Offshore unmanned platform suspension type explosion-proof multifunctional inspection robot
By designing a suspended explosion-proof multi-functional inspection robot, the safety problems of the high cost of inspection on the marine unmanned platform and the complex environment are solved, and the safe, reliable inspection and efficient inspection of the marine unmanned platform are achieved.
Patent Information
- Application Number
- CN202420368346.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-02-28
- Publication Date
- 2024-12-24
- Estimated Expiration
- 2034-02-28
AI Technical Summary
The inspection of unmanned platforms at sea is high, the workload is large and not timely, and it is difficult for ground walking robots to conduct inspections on the decks of complex equipment layouts, especially in explosion-proof areas, which are difficult to operate safely.
Design a marine unmanned platform suspended explosion-proof multi-function patrol robot, adopts inverted T-type track, servo drive motor, gimbal detection mechanism and explosion-proof box design, integrating guide wheel, load-bearing wheel, compression wheel, and anti-shake wheel and drive wheel components are equipped with visible light, infrared cameras, voiceprints and combustible gas detection equipment to ensure the robot is inspected safely in explosion-proof areas.
It realizes safe and reliable patrol of the unmanned maritime platform, and meets daily patrol needs through explosion-proof design and multi-function detection system, ensuring the smooth operation and efficient inspection of the robot in complex environments.
Smart Images
Figure CN222231734U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of inspection robots, in particular to an offshore unmanned platform suspended explosion-proof multifunctional inspection robot. Background Art
[0002] Most unmanned platforms at sea are wellhead platforms. Currently, they are mainly inspected by management personnel on a regular basis. There are problems such as high inspection costs, heavy workload, and untimely inspections. Replacing manual inspections with robots is an ideal solution to the inspection problem of unmanned platforms at sea. Considering the complexity of the equipment layout on the deck of the unmanned platform, it is difficult for ground-based walking robots to conduct inspections on the platform. This application comprehensively considers the complexity of the equipment layout on the deck of the unmanned platform, explosion protection, detection and other special requirements, and designs a suspended explosion-proof inspection robot. Utility Model Content
[0003] The technical problem to be solved by the utility model is to provide a suspended explosion-proof multifunctional inspection robot for an offshore unmanned platform, which is equipped with a variety of detection systems, meets the daily inspection needs of the offshore unmanned platform, and the inspection is safe and reliable.
[0004] The utility model is realized through the following technical solutions:
[0005] A suspended explosion-proof multifunctional inspection robot for an offshore unmanned platform comprises a track, a driving mechanism, a main body mechanism and a pan-tilt detection mechanism, wherein the track is fixedly mounted on the offshore unmanned platform, the driving mechanism runs on the track, the main body mechanism is connected to the driving mechanism via a main body connecting frame, the pan-tilt detection mechanism is connected to the main body mechanism via a pan-tilt connecting frame, the main body mechanism is provided with a main body mechanism explosion-proof box, the servo driving motor in the driving mechanism and an electric cylinder assembly for controlling the extension and retraction of the pan-tilt are fixedly mounted in the main body mechanism explosion-proof box, the pan-tilt detection mechanism is provided with a pan-tilt detection mechanism explosion-proof box, and the detection equipment of the pan-tilt detection mechanism are all installed in the pan-tilt detection mechanism explosion-proof box.
[0006] Furthermore, the track is an inverted T-shaped structure, and the driving mechanism includes a driving base plate, a guide wheel assembly, a load-bearing wheel assembly, a pressure wheel assembly, an anti-shake wheel assembly and a driving wheel assembly. The guide wheel assembly, the load-bearing wheel assembly, the pressure wheel assembly and the driving wheel assembly are all installed above the driving base plate, and the anti-shake wheel assembly is installed below the driving base plate.
[0007] Furthermore, the guide wheel assemblies are divided into four groups and form two pairs, and each pair of guide wheel assemblies clamps the guide rail from the inner and outer sides of the guide rail respectively. Each of the guide wheel assemblies includes a guide wheel, a guide wheel frame, a guide wheel arm, a spring and a limit plate. The guide wheel frame is fixedly mounted on the driving base plate, the limit plate is fixedly mounted on the top of the guide wheel frame, the guide wheel arm is mounted on the guide wheel frame through the wheel arm pin, the guide wheel is mounted on the guide wheel arm through the guide wheel shaft, the spring is installed between the guide wheel frame and the guide wheel arm, and the guide wheel clamps the guide rail under the action of the spring tension.
[0008] Furthermore, the load-bearing wheel assembly includes a load-bearing wheel and a load-bearing wheel frame, wherein the load-bearing wheel frame is fixedly mounted on the driving base plate, and the load-bearing wheel is mounted on the load-bearing wheel frame through a load-bearing wheel shaft and rolls along the horizontal planes on both sides of the guide rail.
[0009] Furthermore, the pressure wheel assembly includes a push rod frame, a pressure frame seat, a pressure wheel, a pressure frame, and a push rod. The push rod frame and the pressure frame seat are fixedly mounted on the driving base plate, the pressure frame is hinged on the pressure frame seat, the pressure wheel is mounted on the pressure frame seat, the push rod is threadedly connected and an upper adjusting nut and a lower adjusting nut are provided on the upper end of the push rod frame, and the other end of the push rod is connected to the pressure frame.
[0010] Furthermore, the anti-shake wheel assembly includes an anti-shake wheel, an anti-shake wheel arm, and an anti-shake wheel axle. The anti-shake wheel arm is installed at the bottom of the driving base plate, the anti-shake wheel axle is installed at the end of the anti-shake wheel arm, and the anti-shake wheel is installed on the anti-shake wheel axle and rolls on the bottom surface of the guide rail.
[0011] Furthermore, the driving wheel assembly includes a driving wheel, a main bearing seat, a driving wheel shaft, a main bearing seat frame, a coupling, a servo drive motor, and a main motor seat. The bearing seat frame is fixedly installed in the middle of the driving base plate, the main bearing seat is fixedly installed on the bearing seat frame and an angular contact ball bearing is installed in the main bearing seat, the main motor seat is fixedly installed in an explosion-proof box, the servo drive motor is fixedly installed on the main motor seat, the driving wheel shaft passes through the angular contact ball bearing and the lower end is connected to the output shaft of the servo drive motor through a coupling, the driving wheel is installed on the upper end of the driving wheel shaft and the wheel rim of the driving wheel is in close contact with one side of the vertical wall of the guide rail.
[0012] Furthermore, the main body mechanism includes an electric control box and a battery, the explosion-proof box cover of the main body mechanism is fixedly connected to the main body connecting frame, and the electric control box and the battery are fixedly installed in the explosion-proof box of the main body mechanism.
[0013] Further, the pan-tilt detection mechanism includes a pan-tilt body component, a detection component and an explosion-proof box for the pan-tilt detection mechanism, the explosion-proof box for the pan-tilt detection mechanism includes an explosion-proof box for the pan-tilt body component and an explosion-proof box for the detection component, the detection component includes a visible light camera, an infrared camera, a voiceprint detection mechanism and a combustible gas detection mechanism, the visible light camera, the infrared camera, the voiceprint detection mechanism and the combustible gas detection mechanism are all fixedly installed in the explosion-proof box of the detection component, the pan-tilt body component includes a rotary servo motor, a pitch servo motor, a pan-tilt rotary axis and a pan-tilt pitch axis, the upper end of the pan-tilt connecting frame is connected to the end of the electric cylinder telescopic rod of the electric cylinder assembly, the lower end of the pan-tilt connecting frame is connected to the upper end of the pan-tilt rotary axis, the rotary servo motor and the pitch servo motor are both fixedly installed in the explosion-proof box of the pan-tilt body component, the output shaft of the rotary servo motor is connected to the pan-tilt rotary axis, the output shaft of the pitch servo motor is connected to the input end of the pan-tilt pitch axis, and the explosion-proof box of the detection component is connected to the output end of the pan-tilt pitch axis.
[0014] Beneficial effects of the utility model:
[0015] The utility model provides an offshore unmanned platform suspended explosion-proof multifunctional inspection robot, which has the following advantages:
[0016] 1. The explosion-proof design is adopted, and all electrical equipment and systems are placed in corresponding explosion-proof boxes to ensure that the robot can be used for inspection of explosion-proof areas of offshore unmanned platforms.
[0017] 2. The driving wheel and the clamping wheel clamp the vertical wall of the track in the middle. By adjusting the clamping wheel, the clamping force of the driving wheel and the clamping wheel on the track can be adjusted to ensure that there is sufficient friction between the driving wheel and the wall, that is, to ensure the driving force of the robot. At the same time, the robot adopts single-wheel drive to facilitate crossing curved tracks.
[0018] 3. The load-bearing wheels and anti-shake wheels clamp the horizontal wall of the track in the middle, which can effectively reduce the vertical shaking of the robot when passing through track joints, surface bumps, etc., and increase the stability of the robot during operation.
[0019] 4. The guide wheel is tightly attached to the vertical wall of the track under the tension of the spring, ensuring that when the robot runs on the straight track, the load-bearing wheels are always symmetrical along both sides of the track, and the center of gravity of the robot is directly below the track. When turning, the guide wheel arm deflects upward, and its maximum deflection angle is limited by the limit plate to prevent the load-bearing wheels from leaving the track when the robot turns sharply. 5. The robot pan-tilt detection mechanism has the functions of telescopic, slewing, and pitching, which expands the detection range of the robot, and the telescopic, slewing, and pitching are all controlled by servo to ensure the accuracy of motion positioning.
[0020] 6. The gimbal detection mechanism integrates visible light vision collection, infrared light vision collection, voiceprint collection, combustible gas concentration collection and other functions, combined with deep learning algorithms and modern signal analysis and processing technology, basically meeting the intelligent inspection needs of offshore unmanned platforms. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] Figure 1 It is a main structural schematic diagram of the utility model.
[0022] Figure 2 It is a schematic diagram of the structure of the utility model from top view.
[0023] Figure 3 It is a left-side structural schematic diagram of the utility model.
[0024] Figure 4 It is a structural schematic diagram of the guide wheel assembly of the utility model.
[0025] Figure 5 It is a structural schematic diagram of a load-bearing wheel assembly of the utility model.
[0026] Figure 6 It is a schematic structural diagram of a clamping wheel assembly of the utility model.
[0027] Figure 7 It is a structural schematic diagram of the anti-shake wheel assembly of the utility model.
[0028] Figure 8 It is a schematic diagram of the structure of the driving wheel assembly of the utility model.
[0029] Fig. 9 It is a schematic diagram of the assembly structure of the pressure wheel assembly of the utility model.
[0030] Fig.10 It is a schematic diagram of the internal structure of the explosion-proof box of the pan / tilt body assembly of the utility model when viewed from above.
[0031] Fig.11 It is a schematic diagram of the structure of the electric cylinder assembly of the utility model.
[0032] Fig.12 It is a schematic diagram of the main structure inside the explosion-proof box of the pan / tilt body assembly of the utility model.
[0033] Fig.13 It is a schematic diagram of the main internal structure of the explosion-proof box of the utility model.
[0034] In the figure: 1, track; 2, driving mechanism; 21, guide wheel assembly; 211, guide wheel; 212, guide wheel shaft; 213, spring frame; 214, spring; 215, guide wheel frame; 216, wheel arm pin; 217, guide wheel arm; 218, limit plate; 22, load-bearing wheel assembly; 221, load-bearing wheel; 222, load-bearing wheel shaft; 223, load-bearing wheel frame; 23, clamping wheel assembly; 231, push rod frame; 232, U-shaped frame; 233 , clamping frame seat; 234, clamping wheel shaft; 235, clamping wheel; 236, clamping frame; 237, clamping frame pin; 238, push rod; 24, anti-shake wheel assembly; 241, anti-shake wheel; 242, anti-shake wheel arm; 243, anti-shake wheel shaft; 25, driving wheel assembly; 251, driving wheel; 252, main bearing seat; 253, large round nut; 254, driving wheel shaft; 255, main bearing seat frame; 256, coupling; 257, servo drive motor machine; 258, main motor base; 26, drive bottom plate; 3, main body; 31, main body explosion-proof box; 32, electric cylinder assembly; 321, electric cylinder base; 322, electric cylinder servo motor; 323, electric cylinder body; 324, electric cylinder telescopic rod; 33, main body explosion-proof box cover; 34, mounting frame; 35, wiring tube; 36, electric control box; 37, battery; 4, pan / tilt detection mechanism; 41, pan / tilt main body assembly; 411, pan / tilt rotary axis; 41 2. The pan-tilt axis; 413. The rotary servo motor; 414. The pitch servo motor; 415. The rotary servo motor seat; 416. The rotary connecting flange; 417. The rotary bearing seat; 42. The detection component; 421. The visible light camera; 422. The infrared camera; 423. The voiceprint detection mechanism; 424. The combustible gas detection mechanism; 43. The explosion-proof box of the pan-tilt body assembly; 44. The explosion-proof box of the detection component; 5. The body connecting frame; 6. The pan-tilt connecting frame. DETAILED DESCRIPTION
[0035] An offshore unmanned platform suspended explosion-proof multifunctional inspection robot, the specific structure of which is shown in the figure Figure 1-Figure 3 As shown, it includes a track 1, a driving mechanism 2, a main body mechanism 3 and a pan-tilt detection mechanism 4. The specific connection methods of each mechanism are as follows: the driving mechanism runs on the track, the track is an inverted T-shaped structure fixedly installed on an unmanned offshore platform, the main body connecting frame 5 connects the driving mechanism and the main body mechanism, and the pan-tilt connection frame 6 connects the main body mechanism and the pan-tilt detection mechanism.
[0036] The specific implementation methods of each institution are as follows:
[0037] The driving mechanism includes four sets of guide wheel assemblies 21, four sets of load-bearing wheel assemblies 22, one set of clamping wheel assembly 23, two sets of anti-shake wheel assemblies 24, one set of driving wheel assembly 25 and a driving bottom plate 26. The guide wheel assembly, the load-bearing wheel assembly, the clamping wheel assembly and the driving wheel assembly are all installed above the driving bottom plate, the two sets of anti-shake wheel assemblies are respectively installed below the two ends of the driving bottom plate, and the two sets of body connecting frames are symmetrically installed below the driving bottom plate.
[0038] The guide wheel assembly includes a guide wheel 211, a guide wheel shaft 212, a spring frame 213, a spring 214, a guide wheel frame 215, a wheel arm pin 216, a guide wheel arm 217, and a limit plate 218. The guide wheel has a built-in bearing and is connected to the front end of the guide wheel arm through the guide wheel shaft. Both ends of the guide wheel shaft are fixed by anti-loosening nuts. The guide wheel arm is hinged to the guide wheel frame through the wheel arm pin. The limit plate is fixed to the top of the guide wheel frame by two bolts. Two L-shaped spring frames are respectively fixed to the lower side of the guide wheel arm and the right side of the guide wheel frame by two bolts, and two springs are respectively fixed between the two spring frames by hooks at both ends. The specific structural schematic diagram of the guide wheel assembly is shown as follows. Figure 4 shown.
[0039] Two sets of guide wheel assemblies are symmetrically arranged in front and behind the robot driving mechanism, and are fixed to the driving bottom plate through the base of the guide wheel frame and bolts and nuts. The guide wheels of the two sets of guide wheel assemblies in front and behind the driving mechanism clamp the vertical wall of the guide rail in the middle under the action of spring tension. The guide wheels are tightly attached to the vertical wall of the track under the tension of the spring, ensuring that when the robot runs on a straight track, the four load-bearing wheels are always symmetrical along both sides of the track, and the center of gravity of the robot is directly below the track. When turning, the guide wheel arm deflects upward, and its maximum deflection angle is limited by the limit plate to prevent the load-bearing wheels of the robot from leaving the track when turning sharply.
[0040] The load-bearing wheel assembly includes a load-bearing wheel 221, a load-bearing wheel shaft 222, and a load-bearing wheel frame 223. The load-bearing wheel has a built-in bearing and is connected to the load-bearing wheel frame through the load-bearing wheel shaft. Both ends of the load-bearing wheel shaft are fixed by anti-loosening nuts. The four groups of load-bearing wheel assemblies are symmetrically distributed on the driving base plate in front and back and left and right directions. They are all fixed to the driving base plate through the base of the load-bearing wheel frame and bolts and nuts. The four load-bearing wheels roll on the horizontal planes on both sides of the guide rail. The specific structural diagram of the load-bearing wheel assembly is shown in the figure below. Figure 5 shown.
[0041] The clamping wheel assembly includes a push rod frame 231, a U-shaped frame 232, a clamping frame seat 233, a clamping wheel shaft 234, a clamping wheel 235, a clamping frame 236, a clamping frame pin 237 and a push rod 238. The clamping wheel has a built-in bearing, and the two clamping wheels are connected to the clamping frame through the clamping wheel shafts, and the two ends of the clamping wheel shafts are fixed by anti-loosening nuts. The two side arms of the clamping frame are respectively hinged to a clamping frame seat through two clamping frame pins, and one end of the clamping frame pin is fixed by an anti-loosening nut. The bottom of the clamping frame seat is fixed to the upper side plate of the U-shaped frame by bolts and nuts. The lower side plate of the U-shaped frame is fixed to the middle of the driving bottom plate by bolts and nuts. One end of the push rod is a fork-shaped structure, and is connected to the middle hole of the clamping frame through the push rod pin, and the two ends of the push rod pin are fixed by nuts. The other end of the push rod is a threaded structure, and is fixed to the upper end of the push rod frame by two nuts. The base of the push rod frame is fixed to the driving bottom plate by bolts and nuts. The rims of the two clamping wheels are in close contact with one side of the vertical wall of the guide rail. The clamping force between the clamping wheels and the vertical wall of the guide rail can be adjusted by the two adjusting nuts at the threaded end of the push rod. Figure 6 and Fig. 9 shown.
[0042] The anti-shake wheel assembly includes an anti-shake wheel 241, an anti-shake wheel arm 242, and an anti-shake wheel shaft 243. The anti-shake wheel shaft has a built-in bearing, which is placed in a fork-shaped structure at one end of the anti-shake wheel arm and is fixed to one end of the anti-shake wheel arm through the anti-shake wheel shaft. The anti-shake wheel arms of the two sets of anti-shake wheel assemblies are respectively installed at the bottom of the front and rear of the driving base plate and fixed by bolts and nuts. The anti-shake wheel rolls on the bottom surface of the guide rail. The specific schematic diagram of the anti-shake wheel assembly structure is shown in FIG. Figure 7 shown.
[0043] The driving wheel assembly is composed of a driving wheel 251, a main bearing seat 252, a large round nut 253, a driving wheel shaft 254, a main bearing seat frame 255, a coupling 256, a servo drive motor 257, and a main motor seat 258. One end of the driving wheel shaft passes through the center hole of the driving wheel, and is positioned by a shaft shoulder, and is fastened and prevented from loosening by two large round nuts. The other end of the driving wheel shaft passes through two angular contact ball bearings, and is positioned by a shaft shoulder, and is fastened and prevented from loosening by two large round nuts. The lower end of the driving wheel shaft is connected to the output shaft of the servo drive motor through a coupling. Two angular contact ball bearings are placed in the main bearing seat, and the flange edge of the main bearing seat is fixed to the main bearing seat frame by bolts and nuts. The main bearing seat frame is fixed to the middle of the driving base plate by bolts and nuts. The rim of the driving wheel is in close contact with one side of the vertical wall of the guide rail. The rims of the driving wheel and the rims of the two clamping wheels sandwich the vertical wall of the guide rail. The two nuts at the threaded end of the push rod adjust the clamping force between the clamping wheel and the driving wheel on the vertical wall of the guide rail to ensure sufficient friction of the driving wheel. Figure 8 shown.
[0044] The driving wheel and the clamping wheel of the present application clamp the vertical wall of the track in the middle. By adjusting the clamping wheel, the clamping force of the driving wheel and the clamping wheel on the track can be adjusted to ensure sufficient friction between the driving wheel and the wall, that is, to ensure the driving force of the robot. At the same time, the robot adopts a single-wheel drive, which is convenient for crossing curved tracks. The load-bearing wheel and the anti-shake wheel clamp the horizontal wall of the track in the middle, which can effectively reduce the vertical shaking of the robot when passing through track joints, surface bumps, etc., and increase the stability of the robot during operation.
[0045] The main body mechanism is connected to the driving mechanism through a main body connecting frame, and the pan-tilt detection mechanism is connected to the main body mechanism through a pan-tilt connecting frame. The main body mechanism is provided with a main body mechanism explosion-proof box, and the servo drive motor in the driving mechanism and the electric cylinder assembly for controlling the extension and retraction of the pan-tilt are fixedly installed in the main body mechanism explosion-proof box. The pan-tilt detection mechanism is provided with a pan-tilt detection mechanism explosion-proof box, and the detection equipment of the pan-tilt detection mechanism is all installed in the pan-tilt detection mechanism explosion-proof box.
[0046] Specifically, the main body includes a main body explosion-proof box 31, an electric cylinder assembly 32, a main body explosion-proof box cover 33, a mounting frame 34, a wiring tube 35, an electric control box 36, and a battery 37. The servo drive motor is fixed to the upper plane of the main motor seat by bolts. The servo drive motor and the main motor seat are both placed in the main body explosion-proof box. The output shaft of the servo drive motor passes through the shaft hole of the main body explosion-proof box cover to output torque to the outside. The bottom of the main motor seat is fixed to the two mounting frames by bolts and nuts. The mounting frame is a U-shaped structure, and its two ends are fixed to the left and right walls of the main body explosion-proof box by bolts and nuts. The electric cylinder assembly includes an electric cylinder base 321, an electric cylinder servo motor 322, an electric cylinder body 323, and an electric cylinder telescopic rod 324. The electric cylinder assembly is placed in the main body explosion-proof box and is fixed to the bottom of the main body explosion-proof box cover by the electric cylinder base and bolts and nuts. The electric cylinder telescopic rod passes through the output hole at the bottom of the main body explosion-proof box to control the telescopic movement of the pan / tilt. The two groups of batteries are symmetrically placed in the lower part of the explosion-proof box of the main body mechanism, and the bottoms are fixed to the bottom of the explosion-proof box of the main body mechanism by bolts and nuts. The two groups of electric control boxes are symmetrically placed in the upper part of the explosion-proof box of the main body mechanism, and the two end faces of the electric control boxes are fixed to the two side walls of the explosion-proof box of the main body mechanism by bolts and nuts. The wiring tube passes through the circular holes at both ends of the electric control box, and the flange edge of the wiring tube is fixed to the electric control box by bolts and nuts. The electric control box cover is fixed to the electric control box by bolts and nuts. The main body mechanism is an explosion-proof box structure, and the explosion-proof box cover of the main body mechanism is connected to the bottom of the two body connecting frames of the driving mechanism and fixed by bolts and nuts. To ensure the explosion-proof function of the inspection robot, the robot can be used for inspection of explosion-proof areas of unmanned offshore platforms. The specific schematic diagram of the internal structure of the explosion-proof box of the main body mechanism is as follows. Fig.13 , the schematic diagram of the electric cylinder assembly structure is as follows Fig.11 shown.
[0047] The gimbal detection mechanism includes a gimbal body component 41, a detection component 42, a gimbal body component explosion-proof box 43 and a detection component explosion-proof box 44. The gimbal body component includes a rotary servo motor 413, a pitch servo motor 414, a gimbal rotary shaft 411 and a gimbal pitch shaft 412. The upper end of the gimbal connecting frame is connected to the end of the electric cylinder telescopic rod of the electric cylinder assembly, and the lower end of the gimbal connecting frame is connected to the upper end of the gimbal rotary shaft. The rotary servo motor and the pitch servo motor are both fixedly installed in the gimbal body explosion-proof box, the output shaft of the rotary servo motor is connected to the gimbal rotary shaft, the output shaft of the pitch servo motor is connected to the gimbal pitch shaft, the output shaft of the pitch servo motor is connected to the input end of the gimbal pitch shaft, and the detection component explosion-proof box is connected to the output end of the gimbal pitch shaft.
[0048] As a specific implementation, the bottom end of the rotary servo motor is fixed to the rotary servo motor seat 415 by bolts, and the rotary servo motor seat is fixed to the bottom plate of the explosion-proof box of the gimbal body assembly by bolts and nuts. The output shaft of the rotary servo motor is fixed to the bottom of the rotary bearing seat 417 by a rotary connecting flange 416 and bolts. The rotary bearing seat has two built-in angular contact ball bearings, and the inner ring of the bearing is sleeved on the gimbal rotary shaft and positioned by a shoulder and a retaining spring. The upper end of the gimbal rotary shaft passes through the center hole of the lower frame of the gimbal connecting frame and is positioned by a shoulder and a nut. The output shaft of the pitch servo motor is connected to the input end of the gimbal pitch axis through a gear transmission mechanism, and its installation method is similar to that of the rotary servo motor. The detection assembly explosion-proof box can be connected to the output end of the gimbal pitch axis through a sleeve flange. A specific schematic diagram of the internal structure of the gimbal body assembly explosion-proof box is shown as follows. Fig.10 , Fig.12 shown.
[0049] The pan / tilt platform of the present application has functions such as telescopic, swivel, and pitch, which expands the detection range of the robot, and the telescopic, swivel, and pitch are all controlled by servo to ensure the accuracy of motion positioning.
[0050] The detection component includes a visible light camera 421, an infrared camera 422, a voiceprint detection mechanism 423 and a combustible gas detection mechanism 424, which are all fixedly installed in the explosion-proof box of the detection component, wherein the visible light camera and the infrared camera can be installed in one explosion-proof box of the detection component for visual detection, and the voiceprint detection mechanism and the combustible gas detection mechanism can be installed in another explosion-proof box of the detection component for voiceprint and combustible gas concentration detection. Since the detection component integrates the functions of visible light visual acquisition, infrared light visual acquisition, voiceprint acquisition, combustible gas concentration acquisition, etc., combined with deep learning algorithms and modern signal analysis and processing technology, it can basically meet the intelligent inspection needs of unmanned platforms at sea.
[0051] To sum up, the utility model proposes a suspended explosion-proof multifunctional inspection robot for an offshore unmanned platform, whose driving mechanism includes a guide wheel assembly, a load-bearing wheel group, a clamping wheel group, an anti-shake wheel assembly and a driving wheel assembly, and is equipped with a variety of detection systems, and the main electrical equipment are placed in an explosion-proof box, which meets the daily inspection needs of offshore unmanned platforms, and the inspection is safe and reliable.
[0052] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.
Claims
1. An offshore unmanned platform suspended explosion-proof multifunctional inspection robot, characterized in that: It includes a track, a driving mechanism, a main body mechanism and a pan-tilt detection mechanism, the track is fixedly installed on an unmanned offshore platform, the driving mechanism runs on the track, the main body mechanism is connected to the driving mechanism through a main body connecting frame, the pan-tilt detection mechanism is connected to the main body mechanism through a pan-tilt connecting frame, the main body mechanism is provided with a main body mechanism explosion-proof box, the servo driving motor in the driving mechanism and the electric cylinder assembly for controlling the extension and retraction of the pan-tilt are fixedly installed in the main body mechanism explosion-proof box, the pan-tilt detection mechanism is provided with a pan-tilt detection mechanism explosion-proof box, and the detection equipment of the pan-tilt detection mechanism is all installed in the pan-tilt detection mechanism explosion-proof box.
2. The offshore unmanned platform suspended explosion-proof multifunctional inspection robot according to claim 1, characterized in that: The track is an inverted T-shaped structure, and the driving mechanism includes a driving base plate, a guide wheel assembly, a load-bearing wheel assembly, a pressure wheel assembly, an anti-shake wheel assembly and a driving wheel assembly. The guide wheel assembly, the load-bearing wheel assembly, the pressure wheel assembly and the driving wheel assembly are all installed above the driving base plate, and the anti-shake wheel assembly is installed below the driving base plate.
3. The offshore unmanned platform suspended explosion-proof multifunctional inspection robot according to claim 2, characterized in that: The guide wheel assemblies are divided into four groups and form two pairs. Each pair of guide wheel assemblies clamps the guide rail from the inner and outer sides of the guide rail respectively. Each guide wheel assembly includes a guide wheel, a guide wheel frame, a guide wheel arm, a spring and a limit plate. The guide wheel frame is fixedly mounted on the driving base plate, the limit plate is fixedly mounted on the top of the guide wheel frame, the guide wheel arm is mounted on the guide wheel frame through a wheel arm pin, the guide wheel is mounted on the guide wheel arm through a guide wheel shaft, the spring is installed between the guide wheel frame and the guide wheel arm, and the guide wheel clamps the guide rail under the action of the spring tension.
4. The offshore unmanned platform suspended explosion-proof multifunctional inspection robot according to claim 2, characterized in that: The load-bearing wheel assembly comprises a load-bearing wheel and a load-bearing wheel frame, wherein the load-bearing wheel frame is fixedly mounted on a driving bottom plate, and the load-bearing wheel is mounted on the load-bearing wheel frame via a load-bearing wheel axle and rolls along the horizontal planes on both sides of the guide rail.
5. The offshore unmanned platform suspended explosion-proof multifunctional inspection robot according to claim 2, characterized in that: The pressure wheel assembly includes a push rod frame, a pressure frame seat, a pressure wheel, a pressure frame, and a push rod. The push rod frame and the pressure frame seat are fixedly mounted on the driving base plate, the pressure frame is hinged on the pressure frame seat, the pressure wheel is mounted on the pressure frame seat, the push rod is threadedly connected and an upper adjusting nut and a lower adjusting nut are provided on the upper end of the push rod frame, and the other end of the push rod is connected to the pressure frame.
6. The offshore unmanned platform suspended explosion-proof multifunctional inspection robot according to claim 2, characterized in that: The anti-shake wheel assembly includes an anti-shake wheel, an anti-shake wheel arm, and an anti-shake wheel shaft. The anti-shake wheel arm is installed at the bottom of the driving base plate, the anti-shake wheel shaft is installed at the end of the anti-shake wheel arm, and the anti-shake wheel is installed on the anti-shake wheel shaft and rolls on the bottom surface of the guide rail.
7. The offshore unmanned platform suspended explosion-proof multifunctional inspection robot according to claim 2, characterized in that: The driving wheel assembly includes a driving wheel, a main bearing seat, a driving wheel shaft, a main bearing seat frame, a coupling, a servo drive motor, and a main motor seat. The bearing seat frame is fixedly installed in the middle of the driving base plate, the main bearing seat is fixedly installed on the bearing seat frame and an angular contact ball bearing is installed in the main bearing seat, the main motor seat is fixedly installed in an explosion-proof box, the servo drive motor is fixedly installed on the main motor seat, the driving wheel shaft passes through the angular contact ball bearing and the lower end is connected to the output shaft of the servo drive motor through a coupling, the driving wheel is installed at the upper end of the driving wheel shaft and the wheel rim of the driving wheel is in close contact with one side of the vertical wall of the guide rail.
8. The offshore unmanned platform suspended explosion-proof multifunctional inspection robot according to claim 1, characterized in that: The main body mechanism comprises an electric control box and a battery. The explosion-proof box cover of the main body mechanism is fixedly connected to the main body connecting frame. The electric control box and the battery are fixedly installed in the explosion-proof box of the main body mechanism.
9. The offshore unmanned platform suspended explosion-proof multifunctional inspection robot according to claim 1, characterized in that: The pan-tilt detection mechanism includes a pan-tilt body component, a detection component and an explosion-proof box for the pan-tilt detection mechanism, the explosion-proof box for the pan-tilt detection mechanism includes an explosion-proof box for the pan-tilt body component and an explosion-proof box for the detection component, the detection component includes a visible light camera, an infrared camera, a voiceprint detection mechanism and a combustible gas detection mechanism, the visible light camera, the infrared camera, the voiceprint detection mechanism and the combustible gas detection mechanism are all fixedly installed in the explosion-proof box of the detection component, the pan-tilt body component includes a rotary servo motor, a pitch servo motor, a pan-tilt rotary axis and a pan-tilt pitch axis, the upper end of the pan-tilt connecting frame is connected to the end of the electric cylinder telescopic rod of the electric cylinder assembly, the lower end of the pan-tilt connecting frame is connected to the upper end of the pan-tilt rotary axis, the rotary servo motor and the pitch servo motor are both fixedly installed in the explosion-proof box of the pan-tilt body component, the output shaft of the rotary servo motor is connected to the pan-tilt rotary axis, the output shaft of the pitch servo motor is connected to the input end of the pan-tilt pitch axis, and the explosion-proof box of the detection component is connected to the output end of the pan-tilt pitch axis.