Inspection robot capable of achieving elevator fault diagnosis

Abstract

The inspection robot comprises a robot shell, a detection communication device is arranged in the robot shell, a camera is fixedly connected to the front portion of the top end of the robot shell, a radar device is fixedly connected to the rear side of the top end of the robot shell, a left electromagnet is fixedly connected to the surface of the left side of the robot shell, and a right electromagnet is fixedly connected to the surface of the right side of the robot shell. A rear electromagnet is fixedly connected to the surface of the rear side of the robot shell, and lifting wheel devices are slidably connected to the four corners of the bottom of the robot shell, so that the inspection robot can be stably attached to the ground when entering an elevator, interference to information detection caused by movement and shaking generated along with operation of the elevator can be reduced, and the accuracy of information detection is improved; meanwhile, the distance between the detection device and the elevator ground is reduced, the possibility that signals of the sensor are weakened is effectively avoided, and the comprehensiveness and accuracy of information detection are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent robots, in particular to a patrol robot capable of realizing elevator fault diagnosis. Background Art

[0002] Elevators are frequently used equipment in daily life, and their safety is directly related to people's life safety. People's requirements for the safety and reliability of elevators are constantly increasing. Therefore, it is necessary to conduct regular elevator fault inspections. Traditional elevator fault inspections usually rely on manpower and are regularly inspected by elevator maintenance personnel. This has the problems of high cost, long maintenance cycle, and strong subjectivity of maintenance results. There are also many patents that introduce robots to conduct regular inspections to help detect and troubleshoot faults, but there are still some problems. For example, application number CN207467940U discloses a robot for elevator fault diagnosis, which will The sensor pod is directly fixed on the robot chassis and is equipped with wheels around it for easy movement, but the wheels cannot be effectively fixed. That is to say, various movements and vibrations will occur during the operation of the elevator, which will cause the robot to shake or move in the elevator, causing great interference to signal detection, affecting the accuracy and consistency of signal detection; in addition, the wheels lift the robot chassis, so that the sensor pod is at a certain distance from the elevator floor, which will reduce the sensitivity of the sensor and thus reduce the detection capability, especially for the detection of slight or low-frequency vibrations, affecting the accuracy and comprehensiveness of the detection. Utility Model Content

[0003] 1. Technical issues to be resolved

[0004] In view of the limitations of existing elevator fault inspection robots, the purpose of the utility model is to provide an inspection robot that can realize elevator fault diagnosis. By setting lifting wheels and electromagnets, the robot can be stably fixed in the elevator car, thereby solving the problem that the robot shakes or moves with the movement of the elevator during the operation of the elevator, interfering with signal detection, and affecting the accuracy and consistency of signal detection; at the same time, it solves the problem that there is a certain distance between the pod and the ground, which reduces the sensitivity of the sensor and affects the accuracy and comprehensiveness of the detection.

[0005] (II) Technical solution

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a patrol robot capable of realizing elevator fault diagnosis, comprising a robot shell, a detection and communication device is arranged inside the robot shell, a camera is fixedly connected to the front top of the robot shell, a radar device is fixedly connected to the rear top, a left electromagnet is fixedly connected to the left side surface of the robot shell, a rear electromagnet is fixedly connected to the rear side surface, and a lifting wheel device is slidably connected to the four corners of the bottom of the robot shell. Before performing elevator information detection, the bottom of the lifting wheel device of the patrol robot is outside the bottom of the robot shell. At this time, there is a certain distance between the robot shell and the ground, and the wheels are movable. The patrol robot enters the elevator car under the movement of the wheels at the four corners. At the same time, during the movement, the camera and radar device will scan and detect the surrounding area to help the patrol robot The robot avoids obstacles in time and enters the elevator car stably. When the inspection robot enters the car and moves to the left rear corner of the car, it controls the wheels to enter the robot shell by controlling the lifting motor until the bottom of the robot shell touches the floor of the elevator car. Then the energized electromagnets can contact the inner wall of the elevator car at the corresponding positions on the left and rear sides of the robot shell, thereby fixing the entire inspection robot in the elevator car. That is to say, the bottom of the robot shell contacts the floor of the elevator car, and the left side of the robot shell is sucked on the inner wall of the car at the corresponding position through the left electromagnet, and the rear side of the robot shell is also sucked on the inner wall at the corresponding position through the rear electromagnet. At this time, the inspection robot can start working, detect and feedback the operating status of the elevator, and at the same time, the inspection robot will not produce unnecessary shaking or movement during the operation of the elevator, and the detection information is comprehensive and accurate.

[0007] It should be noted that the left rear corner of the elevator car is defined by standing in the elevator and facing the elevator door, and the front, back, left and right directions of the robot shell are positioned based on the direction of the camera facing the position.

[0008] The top of the motor is fixedly connected to the four corners of the inner wall of the top of the robot shell, and the four screw rods are also fixedly connected to the four corners of the robot shell, and are fixed to the inner wall of the robot shell through the outer rings of the upper and lower bearings, thereby helping to fix and support the screw rods on the four corners of the robot shell. That is to say, each screw rod extends from the top of the robot shell to the At the bottom, the interior of the robot shell is hollow, and the up and down movement of the wheels is achieved through a transmission mechanism composed of upper, middle and lower rotating pairs and upper and lower connecting rods. That is to say, after the lifting motor is driven, the rotation of the lifting motor will drive the screw to rotate, and the rotation of the screw will drive the upper rotating pair to rotate. The rotation of the upper rotating pair will then drive the upper connecting rod to rotate. The rotation of the upper connecting rod will then drive the rotation of the middle rotating pair. The rotation of the middle rotating pair will correspondingly drive the rotation of the lower connecting rod. The rotation of the lower connecting rod then drives the rotation of the lower rotating pair. The rotation of the lower rotating pair will then drive the rotation of the screw nut, so that the screw nut can move up and down on the screw, and when the screw nut moves upward, it will drive the wheel to move upward, thereby allowing the wheel to enter the robot shell. The robot shell can directly contact the ground of the robot car for fault detection and feedback. Direct contact can effectively avoid the weakening of the sensor signal and improve the accuracy and comprehensiveness of detection.

[0009] Preferably, the outer rings of the upper rotating pair and the lower rotating pair are fixed at the inner wall edge of the robot shell, the bottom end of the middle rotating pair is fixedly connected to the inner wall of the robot shell, and the upper rotating pair, the lower rotating pair and the lead screw nut are all connected to the lead screw through bearings to ensure smooth operation of the device.

[0010] Preferably, the detection and communication device includes a sound sensor fixed on the top of the inner wall on the front side of the robot shell, a vibration sensor fixedly connected to the middle of the inner wall on the front side of the robot shell, a communication module fixedly connected to the bottom of the inner wall on the front side of the robot shell, a controller fixedly connected to the middle of the left inner wall of the robot shell, and a power module fixedly connected to the rear side of the left inner wall of the robot shell, wherein the sound sensor, the vibration sensor, the communication module, the controller and the power module are connected in sequence, the sound sensor is used to detect the sound conditions during the operation of the elevator in real time, the vibration sensor detects the vibration conditions, and the signals detected by the sound sensor and the vibration sensor are transmitted to the monitoring center or other related equipment through the communication module to provide real-time signal feedback, so as to help timely discover potential faults and quickly take countermeasures, thereby greatly improving the safety and reliability of the elevator; the controller is the key to coordinating the operation of the entire device, and is mainly used to process the collected data and control the operation of the robot. Such an integrated controller design can simplify the system structure and improve the stability and reliability of the entire system.

[0011] It is further explained that the sound sensor and vibration sensor are fixed on the inner wall of the robot shell. That is to say, when performing detection, the sound sensor and vibration sensor are inside the inspection robot rather than directly exposed to the elevator car. This can to a certain extent isolate the interference caused by the environment inside the car, thereby ensuring the accuracy and effectiveness of the detection information.

[0012] Preferably, the radar device includes a support rod whose bottom end is fixed to the rear side of the top of the robot shell, a laser radar is fixedly connected to the top of the support rod, and a support rod is also provided between the laser radar and the top of the robot shell to place the laser radar in a relatively high position, so that the detection range and field of view of the radar are wider, so that the situation around the elevator can be better monitored, and 360-degree all-round detection can be achieved, helping the inspection robot to have better navigation and obstacle avoidance capabilities.

[0013] Furthermore, installing the radar at a higher position can effectively reduce the impact of ground interference signals on the radar, thereby affecting environmental perception and communication.

[0014] Preferably, the lifting motor is electrically connected to the power module, and the power module synchronously controls the lifting motor so that the wheels on the lifting wheel device are lifted and lowered synchronously, thereby avoiding the synchronous lifting of each corner of the inspection robot and preventing tilting, and each lifting motor is equipped with a stepper motor driver.

[0015] (III) Beneficial effects

[0016] (1) By designing a lifting wheel device, the inspection robot can stably fit on the ground when entering the elevator, which can reduce the interference of movement and shaking caused by the operation of the elevator on information detection and improve the accuracy of information detection; at the same time, it reduces the distance between the detection device and the elevator ground, effectively avoiding the possibility of sensor signal weakening, and improving the comprehensiveness and accuracy of information detection.

[0017] (2) By setting the left electromagnet and the rear electromagnet, the two sides of the inspection robot can be stably fixed on the inner wall of the elevator, so that the robot is not easy to move or shake during the operation of the elevator, thereby improving the accuracy and consistency of information detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0019] Figure 2 It is a schematic diagram of the internal structure of the utility model.

[0020] Figure 3 It is a schematic diagram of the lifting wheel device in the utility model.

[0021] Figure 4 It is a schematic diagram of fixing the utility model in an elevator car.

[0022] In the figure: 1-vibration reduction robot shell 11-camera 12-radar device 121-support rod 122-laser radar 13-left electromagnet 14-rear electromagnet 2-detection communication device 21-sound sensor 22-vibration sensor 23-communication module 24-controller 25-power module 3-lifting wheel device 30-wheel 31-lifting motor 32-screw 33-screw nut 34-lower rotating pair 341-lower connecting rod 35-upper rotating pair 351-upper connecting rod 36-middle rotating pair. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0024] Embodiment 1: Figure 1As shown, the first specific embodiment of the utility model provides an inspection robot capable of realizing elevator fault diagnosis, comprising a robot shell 1, a detection and communication device 2 is arranged inside the robot shell 1, a camera 11 is fixedly connected to the front of the top of the robot shell 1, a radar device 12 is fixedly connected to the rear side of the top, a left electromagnet 13 is fixedly connected to the left surface of the robot shell 1, a rear electromagnet 14 is fixedly connected to the rear surface, and a lifting wheel device 3 is slidably connected to the four corners of the bottom of the robot shell 1. After the inspection robot enters the elevator, the bottom of the robot can be in contact with the elevator floor through the lifting and lowering of the lifting wheels, which can effectively avoid the situation where the sensor sensitivity is reduced, and improve the comprehensiveness and accuracy of information monitoring. At the same time, the left electromagnet 13 and the rear electromagnet 14 can stably fix the robot in the elevator car, effectively preventing it from shaking or moving during the operation of the elevator, and improving the accuracy and consistency of information detection.

[0025] The lifting wheel device 3 includes a lifting motor 31 fixed to the top of the robot shell 1, the bottom end of the lifting motor 31 is rotatably connected to a screw rod 32, the other end of the screw rod 32 is slidably connected to a screw nut 33, one side of the screw nut 33 is fixedly connected to a wheel 30, and the top of the screw nut 33 is connected in parallel with a lower rotating pair 34, an upper rotating pair 35 is sleeved on the outer surface of the screw rod 32 on the side close to the lifting motor 31, one side of the upper rotating pair 35 is fixedly connected to an upper connecting rod 351, one side of the lower rotating pair 34 is fixedly connected to a lower connecting rod 341, the other end of the upper connecting rod 351 is fixedly connected to a middle rotating pair 36, the other side of the middle rotating pair 36 is fixedly connected to the other end of the lower connecting rod 341, the cooperation between the lifting motor 31 and the screw rod 32 can realize the inspection robot With precise control, the rotation of the lifting motor 31 drives the rotation of the screw rod 32 and realizes the smooth lifting and lowering of the wheels, so that the inspection robot can stably contact the ground, improving the accuracy and comprehensiveness of signal detection. The upper rotating pair 35, the lower rotating pair 34 and the middle rotating pair 36 help increase the stability of the wheels during the lifting process. The upper bearing 37 and the lower bearing 38 can reduce the friction during the lifting process, ensure the smooth rotation of the screw rod 32, and then ensure that the lifting and lowering of the wheels can proceed smoothly, realizing the free lifting and lowering of the robot in the elevator space; in addition, the connection method of the connecting rod and the rotating pair enhances the structural stability and durability of the lifting wheel device 3, so that the robot can maintain reliable performance during long-term operation and improve the accuracy of information detection.

[0026] The outer rings of the upper rotating joint 35 and the lower rotating joint 34 are both fixed at the inner wall edge of the robot shell 1, and the bottom end of the middle rotating joint 36 is fixedly connected to the inner wall of the robot shell 1, which can effectively enhance the connection stability between the lifting wheel device 3 and the overall structure of the inspection robot, prevent the device from loosening or shaking during operation, and ensure the safety and reliability of the robot during the lifting process; and, fixing the rotating shaft to the inner wall of the robot shell can effectively reduce the vibration and friction generated during the lifting process, thereby maintaining the smooth operation of the inspection robot, reducing energy loss, and extending the service life of the inspection robot and the lifting wheel device 3.

[0027] The detection communication device 2 includes a sound sensor 21 fixed on the top of the inner wall of the front side of the robot shell 1, a vibration sensor 22 fixedly connected to the middle of the inner wall of the front side of the robot shell 1, a communication module 23 fixedly connected to the bottom of the inner wall of the front side of the robot shell 1, a controller 24 fixedly connected to the middle of the left inner wall of the robot shell 1, and a power module 25 fixedly connected to the rear side of the left inner wall of the robot shell 1, wherein the sound sensor 21, the vibration sensor 22, the communication module 23, the controller 24 and the power module 25 are connected in sequence, and the sound sensor 21 and the vibration sensor 22 can monitor the sound and vibration conditions during the operation of the elevator in real time, comprehensively collect the status information of the elevator operation, and help to timely discover potential faults; the communication module can realize wireless communication between the inspection robot and the external equipment, which is convenient for timely data transmission to related equipment, remote monitoring and timely response; in the inspection robot, the brother function modules are connected in sequence to form a modular design structure, which can more conveniently upgrade or replace any function module, thereby improving the maintainability and scalability of the system.

[0028] The radar device 12 includes a support rod 121 whose bottom end is fixed to the top rear side of the robot shell 1, and a laser radar 122 is fixedly connected to the top of the support rod 121. The laser radar 122 can achieve 360-degree all-round detection, so that the inspection robot can effectively identify obstacles, personnel or other objects around the elevator, improve the robot's navigation and obstacle avoidance capabilities inside the elevator, and improve the accuracy of information detection. At the same time, it can effectively reduce the impact of interference signals on the ground on radar detection, improve the accuracy and reliability of the radar, and more effectively perform environmental perception and navigation.

[0029] The lifting motor 31 is electrically connected to the power module 25. As the power supply center, the power module 25 can centrally manage the power supply of the lifting motor 31, and can more conveniently monitor and adjust the power supply of the motor, ensuring that the motor obtains a stable power supply, thereby improving the operating efficiency and performance of the robot, and enabling maintenance personnel to more conveniently maintain and manage the power supply system. This design can improve the efficiency of maintenance, reduce maintenance costs, and extend the service life of the robot.

[0030] Working principle: After the inspection robot enters the elevator car, it enters the left rear corner of the elevator car with the assistance of the camera 11 and the radar device 12. The left rear corner here refers to the left rear corner of the car facing the car door from the inside of the car. Then, the controller 24 synchronously controls the four lifting motors 31 to enter the working state. The rotation of the lifting motor 31 drives the screw rod 32 to rotate. The rotation of the screw rod 32 drives the upper rotating pair 35 to rotate. The upper rotating pair 35 transmits the rotation to the middle rotating pair 36 through the upper connecting rod 351, and drives the middle rotating pair 36 to rotate. The middle rotating pair 36 transmits the movement to the lower rotating pair through the lower connecting rod 341 The movable joint 34 causes the lower rotating joint 34 to rotate, and the lower rotating joint 34 then drives the lead screw nut 33 to move upward, and the lead screw nut 33 drives the wheel 30 to move upward, so that the four wheels can be retracted upward, so that the bottom of the robot shell 1 can touch the floor of the elevator car; then the left electromagnet 13 and the rear electromagnet 14 are energized to generate magnetism, which attracts the side wall of the elevator, so that the inspection robot can be fixed in the elevator, and finally, the controller 24 controls the vibration sensor 22 and the sound sensor 21 to collect the vibration signal and sound signal of the elevator movement, and upload the data to the computer through the communication module 23.

[0031] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A patrol robot capable of realizing elevator fault diagnosis, characterized in that: The robot shell (1) comprises a robot shell (1), wherein a detection communication device (2) is arranged inside the robot shell (1), a camera (11) is fixedly connected to the front of the top of the robot shell (1), a radar device (12) is fixedly connected to the rear of the top, a left electromagnet (13) is fixedly connected to the left surface of the robot shell (1), and a rear electromagnet (14) is fixedly connected to the rear surface of the robot shell (1), and lifting wheel devices (3) are slidably connected to the four corners of the bottom of the robot shell (1).

2. According to the inspection robot capable of realizing elevator fault diagnosis as described in claim 1, it is characterized in that: The lifting wheel device (3) comprises a lifting motor (31) fixed to the top of the robot housing (1); the bottom end of the lifting motor (31) is rotatably connected to a screw rod (32); the other end of the screw rod (32) is slidably connected to a screw rod nut (33); one side of the screw rod nut (33) is fixedly connected to a wheel (30); the top of the screw rod nut (33) is parallelly connected to a lower rotating pair (34); an upper rotating pair (35) is sleeved on the outer surface of a side of the screw rod (32) close to the lifting motor (31); one side of the upper rotating pair (35) is fixedly connected to an upper connecting rod (351); one side of the lower rotating pair (34) is fixedly connected to a lower connecting rod (341); the other end of the upper connecting rod (351) is fixedly connected to a middle rotating pair (36); the other side of the middle rotating pair (36) is fixedly connected to the other end of the lower connecting rod (341).

3. According to the inspection robot capable of realizing elevator fault diagnosis as described in claim 2, it is characterized in that: The outer rings of the upper rotating pair (35) and the lower rotating pair (34) are both fixed to the inner wall edge of the robot housing (1), and the bottom end of the middle rotating pair (36) is fixedly connected to the inner wall of the robot housing (1).

4. According to the inspection robot capable of realizing elevator fault diagnosis as described in claim 1, it is characterized in that: The detection communication device (2) comprises a sound sensor (21) fixed to the top of the front inner wall of the robot shell (1), a vibration sensor (22) fixedly connected to the middle of the front inner wall of the robot shell (1), a communication module (23) fixedly connected to the bottom of the front inner wall of the robot shell (1), a controller (24) fixedly connected to the middle of the left inner wall of the robot shell (1), and a power module (25) fixedly connected to the rear side of the left inner wall of the robot shell (1), wherein the sound sensor (21), the vibration sensor (22), the communication module (23), the controller (24) and the power module (25) are connected in sequence.

5. The inspection robot capable of realizing elevator fault diagnosis according to claim 1, characterized in that: The radar device (12) comprises a support rod (121) whose bottom end is fixed to the rear side of the top of the robot housing (1), and a laser radar (122) is fixedly connected to the top of the support rod (121).

6. The inspection robot capable of realizing elevator fault diagnosis according to claim 2, characterized in that: The lifting motor (31) is electrically connected to the power module (25).

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