A robot-mounted multi-sensor inspection module

Abstract

The utility model discloses a kind of multi-sensor inspection modules carried by robot, belong to robot technical field, including shell, front cover and the perception mechanism contained in, module is also provided with docking mechanism, slot and mounting hole, docking mechanism is set in shell rear side, including the protection seat embedded in shell, joint and metal pin with sealing ring are fixed in protection seat, the slot for sliding guide is integrally formed in shell two sides, and mounting hole for bolt locking is set in the two sides of front cover.The utility model is cooperatively designed through docking mechanism and sliding locking structure, solve the existing module installation cumbersome, connection unreliable and the poor electrical interface protection problem, realize the quick installation of module, accurate positioning and stable locking, and provide effective dustproof waterproof protection to electrical connection point, improve the reliability of inspection task and the durability of module.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a multi-sensor inspection module for a robot. Background Technology

[0002] Inspection robots are widely used in the power, petrochemical, and manufacturing industries to replace manual labor in performing inspection tasks that are complex, repetitive, and potentially dangerous. In order to achieve autonomous navigation, environmental mapping, and condition monitoring, these robots need to be equipped with a variety of sensors, such as cameras, lidar, and inertial sensors, to obtain comprehensive field data.

[0003] To facilitate integration and management on robot platforms, existing technologies integrate these sensors with different functions into a housing, forming a so-called multi-sensor module. This modular approach simplifies the overall design and assembly of the robot to some extent. However, when connecting and fixing the existing modules to the robot body, the interface design is relatively simple, which has obvious shortcomings.

[0004] Specifically, many existing modules are simply fixed to a plane on the robot body with a few bolts. Installation requires repeated manual alignment of the screw holes, a tedious and time-consuming process, especially inefficient for quick replacement and maintenance on-site. More importantly, this purely bolt-fixing method makes it difficult to guarantee the reliability of the connection when the robot is subjected to high-frequency vibration and bumpy movement over a long period of time, leading to loosening and affecting the stability and accuracy of sensor data. At the same time, the electrical connectors responsible for data and power transmission are directly exposed with only simple dustproof shielding. In humid and dusty industrial environments, moisture and dust can penetrate the electrical connection points, causing signal transmission interruptions or even short circuits, seriously affecting the reliability and safety of the entire inspection system.

[0005] Therefore, this utility model proposes a multi-sensor inspection module for robots to address the shortcomings of existing technologies. Utility Model Content

[0006] In view of the problems existing in the multi-sensor inspection module of the robot, such as complicated installation process, inaccurate positioning, low connection reliability, and lack of effective protection of its electrical connectors in complex environments, this utility model aims to provide a multi-sensor inspection module of the robot with improved structure that can effectively solve the above problems.

[0007] This utility model provides a multi-sensor inspection module for a robot, including a shell, a sensing mechanism disposed inside the shell, and a front cover detachably fixed to the front side of the shell, as well as a docking mechanism, a groove, and a mounting hole.

[0008] The docking mechanism is located on the rear side of the outer shell. The internal structure includes a protective seat embedded in the outer shell. At least one connector is fixed on the inner side of the protective seat. Each connector has an annular sealing ring fixed on its outer periphery. The connector also has a conductive metal pin fixed inside to achieve electrical connection with the robot circuit.

[0009] Furthermore, the outer shell, front cover, docking mechanism, grooves, and mounting holes are combined in the following way: the grooves are integrally formed on both sides of the outer shell, and the grooves are used to slide and cooperate with the pre-set guide rails on the robot to guide the installation of the module. The mounting holes are opened on the ear structure extending from both sides of the front cover. Through the sliding guidance of the grooves and the bolt locking of the mounting holes, the module and the robot can be quickly and stably installed. At the same time, the sealing ring in the docking mechanism provides reliable environmental protection for the electrical connection.

[0010] Preferably, the sensing mechanism includes a circuit board fixed inside the housing, and a camera, a lidar, and an inertial sensor electrically connected to the circuit board, wherein the inertial sensor patch is mounted on the surface of the circuit board. This highly integrated design effectively reduces the internal space occupied by the module and improves the stability of attitude perception.

[0011] Preferably, the front cover has at least one through hole on its front side, so that the optical lens of the camera and the laser emitting and receiving parts of the lidar can pass through the through hole respectively, ensuring that the field of vision is not obstructed while effectively protecting the main functional parts within a sturdy housing.

[0012] Preferably, the sensing mechanism further includes a hollow tubular sheath, which is tightly fitted onto the outer circumference of the lens after the camera passes through the aperture, serving as an additional physical barrier to provide effective impact protection for the lens, which is easily damaged in collisions.

[0013] Preferably, five connectors are fixed at equal intervals along the horizontal direction on the inner side of the protective base. This multi-interface design can support more complex multi-channel data interaction and independent power supply requirements. Furthermore, the connectors can use the RS-485 serial communication protocol for data transmission to enhance the anti-interference capability of long-distance communication.

[0014] Preferably, the protective base is injection molded from insulating material, which not only provides a solid structural support for the internal connectors, but more importantly, achieves electrical isolation between the various wiring terminals, effectively preventing potential short circuit risks caused by humid environments or conductive dust.

[0015] Preferably, the sealing ring is an O-ring made of silicone rubber. When the module is installed in place, it is subjected to axial compression between the end face of the connector and the end face of the robot interface. It forms a reliable sealing surface by utilizing its excellent elasticity and aging resistance, thereby effectively blocking the intrusion of external moisture and dust.

[0016] Preferably, the groove has a trapezoidal cross-sectional shape, which is used to engage with a guide rail of the corresponding shape on the robot. The trapezoidal structure provides smooth installation guidance and, with its geometric self-locking characteristics, effectively prevents the module from moving up and down due to vibration after installation, thus enhancing the long-term stability of the connection.

[0017] This utility model has the following beneficial effects:

[0018] 1. This utility model solves the problems of cumbersome installation process, inaccurate positioning, and poor contact or signal interruption caused by dust and moisture corrosion of electrical connection points in existing sensor modules by setting a docking mechanism of protective seat, connector, pin and sealing ring, and cooperating with the groove on the outer shell and the mounting hole on the front cover. It achieves fast module installation, accurate positioning, and stable and reliable connection, and can effectively prevent dust and water, ensuring that the module can work stably for a long time in complex environments.

[0019] 2. This utility model integrates multiple sensors such as cameras, lidar, and inertial sensors onto a circuit board inside the housing, and provides an additional protective sleeve for the camera lens that protrudes through the hole in the front cover. This solves the problems of scattered sensor layout, loose structure, and susceptibility to damage from external impacts in existing inspection equipment, especially the lack of targeted protection for critical optical lenses. It achieves a compact structure, strong multi-dimensional data acquisition capabilities, and multiple physical protections for the sensing components, thereby improving the module's durability and environmental adaptability.

[0020] 3. This utility model solves the problems of difficult sensor upgrades, high maintenance costs due to single component failure, and poor robot function expandability caused by traditional non-modular designs by integrating sensing, processing, communication and docking functions into an independent pluggable module. It improves the robot's versatility, greatly facilitates later maintenance, replacement and function upgrades, and effectively reduces the total life cycle cost of the equipment. Attached Figure Description

[0021] Figure 1 This is a perspective view of a multi-sensor inspection module mounted on a robot according to the present invention.

[0022] Figure 2 This is a split view of the front cover of a multi-sensor inspection module for a robot proposed in this utility model;

[0023] Figure 3This is a split view of the circuit board in a multi-sensor inspection module for a robot according to the present invention.

[0024] Figure 4 This is a schematic diagram of the protective base in a multi-sensor inspection module for a robot proposed in this utility model;

[0025] Figure 5 for Figure 4 Enlarged view of point A in the middle.

[0026] Legend:

[0027] 1. Outer shell; 2. Front cover; 3. Sensing mechanism; 31. Circuit board; 32. Through hole; 33. Camera; 34. Sheath; 35. LiDAR; 36. Inertial sensor; 4. Docking mechanism; 41. Protective base; 42. Connector; 43. Sealing ring; 44. Pin; 45. Groove; 46. Mounting hole. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions in the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0029] Example:

[0030] Please refer to Figures 1 to 5 This utility model provides a multi-sensor inspection module for robots, which aims to solve the problems of difficult installation and maintenance, poor connection reliability, and unstable signals caused by the lack of effective protection of electrical connection points in complex environments.

[0031] like Figure 1 As shown, the device includes an outer shell 1 as an integral frame, a front cover 2 detachably fixed to the front side of the outer shell 1, and a sensing mechanism 3 housed inside the outer shell 1. The front cover 2 is configured to close the opening of the outer shell 1, thereby protecting the sensing mechanism 3 inside. The device also includes a docking mechanism 4 disposed on the rear side of the outer shell 1, as well as a groove 45 and a mounting hole 46 that work together to achieve a stable installation of the module.

[0032] Specifically, the docking mechanism 4, the groove 45, and the mounting hole 46 together constitute a complete quick-installation and highly protective connection system; please refer to... Figure 4 and Figure 5The docking mechanism 4 includes a protective seat 41 embedded in the rear wall of the outer shell 1. The protective seat 41 provides structural support and installation reference for the internal components of the docking mechanism 4. At least one connector 42 for data and power transmission is fixed on the inner side of the protective seat 41. In this embodiment, five connectors 42 are fixed at equal intervals along the horizontal direction on the inner side of the protective seat 41 to realize multi-channel communication and power supply with the robot. Each connector 42 has an annular sealing ring 43 on its outer periphery through a fixed connection. At the same time, a conductive metal pin 44 is fixed inside each connector 42. When the module docks with the robot, the metal pin 44 is electrically connected to the robot's circuitry, and the sealing ring 43, made of elastic material, is compressed and fills the tiny gap between the connector 42 and the corresponding interface of the robot, thereby achieving reliable dustproof and waterproof environmental sealing and ensuring the long-term stability of the electrical connection of the pin 44.

[0033] Reference Figure 1 The outer shell 1 also has integrally formed grooves 45 on both side walls, which serve as guide structures. The cross-sectional shape of the grooves 45 is trapezoidal, used to achieve precise sliding engagement with the pre-set guide rails on the robot body. This structure not only guides the module to its predetermined position during installation, but also restricts the module's vertical movement after installation; see reference. Figure 2 The mounting holes 46 are provided on the ear structure extending outward from both sides of the front cover 2. After the module slides to the final installation position through the groove 45, the bolts can pass through these mounting holes 46, which serve as the final locking points, to firmly fix the entire module to the robot, thereby completing the entire installation and locking process.

[0034] Please refer to Figure 3 The sensing mechanism 3 mainly includes a circuit board 31 for control and data processing, and multiple sensors electrically connected to the circuit board 31. In this embodiment, these sensors include a camera 33 for capturing visual images, a lidar 35 for measuring distance and contour, and an inertial sensor 36 for sensing the attitude and motion state of the module. The circuit board 31 is fixedly connected to the internal support ribs or mounting posts of the housing 1 by screws or clips, while the inertial sensor 36 is directly integrated onto the surface of the circuit board 31 by surface mount. This integrated design reduces the overall space occupied and simplifies the assembly process. The camera 33 and lidar 35 are reliably electrically connected to the circuit board 31 by ribbon cables or connectors to transmit the collected raw data to the circuit board 31 in real time for preprocessing.

[0035] Meanwhile, in order for the camera 33 and the lidar 35 to perceive the external environment without obstruction, please refer to... Figure 2At least one through hole 32 is provided on the front side of the front cover 2. In the assembled state, the lens part of the camera 33 and the laser emitting and receiving part of the lidar 35 are precisely passed through these through holes 32, so that the optical path is exposed to the outside of the front cover 2 without obstruction, ensuring the integrity of the sensing field of view. This structural design houses the main body of the vulnerable sensing components in the closed space formed by the sturdy outer shell 1 and the front cover 2, with only the necessary optical parts protruding, providing effective physical protection while ensuring functionality.

[0036] As a preferred embodiment, to further protect the externally exposed camera 33, please refer to... Figure 1 and Figure 3 The sensing mechanism 3 also includes a hollow tubular sheath 34. The sheath 34 is preferably made of high-strength engineering plastic or metal. It is tightly fitted onto the outer circumference of the lens after the camera 33 passes through the through hole 32 by interference fit or bonding. The front end of the sheath 34 is flush with or slightly extends beyond the front surface of the lens of the camera 33. In the event of a minor collision with the module, the sheath 34 will bear the impact force first, effectively avoiding the risk of the expensive lens being directly scratched or broken.

[0037] As another preferred embodiment, to further clarify the electrical characteristics and reliability of the docking mechanism 4, please refer to... Figure 4 The protective base 41 is integrally molded from insulating material, such as PBT or ABS, through injection molding, providing reliable structural support and electrical isolation for the rear wiring terminals of the multiple connectors 42 fixed on it, preventing short circuit risks between signals and between the connectors and the housing 1; in addition, the connectors 42 can adopt the standard interface of RS-485 serial communication protocol to achieve stable data transmission with high interference immunity over long distances.

[0038] For further optimization of the sealing structure, please refer to Figure 4 and Figure 5 The sealing ring 43 is specifically an O-ring made of silicone rubber. Silicone rubber has excellent high and low temperature resistance and anti-aging properties, and can adapt to various harsh working environments faced by the inspection robot. When the module is installed and tightened, the O-ring is axially compressed between the end face of the connector 42 and the corresponding end face of the robot interface, and uses elastic deformation to fill all irregular small gaps, thereby forming a highly reliable axial sealing surface.

[0039] As a further optimization of the installation guide structure, the cross-sectional shape of the slot 45 is designed as a trapezoid, which meshes with the corresponding protruding guide rail on the robot body. In addition to providing a sliding guide function during installation, this trapezoidal mating structure more importantly forms a self-locking effect, which can effectively prevent the module from moving or coming off in the direction perpendicular to the sliding direction due to robot vibration or accidental impact after installation, greatly enhancing the stability of the installation.

[0040] Working principle: When installing the module, the operator first aligns the docking mechanism 4 at the rear of the module with the robot's preset interface, aligning the grooves 45 on both sides of the outer shell 1 with the guide rails on the robot body; then, the module is pushed along the guide rails, and the guiding effect of the grooves 45 ensures that the module slides smoothly and accurately to the predetermined position; when the module is installed in place, the multiple metal pins 44 in the docking mechanism 4 are simultaneously and accurately inserted into the corresponding sockets of the robot interface, realizing a reliable electrical connection of all circuits; at this time, the sealing rings 43 surrounding each connector 42 are compressed, effectively sealing the docking gaps; finally, the bolts are passed through the mounting holes 46 on both sides of the front cover 2 and tightened, thereby firmly locking the entire module onto the robot. The entire installation process is fast and stable.

[0041] When performing inspection tasks, the robot sends start commands and control signals to the circuit board 31 through the docking mechanism 4. After receiving the commands, the circuit board 31 coordinates the various sensors in the sensing mechanism 3 to start working together: the camera 33 starts to capture high-definition images or video streams of the inspection area to capture visual information; the lidar 35 emits laser beams and receives reflected signals to measure the precise distance and contour data of surrounding targets in real time; at the same time, the inertial sensor 36 integrated on the circuit board 31 continuously senses the module's own attitude angle and motion acceleration; the raw data collected by all sensors is transmitted to the circuit board 31 in real time, and after preliminary processing and fusion, it is stably transmitted to the robot's main control system through the communication link composed of connector 42 and pin 44, and then uploaded to the background for in-depth analysis and display.

Claims

1. A multi-sensor inspection module for a robot, comprising a housing (1), a sensing mechanism (3) disposed inside the housing (1), and a front cover (2) detachably fixed to the front side of the housing (1); Its features are, The inspection module also includes a docking mechanism (4) and a mounting groove (45) and mounting hole (46) for installation. The docking mechanism (4) includes a protective seat (41) embedded in the rear side of the outer shell (1). At least one connector (42) is fixed on the inner side of the protective seat (41). An annular sealing ring (43) is fixed on the outer periphery of each connector (42). A conductive metal pin (44) is fixed inside the connector (42). The pin (44) is used to make an electrical connection with the robot's circuit when the module docks. The sealing ring (43) is used to fill the gap between the connector (42) and the corresponding interface of the robot to achieve a dustproof and waterproof environmental seal.

2. The multi-sensor inspection module for a robot according to claim 1, characterized in that, The sensing mechanism (3) includes a circuit board (31) fixed inside the housing (1), and a camera (33), a lidar (35) and an inertial sensor (36) electrically connected to the circuit board (31). The inertial sensor (36) is patch-mounted on the surface of the circuit board (31).

3. The multi-sensor inspection module for a robot according to claim 2, characterized in that, The front cover (2) has at least one through hole (32) on its front side. The lens part of the camera (33) and the laser emitting and receiving part of the lidar (35) pass through the through hole (32) respectively, so that the optical path is exposed to the outside of the front cover (2) without being blocked.

4. The multi-sensor inspection module for a robot according to claim 3, characterized in that, The sensing mechanism (3) also includes a hollow tubular sheath (34), which is tightly fitted onto the outer circumference of the lens of the camera (33) after it passes through the through hole (32), and is used to protect the lens of the camera (33) in the event of a collision.

5. The multi-sensor inspection module for a robot according to claim 1, characterized in that, Five connectors (42) are fixed at equal intervals along the horizontal direction on the inner side of the protective base (41). The connectors (42) use RS-485 serial communication protocol to transmit data with the robot. The two sides of the outer shell (1) are integrally formed with the grooves (45). The grooves (45) are used to slide and cooperate with the preset guide rails on the robot to guide the installation of the module. The mounting holes (46) are opened on the ear structure extending from both sides of the front cover (2). After the grooves (45) are slidably engaged, bolts are passed through to securely lock the entire module onto the robot.

6. The multi-sensor inspection module for a robot according to claim 1, characterized in that, The protective base (41) is injection molded from insulating material, providing structural support and electrical isolation for the rear of the connector (42).

7. The multi-sensor inspection module for a robot according to claim 1, characterized in that, The sealing ring (43) is an O-ring made of silicone rubber. When the module is installed in place, it is compressed between the end face of the connector (42) and the end face of the robot interface, thereby forming a reliable axial seal.

8. A multi-sensor inspection module for a robot according to claim 1, characterized in that, The groove (45) has a trapezoidal cross-sectional shape and is used to engage with a guide rail of the corresponding shape on the robot to prevent the module from moving in the vertical direction.

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