Inspection robot embedded fixing device for sound detection

Abstract

The utility model relates to the technical field of robots, in particular to an embedded fixing device of an inspection robot for sound detection, which comprises the inspection robot, a radar base arranged above a robot body and a radar arranged on the radar base. The fixing plate is arranged above the radar base and is in bolted connection with the radar base; the sleeve penetrates through the fixing plate and is coaxial with the telescopic rod; a straight groove bulge is arranged at the bottom of the fixed seat; the telescopic rod is composed of a first telescopic pipe, a locking lantern ring and a second telescopic pipe, and one end of the telescopic rod is connected with the fixed seat; the connecting part is connected with the end, away from the fixed seat, of the telescopic rod and comprises a first connecting unit provided with an inserting groove and a connecting block and a second connecting unit used for being connected with the telescopic rod; and the microphone array is inserted into the insertion slot in the first connection unit, so that the accuracy and comprehensiveness of sound detection are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to an embedded fixing device of an inspection robot for sound detection. Background Art

[0002] Faced with large quantities of mechanical equipment in industrial production, manual inspections are inefficient and prone to missed inspections. Traditional contact measurement and detection methods cannot be effectively applied in actual projects due to limited installation conditions. Acoustic detection is not restricted by the structure of the mechanical system and the service environment, and the acoustic signal is rich in system operating status information. Integrating acoustic measurement and diagnosis into mobile robots has multiple advantages. Mounting a microphone array on a robot allows for dynamic detection, better adapting to the complex sound field environment of the industrial site, and searching for the optimal acquisition point with the highest signal-to-noise ratio at different locations. Based on high-quality acoustic signals, the source of the fault sound can be further accurately located. Therefore, the combination of microphone arrays and robots in the field of rotating machinery condition monitoring is of great significance.

[0003] Chinese Patent Publication No.: CN215344973U discloses a microphone array structure and a robot, wherein the microphone array structure includes a shell and a microphone array, wherein the microphone array includes a board and a plurality of microphone assemblies arranged on the board, wherein the board is arranged on the shell, and the shell is provided with sound pickup holes at positions corresponding to the plurality of microphone assemblies. It can be seen that in the technical solution, the microphone array is fixed on the robot and cannot collect sound signals at different heights, resulting in incomplete collected on-site sound field information. Utility Model Content

[0004] To this end, the utility model provides an embedded fixing device for a patrol robot for sound detection, which is used to overcome the problem in the prior art that the microphone array is fixed on the robot and cannot collect sound signals at different heights, resulting in incomplete collected on-site sound field information.

[0005] To achieve the above-mentioned object, the present invention provides an embedded fixing device for an inspection robot for sound detection, comprising an inspection robot, a radar base disposed above the robot body, and a radar disposed on the radar base, and further comprising:

[0006] A fixing plate is arranged above the radar base, and the radar passes through the fixing plate and is connected to the radar base;

[0007] a sleeve, which passes through the fixing plate, and the axis of the sleeve is perpendicular to the fixing plate;

[0008] A fixing seat, the bottom of which is provided with a straight groove protrusion, the straight groove protrusion is plugged into one side of the base of the inspection robot, and the fixing seat is coaxially arranged with the sleeve;

[0009] a telescopic rod passing through the sleeve, one end of the telescopic rod being connected to the fixing seat and the telescopic rod and the fixing seat being coaxially arranged;

[0010] a connecting portion connected to an end of the telescopic rod away from the fixing seat;

[0011] A microphone array is connected to the connecting portion.

[0012] Furthermore, the connecting portion includes a first connecting unit and a second connecting unit, wherein the first connecting unit is connected to an end of the telescopic rod away from the fixing seat;

[0013] The second connecting unit includes a plug-in slot and a connecting block fixedly connected to a side surface of the plug-in slot. The microphone array is plugged into the plug-in slot, and the connecting block is connected to the first connecting unit.

[0014] Furthermore, the first connecting unit is a fixed connecting seat, which is an X-shaped connecting seat, and the X-shaped connecting seat is clamped and connected to the connecting block.

[0015] Furthermore, the fixed connection seat is made of plastic.

[0016] Furthermore, the first connecting unit is a movable connecting seat, which is a Y-shaped connecting seat, and the bottom end of the Y-shaped connecting seat is hinged to the telescopic rod.

[0017] Furthermore, the Y-shaped connecting seat is made of plastic.

[0018] Furthermore, the connecting block is clamped and connected to the Y-shaped connecting seat.

[0019] Furthermore, threaded holes are evenly distributed around the fixing plate, and the fixing plate is connected to the radar base with bolts.

[0020] Furthermore, the telescopic rod includes a first telescopic tube, a locking collar and a second telescopic tube, and the first telescopic tube and the second telescopic tube are connected via the locking collar.

[0021] Furthermore, an anti-tilt threaded hole is provided at a preset angle in the upper half of the sleeve.

[0022] Compared with the existing technology, the beneficial effect of the present invention lies in that the present invention connects a multi-channel microphone array to one end of the telescopic rod through a plug-in slot, a connecting block and a connecting seat, and the other end of the telescopic rod is stably fixed on the robot bracket. Through the lifting and lowering of the telescopic rod and the movement of the robot, the flexibility and stability of the movement of the entire inspection equipment are enhanced, and the multi-channel microphone array can be used to collect, monitor and locate the source of faults at different distances, heights and angles from the target detection object; the telescopic rod is fixed by a fixing plate and a fixing seat, and the fixing plate and the fixing seat are both embedded under the radar. The fixing plate and the fixing seat are structurally lower than the height of the radar for data collection, reducing the impact on the robot radar function.

[0023] Furthermore, the present invention is provided with a sleeve, which has a good guiding effect, thereby ensuring the stability of the telescopic rod in the vertical direction.

[0024] Furthermore, the utility model is provided with a telescopic rod, which consists of a first telescopic tube, a locking collar and a second telescopic tube. The length of the telescopic rod can be conveniently adjusted and fixed by the locking collar, thereby increasing the convenience of adjusting the height of the telescopic rod.

[0025] Furthermore, the utility model is provided with an X-shaped fixed connection seat, which is clamped and connected to the connection block to ensure that the microphone array remains stable during the movement of the robot, thereby improving the accuracy of sound detection.

[0026] Furthermore, the present invention provides stable support by clamping and connecting the connecting block and the Y-shaped connecting seat.

[0027] Furthermore, the present invention provides a connecting seat made of plastic material, which has good shock absorption performance when subjected to vibration or impact, thereby improving the accuracy of sound detection.

[0028] Furthermore, the utility model provides a threaded hole at a preset angle in the upper half of the sleeve to prevent the telescopic rod from tilting, providing an additional support point for the telescopic rod, preventing the telescopic rod from tilting or shaking during use, and improving the stability of sound detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic structural diagram of an embedded fixing device for a patrol robot used for sound detection according to an embodiment of the utility model;

[0030] Figure 2 This is a schematic structural diagram of a fixing seat in an embedded fixing device of an inspection robot for sound detection according to an embodiment of the present utility model;

[0031] Figure 3This is a schematic structural diagram of the assembly of a sleeve and a fixing plate in an embedded fixing device for an inspection robot for sound detection according to an embodiment of the present utility model;

[0032] Figure 4 This is a schematic structural diagram of a connecting block in an embedded fixing device of an inspection robot for sound detection according to an embodiment of the present utility model;

[0033] Figure 5 This is a schematic structural diagram of the hinged connection between the movable connecting seat and the telescopic rod in the embedded fixing device of the inspection robot for sound detection according to an embodiment of the utility model;

[0034] In the figure, 1. radar base; 2. radar; 3. fixing plate; 31. threaded hole; 4. sleeve; 41. anti-tilt threaded hole; 5. fixing seat; 51. straight groove protrusion; 6. telescopic rod; 61. first telescopic tube; 62. locking ring; 63. second telescopic tube; 7. microphone array; 81. second connecting unit; 811. plug-in slot; 812. connecting block; 821. fixed connecting seat; 822. movable connecting seat. DETAILED DESCRIPTION

[0035] In order to make the purpose, features, and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the embodiments described below are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0036] It should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present invention.

[0037] In the description of the present invention, “a plurality of” means at least two, such as two, three, etc., unless otherwise clearly defined.

[0038] In the description of the embodiments of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of the present invention based on the specific circumstances.

[0039] See also Figure 1-5 , which are respectively a structural schematic diagram of the built-in fixing device of the inspection robot for sound detection according to an embodiment of the present invention; a structural schematic diagram of the fixing seat in the built-in fixing device of the inspection robot for sound detection according to an embodiment of the present invention; a structural schematic diagram of the assembly of the sleeve and the fixing plate in the built-in fixing device of the inspection robot for sound detection according to an embodiment of the present invention; a structural schematic diagram of the connecting block in the built-in fixing device of the inspection robot for sound detection according to an embodiment of the present invention; a structural schematic diagram of the hinged connection between the movable connecting seat and the telescopic rod in the built-in fixing device of the inspection robot for sound detection according to an embodiment of the present invention.

[0040] An embodiment of the present invention provides an embedded fixing device for a patrol robot for sound detection, comprising a patrol robot, a radar 2 base 1 disposed above the robot body, and a radar 2 disposed on the radar base 1, characterized in that it also includes:

[0041] A fixing plate 3 is provided above the radar base 1, and the radar 2 passes through the fixing plate 3 and is connected to the radar base 1;

[0042] a sleeve 4 passing through the fixing plate 3, wherein the axis of the sleeve 4 is perpendicular to the fixing plate 3;

[0043] The fixing base 5 has a straight groove protrusion 51 at its bottom, which is plugged into one side of the base of the inspection robot. The fixing base 5 is coaxially arranged with the sleeve 4;

[0044] a telescopic rod 6 passing through the sleeve 4, one end of the telescopic rod 6 being connected to the fixing base 5 and the telescopic rod 6 and the fixing base 5 being coaxially arranged;

[0045] a connecting portion connected to an end of the telescopic rod 6 away from the fixing base 5;

[0046] The microphone array 7 is connected to the connecting portion. The microphone array 7 can be a 16-channel microphone array UMA-16v2, which is not specifically limited and only needs to meet the sound detection requirements.

[0047] Specifically, the connecting portion includes a first connecting unit and a second connecting unit 81 , wherein the first connecting unit is connected to an end of the telescopic rod 6 away from the fixing seat 5 ;

[0048] The second connection unit 81 includes a plug-in slot 811 and a connection block 812 fixedly connected to the side of the plug-in slot 811 . The microphone array 7 is plugged into the plug-in slot 811 , and the connection block 812 is connected to the first connection unit.

[0049] Specifically, the first connection unit is a fixed connection seat 821 , which is an X-shaped connection seat, and the X-shaped connection seat is clamped and connected to the connection block 812 .

[0050] Specifically, the fixed connection seat 821 is made of plastic.

[0051] Specifically, the first connecting unit is a movable connecting seat 822 , which is a Y-shaped connecting seat, and the bottom end of the Y-shaped connecting seat is hinged to the telescopic rod 6 .

[0052] In this embodiment, the first connecting unit is connected to the connecting block 812 by clamping, and the pitch angle of the microphone array 7 is controlled by adjusting the clamping angle.

[0053] Specifically, the Y-shaped connecting seat is made of plastic.

[0054] Specifically, the connecting block 812 is clamped and connected to the Y-shaped connecting seat.

[0055] Specifically, threaded holes 31 are evenly distributed around the fixing plate 3, and the fixing plate 3 is connected to the radar base 1 with bolts. It can be understood that the diameter of the threaded hole 31 is 5 mm and is matched with an M5 bolt to fit and fix it to the metal base of the laser radar.

[0056] Specifically, the telescopic rod 6 includes a first telescopic tube 61 , a locking collar 62 and a second telescopic tube 63 , and the first telescopic tube 61 and the second telescopic tube 63 are connected via the locking collar 62 .

[0057] Specifically, an anti-tilt threaded hole 41 is provided at a preset angle in the upper half of the sleeve 4. The diameter of the anti-tilt threaded hole 41 is 3.8 mm and cooperates with an M4 bolt to fix the telescopic rod 6 to maintain vertical stability and play a tensioning role. At the same time, the verticality of the telescopic rod 6 can be adjusted by adjusting the tightness of the M4 bolt.

[0058] The working process of sound detection of the present invention is as follows: during the inspection process, the inspection robot moves according to the preset inspection path, and adjusts the length of the telescopic rod 6 as needed to make the microphone array 7 reach the appropriate height. When adjusting, loosen the locking ring 62, move the first telescopic tube 61 or the second telescopic tube 63 to the desired position, and then lock it again. If a Y-shaped connecting seat is used as the first connecting unit, the angle of the microphone array 7 can be adjusted by adjusting the hinge angle with the telescopic rod 6 through the hinge point; if an X-shaped connecting seat is used as the first connecting unit, the angle of the microphone array 7 can be adjusted by the clamping angle with the connecting block 812; finally, the collected data is transmitted to the inspection robot in real time.

[0059] For those skilled in the art, according to the concept of the embodiments of the present invention, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. An embedded fixing device for an inspection robot for sound detection, comprising an inspection robot, a radar base disposed above the robot body, and a radar disposed on the radar base, characterized in that: Also includes: A fixing plate is arranged above the radar base, and the radar passes through the fixing plate and is connected to the radar base; a sleeve, which passes through the fixing plate, and the axis of the sleeve is perpendicular to the fixing plate; A fixing seat, the bottom of which is provided with a straight groove protrusion, the straight groove protrusion is plugged into one side of the base of the inspection robot, and the fixing seat is coaxially arranged with the sleeve; a telescopic rod passing through the sleeve, one end of the telescopic rod being connected to the fixing seat and the telescopic rod and the fixing seat being coaxially arranged; a connecting portion connected to an end of the telescopic rod away from the fixing seat; A microphone array is connected to the connecting portion.

2. The embedded fixing device for the inspection robot for sound detection according to claim 1, characterized in that: The connecting portion includes a first connecting unit and a second connecting unit, wherein the first connecting unit is connected to an end of the telescopic rod away from the fixing seat; The second connecting unit includes a plug-in slot and a connecting block fixedly connected to a side surface of the plug-in slot. The microphone array is plugged into the plug-in slot, and the connecting block is connected to the first connecting unit.

3. The embedded fixing device for the inspection robot for sound detection according to claim 2, characterized in that: The first connection unit is a fixed connection seat, which is an X-shaped connection seat, and the X-shaped connection seat is clamped and connected to the connection block.

4. The embedded fixing device for the inspection robot for sound detection according to claim 3, characterized in that: The fixed connection seat is made of plastic.

5. The embedded fixing device for the inspection robot for sound detection according to claim 2, characterized in that: The first connecting unit is a movable connecting seat, which is a Y-shaped connecting seat, and the bottom end of the Y-shaped connecting seat is hinged to the telescopic rod.

6. The embedded fixing device for the inspection robot for sound detection according to claim 5, characterized in that: The Y-shaped connecting seat is made of plastic.

7. The embedded fixing device for the inspection robot for sound detection according to claim 6, characterized in that: The connecting block is clamped and connected to the Y-shaped connecting seat.

8. The embedded fixing device for the inspection robot for sound detection according to claim 1, characterized in that: The fixing plate is evenly distributed with threaded holes around it, and the fixing plate is connected to the radar base with bolts.

9. The embedded fixing device for the inspection robot for sound detection according to claim 1, characterized in that: The telescopic rod comprises a first telescopic tube, a locking collar and a second telescopic tube, and the first telescopic tube and the second telescopic tube are connected via the locking collar.

10. The embedded fixing device for the inspection robot for sound detection according to claim 4, characterized in that: An anti-tilt threaded hole is provided at a preset angle on the upper half of the sleeve.

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