.

[0012] Furthermore, the soft arm has an overall arc-shaped structure, and in its natural state, it is tilted, with the top of the soft arm close to the body and the bottom of the soft arm far away from the body.

[0013] The present invention has the following beneficial effects: 1. This invention installs suction cups on the bottom of the feet of the intelligent inspection robot. With the cooperation of retractable components, the internal space can be sealed when the suction cups are pressed upon landing. This allows the intelligent inspection robot to achieve a relatively fixed connection with the ship's ground when its feet touch the ground, thus improving the stability of the intelligent inspection robot during movement while ensuring its normal operation.

[0014] 2. This invention, by setting an elastically deflectable shockproof soft arm on the outside of its legs and setting a fall-locking structure, can prevent the intelligent inspection robot from falling over due to the large swaying angle of the ship when it is working. At the same time, the soft wall can also deflect in time according to external obstacles to ensure the normal operation of the intelligent inspection robot.

[0015] 3. This invention utilizes elastic components to connect the robot body to the ground, which can buffer ground vibrations and reduce the impact of ground vibrations on the detection components on the robot, thereby improving detection accuracy and ensuring the working stability and detection accuracy of the intelligent inspection robot in ship operations. Attached Figure Description

[0016] Figure 1 A schematic diagram of the overall structure of the invention; Figure 2 This is a partial cross-sectional structural diagram of the present invention; Figure 3 For the present invention Figure 2 Enlarged structural diagram at point A; Figure 4 This is a partial structural diagram of the outer soft wall of the present invention.

[0017] In the diagram: 1. Body; 2. First leg; 3. Second leg; 31. Foot suction cup; 311. Air vent; 32. Buffer connector; 321. Sealing block; 4. Connecting plate; 41. Connecting rod; 42. Mounting bracket; 5. Bracket; 51. Stop block; 6. Flexible arm; 61. Ratchet; 62. Roller; 63. Guide arm; 7. Pull rope. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Please see Figure 1A ship intelligent inspection robot with shockproof soft arms includes a body 1, which consists of a mechanical structure, a control system, sensors, and a power system. Four sets of leg structures are symmetrically arranged on both sides of the body 1. The leg structures consist of a first leg 2 and a second leg 3. By coordinating the mechanical structure, drive system, sensor network, and intelligent control algorithm, stable walking is achieved, and automatic movement is realized in combination with engineering. The specific structure and working principle of the intelligent inspection robot can be obtained by those skilled in the art from the prior art, so they will not be described in detail here.

[0020] Please see Figure 2-3 The bottom of the second leg 3 is connected to a buffer connector 32, which consists of a damping telescopic rod and a telescopic spring. A foot suction cup 31, made of elastic rubber, is connected to the bottom of the buffer connector 32. An air hole 311 is located on the top of the foot suction cup 31. A sealing block 321 is connected to one side of the buffer connector 32. When the entire leg of the intelligent inspection robot touches the ground and provides support, the buffer connector 32 shortens under gravity, causing the sealing block 321 to insert into the air hole 311. At this time, the foot suction cup 31 is sealed, allowing it to function as a complete suction cup. If the ship experiences rocking or other problems, the robot's foot can be supported by the foot suction cup 31. The second leg 3 is stably connected to the ground of the ship. When the leg is raised, the pressure on the buffer connector 32 decreases and it extends. The sealing block 321 moves away from the air hole 311, and the air pressure inside the foot suction cup 31 is balanced with the outside, so that the bottom of the second leg 3 can be raised normally. By setting the rod of the buffer connector 32 as a damping telescopic rod, the ground vibration received by the leg of the intelligent inspection robot can be buffered and consumed. This can greatly reduce the impact of engine and other working vibrations on the detection accuracy of the intelligent inspection robot. At the same time, it can also reduce the impact of ground vibration on the precision parts inside the body 1, reduce the loosening of parts caused by vibration, and thus reduce robot failures.

[0021] Please see Figure 1 The outer side of the first leg 2 is connected to a connecting plate 4, see reference. Figure 4A mounting bracket 42 is connected to the bottom of the outer end of the connecting plate 4. A connecting rod 41 is movably inserted inside the mounting bracket 42. The top end of the connecting rod 41 is connected to the connecting plate 4 via a spring. The connecting rod 41 is a freely extendable rod. The movable end of the bottom of the connecting rod 41 is connected to the mounting bracket 42 via a spring. In its natural state, the connecting rod 41 is suspended in the mounting bracket 42, meaning that the weight of the connecting rod 41 is supported by the spring at its top. A bracket 5 is connected to the bottom of the connecting rod 41. A flexible arm 6 is installed at the bottom of the bracket 5. The flexible arm 6 is movably connected to the bracket 5 via a damping pivot and a spring, allowing the flexible arm 6 to return to its original position after being deflected by force. In its natural state, the flexible arm 6 is tilted, with its top end close to the robot body 1 and its bottom end far away from the robot body 1. The damping pivot also reduces the impact of external forces on the robot. A pull rope 7 is also connected to the top of the connecting rod 41. The other end of the pull rope 7 is connected to the second leg 3. The bottom of the second leg 3 is lowered... When the ground is in contact with the ground, the pull rope 7 is taut and the connecting rod 41 is suspended. At this time, the spring at the top of the connecting rod 41 is compressed. When the second leg 3 and the first leg 2 move and are lifted, the angle of the second leg 3 is greater than the angle of the first leg 2. The pull rope 7 passes through the second leg 3 and the corresponding fulcrum on the connecting plate 4. The second leg 3 and the connecting plate 4 are affected by the gravity of the connecting rod 41 and pulled. The top of the connecting rod 41 loses the tension of the pull rope 7. The spring at the top of the connecting rod 41 applies pressure to the connecting rod 41 and moves the connecting rod 41 downward, so that the bottom of the flexible arm 6 can contact the ground and play an auxiliary support role. At the same time, the top of the flexible arm 6 is connected by a pivot, so that the flexible arm 6 can deflect at a corresponding angle according to some external obstacles, reducing the impact of the flexible arm 6 on the operation of the intelligent inspection robot. Through the cooperation of the flexible arm 6 and the connecting plate 4, the impact of external forces such as tipping over when the intelligent inspection robot is working on the ship can be reduced, and its stability during use can be improved.

[0022] Please see Figure 4 The support 5 has a stop block 51 inside, and the top of the flexible arm 6 is connected to a ratchet 61. The top of the flexible arm 6 is connected to the support 5 through the ratchet 61, and the ratchet 61 has evenly distributed ratchet teeth on its outside. The direction of rotation of the ratchet 61 is when the ratchet teeth are deflected upward towards the flexible arm 6. The stop block 51 is located above the ratchet 61, and the top of the stop block 51 is connected by a spring. In its natural state, the bottom of the stop block 51 does not contact the ratchet 61. When the intelligent inspection robot is tilted due to the turbulence of the ship and is about to fall, the stop block 51 will move downward under the influence of gravity and inertia, and the bottom will be stuck in the ratchet 61, so that the flexible arm 6 can not continue to deflect, thereby locking the flexible arm 6 and preventing the robot from falling and causing damage. At the same time, with the cooperation of the connecting rod 41, the transmission of external vibrations to the body 1 can be reduced, achieving the effect of shock absorption.

[0023] Please see Figure 4The bottom end of the flexible arm 6 is equipped with a roller 62, which can reduce friction by rolling when in contact with the outside world, and at the same time provide support for the robot, improving the stability of the robot during inspection. The roller 62 is installed through a damping torsion spring shaft. In its natural state, the roller 62 is vertical. When the inspection robot tipes over, the deflection of the connecting shaft can buffer the external force, thereby reducing the impact of vibration on the robot. In addition, a guide arm 63 is connected to the front side of the flexible arm 6. The guide arm 63 is located on the side close to the head of the robot, and the outer end of the flexible arm 6 bends towards the middle of the body 1. When it encounters an obstacle, the guide arm 63 can guide the flexible arm 6 to deflect smoothly inward in time, avoiding the problem of the flexible arm 6 affecting the operation of the intelligent inspection robot.

[0024] The working principle of the method of use of this invention is as follows: After the intelligent inspection robot is fully charged, it starts to work. It performs inspection work on the ship according to the set path. By coordinating the mechanical structure, drive system, sensor network and intelligent control algorithm, it achieves stable walking and complex movements. Visual sensors and other devices collect relevant information and transmit it to the network. The equipped robotic arm can also open and close relevant valves according to instructions. The working principle of each component inside the body 1 can be understood by those skilled in the art from the prior art, and will not be described in detail here. When the first leg 2 and the second leg 3 move together, after the foot suction cup 31 lands and bears the weight of the robot, the buffer connecting piece 32 is compressed and shortened. The sealing block 321 blocks the air hole 311, so that the foot suction cup 31 can exert the suction cup left and right and adhere to the ship's ground. When the second leg 3 is lifted, the pressure on the buffer connecting piece 32 decreases and it extends. The sealing block 321 leaves the air hole 311, and the internal and external pressure of the foot suction cup 31 is balanced, so that... When the foot suction cup 31 can leave the deck and the second leg 3 is raised, the pull rope 7 at its top is displaced under the weight of the connecting rod 41 and the spring connected to the top of the connecting rod 41. The connecting rod 41 moves down and the soft arm 6 moves down as well, so that the distance between the roller 62 and the ground is maintained at a relatively stable value. If an obstacle is encountered, the guide arm 63 will first come into contact with the external force, and the soft arm 6 will deflect uniformly under the action of the external force, so that the soft arm 6 will not hinder the movement of the intelligent inspection robot. When the ship is greatly rocked by environmental factors such as waves, if the robot falls due to excessive tilt angle, the bottom of the soft arm 6 will first come into contact with the ground. At the same time, the stop block 51 on the tilted side will be affected by inertia and gravity and get stuck in the ratchet 61, locking the soft arm 6 and stopping the deflection of the soft arm 6. At the same time, the connecting rod 41 and the roller 62 will also move accordingly under the influence of the external force, thereby consuming the kinetic energy carried by the external force and preventing the intelligent inspection robot from falling.

[0025] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0026] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A ship intelligent inspection robot with shockproof soft arms, comprising a body (1) composed of a mechanical structure, a driving system, a sensor network and an intelligent control algorithm, the outer side of which is configured with four groups of feet composed of a first supporting leg (2) and a second supporting leg (3), characterized in that: The outer side of the first leg (2) is connected with a connecting plate body (4), the lower side of the connecting plate body (4) is connected with a support (5) through an elastic shock-absorbing component, the bottom end of the support (5) is provided with a soft arm (6), the top of the soft arm (6) is connected with a ratchet (61), the two ends of the ratchet (61) are connected on the support (5) through damping rotating shafts and springs, the inside of the support (5) is movably connected with a stop block (51), when the intelligent inspection robot falls due to the shaking of the ship, the stop block (51) is clamped in the ratchet (61) under the action of inertia, so that the soft arm (6) is locked, and the body (1) cannot fall.

2. The intelligent inspection robot with shockproof soft arms for a ship according to claim 1, characterized in that: The bottom of the second leg (3) is connected with a buffer connecting piece (32), the buffer connecting piece (32) is composed of a damping telescopic rod and a spring, the bottom end of the buffer connecting piece (32) is connected with a foot suction cup (31), the top of the foot suction cup (31) is provided with an air hole (311), the movable part of the buffer connecting piece (32) is connected with a closing block (321), when the second leg (3) contacts the ground and supports the gravity of the intelligent inspection robot, the buffer connecting piece (32) is shortened under stress, and at the same time, the closing block (321) is inserted into the air hole (311) and closes the inside of the foot suction cup (31), at this time, the foot suction cup (31) plays the role of a normal suction cup and is adsorbed on the ground, when the second leg (3) is lifted, the buffer connecting piece (32) is elongated under reduced pressure, and the closing block (321) is away from the air hole (311), at this time, the internal and external air pressure of the foot suction cup (31) is balanced and the foot suction cup (31) can easily leave the ground.

3. The intelligent inspection robot with shockproof soft arms for a ship according to claim 1, characterized in that: The lower side of the outer end of the connecting plate body (4) is connected with a mounting frame (42), the inside of the mounting frame (42) is movably inserted with a connecting rod (41), the top of the connecting rod (41) is movably connected on the connecting plate body (4) through a spring, the connecting rod (41) is a damping telescopic rod, the bottom of the connecting plate body (4) is connected on the mounting frame (42) through a telescopic spring, the bottom end of the connecting plate body (4) is also connected with the support (5), the top end of the connecting plate body (4) is connected with the second leg (3) through a pull rope (7), the pull rope (7) passes through the fulcrum on the connecting plate body (4), when the second leg (3) contacts the ground, the connecting rod (41) is in a state of being lifted, when the second leg (3) is lifted, the action angle of the foot suction cup (31) is greater than that of the first leg (2), the pull rope (7) is loosened, the connecting rod (41) moves downward under the action of the spring at the top thereof, so that the bottom end of the soft arm (6) is maintained at a stable height.

4. The intelligent inspection robot with shockproof soft arms for a ship according to claim 3, characterized in that: The top of the soft arm (6) is connected with a ratchet (61), the bottom of the soft arm (6) is connected with a roller (62), the outer side of the ratchet (61) is inclined upward to the rotation direction of the ratchet (61) when the soft arm (6) is inclined upward; the roller (62) is connected with a spring through a damping rotating shaft at the bottom of the soft arm (6), the roller (62) is in a vertical state in a natural state, the first supporting leg (2) is inclined after being subjected to external pressure and returns to the original state after the external force disappears; the front side of the soft arm (6) is connected with a guide arm (63), the guide arm (63) is bent to the middle part of the machine body (1), the soft arm (6) is inclined after being subjected to external force.

5. The intelligent inspection robot with shockproof soft arms for a ship according to claim 4, characterized in that: The stop block (51) is clamped in the ratchet (61) after being subjected to inertia and gravity, so that the soft arm (6) cannot continue to be inclined.

6. The intelligent inspection robot with shockproof soft arms for a ship according to claim 3, characterized in that: The pull rope (7) is not elastic, and the pull rope (7) passes through corresponding limiting rings on the first supporting leg (2) and the connecting plate body (4) and is connected with a teammate component on the connecting plate body (4).

7. The intelligent inspection robot with shockproof soft arms for a ship according to claim 1, characterized in that: The soft arm (6) is in an inclined state in a natural state, the top of the soft arm (6) is close to the machine body (1), and the bottom of the soft arm (6) is far away from the machine body (1).

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