Inspection robot based on acoustic signal fault detection

Abstract

The utility model relates to the technical field of inspection robots, and discloses an inspection robot based on acoustic signal fault detection, which comprises a machine body, a holder is arranged on the machine body, and a camera device is arranged on the holder; a fixing block and a fixing frame are fixedly mounted on the machine body, a mounting frame and a driving mechanism are mounted on the fixing frame, and an acoustic detection device is mounted on the mounting frame; a mounting bin is fixedly mounted at the bottom of the mounting frame, and a liquid containing bin is formed in the mounting bin. A lifting block is fixedly mounted in the mounting bin, a pressing atomizing pump head is mounted on the lifting block, a liquid pumping pipe is designed on the pressing atomizing pump head, and the liquid pumping pipe is communicated with the liquid containing bin; a spraying opening matched with the pressing atomizing pump head is formed in the corresponding position of the mounting bin; and the extrusion mechanism and the distinguishing mechanism are mounted at corresponding positions of the mounting bin. According to the utility model, through the acoustic detection device with adjustable height, the automatic spray marking system and the fault type identification function, the efficiency and reliability of inspection work are obviously improved.

Description

Technical Field

[0001] This utility model relates to the field of inspection robot technology, specifically an inspection robot based on acoustic signal fault detection. Background Technology

[0002] In recent years, with the advancement of the Internet of Things (IoT), big data analytics, and artificial intelligence (AI) technologies, automated inspection technologies have developed rapidly. In particular, fault detection technology based on acoustic signals has attracted widespread attention due to its non-contact, low-cost, and easy-to-implement advantages. Acoustic signals, as an important source of information reflecting the operating status of mechanical equipment, can provide crucial clues about the equipment's internal structure and working condition. By analyzing the sounds emitted by the equipment, abnormalities in its operation can be detected promptly, allowing for early maintenance and reducing losses caused by equipment failures.

[0003] A patent document with publication number CN220348424U discloses an inspection robot based on acoustic signal fault detection, comprising: a data acquisition module for acquiring acoustic signals generated by a target rotating device; a travel module for driving the inspection robot to move during inspection; a navigation module for obstacle avoidance during the movement of the inspection robot; and an identification module for identifying faults in the target rotating device based on the acoustic signals.

[0004] However, the above-mentioned device has the following problems when in use: Although it can use acoustic signals to locate faults, it lacks an effective physical marking device for fault locations. The detection equipment can only upload general image information to the cloud, and maintenance personnel still need to carefully search and locate the faults, which is inefficient and inconvenient for daily use. Utility Model Content

[0005] The purpose of this invention is to solve the problems existing in the prior art by proposing an inspection robot based on acoustic signal fault detection. Through a highly adjustable acoustic detection device, an automatic spray marking system, and a fault type identification function, the robot significantly improves the accuracy, efficiency, and reliability of inspection work.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] An inspection robot based on acoustic signal fault detection includes a body, a gimbal mounted on the body, and a camera device mounted on the gimbal.

[0008] The machine body is fixedly equipped with a fixing block and a fixing frame. The fixing frame is equipped with a mounting bracket and a drive mechanism. The mounting bracket is equipped with an acoustic detection device.

[0009] An installation chamber is fixedly installed at the bottom of the mounting frame, and a liquid storage compartment is opened inside the installation chamber;

[0010] Inside the installation chamber, a lifting block is fixedly installed. A press spray pump head is installed on the lifting block. The press spray pump head is designed with a liquid extraction pipe, which is connected to the liquid filling chamber.

[0011] The installation compartment has a spray nozzle that is compatible with the press spray pump head at the corresponding position;

[0012] The installation chamber has the extrusion mechanism and the differentiation mechanism installed in the corresponding positions.

[0013] Preferably, the drive mechanism includes a drive motor located inside the fixed block. A threaded rod is fixedly installed on the output end of the drive motor shaft. The other end of the threaded rod is rotatably mounted on the threaded rod. A nut pair is threadedly connected to the threaded rod and is fixedly connected to the mounting bracket.

[0014] Preferably, the installation chamber is fitted with a material injection channel, which is connected to the rotating disk, and a cap is threaded onto the material injection channel.

[0015] Preferably, the extrusion mechanism includes a lifting rod, which is fixedly installed inside the installation chamber. A contact block is fixedly installed on the other end of the lifting rod, and the contact block can contact the press spray pump head and drive it to descend.

[0016] Preferably, the differentiating mechanism includes a servo motor, which is installed inside the mounting chamber. A rotating shaft is fixedly installed on the output end of the servo motor shaft, and a rotating disk is fixedly installed on the other end of the rotating shaft. Differentiating plates are equidistantly and evenly mounted on the rotating disk.

[0017] Preferably, the patterns on each dividing plate are different from each other.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] (1) This utility model sets up an organic body, a mounting frame, an acoustic detection device, a mounting chamber, a liquid filling chamber, a liquid extraction pipe, a lifting block, a pressing spray pump head, a drive mechanism and a pressing mechanism. By adjusting the height of the acoustic detection device, the sound source can be better located, which effectively improves the accuracy of fault detection. The height of the positioning component can be adjusted synchronously with the height of the acoustic detection device to ensure that faults in different locations can be accurately marked. Moreover, the automatic spray marking function can quickly mark fault points, improve inspection efficiency and reduce the misjudgment rate.

[0020] (2) This utility model is equipped with a servo motor, a rotating shaft, a rotating disk and a distinguishing plate. By rotating the rotating shaft, the distinguishing plate with different patterns can be aligned with the spray nozzle, so that different patterns corresponding to different fault types can be sprayed on the surface of the equipment. Maintenance personnel can identify the fault type more quickly and speed up the maintenance preparation work. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of an inspection robot based on acoustic signal fault detection proposed in this utility model;

[0022] Figure 2 This is a schematic diagram illustrating the height adjustment of an inspection robot based on acoustic signal fault detection, as proposed in this utility model.

[0023] Figure 3 This is a cross-sectional view of the installation compartment of an inspection robot based on acoustic signal fault detection proposed in this utility model.

[0024] Figure 4 This is a schematic diagram of a fault detection mechanism for an inspection robot based on acoustic signals, as proposed in this utility model.

[0025] In the diagram: 1. Body; 2. Gimbal; 3. Camera device; 4. Fixing block; 5. Fixing frame; 6. Threaded rod; 7. Mounting frame; 8. Acoustic detection device; 9. Drive motor; 10. Nut pair; 11. Mounting chamber; 12. Cap; 13. Rotating disc; 14. Injection channel; 15. Liquid filling chamber; 16. Liquid extraction pipe; 17. Lifting block; 18. Press spray pump head; 19. Spray outlet; 20. Lifting rod; 21. Contact block; 22. Servo motor; 23. Rotating shaft; 24. Differentiating plate. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0027] Please see Figures 1 to 4 An inspection robot based on acoustic signal fault detection includes a body 1, a gimbal 2 mounted on the body 1, and a camera device 3 mounted on the gimbal 2. This part is prior art. The gimbal 2 can rotate, and the camera device 3 can adjust the pitch angle on the gimbal 2, thereby making the camera range wider. This part is prior art and will not be described in detail here.

[0028] A fixing block 4 and a fixing frame 5 are fixedly installed on the body 1. A mounting frame 7 and a drive mechanism are installed on the fixing frame 5. An acoustic detection device 8 is installed on the mounting frame 7. Preferably, a camera can be installed on the acoustic detection device 8 to perform more accurate positioning activities.

[0029] The drive mechanism causes the mounting bracket 7 to rise and fall, thereby allowing the height of the acoustic detection device 8 to be adjusted according to actual needs. This enables the acoustic detection device 8 to better locate the sound source, especially when there are multiple potential sound sources. Changing the height can help distinguish and accurately locate specific sound sources, making fault location activities more convenient.

[0030] The bottom of the mounting frame 7 is fixedly installed with a mounting chamber 11. The mounting chamber 11 has a liquid filling chamber 15 inside. The liquid filling chamber 15 is filled with a colored and easily adhered solution for marking, which facilitates the quick positioning activities of maintenance personnel in the future.

[0031] An elevation block 17 is fixedly installed inside the installation chamber 11. A press-type spray pump head 18 is mounted on the elevation block 17. The press-type spray pump head 18 is designed with a liquid extraction pipe 16, which is connected to the liquid filling chamber 15. By applying downward pressure to the press-type spray pump head 18, the colored solution can be sprayed out smoothly, thereby quickly marking the fault location for easy daily use (similar to the spray pump body of a bottle containing eyeglass solution).

[0032] Preferably, the colored solution should be an easy-to-remove solution to ensure that it can be easily wiped off after maintenance, thereby ensuring the cleanliness of the equipment.

[0033] The installation chamber 11 has a spray outlet 19 at the corresponding position that is compatible with the press spray pump head 18;

[0034] The installation chamber 11 has the extrusion mechanism and the differentiation mechanism installed in the corresponding positions.

[0035] The drive mechanism includes a drive motor 9, which is located inside the fixed block 4. A threaded rod 6 is fixedly installed on the output end of the shaft of the drive motor 9. The other end of the threaded rod 6 is rotatably installed on the threaded rod 6. A nut pair 10 is threadedly connected to the threaded rod 6, and the nut pair 10 is fixedly connected to the mounting bracket 7.

[0036] When the drive motor 9 starts, the threaded rod 6 can rotate. The rotation of the threaded rod 6 can drive the nut pair 10 to rise and fall on the threaded rod 6, thereby adjusting the height of the acoustic detection device 8 and the nozzle 19 according to actual needs. This allows for the location and marking of faults at different heights.

[0037] The installation chamber 11 is fitted with an injection channel 14, which is connected to the rotating disk 13. A cap 12 is threaded onto the injection channel 14, allowing the injection of a consumable colored solution. During use, the cap 12 seals the injection channel 14 to ensure airtightness and prevent accidental leakage of the solution.

[0038] The extrusion mechanism includes a lifting rod 20, which is fixedly installed inside the installation chamber 11. A contact block 21 is fixedly installed on the other end of the lifting rod 20. The contact block 21 can contact the press spray pump head 18 and drive it to descend.

[0039] The driving source for the lifting boom 20 can be electric or pneumatic, and the manufacturer can adjust it as needed.

[0040] When it is necessary to mark the fault location, the lifting rod 20 is activated, causing the contact block 21 to descend. The contact block 21 then presses the spray pump head 18, allowing the colored solution to be sprayed out smoothly and directly onto the corresponding equipment for rapid positioning.

[0041] Preferably, the device should have an internal controller that is electrically connected to the servo motor 22, so that the shaft 23 in the servo motor 22 can rotate at a corresponding angle according to the fault type.

[0042] The differentiating mechanism includes a servo motor 22, which is installed inside the mounting chamber 11. A rotating shaft 23 is fixedly installed on the output end of the shaft of the servo motor 22, and a rotating disk 13 is fixedly installed on the other end of the rotating shaft 23. Differentiating plates 24 are equidistantly and evenly mounted on the rotating disk 13.

[0043] The patterns on each of the partitions 24 are all different.

[0044] By activating the servo motor 22, the rotating shaft 23 drives the rotating disk 13 to rotate, thereby aligning the different separating plates 24 with the spray nozzle 19. Through the blocking effect of the separating plates 24, different shaped patterns can be sprayed out, which can help the repairman quickly determine the type of fault (such as mechanical wear, bearing damage, gear wear, belt loosening, etc.; electrical problems, such as arc discharge, corona discharge, short circuit, etc., which are usually accompanied by high-frequency noise; fluid leakage, such as gas or liquid leakage, which will produce special hissing or airflow sounds, and acoustic detection can be used to locate the leak point; structural defects, such as cracks, cavities, etc., which may also produce specific sound patterns; unbalanced rotating parts, such as unbalanced motor rotors, damaged fan blades, etc., will cause vibration and corresponding noise), making it easy to quickly take out the corresponding tools for repair.

[0045] Preferably, the rotating disk 13 should be fixedly connected to the rotating shaft 23 by means of screws, threads or other detachable means, so as to facilitate the cleaning of the colored solution blocked on the rear of the rotating disk 13 and ensure its cleanliness.

[0046] The workflow of this utility model is as follows: The inspection robot is started, and all components are initialized, including the acoustic detection device 8, the camera device 3, the drive mechanism, etc. The acoustic detection device 8 starts to listen to the surrounding acoustic signals, captures the sound in the environment through the microphone array, and performs preliminary analysis.

[0047] Based on the results of acoustic signal analysis, the drive motor 9 starts, causing the threaded rod 6 to rotate. The nut assembly 10 moves up and down accordingly, adjusting the height of the mounting bracket 7 so that the acoustic detection device 8 reaches the optimal detection height. The camera device 3 on the pan-tilt unit 2 adjusts the rotation and tilt angles as needed, working in conjunction with the acoustic detection device 8 to locate the source of the fault.

[0048] When an abnormal sound source is detected, the system confirms the location of the fault, moves the equipment to the corresponding position, and then moves the nozzle 19 to the faulty part. The servo motor 22 is started, which drives the rotating disk 13 to rotate. The appropriate distinguishing plate 24 is aligned with the nozzle 19, and a specific pattern mark is sprayed out to help maintenance personnel quickly identify the type of fault.

[0049] The lifting rod 20 in the squeezing mechanism drives the contact block 21 to move downward, triggering the press spray pump head 18 to spray the solution in the liquid tank 15 onto the fault point, thus completing the accurate positioning activity.

[0050] When the solution in the liquid storage tank 15 is used up, new solution can be added through the filling channel 14, and then the cap 12 can be tightened to keep it sealed.

[0051] After completing one inspection task, the robot continues to carry out the next round of inspections according to the predetermined route or instructions, and feeds back the inspection results and marking status to the control system or monitoring center.

[0052] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An inspection robot based on acoustic signal fault detection, comprising a body (1), a gimbal (2) mounted on the body (1), and a camera device (3) mounted on the gimbal (2), characterized in that, A fixing block (4) and a fixing frame (5) are fixedly installed on the body (1). A mounting frame (7) and a drive mechanism are installed on the fixing frame (5). An acoustic detection device (8) is installed on the mounting frame (7). The bottom of the mounting frame (7) is fixedly installed with an installation chamber (11), and the interior of the installation chamber (11) is provided with a liquid filling chamber (15); the interior of the installation chamber (11) is fixedly installed with a lifting block (17), and a press spray pump head (18) is installed on the lifting block (17). The press spray pump head (18) is designed with a liquid extraction pipe (16), and the liquid extraction pipe (16) is connected to the liquid filling chamber (15); the installation chamber (11) is provided with a spray outlet (19) adapted to the press spray pump head (18) at the corresponding position; the installation chamber (11) is provided with a squeezing mechanism and a differentiating mechanism at the corresponding position.

2. The inspection robot based on acoustic signal fault detection according to claim 1, characterized in that, The drive mechanism includes a drive motor (9), which is located inside the fixed block (4). A threaded rod (6) is fixedly installed on the output end of the shaft of the drive motor (9). The other end of the threaded rod (6) is rotatably installed on the threaded rod (6). A nut pair (10) is connected to the threaded rod (6) by a thread. The nut pair (10) is fixedly connected to the mounting bracket (7).

3. An inspection robot based on acoustic signal fault detection according to claim 1 or 2, characterized in that, The installation chamber (11) is fitted with a material injection channel (14), which is connected to the rotating disk (13), and a cap (12) is threadedly connected to the material injection channel (14).

4. An inspection robot based on acoustic signal fault detection according to claim 1 or 2, characterized in that, The extrusion mechanism includes a lifting rod (20), which is fixedly installed inside the installation chamber (11). A contact block (21) is fixedly installed on the other end of the lifting rod (20). The contact block (21) can contact the press spray pump head (18) and drive it to descend.

5. The inspection robot based on acoustic signal fault detection according to claim 3, characterized in that, The extrusion mechanism includes a lifting rod (20), which is fixedly installed inside the installation chamber (11). A contact block (21) is fixedly installed on the other end of the lifting rod (20). The contact block (21) can contact the press spray pump head (18) and drive it to descend.

6. An inspection robot based on acoustic signal fault detection according to claim 1, 2, or 5, characterized in that, The differentiating mechanism includes a servo motor (22), which is installed inside the mounting chamber (11). A rotating shaft (23) is fixedly installed on the output end of the shaft of the servo motor (22), and a rotating disk (13) is fixedly installed on the other end of the rotating shaft (23). Differentiating plates (24) are equidistantly and evenly mounted on the rotating disk (13).

7. The inspection robot based on acoustic signal fault detection according to claim 3, characterized in that, The differentiating mechanism includes a servo motor (22), which is installed inside the mounting chamber (11). A rotating shaft (23) is fixedly installed on the output end of the shaft of the servo motor (22), and a rotating disk (13) is fixedly installed on the other end of the rotating shaft (23). Differentiating plates (24) are equidistantly and evenly mounted on the rotating disk (13).

8. The inspection robot based on acoustic signal fault detection according to claim 4, characterized in that, The differentiating mechanism includes a servo motor (22), which is installed inside the mounting chamber (11). A rotating shaft (23) is fixedly installed on the output end of the shaft of the servo motor (22), and a rotating disk (13) is fixedly installed on the other end of the rotating shaft (23). Differentiating plates (24) are equidistantly and evenly mounted on the rotating disk (13).

9. An inspection robot based on acoustic signal fault detection according to claim 6, characterized in that, The patterns on each partition (24) are all different.

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