Double-wheel inspection robot

Abstract

The double-wheel inspection robot comprises a head assembly, the head assembly comprises a shell, a data analyzing and processing device and a sensor are installed on the shell, a connecting part is arranged on the lower portion of the shell, and installation grooves are formed in the two sides of the connecting part respectively; the driving device comprises two connectors which are arranged in the mounting grooves respectively, and each connector is connected with a driving wheel through a connecting rod structure; the connecting rod structure comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod form parallel four connecting rods, a first driving motor and a second driving motor are arranged in the connector, the first driving motor drives the first connecting rod to act, and the second driving motor drives the second connecting rod to act; the free end of the fourth connecting rod is connected with a driving wheel which is provided with a third driving motor. According to the double-wheel inspection robot, automation and intelligentization of water pump house inspection can be achieved, and the inspection efficiency and safety are improved.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and more particularly to a two-wheeled inspection robot. Background Technology

[0002] The cooling water pump room of a nuclear power plant is a key facility for ensuring the safety of the cold source of the nuclear power plant. The important mechanical and electrical equipment in the room, such as water pumps, rotating screens, and filters, are used to continuously provide equipment cooling water for the units during the operation of the nuclear power plant, which is a necessary condition for the safe and stable operation of nuclear power.

[0003] Therefore, efficient and reliable inspection of cooling water pump rooms in nuclear power plants is particularly important. Traditional inspection methods often require manual entry into the pump room, which not only poses personnel safety risks but also results in low inspection efficiency and makes it difficult to guarantee the comprehensiveness and timeliness of the inspection. Utility Model Content

[0004] To address one of the technical problems existing in the prior art, this application proposes a two-wheeled inspection robot for the inspection of pump rooms in nuclear power plants, aiming to automate and intelligentize the inspection of pump rooms, thereby improving inspection efficiency and safety.

[0005] A dual-wheeled inspection robot according to some embodiments of this application includes a head assembly, which includes a housing. The housing is equipped with a data analysis and processing device and at least one sensor. The sensor is connected to the data analysis and processing device. A connecting portion is provided at the lower part of the housing, and mounting slots are provided on both sides of the connecting portion. A drive device includes two connectors respectively disposed in the mounting slots. Each connector is connected to a drive wheel via a linkage structure. The linkage structure includes a first linkage, a second linkage, a third linkage, and a fourth linkage. The first linkage and the second linkage are parallel to each other. One end of the first link and one end of the second link are disposed in the connector and are rotatably connected by the third link. The other ends of the first link and the second link are rotatably connected to the fourth link. The first link, the second link, the third link and the fourth link form a parallel four-link system. The connector is equipped with a first drive motor and a second drive motor. The first drive motor drives the first link to move, and the second drive motor drives the second link to move. The free end of the fourth link is connected to the drive wheel, and the drive wheel is equipped with a third drive motor, which drives the drive wheel to rotate.

[0006] In some embodiments, the radius of the drive wheel is greater than 15 cm.

[0007] In some embodiments, the width of the drive wheel is greater than 3 cm.

[0008] In some embodiments, the outer edge of the drive wheel is provided with an inflatable tire.

[0009] In some embodiments, along the direction of travel of the two-wheeled inspection robot, the connection between the first link, the second link, and the fourth link is located behind the drive wheel.

[0010] In some embodiments, the connector, the linkage structure, and the drive wheel are made of aluminum alloy.

[0011] In some embodiments, the distance between the two drive wheels is greater than the width of the head assembly.

[0012] In some embodiments, a camera for acquiring real-world image information is disposed above the head assembly.

[0013] In some embodiments, the data analysis and processing device includes a motion control module, wherein the first drive motor, the second drive motor, and the third drive motor are respectively connected to the motion control module.

[0014] In some embodiments, the data analysis and processing device includes a wireless signal transmission module, and an antenna is disposed above the head assembly, the antenna being connected to the wireless signal transmission module.

[0015] The beneficial effects of this application include: the dual-wheeled inspection robot provided by this application is equipped with a head assembly by a drive unit. The drive unit can drive the dual-wheeled inspection robot to move in the cooling water pump room of the nuclear power plant equipment. The equipment in the head assembly takes pictures and records the condition of the cooling water pump room of the nuclear power plant equipment, so as to replace manual inspection, realize the automation and intelligence of the inspection of the cooling water pump room of the nuclear power plant equipment, and improve the inspection efficiency and safety.

[0016] Other features and advantages of this application will be set forth in detail in the following description, and will be apparent in part from the following description, or may be learned by practicing this application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the description, claims and drawings. Attached Figure Description

[0017] To more clearly illustrate the technical solution of this application, the following description will be provided in conjunction with the accompanying drawings and embodiments. It should be understood that the following drawings only show some embodiments of this application and should not be considered as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort. In the drawings:

[0018] Figure 1 This is a structural schematic diagram of the dual-wheeled inspection robot provided in this application;

[0019] Figure 2 yes Figure 1 A side view of the two-wheeled inspection robot in the image;

[0020] Figure 3 yes Figure 1 An exploded view of the two-wheeled inspection robot in the diagram;

[0021] Figure 4 This is a structural diagram of the head assembly;

[0022] Figure 5 This is a schematic diagram of the drive device.

[0023] Explanation of reference numerals in the attached figures:

[0024] Head assembly 100, housing 110, top plate 111, side plate 112, gimbal camera 120, lidar 130, front camera 140, antenna 150, connector 160, mounting slot 161, emergency stop button 170, data analysis and processing device 180.

[0025] Drive unit 200, connector 210, first drive motor 211, second drive motor 212, linkage structure 220, fourth linkage 230, drive wheel 240, third drive motor 241. Detailed Implementation

[0026] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments. Similar elements in different embodiments are referred to by related similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of the present application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to the present application are not shown or described in the specification. This is to avoid obscuring the core parts of the present application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0027] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments. At the same time, the steps or actions in the method description can be rearranged or adjusted in a manner obvious to those skilled in the art. Therefore, the various orders in the specification and drawings are only for the clear description of a particular embodiment and do not imply a necessary order, unless otherwise stated that a particular order must be followed.

[0028] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages).

[0029] Nuclear power plant cooling water pump rooms present complex environments with the need to navigate stairs and challenging terrain, requiring dual-wheeled inspection robots with excellent stability and maneuverability. Existing mature products on the market, such as Benmo Technology's DIABLO and Zhuji Power's TRONR1, while well-designed, do not fully meet the specific needs of nuclear power plant cooling water pump rooms. Their size, materials, or structures are unsuitable for the narrow, complex working areas of nuclear power plants. Furthermore, these products may not be able to meet the requirement of stopping at specific points and taking photos for identification using a gimbal camera.

[0030] The following is combined Figures 1 to 5 The provided embodiments further illustrate the dual-wheeled inspection robot proposed in this application.

[0031] like Figures 1 to 5As shown, some embodiments of this application provide a two-wheeled inspection robot, including a head assembly 100 and a drive unit 200. The head assembly 100 includes a housing 110, on which a data analysis and processing device 180 and various sensors are mounted. In some embodiments, the sensors include one or more of a gimbal camera 120, a lidar 130, and a front-facing camera 140. The sensors are used to collect status information of the inspection site. The sensors are connected to the data analysis and processing device 180 to transmit the collected information to the data analysis and processing device 180 for analysis or further operation. A connecting portion 160 is provided at the lower part of the housing 110, and mounting grooves 161 are respectively provided on both sides of the connecting portion 160. In some embodiments, the mounting grooves 161 can be through holes penetrating both sides of the connecting portion 160. The drive unit 200 includes two connectors 210 respectively disposed in the mounting grooves 161, and each connector 210 is connected to a drive wheel 240 through a linkage structure 220. The linkage structure 220 includes a first link, a second link, a third link, and a fourth link 230. The first link and the second link are parallel to each other. One end of the first link and the second link are disposed in the connector 210 and are rotatably connected to the third link. The other end of the first link and the second link are rotatably connected to the fourth link 230. The first link, the second link, the third link, and the fourth link 230 form a parallel four-link linkage. The connector 210 is equipped with a first drive motor 211 and a second drive motor 212. The first drive motor 211 drives the first link to move, and the second drive motor 212 drives the second link to move. The free end of the fourth link 230 is connected to a drive wheel 240. A third drive motor 241 is disposed on the drive wheel 240, and the third drive motor 241 drives the drive wheel 240 to rotate. The dual-wheeled inspection robot provided in this application consists of a drive unit 200 carrying a head assembly 100. The drive unit 200 can drive the dual-wheeled inspection robot to move in the cooling water pump room of the nuclear power plant equipment. The equipment in the head assembly 100 takes pictures and records the condition of the cooling water pump room of the nuclear power plant equipment, so as to replace manual inspection, realize the automation and intelligence of the inspection of the cooling water pump room of the nuclear power plant equipment, and improve the inspection efficiency and safety.

[0032] In some embodiments, such as Figure 3 and Figure 4 As shown, the housing 110 of the head assembly 100 is formed by a bottom plate, a top plate 111, and a side plate 112, constituting a sealed space for storing and protecting the data analysis and processing device 180, enabling the data analysis and processing device 180 to operate in various environments. The data analysis and processing device 180 may include a CPU processor, a wireless signal transmission module, a power distribution module, etc.

[0033] In some embodiments, such as Figure 4As shown, the bottom plate, top plate 111, and side plates 112 of the housing 110 are made of stainless steel, preferably Q235 steel. Q235 steel has good strength and toughness, which can meet the requirements of the head assembly 100 for load-bearing capacity and safety; at the same time, Q235 steel is easy to process and weld, which is beneficial to the manufacturing and assembly of the head assembly 100.

[0034] In some embodiments, such as Figures 1 to 4 As shown, various sensors are installed on the side plates 112 and top plate 111 of the housing 110. For example, a high-definition, image-stabilized gimbal camera 120 is bolted to the top plate 111, and a LiDAR 130 and a front-facing camera 140 are installed on the front side plate 112 of the housing 110. By setting three key sensors on the housing 110, comprehensive information about the surrounding environment can be obtained. First, the LiDAR 130 is deployed at the front, preferably at a 55° angle, to acquire detailed point cloud data, helping the robot build a three-dimensional image of the surrounding environment. Second, the front-facing camera 140 is horizontally positioned directly in front, responsible for capturing real-time image information of obstacles in front, providing intuitive visual perception for the two-wheeled inspection robot. Finally, the gimbal camera 120 is installed above the top plate 111, located on top of the two-wheeled inspection robot, responsible for recording high-definition images during the inspection process, ensuring stable and clear images. This layout design enables the two-wheeled inspection robot to perceive the surrounding environment from all directions, effectively improving inspection efficiency and safety.

[0035] In some embodiments, such as Figures 1 to 4 As shown, the data analysis and processing device 180 includes a wireless signal transmission module, and an antenna 150 is also provided outside the housing 110. The antenna 150 is connected to the wireless signal transmission module in the data analysis and processing device 180, enhancing the wireless data transmission capability of the two-wheeled inspection robot. This allows staff to conveniently remotely control the robot and upload images captured by sensors to a host computer and a mobile app in real time via wireless transmission, facilitating real-time monitoring. Furthermore, to ensure the signal transmission effect of the antenna 150, it is preferably positioned above the top plate 111, i.e., at the top of the two-wheeled inspection robot.

[0036] In some embodiments, the data analysis and processing device 180 further includes a motion control module. The first drive motor 211, the second drive motor 212, and the third drive motor 241 are respectively connected to the motion control module. The data analysis and processing device 180 precisely controls the first drive motor 211, the second drive motor 212, and the third drive motor 241 through the motion control module to manipulate the drive device 200 to perform various actions. Specific actions may include: by coordinating the actions of the first drive motor 211 and the second drive motor 212, the linkage structure 220 is moved, causing the first head assembly 100 to rise or fall to adjust the height of the sensor; by the action of the third drive motor 241, the drive wheel 240 is rotated to perform forward or backward movements; in addition, a steering mechanism is provided between the fourth linkage 230 and the drive wheel 240. The steering mechanism is also connected to the motion control module and is used to control the left and right steering movements of the drive wheel 240, enabling the two-wheeled inspection robot to reach more locations.

[0037] In some embodiments, such as Figure 2 As shown, the housing 110 is also equipped with an emergency stop button 170. The emergency stop button 170 is connected to the power distribution module. The emergency stop button 170 is used to brake the two-wheeled inspection robot in an emergency. When the operator presses the emergency stop button 170, the power distribution module stops supplying power to each electrical component, and the two-wheeled inspection robot stops moving so that it can be retrieved and repaired.

[0038] In some embodiments, such as Figures 1 to 3 As shown, the connecting part 160 is fixedly connected to the lower part of the housing 110, and the connector 210 is fixedly connected to the connecting part 160. The head assembly 100 is driven to rotate by the reverse torque of the first drive motor 211 driving the first link, so that the gimbal camera 120, the lidar 130 and the front camera 140 can capture a wider range, thereby improving the ability of the two-wheeled inspection robot to collect scene information.

[0039] In some embodiments, such as Figure 1 , Figure 2 , Figure 3 and Figure 5 As shown, along the direction of the two-wheeled inspection robot's movement, the connection between the first link, the second link, and the fourth link 230 is located behind the drive wheel 240. Through the aforementioned reverse-flexing leg design, the link structure 220 is cleverly prevented from encountering obstacles during movement, further enhancing the adaptability of the two-wheeled inspection robot.

[0040] In some embodiments, such as Figure 5As shown, the connector 210, the linkage structure 220, and the drive wheel 240 are made of aluminum alloy. Aluminum alloy has advantages such as low density, high strength, and good corrosion resistance, which can effectively reduce the overall weight of the robot and improve its flexibility and motion performance while ensuring structural strength.

[0041] In some embodiments, such as Figure 3 and Figure 5 As shown, the radius of the drive wheel 240 is greater than 15cm. By setting the radius of the drive wheel 240 to more than 15cm and through the design of the large wheel hub, the drive wheel 240 has the ability to cross obstacles less than 20cm, that is, it can cross complex terrains such as steps. It has excellent adaptability and reliability in complex terrains, thus expanding its application scenarios.

[0042] In some embodiments, such as Figure 1 and Figure 3 As shown, the width of the drive wheel 240 is greater than 3cm. Setting the width of the drive wheel 240 to be greater than 3cm can effectively improve the support capacity of the drive wheel 240 and enhance the stability of the two-wheeled inspection robot.

[0043] Furthermore, in some embodiments, the outer edge of the drive wheel 240 may also be provided with an inflatable tire. The softer tire material can effectively provide additional support surface when traversing obstacles with a large slope, enhancing stability and passability.

[0044] In some embodiments, such as Figures 1 to 3 As shown, the distance between the two drive wheels 240 is greater than the width of the head assembly 100, which further improves the stability of the two-wheeled inspection robot.

[0045] It is understood that the above embodiments only illustrate preferred embodiments of this application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of this application. It should be noted that, for those skilled in the art, without departing from the concept of this application, the above technical features can be freely combined, and several modifications and improvements can be made, all of which fall within the protection scope of this application. Therefore, all equivalent transformations and modifications made within the scope of the claims of this application should fall within the coverage of the claims of this application.

Claims

1. A two-wheeled inspection robot, characterized in that, include: A head assembly includes a housing on which a data analysis and processing device and at least one sensor are mounted. The sensor is connected to the data analysis and processing device. A connecting portion is provided at the lower part of the housing, and mounting grooves are provided on both sides of the connecting portion. A drive device, comprising two connectors respectively disposed in the mounting slot, each connector being connected to a drive wheel via a linkage structure; The linkage structure includes a first linkage, a second linkage, a third linkage, and a fourth linkage. The first linkage and the second linkage are parallel to each other. One end of the first linkage and the second linkage is disposed in the connector and is rotatably connected to the third linkage. The other end of the first linkage and the second linkage is rotatably connected to the fourth linkage. The first linkage, the second linkage, the third linkage, and the fourth linkage constitute a parallel four-link linkage. The connector is equipped with a first drive motor and a second drive motor. The first drive motor drives the first linkage to move, and the second drive motor drives the second linkage to move. The free end of the fourth link is connected to the drive wheel, and a third drive motor is installed on the drive wheel, which drives the drive wheel to rotate.

2. The dual-wheeled inspection robot as described in claim 1, characterized in that, The radius of the drive wheel is greater than 15cm.

3. The dual-wheeled inspection robot as described in claim 2, characterized in that, The width of the drive wheel is greater than 3cm.

4. The dual-wheeled inspection robot as described in claim 3, characterized in that, The outer edge of the drive wheel is provided with an inflatable tire.

5. The dual-wheeled inspection robot as described in claim 1, characterized in that, Along the direction in which the two-wheeled inspection robot moves, the connection between the first link, the second link, and the fourth link is located behind the drive wheel.

6. The dual-wheeled inspection robot as described in claim 1, characterized in that, The connector, the connecting rod structure, and the drive wheel are made of aluminum alloy.

7. The dual-wheeled inspection robot as described in claim 1, characterized in that, The distance between the two drive wheels is greater than the width of the head assembly.

8. The dual-wheeled inspection robot as described in claim 1, characterized in that, A camera for capturing real-world image information is installed above the head assembly.

9. The dual-wheeled inspection robot as described in claim 1, characterized in that, The data analysis and processing device includes a motion control module, and the first drive motor, the second drive motor and the third drive motor are respectively connected to the motion control module.

10. The dual-wheeled inspection robot as described in claim 1, characterized in that, The data analysis and processing device includes a wireless signal transmission module, and an antenna is disposed above the head assembly, the antenna being connected to the wireless signal transmission module.

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