Inspection robot

Abstract

The utility model provides an inspection robot, which is used for detecting the state of a wire harness in a plant, and comprises a trunk, a walking mechanism, a first detection element, a second detection element and two mechanical arms, and the walking mechanism is arranged at the bottom of the trunk and is configured to drive the trunk to walk to a preset operation distance from a to-be-detected wire slot; the first detection element is arranged at the top of the trunk and is configured to identify a target wire harness; the two mechanical arms are arranged on the left side and the right side of the trunk correspondingly and are configured to clamp wire harnesses on the two sides of a target wire harness, and it is ensured that the distance between the wire harnesses on the two sides and the target wire harness is larger than a preset distance. The second detection element is disposed at the top of the torso and is configured to detect whether the target wire harness is abnormal. According to the inspection robot, the wire harnesses on the two sides of the target wire harness are clamped out of the preset distance through the mechanical arm, then interference of the wire harnesses on the two sides is avoided, whether the target wire harness is normal or not is automatically judged through the detection element, the detection result is professional, the data report is complete, and the labor cost is saved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of industrial plant trunking wire harness detection, in particular to a patrol robot. BACKGROUND

[0002] In order to ensure the normal operation of the industrial plant, it is necessary to regularly patrol the trunking wire harness in the plant. There are mainly two types of abnormalities in the trunking wire harness, line aging overheating, and leakage of ultra-high frequency signals caused by surface damage of the wire.

[0003] The industrial plant environment is harsh, and the trunking wire harness is stacked disorderly. Traditional manual inspection has high labor costs, and due to human subjective factors, it is easy to miss or misdiagnose, and there are problems of unprofessional partial discharge detection and incomplete data recording and reporting. CONTENT OF THE UTILITY MODEL

[0004] The present disclosure provides a patrol robot to solve the problems in the prior art.

[0005] The patrol robot of the present disclosure is used to detect the wire harness state in the plant, and the patrol robot comprises:

[0006] a trunk;

[0007] a walking mechanism, which is arranged at the bottom of the trunk and is configured to drive the trunk to walk to a preset operating distance from the trunk to be detected;

[0008] a first detection element, which is arranged at the top of the trunk and is configured to identify a target wire harness;

[0009] two mechanical arms, which are arranged on the left and right sides of the trunk respectively and are configured to clamp the wire harnesses on both sides of the target wire harness and ensure that the distance between the wire harnesses on both sides and the target wire harness is greater than a preset interval;

[0010] a second detection element, which is arranged at the top of the trunk and is configured to detect whether the target wire harness is abnormal.

[0011] In one embodiment of the present disclosure, the operating distance is set as the distance between the trunk and the wall where the trunk is located, and the operating distance is half of the length of the mechanical arm.

[0012] In one embodiment of the present disclosure, the preset interval is 30 cm.

[0013] In one embodiment of the present disclosure, the mechanical arm is a seven-axis mechanical arm.

[0014] In one embodiment of the present disclosure, the mechanical arm comprises an arm body arranged on the trunk and a gripper arranged at the free end of the arm body, the arm body is configured to drive the gripper to the wire harness on the side corresponding to the target wire harness, and the gripper is configured to clamp the wire harness on the side corresponding to the target wire harness.

[0015] In one embodiment of the present disclosure, the first detection element is a visible light module.

[0016] In one embodiment of the present disclosure, the second detection element comprises:

[0017] A partial discharge sensor configured to detect whether the target wire harness is electrified;

[0018] A thermal imaging module configured to detect whether the temperature of the target wire harness is abnormal.

[0019] In one embodiment of the present disclosure, the inspection robot further comprises a lifting mechanism and a gimbal, the first detection element and the second detection element are arranged in the gimbal and are in communication connection with a control module in the gimbal, and the lifting mechanism is configured to drive the gimbal and the two mechanical arms to move up and down relative to the trunk.

[0020] The control module is in communication connection with the mechanical arm, and is configured to drive the mechanical arm to clamp the wire harness on both sides of the target wire harness based on the detection result of the first detection element.

[0021] In one embodiment of the present disclosure, the walking mechanism comprises:

[0022] A chassis, the trunk is arranged on the chassis;

[0023] At least two hub motors, the at least two hub motors are arranged on the chassis and are configured to drive the chassis to walk;

[0024] At least one universal wheel, the at least one universal wheel is rotatably arranged on the chassis and is configured to support the chassis together with the at least two hub motors and make the chassis rotate in place;

[0025] A distance detection element, the distance detection element is arranged on the chassis and is configured to detect the distance between the trunk and the wall where the wire slot is located.

[0026] In one embodiment of the present disclosure, the distance detection element is a laser radar.

[0027] The wire slot wire harness detection process of the inspection robot of the present disclosure comprises the following steps:

[0028] The inspection robot is mainly used to complete the line slot and wire bundle detection task of the industrial plant. In detail, before the task starts, a plurality of line slots are arranged in the industrial plant, and a plurality of wire bundles are arranged in the line slots and are disordered and superimposed. After the task starts, the inspection robot moves to the point to be detected, the walking mechanism ensures that the inspection robot walks to the preset operating distance from the line slot to be detected, then the first detection element identifies the target wire bundle, then the two mechanical arms clamp the wire bundles on both sides of the target wire bundle, and ensure that the distance between the wire bundles on both sides of the target wire bundle is greater than the preset distance, and finally the second detection element detects whether the target wire bundle is abnormal.

[0029] Therefore, compared with the existing artificial inspection of line slots and wire bundles, the inspection robot of the present disclosure saves the labor cost, is more suitable for the harsh environment of the industrial plant, and clamps the wire bundles on both sides of the wire bundle to be detected to a preset distance by the mechanical arm, thereby avoiding the influence of the wire bundles on both sides on the detection of the target wire bundle by the detection element, and further detecting the leakage ultra-high frequency signal and the abnormal temperature by the second detection element, thereby judging whether the target wire bundle is normal. The detection result is professional and accurate, and the inspection robot also records the detection result data of each line slot and wire bundle, so as to obtain a more complete data report. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 is a perspective structural schematic diagram of an embodiment of the inspection robot of the present disclosure;

[0031] Figure 2 is a side view schematic diagram of an embodiment of the inspection robot of the present disclosure;

[0032] Figure 3 is a partial structural schematic diagram of an embodiment of the inspection robot of the present disclosure;

[0033] Figure 4 is a bottom view schematic diagram of an embodiment of the inspection robot of the present disclosure;

[0034] Figure 5 is a structural schematic diagram of an embodiment of the industrial plant of the present disclosure;

[0035] Figure 6 is a structural schematic diagram of an embodiment of the line slot of the present disclosure.

[0036] Figures 1 to 6 The correspondence between the names of the components and the reference numerals in the drawings is as follows:

[0037] 1 pan-tilt, 11 first detection element, 12 second detection element, 121 partial discharge sensor, 122 thermal imaging module;

[0038] 20 trunk, 21 mechanical arm, 22 lifting mechanism, 211 arm body, 212 clamping jaw;

[0039] 3 walking mechanism, 31 chassis, 32 wheel hub motor, 33 universal wheel, 34 distance detection element;

[0040] 4 industrial plant, 41 wire slot, 42 wire harness;

[0041] 5 inspection robot. DETAILED DESCRIPTION

[0042] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. Note that the relative arrangement, numerical expressions, and numerical values of components and steps set forth in these embodiments are not limiting to the scope of the present disclosure unless otherwise specifically stated.

[0043] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way limiting to the scope of the disclosure and its applications or uses.

[0044] Techniques, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail herein, but should be considered part of the specification as appropriate.

[0045] Note that similar reference numerals and letters refer to similar items throughout the drawings, and thus, once an item is defined in one drawing, it need not be discussed further in subsequent drawings.

[0046] The specific embodiments of the present disclosure will be described below with reference to the accompanying drawings.

[0047] In this document, "first", "second", and the like are used only to distinguish one item from another, and do not necessarily indicate importance and order, and the premise of each other.

[0048] The existing industrial plant wire slot wire harness detection is traditional manual inspection, which has high labor cost, and due to the subjective factors of people, it is easy to miss or misjudge, and there are problems of unprofessional partial discharge detection and incomplete data record report.

[0049] Therefore, the present disclosure provides an inspection robot, which includes a trunk, a walking mechanism, a first detection element, a second detection element, and two mechanical arms. The walking mechanism is arranged at the bottom of the trunk, the first detection element and the second detection element are arranged at the top of the trunk, and the two mechanical arms are arranged on the left and right sides of the trunk.

[0050] This inspection robot is primarily used to inspect wire troughs and harnesses in industrial plants. Specifically, before the task begins, several wire troughs are laid out in the plant, containing a number of randomly stacked wire harnesses. The robot's built-in positioning module marks the locations of the wire troughs. After the task begins, the robot moves to the wire trough to be inspected. A walking mechanism ensures the robot reaches a preset operating distance from the trough to be inspected. The first detection element then identifies the target harness. Two robotic arms then grasp the harnesses on either side of the target harness, ensuring they are within a preset distance from the target harness. Finally, the second detection element checks whether the target harness is abnormal.

[0051] Obviously, the two robotic arms in the inspection robot clamp the wire harnesses on both sides of the target wire harness so that the distance between the wire harnesses on both sides and the target wire harness is greater than the preset spacing, and cooperate with the second detection element to complete the detection of the target wire harness status.

[0052] In this way, when the inspection robot inspects wire harnesses in a cable trough, the distance between the harnesses on both sides and the target harness is greater than the preset spacing, reducing interference from the harnesses on both sides on the inspection results and improving the accuracy of the results. Furthermore, the first detection element identifies the target harness, while the second detection element determines whether the target harness is abnormal and records the data. Compared with manual inspections, the inspection results are more professional and the inspection data records are more complete.

[0053] For ease of understanding, refer to Figures 1 to 6 , the specific structure and working principle of the inspection robot provided by the present disclosure are described in detail with reference to an embodiment.

[0054] It should be noted that, see Figure 5 and Figure 6 The industrial plant 4 referred to in this disclosure refers to various houses that are directly used for production or supporting production, and are found in industries including light industry, electronics, instrumentation, communications, medicine, mechanical processing, metallurgy, and textiles. The wire duct 41 is used to organize the power cord, data cable and other wires in a standardized manner, and fix them to electrical tools on the wall or ceiling. The wire harness 42 is used to ensure that electrical equipment can work under the worst conditions. The wires of different specifications and colors used in various electrical equipment are reasonably arranged and integrated into one, and the wires are bundled with insulating materials. The wire duct 41 and wire harness 42 in the industrial plant 4 are installed according to the needs of its process flow and production conditions, and those skilled in the art can set them according to the actual application scenario.

[0055] The inspection robot 5 disclosed in the present invention is used to detect the status of the wire harness 42 in the factory. The inspection robot 5 includes a trunk 20 , a walking mechanism 3 , a first detection element 11 , two robotic arms 21 and a second detection element 12 .

[0056] Among them, the walking mechanism 3 is arranged at the bottom of the torso 20, and is configured to drive the trunk to walk to a preset operating distance from the wire groove 41 to be detected; the first detection element 11 is arranged at the top of the torso 20, and is configured to identify the target wire harness; the two robotic arms 21 are arranged on the left and right sides of the torso 20, and are configured to clamp the wire harnesses 42 on both sides of the target wire harness, and ensure that the distance between the wire harnesses 42 on both sides and the target wire harness is greater than the preset spacing; the second detection element 12 is arranged at the top of the torso 20, and is configured to detect whether the target wire harness is abnormal.

[0057] The inspection robot 5 disclosed in the present invention moves to the position of the wire trough 41 to be inspected, and the walking mechanism 3 ensures that the inspection robot 5 walks to a preset operating distance from the wire trough 41 to be inspected. Then the first detection element 11 identifies the target wire harness, and then the two robotic arms 21 clamp the wire harnesses 42 on both sides of the target wire harness, and ensure that the distance between the wire harnesses 42 on both sides and the target wire harness is greater than the preset spacing. Finally, the second detection element 12 detects whether the target wire harness is abnormal and records the detection data.

[0058] Obviously, compared with the existing technology, the use of the inspection robot 5 disclosed in the present invention to detect the status of wiring harnesses in industrial plants saves labor costs and is more adaptable to the harsh environment of industrial plants 4. The wiring harnesses 42 on both sides of the wiring harness 42 to be detected are clamped to a preset distance through the robotic arm 21, thereby avoiding the wiring harnesses 42 on both sides affecting the detection element's detection of the target wiring harness. The second detection element 12 detects leakage ultra-high frequency signals and abnormal temperatures, and then determines whether the target wiring harness is normal. The detection results are professional and accurate. The inspection robot 5 also records the detection data of each wiring harness 42 in the wiring trough 41, thereby obtaining a more complete data report.

[0059] In detail, such as Figure 2 and Figure 3 As shown, the trunk 20 of the inspection robot 5 is composed of a cylindrical shell and a trapezoidal shell, which are not fixedly connected. A lifting mechanism 22 is installed inside the shell. The first detection element 11 and the second detection element 12 are located at the top of the trunk 20, and two mechanical arms 21 are located on the left and right sides of the trunk 20. The walking mechanism 3 is located at the bottom of the trunk 20. In this way, the inspection robot 5 has a relatively stable center of gravity through its overall conical structure, making its operation more stable.

[0060] like Figure 5 and Figure 6 As shown, in one embodiment of the present disclosure, the operating distance of the inspection robot 5 is set to the distance between the torso 20 and the wall where the wire duct 41 is located, and the operating distance is half the length of the robotic arm 21.

[0061] In this way, the operation distance is half the length of the mechanical arm 21, which is more convenient for the operation of the mechanical arm 21, and the mechanical arm 21 will not be too close to make the movement space insufficient, or too far to make the distance of the mechanical arm 21 after clamping the wire harness 42 smaller than the preset interval.

[0062] As shown in Figure 5 and Figure 6 In an embodiment of the present disclosure, the preset interval is 30 cm. The distance between the wire harness 42 on both sides and the target wire harness is greater than the preset interval.

[0063] In this way, the larger preset interval can reduce the interference of the wire harness 42 on both sides on the detection element when the inspection robot 5 detects the state of the target wire harness, provide a relatively empty environment for the target wire harness, and improve the detection accuracy.

[0064] As shown in Figures 1 to 3 In an embodiment of the present disclosure, the mechanical arm 21 is a seven-axis mechanical arm. The seven-axis mechanical arm facilitates the end gripper 212 to reach a specific position, can be more flexible to adapt to various working environments, can only change the posture of the free end without changing the position of the free end gripper 212, so that it can adapt to various working environments of the industrial plant 4 when working, avoid the equipment in the plant to block its movement path, and has high accuracy of the free end. Therefore, the clamping of the wire harness 42 on both sides of the target wire harness is more accurate, and the failure rate during detection is low.

[0065] As shown in Figures 1 to 3 In an embodiment of the present disclosure, the mechanical arm 21 includes an arm body 211 arranged on the trunk 20 and a gripper 212 arranged at the free end of the arm body 211, and the arm body 211 is configured to drive the gripper 212 to reach the wire harness 42 on the corresponding side of the target wire harness, and the gripper 212 is configured to clamp the wire harness 42 on the corresponding side of the target wire harness.

[0066] In this way, the wire harness 42 on both sides of the target wire harness is clamped by the free end gripper 212, and it can be ensured that the clamped wire harness 42 will not fall off or be missed during the operation of the gripper 212, so that the detection accuracy of the detection element is higher.

[0067] The gripper 212 can be a pneumatic or electric gripper, and the number of fingers of the gripper 212 can be two or more.

[0068] As shown in Figure 3 In an embodiment of the present disclosure, the first detection element 11 is a visible light module.

[0069] Specifically, the visible light module can capture light in the visible light spectrum and convert it into a high-resolution image. First, the wire harness 42 is ID numbered before the inspection robot 5 works, and when the inspection robot 5 works, the visible light module is used for visual identification of the number of wire harnesses 42, and then ID adaptation and identification are performed according to the wire harness 42 number to be detected and the wire harness 42 in the wire slot 41, and through the control module, the two mechanical arms 21 are operated to clamp other wire harnesses 42, so that the distance between the wire harnesses 42 on both sides and the target wire harness is greater than the preset interval. In this way, through visual identification, the corresponding wire harness 42 is accurately identified, and compared with the traditional manual inspection, there is no missed or wrong detection.

[0070] After the target wire harness is identified by the visible light module, the second detection element is used to detect the state of the target wire harness.

[0071] In detail, as shown in Figure 3 In one embodiment of the present disclosure, the second detection element 12 includes a partial discharge sensor 121 and a thermal imaging module 122, wherein the partial discharge sensor 121 is configured to detect whether the target wire harness is leaking; and the thermal imaging module 122 is configured to detect whether the temperature of the target wire harness is abnormal.

[0072] More specifically, the partial discharge sensor 121 receives the ultra-high frequency electromagnetic wave signal radiated by the partial discharge, and then judges whether the target wire harness is leaking. The partial discharge sensor 121 has good anti-interference performance, high sensitivity, large detection range, and high efficiency.

[0073] The thermal imaging module 122 detects the infrared signal of a specific wave band of the object thermal radiation, converts the signal into an image, and further calculates the temperature value. The thermal imaging module 122 can perform non-contact temperature measurement and thermal state analysis on the wire harness 42, can detect the overload of the wire harness 42 loop, and can judge whether the temperature of the target wire harness is abnormal. The inspection robot 5 will timely mark after finding that the detected value is abnormal.

[0074] The detection method of the partial discharge sensor 121 can also be a transient voltage, a high-frequency current method, an ultrasonic wave, a sound wave, or a combination of these traditional detection methods.

[0075] As shown in Figure 3 In one embodiment of the present disclosure, the inspection robot 5 further includes a lifting mechanism 22 and a gimbal 1, the first detection element 11 and the second detection element 12 are arranged in the gimbal 1 and are in communication connection with the control module in the gimbal 1, and the lifting mechanism 22 is configured to drive the gimbal 1 and the two mechanical arms 21 to move up and down relative to the trunk 20.

[0076] In detail, the lifting mechanism 22 of the present disclosure comprises a base, an electromechanical lifting column, the base is arranged at the top of the lifting column, the top of the base is provided with the holder 1, the left and right sides of the base are respectively provided with the mechanical arm 21, the electromechanical lifting column is arranged in the trunk 20, which is composed of a motor, a plurality of sleeves, a screw rod and a push rod in the sleeve, and the sleeve, the screw rod and the push rod are arranged in the height direction.

[0077] More specifically, the motor is connected with the screw rod through a gear or a belt transmission device, the screw rod is threadedly connected with the push rod, the other end of the push rod is fixedly connected with the uppermost sleeve, and in operation, the motor drives the screw rod to rotate through the transmission device, thereby controlling the linear motion of the push rod and the sleeve column upward or downward, so as to control the lifting of the base. The holder 1 and the two mechanical arms 21 of the inspection robot 5 can be raised or lowered during operation, so that they are always in the best working position, and the increase of the operation range of the inspection robot 5 improves the working efficiency.

[0078] According to one embodiment of the present disclosure, the lifting mechanism 22 of the present disclosure comprises a base, a worm gear lifting column, the base is arranged at the top of the lifting column, the top of the base is provided with the holder 1, the left and right sides of the base are respectively provided with the mechanical arm 21, the worm gear lifting column is arranged in the trunk 20, which is composed of a motor, a telescopic pipe, a worm gear, a worm and a screw rod in the telescopic pipe, and the telescopic pipe, the worm gear and the screw rod are arranged in the height direction.

[0079] More specifically, the top of the sleeve in the telescopic pipe is the top of the lifting column, the motor is connected with the worm, the worm is engaged with the worm gear, the worm gear is connected with the screw rod through a key groove, the screw rod is provided with a nut, the nut is abutted with the sleeve in the telescopic pipe, and in operation, the motor is rotated forward or reversely, thereby controlling the worm gear to rotate forward or reversely, the worm gear connected with the worm gear is rotated forward or reversely with the screw rod in the key groove, thereby controlling the nut on the screw rod to move, and driving the sleeve in the telescopic pipe to move upward or downward, so as to control the lifting of the base, and the holder 1 and the mechanical arm 21 are lifted or lowered.

[0080] As shown in Figure 1 and Figure 4 In one embodiment of the present disclosure, the walking mechanism 3 comprises a chassis 31, at least two hub motors 32, at least one universal wheel 33 and a distance detection element 34, wherein the upper part of the chassis 31 is provided with the trunk 20, the two hub motors 32 are arranged on the chassis 31 and configured to drive the chassis 31 to walk, the universal wheel 33 is rotatably arranged on the chassis 31 and configured to support the chassis 31 and make the chassis 31 rotate in place in cooperation with the at least two hub motors 32, and the distance detection element 34 is arranged on the chassis 31 and configured to detect the distance between the trunk 20 and the wall where the wire groove 41 is located.

[0081] The chassis 31 of the inspection robot 5 is constructed in a cylindrical shape, which can improve the stability of the inspection robot 5 when walking.

[0082] The hub motor 32 integrates the power device, transmission device and braking device into the wheel hub, omitting a large number of transmission components, which makes the structure of the inspection robot 5 simpler. Moreover, due to the independent drive characteristics of its single wheel, the differential principle can be used to control the different rotation speeds of the left and right wheels, so that the outer wheels travel a longer distance than the inner wheels, thereby realizing the steering of the inspection robot 5 and reducing the turning radius of the inspection robot 5. After the inspection robot 5 reaches the point 41 of the wire groove to be inspected, it can realize its in-situ steering by controlling the movement of the outer wheels and the stationary inner wheels.

[0083] Universal wheels 33 can rotate 360° horizontally, cooperating with at least two wheel hub motors 32 to support chassis 31 and enable it to rotate in place, preventing the inspection robot 5 from tipping over during movement. Distance detection elements 34 measure the distance between the trunk 20 and the wall where the cable trough 41 is located. This allows the inspection robot 5 to smoothly move and turn during operation, ensuring that the trunk 20 reaches the preset operating distance from the cable trough 41 to be inspected.

[0084] See also Figure 4 As can be seen, this embodiment exemplarily discloses that the walking mechanism 3 includes two universal wheels 33, and the two universal wheels 33 are evenly and symmetrically distributed around the circumference of the two hub motors 32. It should be noted that the number of universal wheels 33 disclosed in this disclosure can be one or more integers. Those skilled in the art can simply set an appropriate number of universal wheels 33 based on the actual walking requirements of the inspection robot 5.

[0085] like Figure 3 As shown, in one embodiment of the present disclosure, distance detection element 34 is a laser radar. By emitting, reflecting, and receiving infrared beams to detect objects, it can detect the distance between the object and the inspection robot 5. Due to the varying reflectivity of objects, it can distinguish between equipment and walls within the industrial plant 4. Thus, the inspection robot 5, using the laser radar, can accurately determine the distance between its trunk 20 and the wall where the cable duct 41 is located, and can also determine whether there are any obstacles in its path.

[0086] For better understanding, refer to Figures 1 to 6 , combined with an application scenario to explain in detail the working principle of the inspection robot provided by the present disclosure.

[0087] The present disclosure provides an inspection robot 5, the inspection robot 5 of the present disclosure comprises a trunk 20, a walking mechanism 3, a first detection element 11, a second detection element 12, and two mechanical arms 21, wherein the walking mechanism 3 is arranged at the bottom of the trunk 20, the first detection element 11 and the second detection element 12 are arranged at the top of the trunk 20, and the two mechanical arms 21 are arranged on the left and right sides of the trunk 20.

[0088] Specifically, the inspection robot 5 of the present disclosure enters the industrial plant 4, moves to the point of the line slot 41 to be detected, rotates to face the line slot 41 to be detected by controlling the different rotating speeds of the two in-wheel motors 32, ensures that the inspection robot 5 walks to a distance of 30 cm from the line slot 41 to be detected by the laser radar, then according to the position of the wire harness 42, drives the gimbal 1 and the two mechanical arms 21 to a certain height by the lifting mechanism 22, pairs and identifies the target wire harness by the visible light module in the gimbal 1, then the free end of the two mechanical arms 21 clamps the wire harness 42 on both sides of the target wire harness by the clamping jaw 212, and ensures that the distance between the wire harness 42 on both sides and the target wire harness is greater than 30 cm, finally the partial discharge sensor 121 in the gimbal 1 detects whether the target wire harness is electrified, the thermal imaging module 122 detects whether the temperature of the target wire harness is abnormal, records the detected data, and timely marks after finding that the detected value is abnormal.

[0089] In this way, when the inspection robot 5 detects the wire harness 42 in the line slot 41, on the one hand, the distance between the wire harness 42 on both sides and the target wire harness is greater than the preset distance, which reduces the interference of the wire harness 42 on both sides on the detection result and improves the accuracy of the detection result. On the other hand, the target wire harness is identified by the visible light module, the partial discharge sensor 121 detects whether the target wire harness is electrified, and the thermal imaging module 122 detects whether the temperature of the target wire harness is abnormal. Compared with manual inspection, the detection result is more professional, and the data record report of detection is more complete.

[0090] The above has described the embodiments of the present disclosure, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those skilled in the art without departing from the scope and spirit of the described embodiments. The selection of the terms used herein is intended to best explain the principles, practical applications, or technical improvements in the market of the embodiments, or to enable other ordinary skilled persons in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims

1. A patrol robot, the patrol robot (5) being used to detect the status of a wiring harness (42) in an industrial plant (4), characterized in that: The inspection robot (5) comprises: torso (20); A walking mechanism (3), the walking mechanism (3) being arranged at the bottom of the trunk (20) and configured to drive the trunk (20) to walk until a preset operating distance is reached from the wire trough (41) to be detected; a first detection element (11), the first detection element (11) being disposed on the top of the trunk (20) and configured to identify a target harness; Two robotic arms (21), the two robotic arms (21) being respectively arranged on the left and right sides of the trunk (20) and configured to clamp the wire harnesses (42) on both sides of the target wire harness and ensure that the distance between the wire harnesses (42) on both sides and the target wire harness is greater than a preset distance; A second detection element (12) is provided on the top of the trunk (20) and is configured to detect whether the target wiring harness is abnormal.

2. The inspection robot according to claim 1, characterized in that: The operating distance is set to be the distance between the trunk (20) and the wall where the wire trough (41) is located, and the operating distance is half the length of the robotic arm (21).

3. The inspection robot according to claim 1, characterized in that: The preset distance is 30 cm.

4. The inspection robot according to claim 2, characterized in that: The robotic arm (21) is a seven-axis robotic arm.

5. The inspection robot according to claim 1, characterized in that: The robotic arm (21) comprises an arm body (211) arranged on the trunk (20) and a clamping claw (212) arranged at a free end of the arm body (211), wherein the arm body (211) is configured to drive the clamping claw (212) to reach the wiring harness (42) on the corresponding side of the target wiring harness, and the clamping claw (212) is configured to clamp the wiring harness (42) on the corresponding side of the target wiring harness.

6. The inspection robot according to claim 5, characterized in that: The first detection element (11) is a visible light module.

7. The inspection robot according to claim 6, characterized in that: The second detection element (12) comprises: A partial discharge sensor (121), the partial discharge sensor (121) being configured to detect whether a target wiring harness has leakage; A thermal imaging module (122) is configured to detect whether the temperature of a target wiring harness is abnormal.

8. The inspection robot according to any one of claims 1 to 6, characterized in that: The inspection robot (5) further comprises a lifting mechanism (22) and a pan-tilt platform (1), wherein the first detection element (11) and the second detection element (12) are arranged on the pan-tilt platform (1) and are communicatively connected to a control module in the pan-tilt platform (1), and the lifting mechanism (22) is configured to drive the pan-tilt platform (1) and the two robotic arms (21) to move upward and downward relative to the trunk (20); The control module is in communication with the robotic arm (21) and is configured to drive the robotic arm (21) to clamp the wiring harnesses (42) on both sides of the target wiring harness based on the detection result of the first detection element (11).

9. The inspection robot according to any one of claims 1 to 6, characterized in that: The walking mechanism (3) comprises: a chassis (31), the trunk (20) being arranged on the chassis (31); At least two wheel hub motors (32), wherein the at least two wheel hub motors (32) are arranged on the chassis (31) and are configured to drive the chassis (31) to move; At least one universal wheel (33), at least one universal wheel (33) is rotatably mounted on the chassis (31) and is configured to cooperate with at least two hub motors (32) to support the chassis (31) and enable the chassis (31) to rotate in situ; A distance detection element (34) is provided on the chassis (31) and is configured to detect the distance between the trunk (20) and the wall where the wire trough (41) is located.

10. The inspection robot according to claim 9, characterized in that: The distance detection element (34) is a laser radar.

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