Inspection robot
By designing a patrol robot platform with mobile wheels and collection and execution components, the problem of traditional patrol robots being restricted by tracks is solved, and efficient and stable patrol operations in the power station environment are achieved, reducing costs.
Patent Information
- Application Number
- CN202420986049.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-08
- Publication Date
- 2024-12-31
- Estimated Expiration
- 2034-05-08
AI Technical Summary
The use of traditional fixed-rail inspection robots in power station environments has limitations and is limited by inspection tracks, which increases costs and reduces efficiency.
A patrol robot is designed, including a patrol platform, a collection component and an execution component, free movement is achieved through a moving base and multiple moving wheels, avoiding patrol track restrictions, and setting distances of the first and second bearing tables The difference ensures the stability and low center of gravity of the acquisition components, improving stability.
It realizes stable and reliable movement and inspection operations of inspection robots in power station environments, increases the scope of use, reduces costs, and improves inspection efficiency.
Smart Images
Figure CN222270317U_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the technical field of power station inspection, and in particular, to an inspection robot. Background Art
[0002] Power stations have a variety of large electrical equipment, such as distribution cabinets and distribution boxes. In order to prevent safety hazards caused by equipment failure, electrical equipment needs to be inspected regularly. However, during the inspection process, due to the influence of the power station environment, inspectors are exposed to certain safety risks. In related technologies, inspection robots have been used to partially replace manual labor to complete the inspection of electrical equipment.
[0003] In order to ensure that the inspection robot can perform inspection operations stably and reliably, an inspection track is usually laid out in the power station environment, and the inspection track is used for the inspection robot to perform inspection operations according to the set track. The use of traditional fixed-track inspection robots has great limitations. In addition, the pre-layout of a large number of inspection tracks in the power station environment undoubtedly increases the cost of using the inspection robot, and also reduces the efficiency of inspection to a certain extent.
[0004] Therefore, there is an urgent need to provide a new technical solution for inspection robots, so as to increase the scope of use of the inspection robots while ensuring that the inspection robots can stably and reliably perform inspection operations, avoid the inspection robots being restricted by inspection tracks, and at the same time improve the inspection efficiency and reduce the use cost of the inspection robots. Utility Model Content
[0005] The purpose of the present disclosure is to provide a patrol robot that can increase the scope of use of the patrol robot while ensuring that the patrol robot can stably and reliably perform patrol operations, avoid the patrol robot being restricted by patrol tracks, and at the same time improve the patrol efficiency and reduce the cost of using the patrol robot, so as to at least partially solve related technical problems.
[0006] In order to achieve the above-mentioned object, according to one embodiment of the present disclosure, a patrol robot is provided. The patrol robot comprises:
[0007] The inspection platform comprises a first platform body and a second platform body respectively arranged in a horizontal direction, wherein a first bearing surface is formed or arranged on the top of the first platform body, and a second bearing surface is formed or arranged on the top of the second platform body;
[0008] The inspection mechanism comprises a collection component and an execution component, wherein the collection component is arranged on the first bearing surface to collect image information of the device to be inspected, and the execution component comprises an inspection robot arm, wherein the inspection robot arm is arranged on the second bearing surface to realize grabbing and / or pressing operations; and
[0009] The mobile mechanism includes a mobile base and a plurality of mobile wheels arranged at the bottom of the mobile base, the mobile base is connected to the bottom of the inspection platform to drive the inspection platform to move through the mobile wheels, and the distance between the first bearing surface and the mobile base is greater than the distance between the second bearing surface and the mobile base.
[0010] Optionally, the acquisition component includes a first acquisition component and a pan-tilt platform, and the first acquisition component is connected to the first bearing table through the pan-tilt platform.
[0011] Optionally, the first acquisition component includes two cameras, the two cameras are arranged side by side and have opposite shooting directions.
[0012] Optionally, the execution assembly further includes a first mounting base, the inspection robot arm is connected to the second bearing table via the first mounting base, and the first mounting base can rotate in a circumferential direction.
[0013] Optionally, the inspection robot arm includes a first arm body, a second arm body and an execution structure, the first arm body has a first end and a second end relatively set in its length direction, the first end is rotatably connected to the first mounting base, the second arm body has a third end and a fourth end relatively set in its length direction, the third end is rotatably connected to the second end, and the execution structure is connected to the fourth end of the second arm body.
[0014] Optionally, the execution structure includes a second mounting base and a second collecting member and an execution member provided on the surface of the second mounting base, and the second mounting base is connected to the fourth end of the second arm body.
[0015] Optionally, the actuator includes a first plate body and a second plate body, and the first plate body and the second plate body are both movably connected to the second mounting base so as to be able to move closer to or away from each other and to be pressed down or lifted up following the inspection robot arm.
[0016] Optionally, the moving mechanism further includes an object sensor, which is disposed on the moving base to sense obstacles in the moving direction of the moving base.
[0017] Optionally, the first platform includes a first box forming the first bearing surface, a second box connected to the movable base, and a third box connected between the first box and the second box, the first box, the second box and the third box enclose a working area, and a workbench is provided on the end surface of the second box facing the first box, and the workbench is used to set a human-computer interaction structure.
[0018] Optionally, an opening area is provided on the third box body, and the inspection mechanism further includes a gas detection component provided inside the third box body, and the gas detection component is used to detect environmental information in the power station environment through the opening area.
[0019] Through the above technical solution, i.e., the inspection robot, on the one hand, the multiple moving wheels arranged at the bottom of the mobile base can drive the inspection platform to move freely, avoiding the limitation of the inspection track in the related technology, and increasing the use scope of the inspection robot. At the same time, since it avoids the need to lay the inspection track in the early stage for the inspection robot to travel, the inspection robot provided by the present disclosure also improves the inspection efficiency and reduces the use cost of the inspection robot. On the other hand, in order to ensure that the inspection robot can still move stably and reliably to perform inspection operations after leaving the inspection track, the distance between the first bearing table and the mobile base is controlled to be greater than the distance between the second bearing table and the mobile base in the present technical solution, that is, the height of the second table is lower than the first table, and the inspection robot arm is placed on the second table with a lower height. Such a setting method can avoid the field of view of the collection component on the first bearing table being affected, and can also ensure that the center of gravity of the inspection robot is lower when it moves, thereby improving the stability of the inspection robot.
[0020] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:
[0022] Figure 1 is a first structural schematic diagram of an inspection robot provided according to an embodiment of the present disclosure;
[0023] Figure 2 is a second structural schematic diagram of the inspection robot provided according to an embodiment of the present disclosure;
[0024] Figure 3 It is a structural diagram of an execution component provided according to an embodiment of the present disclosure.
[0025] Description of Reference Numerals
[0026] 100. Inspection robot;
[0027] 1. Inspection platform; 11. First platform; 111. First bearing surface; 112. First box; 113. Second box; 114. Third box; 1141. Opening area; 115. Working area; 116. Working table; 12. Second platform; 121. Second bearing surface;
[0028] 2. Inspection agencies;
[0029] 21. Collection component; 211. First collection component; 212. PTZ;
[0030] 22. Execution component;
[0031] 221. Inspection robot arm;
[0032] 2211, first arm;
[0033] 2212, second arm;
[0034] 2213, execution structure; 2213a, second mounting base; 2213b, execution member; 2213c, second collection member; 2213d, first plate body; 2213e, second plate body;
[0035] 222, a first mounting base;
[0036] 3. Moving mechanism; 31. Moving base; 32. Moving wheel;
[0037] 4. Object sensor. DETAILED DESCRIPTION
[0038] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.
[0039] In the present disclosure, unless otherwise specified, “inside and outside” refer to the inside and outside of the corresponding component outline; in addition, it should be noted that the terms used, such as “first, second”, etc., are used to distinguish one element from another.
[0040] According to one embodiment of the present disclosure, Figure 1As shown, a patrol robot 100 is provided. The patrol robot 100 may include a patrol platform 1, a patrol mechanism 2 and a mobile mechanism 3. The patrol platform 1 may include a first platform 11 and a second platform 12 respectively arranged in the horizontal direction. A first bearing table 111 is formed or provided on the top of the first platform 11. A second bearing table 121 is formed or provided on the top of the second platform 12. The patrol mechanism 2 may include a collection component 21 and an execution component 22. The collection component 21 is arranged on the first bearing table 111 to collect image information of the device to be detected. The execution component 22 includes a patrol robot arm 221. The patrol robot arm 221 is arranged on the second bearing table 121 to realize the grabbing and / or pressing operation. The mobile mechanism 3 may include a mobile base 31 and a plurality of mobile wheels 32 arranged at the bottom of the mobile base 31. The mobile base 31 is connected to the bottom of the patrol platform 1 to drive the patrol platform 1 to move through the mobile wheels 32. The distance between the first carrying platform 111 and the moving base 31 is greater than the distance between the second carrying platform 121 and the moving base 31 .
[0041] In the technical solution provided by the embodiment of the present disclosure, on the one hand, the multiple moving wheels 32 arranged at the bottom of the mobile base 31 can drive the inspection platform 1 to move freely, avoiding the limitation of the inspection track in the related art, and increasing the use scope of the inspection robot 100. At the same time, since the inspection track is avoided to be laid in the early stage for the inspection robot 100 to travel, the inspection robot 100 provided by the present disclosure also improves the inspection efficiency and reduces the use cost of the inspection robot 100. On the other hand, in order to ensure that the inspection robot 100 can still move stably and reliably for inspection after leaving the inspection track, in the present technical solution, the distance between the first bearing table 111 and the mobile base 31 is controlled to be greater than the distance between the second bearing table 121 and the mobile base 31, that is, the height of the second platform 12 is lower than the first platform 11, and the inspection robot arm is placed on the second platform with a lower height. Such a setting method can avoid the field of view of the collection component 21 on the first bearing table 111 being affected, and can also ensure that the center of gravity of the inspection robot 100 is lower when moving, thereby improving the stability of the inspection robot 100.
[0042] In some embodiments, Figure 1 and Figure 2As shown, the acquisition component 21 may include a first acquisition component 211 and a pan-tilt head 212. The first acquisition component 211 is connected to the first bearing table 111 through the pan-tilt head 212. The provision of the pan-tilt head 212 can improve the stability of the first acquisition component 211 during acquisition, and further enables the first acquisition component 211 to acquire clearer image information. For example, the first acquisition component 211 may include a camera. The camera may be an infrared camera, a visible light camera, etc., which is not limited here, and those skilled in the art may design and select according to actual conditions. Optionally, the number of cameras may be two, and the two cameras are arranged side by side and in opposite directions. One of the cameras may be an infrared camera, and one of the cameras may be a visible light camera. Such an arrangement can improve the reliability of acquisition by the acquisition component 21.
[0043] In some embodiments, Figure 1 , Figure 2 and Figure 3 As shown, the execution assembly 22 may further include a first mounting base 222. The inspection robot arm 221 is connected to the second bearing table 121 via the first mounting base 222. The first mounting base 222 can rotate in a circumferential direction. The provision of the first mounting base 222 can increase the execution range of the inspection robot arm 221, and effectively improve the reliability of the inspection robot 100. For example, the first mounting base 222 may be configured as a turntable.
[0044] In some embodiments, Figure 3 As shown, the inspection robot arm 221 may include a first arm body 2211, a second arm body 2212 and an execution structure 2213. The first arm body 2211 has a first end and a second end that are relatively arranged in its length direction. The first end is rotatably connected to the first mounting base 222. The second arm body 2212 has a third end and a fourth end that are relatively arranged in its length direction. The third end is rotatably connected to the second end. The execution structure 2213 is connected to the fourth end of the second arm body 2212. In this embodiment, the first mounting base 222 can rotate in a circumferential direction, the first arm body 2211 and the second arm body 2212 are rotatably connected, and the second arm body 2212 and the execution structure 2213 are rotatably connected. Such a setting method can effectively improve the execution range of the inspection robot arm 221 and effectively improve the reliability of the inspection robot 100.
[0045] In some embodiments, Figure 3As shown, the execution structure 2213 may include a second mounting base 2213a and a second acquisition member 2213c and an execution member 2213b disposed on the surface of the second mounting base 2213a. The second mounting base 2213a is connected to the fourth end of the second arm 2212. The second acquisition member 2213c may be a camera. The setting of the second acquisition member 2213c can achieve the purpose of checking the execution operation of the execution member 2213b to ensure that the execution member 2213b can reliably perform the corresponding inspection operation. In a specific application scenario, the execution member 2213b can be used to perform an opening or closing operation on an air switch on a distribution cabinet in a power station environment, and the second acquisition member 2213c can be used to collect images of the distribution cabinet to determine whether the operation of the execution member 2213b on the air switch is completed.
[0046] In some embodiments, Figure 3 As shown, the actuator 2213b may include a first plate 2213d and a second plate 2213e. The first plate 2213d and the second plate 2213e are both movably connected to the second mounting base 2213a so as to be able to move closer to or farther from each other and to press down or lift following the inspection robot 221. The actuator 2213b is implemented by the first plate 2213d and the second plate 2213e, so that the structure is simple and the operation is convenient.
[0047] In some embodiments, Figure 2 As shown, the mobile mechanism 3 also includes an object sensor 4. The object sensor 4 is provided on the mobile base 31 to sense obstacles in the moving direction of the mobile base 31. For example, the object sensor 4 can be a single-point laser radar. The provision of the object sensor 4 can further improve the reliability of the inspection robot 100 when in use, and avoid the corresponding obstacles in the power station environment interfering with the normal movement of the inspection robot 100.
[0048] In some embodiments, Figure 1 and Figure 2 As shown, the first platform 11 may include a first box 112 forming a first bearing table 111, a second box 113 connected to the mobile base 31, and a third box 114 connected between the first box 112 and the second box 113. The first box 112, the second box 113 and the third box 114 enclose a working area 115. A workbench 116 is provided on the end surface of the second box 113 facing the first box 112. The workbench 116 is used to set a human-computer interaction structure. Such an arrangement of the first platform 11 is compact and reasonable. Among them, the human-computer interaction structure may include a touch display panel for displaying or inputting instructions.
[0049] In some embodiments, a control component is further provided in the third box 114. The control component is used to control the inspection mechanism 2 to work. Accordingly, the human-machine interaction structure may also include a remote controller. The remote controller is separately provided from the inspection mechanism 2 and is in communication connection with the control component.
[0050] In some embodiments, Figure 2 As shown, the third box 114 may also be provided with an opening area 1141. The inspection mechanism 2 may also include a gas detection component disposed inside the third box 114. (Not shown in the figure). The gas detection component is used to detect environmental information in the power station environment through the opening area 1141. For example, the environmental information may be the temperature, humidity and PM value in the power station environment.
[0051] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.
[0052] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.
[0053] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.
Claims
1. A patrol robot, characterized in that: include: The inspection platform comprises a first platform body and a second platform body respectively arranged in a horizontal direction, wherein a first bearing surface is formed or arranged on the top of the first platform body, and a second bearing surface is formed or arranged on the top of the second platform body; The inspection mechanism comprises a collection component and an execution component, wherein the collection component is arranged on the first bearing table to collect image information of the device to be inspected, and the execution component comprises an inspection robot arm, wherein the inspection robot arm is arranged on the second bearing table to realize grabbing and / or pressing operations; as well as The mobile mechanism includes a mobile base and a plurality of mobile wheels arranged at the bottom of the mobile base, the mobile base is connected to the bottom of the inspection platform to drive the inspection platform to move through the mobile wheels, and the distance between the first bearing surface and the mobile base is greater than the distance between the second bearing surface and the mobile base.
2. The inspection robot according to claim 1, characterized in that: The collection component includes a first collection piece and a pan-tilt platform, and the first collection piece is connected to the first bearing table through the pan-tilt platform.
3. The inspection robot according to claim 2, characterized in that: The first acquisition component includes two cameras, which are arranged side by side and have opposite shooting directions.
4. The inspection robot according to claim 1, characterized in that: The execution assembly further includes a first mounting base, the inspection robot arm is connected to the second bearing table via the first mounting base, and the first mounting base can rotate in a circumferential direction.
5. The inspection robot according to claim 4, characterized in that: The inspection robot arm includes a first arm body, a second arm body and an execution structure. The first arm body has a first end and a second end that are relatively set in the length direction, and the first end is rotatably connected to the first mounting base. The second arm body has a third end and a fourth end that are relatively set in the length direction, and the third end is rotatably connected to the second end. The execution structure is connected to the fourth end of the second arm body.
6. The inspection robot according to claim 5, characterized in that: The execution structure includes a second mounting base and a second collecting member and an execution member arranged on the surface of the second mounting base, and the second mounting base is connected to the fourth end of the second arm body.
7. The inspection robot according to claim 6, characterized in that: The actuator includes a first plate body and a second plate body, and the first plate body and the second plate body are both movably connected to the second mounting base so as to be able to move closer to or farther from each other and to be pressed down or lifted up following the inspection robot arm.
8. The inspection robot according to claim 1, characterized in that: The moving mechanism further comprises an object sensor, which is arranged on the moving base and is used for sensing obstacles of the moving base in the moving direction.
9. The inspection robot according to claim 1, characterized in that: The first platform includes a first box forming the first bearing surface, a second box connected to the movable base, and a third box connected between the first box and the second box. The first box, the second box and the third box form a working area. A workbench is provided on the end surface of the second box facing the first box, and the workbench is used to set a human-computer interaction structure.
10. The inspection robot according to claim 9, characterized in that: The third box body is provided with an opening area, and the inspection mechanism further includes a gas detection component arranged inside the third box body, and the gas detection component is used to detect environmental information in the power station environment through the opening area.