Liftable inspection robot

Abstract

The utility model discloses a liftable inspection robot which comprises a robot body, a control system is arranged in the robot body, an inspection device comprises a lifting part and a holder assembly, and the lifting part can drive the holder assembly to ascend and descend; the wheels are arranged at the bottom of the robot body and drive the robot body to move; the operation device comprises an execution device which can execute the operation instruction; the control system can control the inspection device, the wheels and the operation device. According to the liftable inspection robot disclosed by the utility model, the lifting part drives the holder assembly to lift so as to adapt to inspection areas in different height ranges; the operation command can be executed through the execution device, and when an abnormal state is encountered in the inspection process, the execution device executes the operation command to repair the abnormity; meanwhile, compared with a four-legged inspection robot, the liftable inspection robot disclosed by the utility model adopts wheels to move, so that the cost can be reduced, and the noise can be reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field more particularly, relate to a liftable inspection robot. BACKGROUND

[0002] With the development of robot technology, the inspection application of robot has been more and more widely, especially the environment that can easily cause harm to human body. When the robot is applied in the indoor place inspection environment, the prior art mainly has the following defects: the conventional inspection robot can only inspect the area range of fixed height, when facing the inspection area of different height range, often can not meet the demand; only can complete the inspection task, has no operation ability to abnormal state, especially lacks the countermeasures in the environment state that the human body exists danger; four-foot type inspection robot can cope with various complex site road conditions, but for indoor occasion, the use cost is high, and the working noise is big. CONTENT OF UTILITY MODEL

[0003] The utility model provides a liftable inspection robot to solve the problem of the fixed inspection height range of the inspection robot in prior art, no operation ability to abnormal state, high equipment cost, big noise.

[0004] The utility model provides a liftable inspection robot, include: robot body, be equipped with control system in the robot body, be equipped with detection device in the lower part of the front of the robot body, the detection device provides detection feedback for the advancing road condition of the robot body, the inspection device is equipped with the upper part of the robot body, the inspection device includes lifting portion, cloud platform assembly, the bottom of the lifting portion is connected with the robot body, the top of the lifting portion is connected with the cloud platform assembly, the lifting portion can drive the cloud platform assembly and lift, the wheel is equipped with the bottom of the robot body, and drives the robot body and moves, operating device, operating device is equipped with the front part of the robot body, operating device includes execution device, execution device can execute operation instruction, wherein, control system can control the inspection device, the wheel and operating device.

[0005] Further, the detection device includes a laser portion, and the laser portion is arranged in front of the lower part of the robot body.

[0006] Further, the detection device includes an ultrasonic portion, and the ultrasonic portion is arranged in front of the lower part of the robot body.

[0007] Further, the operating device includes a mechanical arm, and the mechanical arm is connected with the robot body and the execution device.

[0008] Further, the mechanical arm is a six-axis mechanical arm.

[0009] Further, the lifting part is a lifting rod, an upper section of the lifting rod is retractable into a lower section.

[0010] Further, the inspection device comprises a holder for the gimbal, the holder is connected to the lifting part at the bottom and fixed to the gimbal assembly at the top, and the holder is rotatable around the lifting part.

[0011] Further, the inspection device comprises a wire harness, one end of the wire harness is connected to the control system, and the other end of the wire harness is connected to the gimbal assembly through the holder for the gimbal.

[0012] Further, the inspection device further comprises a wire collector, the wire collector is arranged at the bottom of the lifting part, and the wire collector controls the exposed length of the wire harness.

[0013] Further, the lifting part is fixed to the robot body by bolts.

[0014] The liftable inspection robot according to the present application is provided with a lifting part between the gimbal assembly and the robot body, and the gimbal assembly is lifted by the lifting part. An operation device is arranged at the front of the robot body, and the operation command is executed by the execution device in the operation device. Wheels are arranged at the bottom of the robot body to move the robot body. The liftable inspection robot according to the present application is lifted by the lifting part to adapt to the inspection area of different height ranges. The operation command is executed by the execution device, and the execution device executes the operation command to repair the abnormality when the abnormality is encountered during the inspection. Meanwhile, compared with the four-legged inspection robot, the liftable inspection robot according to the present application moves by wheels, which can reduce the cost and noise.

[0015] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments thereof, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0016] The accompanying drawings incorporated in and forming a part of the specification illustrate embodiments of the present application and, together with the description, serve to explain the principles of the application.

[0017] Figure 1 is a perspective view of the liftable inspection robot according to the embodiment of the present application in the extended state of the lifting part;

[0018] Figure 2 is a perspective view of the liftable inspection robot according to the embodiment of the present application in the retracted state of the lifting part;

[0019] Figure 3is a side view of the liftable inspection robot according to the embodiment of the utility model in the lifting part contraction state;

[0020] Figure 4 is a side view of the inspection device of the liftable inspection robot according to the embodiment of the utility model.

[0021] Reference signs:

[0022] Robot body 10;Detection device 11;Laser part 111;Ultrasonic part 112;

[0023] Inspection device 20;Lifting part 21;Holder assembly 22;Holder fixing seat 23;Wire harness 24;Wire collector 25;

[0024] Wheel 30;

[0025] Operation device 40;Execution device 41;Mechanical arm 42. DETAILED DESCRIPTION

[0026] Various exemplary embodiments of the utility model will now be described in detail with reference to the drawings. It should be noted that: unless otherwise specifically stated, the relative arrangement, numerical expression and numerical value of the components and steps set forth in these embodiments do not limit the scope of the utility model.

[0027] 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 utility model and its applications or uses.

[0028] The technology, methods and devices known to those skilled in the relevant art can not be discussed in detail, but in appropriate cases, the technology, methods and devices should be considered as part of the specification.

[0029] In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, not as a limitation. Therefore, other examples of exemplary embodiments can have different values.

[0030] It should be noted that: similar signs and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0031] In the specification and claims of the utility model, if the terms "first", "second" features can be explicitly or implicitly include one or more features. In the description of the utility model, unless otherwise stated, the meaning of "multiple" is two or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, character " / ", generally indicates that the front and rear associated objects are a kind of "or" relationship.

[0032] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and other terms indicating orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0033] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0034] The liftable inspection robot according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

[0035] The liftable inspection robot according to an embodiment of the present utility model includes a robot body 10, an inspection device 20, wheels 30 and an operating device 40.

[0036] Specifically, the robot body 10 has a control system inside, and a detection device 11 is located at the lower front of the robot body 10. The detection device 11 provides detection feedback on the path conditions of the robot body 10. The inspection device 20 is located on the upper part of the robot body 10. The inspection device 20 includes a lifting part 21 and a gimbal assembly 22. The bottom of the lifting part 21 is connected to the robot body 10, and the top of the lifting part 21 is connected to the gimbal assembly 22. The lifting part 21 can drive the gimbal assembly 22 to move up and down. The wheels 30 are located at the bottom of the robot body 10 and drive the robot body 10 to move. The operating device 40 is located at the front of the robot body 10. The operating device 40 includes an execution device 41, which can execute operating commands. The control system can control the inspection device 20, the wheels 30, and the operating device 40.

[0037] In other words, the liftable inspection robot according to the embodiment of the utility model mainly consists of robot body 10, inspection device 20, wheel 30 and operating device 40. Among them, the robot body 10 can be horizontal design, also can be vertical design, usually as the main structure of the robot contains built-in components, the robot body 10 is equipped with power supply and control system. The power supply can be a conventional rechargeable battery, and the power supply provides power for the control system and other components. The front lower part of the robot body 10 is provided with a detection device 11, which is arranged in the peripheral direction of the lower part of the robot body 10 to cover the front view angle in the process of advancing, detect the road condition information of the front advancing direction, and feedback to the control system.

[0038] The inspection device 20 is arranged on the upper part of the robot body 10, and can also be arranged on the front part of the robot body 10 to obtain a wide inspection view angle. The inspection device 20 comprises a lifting part 21 and a holder assembly 22, the bottom of the lifting part 21 is fixedly connected with the robot body 10, and is usually bolted on the skeleton of the robot body 10, the top of the lifting part 21 is connected with the holder assembly 22, and the lifting part 21 can be lifted in the vertical direction, thereby driving the holder assembly 22 to lift to meet the inspection area of different heights.

[0039] The wheel 30 is arranged at the bottom of the robot body 10 and drives the robot body 10 to move. Compared with the four-legged structure, the wheel has the characteristics of small noise and low cost. The wheel 30 preferably adopts a silent wheel, and the number of the wheel 30 can be changed according to the shape and weight of the robot and other design requirements, and a four-wheel structure is preferably adopted. The wheel 30 can advance, retreat or turn under the control of the control system.

[0040] The operating device 40 is arranged on the front part of the robot body 10, and the operating device 40 comprises an execution device 41, which is preferably a simulation hand simulating the structure of human palm and fingers to simulate the operation of human hand.

[0041] The control system is connected with the power supply, the detection device 11, the inspection device 20, the operating device 40 and the wheel 30. The control system can control the inspection device 20, the wheel 30 and the operating device 40. Specifically, the detection device 11 feeds back the detected advancing road condition to the control system, and the control system controls the advancing, retreating and turning of the wheel according to the feedback information. The lifting part 21 drives the holder assembly 22 to lift to collect inspection information in different height ranges and feedback to the control system, when the abnormal state information is inspected, the control system simulates the operation of human hand through the execution device 41 to repair the abnormality and eliminate the danger.

[0042] When the liftable inspection robot encounters an abnormal state during the inspection process, in order to ensure that the problem can be found and the abnormality can be handled in time, a communication module can be arranged in the robot body 10, and the control system can report the abnormality to the background system through the communication module. The background system can also send instructions to the control module through the communication module. In this way, when the abnormal state is detected, the control module feeds back the abnormal condition to the background system through the communication module, and simultaneously processes the abnormal problem through the execution device 41. The staff can also directly control the execution device 41 to complete the abnormality processing through the background system.

[0043] Therefore, according to the liftable inspection robot of the utility model, the lifting part 21 is arranged between the holder assembly 22 and the robot body 10, and the holder assembly 22 is lifted by the lifting part 21. The operation device 40 is arranged at the front of the robot body 10, and the execution device 41 in the operation device 40 executes the operation command. The wheels 30 are arranged at the bottom of the robot body 10 to move. The liftable inspection robot of the utility model lifts the holder assembly 22 through the lifting part 21 to adapt to the inspection area of different height ranges; the execution device 41 can execute the operation command, and when an abnormal state is encountered during the inspection process, the execution device 41 executes the operation command to repair the abnormality; at the same time, compared with the four-legged inspection robot, the liftable inspection robot of the utility model moves by using wheels, which can reduce the cost and noise.

[0044] According to an embodiment of the utility model, the detection device 11 comprises a laser part 111, and the laser part 111 is arranged at the front of the lower part of the robot body 10.

[0045] In other words, as shown in the drawings, Figure 1 The detection device 11 comprises a laser part 111, and the laser part 111 is arranged at the front of the lower part of the robot body 10. The laser part 111 obtains the three-dimensional information of the surrounding environment by emitting a laser beam and measuring the time of reflection, can accurately measure the distance and angle between the object and the laser beam, and thus obtains a high-precision three-dimensional environment model.

[0046] In some specific embodiments of the utility model, the detection device 11 comprises an ultrasonic part 112, and the ultrasonic part 112 is arranged at the front of the lower part of the robot body 10.

[0047] That is, as shown in the drawings, Figure 1 The ultrasonic part 112 is arranged at the front of the lower part of the robot body 10. The ultrasonic part 112 detects obstacles and distances by emitting ultrasonic signals and measuring the time of reflection. It can be used for close-range ranging and obstacle detection.

[0048] According to the embodiment of the utility model, the laser part 111 and the ultrasonic part 112 are arranged at the front lower part of the robot body 10, three-dimensional information of the surrounding environment is obtained by emitting laser beams and measuring the time of reflection, the distance and the angle between the object and the laser beams can be accurately measured, and a high-precision three-dimensional environment model is obtained, ultrasonic signals are emitted and the time of reflection is measured to detect obstacles and distances. Laser beams and ultrasonic signals are combined to provide more comprehensive environmental perception capability. The high-precision three-dimensional modeling capability of the laser beams and the short-distance ranging capability of the ultrasonic signals complement each other, which helps the liftable inspection robot to better cope with various road conditions and complex environments and improves safety.

[0049] In some specific embodiments of the utility model, the operating device 40 comprises a mechanical arm 42, and the mechanical arm 42 is connected to the robot body 10 and the executing device 41.

[0050] In other words, the operating device 40 further comprises a mechanical arm 42, one end of the mechanical arm 42 is connected to the robot body 10, and the other end is connected to the executing device 41. The executing device 41 is driven to execute the operation instruction by the freedom degree between the joints of the mechanical arm 42.

[0051] In some specific embodiments of the utility model, the mechanical arm 42 is a six-axis mechanical arm.

[0052] In other words, the conventional mechanical arm is two-axis, and the range of motion is limited. The six-axis mechanical arm greatly increases the range of freedom of the operating device, so that the executing device 41 has a large range of motion while meeting high-difficulty operations when executing operation instructions.

[0053] In some specific embodiments of the utility model, the lifting part 21 is a lifting rod, and an upper section of the lifting rod is retractable into a lower section.

[0054] In other words, the lifting part 21 is preferably a lifting rod, which is economical and practical. An upper section of the lifting rod is retractable into a lower section to form a folding structure, which can meet the inspection areas of different height ranges by increasing the number of sections, and can save space after retraction.

[0055] In some specific embodiments of the utility model, the inspection device 20 comprises a holder fixed seat 23, the bottom of the holder fixed seat 23 is connected to the lifting part 21, the top of the holder fixed seat 23 is fixed to the holder assembly 22, and the holder fixed seat 23 can rotate around the lifting part 21.

[0056] In other words, as Figure 4As shown, the inspection device 20 further comprises a holder 23 of the gimbal, the bottom of the holder 23 is connected with the lifting part 21, and bolt connection is preferred. The top of the holder 23 is fixed with the gimbal assembly 22, and bolt fixing is preferred. The holder 23 of the gimbal can rotate around the lifting part 21 to meet the scene that the gimbal assembly 22 needs to rotate.

[0057] In some specific embodiments of the present application, the inspection device 20 comprises a wire harness 24, one end of the wire harness 24 is connected with the control system, and the other end is connected with the gimbal assembly 22 through the holder 23 of the gimbal.

[0058] Further, the inspection device 20 further comprises a wire collector 25, the wire collector 25 is arranged at the bottom of the lifting part 21, and the wire collector 25 controls the exposed length of the wire harness 24.

[0059] In other words, the inspection device further comprises the wire harness 24 and the wire collector 25. One end of the wire harness 24 enters the robot body 10 through the wire collector 25 and is connected with the control system, and the other end is connected with the gimbal assembly 22 through the holder 23 of the gimbal. The wire collector 25 is arranged at the bottom of the lifting part 21, and bolt fixing is preferred. The wire collector 25 can control the exposed length of the wire harness 24. The wire collector 25 adjusts the length of the exposed part of the wire harness during the lifting of the lifting part 21 by retracting the wire harness 24, which not only ensures that the wire harness 24 is not affected during the lifting of the lifting part 21, but also ensures the overall appearance.

[0060] In summary, according to the liftable inspection robot of the present application, the lifting part 21 is arranged between the gimbal assembly 22 and the robot body 10, and the lifting part 21 drives the gimbal assembly 22 to lift. The operation device 40 is arranged at the front of the robot body 10, and the execution device 41 in the operation device 40 executes the operation command. The wheels 30 are arranged at the bottom of the robot body 10 to move. The liftable inspection robot of the present application drives the gimbal assembly 22 to lift through the lifting part 21 to adapt to the inspection area of different height ranges; the execution device 41 can execute the operation command, and when an abnormal state is encountered during the inspection, the execution device 41 executes the operation command to repair the abnormality; at the same time, compared with the four-legged inspection robot, the liftable inspection robot of the present application moves by using wheels, which can reduce the cost and reduce the noise.

[0061] Of course, other structures of the liftable inspection robot and its working principle can be understood and realized by those skilled in the art, and will not be described in detail in the present application.

[0062] While specific embodiments of the application have been described in detail, those familiar with the art will appreciate that the examples given are by way of example and are not meant to limit the scope of the application. Those skilled in the art will recognize or be able to ascertain using no more than routine experimentation, many equivalents to the specific embodiments of the application described herein. It is therefore intended that the scope of the application be determined by the following claims.

Claims

1. A liftable inspection robot, characterized by, The utility model relates to a kind of robot, including: Robot body (10), control system is equipped inside the robot body (10), detection device (11) is equipped in the lower part of the front of the robot body (10);The detection device (11) includes laser part (111) and ultrasonic part (112), and is peripherally arranged in the lower part of the robot body (10) circumferentially, and detection feedback is provided for the travel road condition of the robot body (10) together; Inspection device (20), the inspection device (20) is equipped in the upper part of the robot body (10), and the inspection device (20) includes lifting part (21), holder assembly (22) and holder fixed seat (23), the bottom of the lifting part (21) is fixed on the framework of the robot body (10) by bolt, the top of the lifting part (21) is connected with the holder fixed seat (23), the top of the holder fixed seat (23) is fixed the holder assembly (22), the holder fixed seat (23) can rotate around the lifting part (21). The lifting part (21) is lifting rod, and the upper section can be telescopic into the lower section, and the holder assembly (22) can be driven to lift; Wheel (30), the wheel (30) is mute wheel, is equipped in the bottom of the robot body (10), and drives the robot body (10) to move; Operating device (40), the operating device (40) is equipped in the front of the robot body (10), and the operating device (40) includes execution device (41) and six-axis mechanical arm (42), the mechanical arm (42) is connected the robot body (10) and the execution device (41), and the execution device (41) is analog human palm and finger structure's simulation hand, and can execute operation instruction; Wherein, the control system can control the inspection device (20), the wheel (30) and the operating device (40).

2. The liftable inspection robot according to claim 1, wherein, The inspection device (20) includes wire harness (24), one end of the wire harness (24) is connected with the control system, and the other end is connected with the holder assembly (22) through the holder fixed seat (23).

3. The liftable inspection robot according to claim 2, wherein, The inspection device (20) further includes take-up device (25), the take-up device (25) is equipped in the bottom of the lifting part (21), and the take-up device (25) controls the exposed length of the wire harness (24).

Images