CN111055259B

CN111055259B - Inspection robot

Info

Publication number: CN111055259B
Application number: CN201911272767.9A
Authority: CN
Inventors: 周礼兵; 陆桂松; 赵娜; 余文华; 熊友军
Original assignee: Shenzhen Ubtech Technology Co ltd
Current assignee: Shenzhen Ubtech Technology Co ltd
Priority date: 2019-12-12
Filing date: 2019-12-12
Publication date: 2021-12-07
Anticipated expiration: 2039-12-12
Also published as: CN111055259A

Abstract

The application discloses an inspection robot, which comprises a robot body, a lifting mechanism arranged on the robot body, a holder arranged at the movable end of the lifting mechanism, an inspection camera unit rotatably arranged on the holder, and a movable wheel group arranged at the bottom of the robot body; the cloud platform has the first drive assembly who is used for the drive to patrol and examine the camera unit and deflect. Elevating system can remove camera unit at certain height within range patrols and examines to satisfy the not image information's of the rack of co-altitude collection, and then satisfy the difference and patrol and examine the requirement of task to image acquisition, and then realize according to the nimble different tasks of patrolling and examining of execution of demand.

Description

Inspection robot

Technical Field

The application relates to the field of inspection equipment, in particular to an inspection robot.

Background

At present, machine room routing inspection in the industry mainly depends on manual work, and the manual routing inspection mode is low in efficiency and easy to make mistakes. For some machine room environments with poor conditions, the working environment of personnel is very hard. The existing inspection mode is to install a hanger rail camera, the camera moves on a fixed track, the moving track is also fixed, the inspection path is also fixed, and different inspection tasks cannot be flexibly adapted. Meanwhile, the equipment has larger transformation on the machine room and higher installation cost.

Disclosure of Invention

An object of the application is to provide a patrol and examine robot, aim at solving prior art, patrol and examine the problem that the robot can not adapt to the different tasks of patrolling and examining in a flexible way.

To achieve the purpose, the following technical scheme is adopted in the application:

the inspection robot comprises a machine body, a lifting mechanism arranged on the machine body, a holder arranged at the movable end of the lifting mechanism, an inspection camera unit rotationally arranged on the holder, and a moving wheel set arranged at the bottom of the machine body; the cloud platform has the first drive assembly who is used for driving the unit deflection of patrolling and examining camera.

Further, a fixed frame is arranged between the lifting mechanism and the holder; the holder is connected with the output end of the lifting mechanism through the fixed frame; the fixing frame is provided with a containing groove; the holder is inserted in the accommodating groove; the fixing frame extends towards the direction of transporting away from the holder to form a protective sleeve, and the protective sleeve is sleeved outside the lifting mechanism.

The camera body further comprises a first camera arranged on the machine body, a second camera arranged on the machine body and a third camera arranged on the machine body; the first camera, the second camera, and the third camera is followed the direction of height of fuselage sets gradually.

Further, the second camera is located between the first camera and the third camera, and the height of the third camera is greater than that of the first camera; the height difference between the second camera and the first camera ranges from 214 millimeters to 260 millimeters; the height difference between the third camera and the second camera ranges from 254 mm to 400 mm; the height of the first camera is less than or equal to 326 millimeters.

Furthermore, be equipped with the anticollision strip on the fuselage, the anticollision strip with be equipped with touch switch between the fuselage.

Furthermore, the lifting mechanism comprises a base, a first sleeve arranged on the base, a movable rod assembly movably arranged in the first sleeve, and a lifting driving assembly for driving the movable rod assembly to move relative to the first sleeve.

Furthermore, the lifting driving assembly comprises a transmission screw rod, a driving mechanism and a first screw rod nut, wherein the transmission screw rod is rotatably installed on the base and is positioned in the first sleeve; the movable rod assembly is connected with the first lead screw nut.

Furthermore, the movable rod assembly comprises a second sleeve which is arranged in the first sleeve and connected with the first lead screw nut, and a third sleeve which is arranged in the second sleeve; the inspection robot further comprises a hollow screw rod sleeved outside the transmission screw rod and positioned in the second sleeve, and a second screw rod nut mounted on the hollow screw rod and connected with the third sleeve; the hollow screw rod is rotatably arranged on the second sleeve, a spline groove is formed in the inner wall of the hollow screw rod, and a spline shaft is arranged at one end, far away from the base, of the transmission screw rod; the spline shaft is provided with a spline bulge inserted in the spline groove.

Furthermore, a first connecting part is arranged in the first sleeve, a guide pulley is arranged at one end, close to the base, of the second sleeve, and a second connecting part is arranged at the far end, far away from the base, of the third sleeve; the inspection robot also comprises a wire which is fixedly connected with the first connecting part and the second connecting part and is wound on the guide pulley; the contact portion of the wire with the guide pulley is located between the first connecting portion and the second connecting portion.

Furthermore, an installation shaft is arranged on the second sleeve, the guide pulley is rotatably installed on the installation shaft, and a limiting groove is formed in the side surface of the guide pulley; the depth of the limiting groove is gradually increased along the direction far away from the second sleeve.

Further, the device also comprises a protective cover which is covered outside the guide pulley; the surface of one side of the protective cover, which is far away from the base, is provided with a wire outlet notch; the protective cover comprises an end face baffle connected with one end of the mounting shaft, which is far away from the second sleeve, and an arc baffle connected with the end face baffle; the cowl is positioned between the end face cowl and the second sleeve; a gap is formed between the arc-shaped baffle plate and the side surface of the guide pulley.

Furthermore, at least one first guide bracket is arranged on the first lead screw nut, a first guide wheel is rotatably arranged on the first guide bracket, and the first guide wheel is in contact with the inner wall of the first sleeve; at least one second guide support is installed on the second lead screw nut, a second guide wheel is installed on the second guide support in a rotating mode, and the second guide wheel is arranged in contact with the inner wall of the second sleeve.

The beneficial effect of this application: elevating system can remove camera unit at certain height within range patrols and examines to satisfy the not image information's of the rack of co-altitude collection, and then satisfy the difference and patrol and examine the requirement of task to image acquisition, and then realize according to the nimble different tasks of patrolling and examining of execution of demand.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an inspection robot in an embodiment of the present application;

FIG. 2 is a cross-sectional view of the fuselage of FIG. 1;

FIG. 3 is a schematic structural diagram of the lifting mechanism of FIG. 1;

FIG. 4 is a cross-sectional view of the lift mechanism of FIG. 3 as it is extended;

FIG. 5 is an enlarged view of a portion of FIG. 4 at A;

FIG. 6 is a cross-sectional view of the drive screw with the hollow screw assembled in an embodiment of the present application;

FIG. 7 is an exploded view of the lift mechanism of FIG. 3;

FIG. 8 is a schematic diagram of the internal structure of the lifting mechanism during extension (with guide pulleys) in the embodiment of the present application;

FIG. 9 is a schematic view of the wire in a folded state with the hoist mechanism of FIG. 8 retracted;

FIG. 10 is a schematic view of the wire in an elongated state as the elevator mechanism of FIG. 9 is elongated;

FIG. 11 is a partial view of the second sleeve of FIG. 8 with the guide pulley installed;

FIG. 12 is a partial cross-sectional view of the second sleeve of FIG. 8 with a guide pulley mounted thereto;

FIG. 13 is an enlarged view of a portion of FIG. 4 at B;

FIG. 14 is a schematic view of the third sleeve of FIG. 7;

in the figure:

300. a lifting mechanism; 310. a movable rod assembly;

1. a base; 101. mounting holes; 102. a mounting cavity; 2. a first sleeve; 3. a transmission screw rod; 4. a drive mechanism; 401. a drive motor; 402. a driving wheel; 403. a driven wheel; 404. a transmission assembly; 4041. a transmission belt; 5. a second sleeve; 6. a first lead screw nut; 7. a hollow lead screw; 701. a spline groove; 8. a third sleeve; 9. a second feed screw nut; 10. a spline shaft; 1001. a spline projection; 11. a first guide bracket; 12. A first guide wheel; 1201. a first guide groove; 13. a first guide fixing disc; 14. a first guide bar; 15. A second guide bracket; 16. a second guide wheel; 1601. a second guide groove; 17. a second guide fixing disc; 18. a second guide bar; 19. a first bearing; 20. a second bearing; 21. a first flexible sealing ring; 22. A second flexible sealing ring; 23. a first position sensor; 24. a second position sensor; 25. a body; 2501. A driving seat; 2502. a mounting frame; 2503. an accommodating cavity; 2504. a hole of abdication; 2505. an anti-collision strip; 26. A first camera; 27. a second camera; 28. a third camera; 29. a patrol camera unit; 30. a first trim piece; 31. a second decorative piece; 32. a third decorative piece; 33. a holder; 34. a fixed mount; 3401. a containing groove; 3402. a protective sleeve; 35. a seal ring; 36. a guide pulley; 3601. a limiting groove; 37. a first connection portion; 38. a second connecting portion; 39. a wire rod; 40. installing a shaft; 41. a protective cover; 4101. an end face baffle; 4102. an arc-shaped baffle plate; 4103. a wire outlet notch; 42. a third connecting portion; 43. a touch screen; 44. and moving the wheel set.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, refer to an orientation or positional relationship illustrated in the drawings for convenience in describing the present application and to simplify description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

The following detailed description of implementations of the present application is provided in conjunction with specific embodiments.

As shown in fig. 1-3, the embodiment of the present application provides an inspection robot, which includes an autonomous navigation system, a map building system, a body 25, a lifting mechanism 300 disposed on the body 25, a pan-tilt 33 mounted at an output end of the lifting mechanism 300, an inspection camera unit 29 rotatably mounted on the pan-tilt 33, and a moving wheel set 44 mounted at a bottom of the body 25; the pan/tilt head 33 has a first driving component for driving the inspection camera unit 29 to deflect. The inspection camera unit 29 includes a thermal imaging camera and a visible light camera.

In the embodiment of the present application, the moving wheel set 44 is used for driving the main body of the body 25 to move. The inspection robot is provided with an autonomous navigation system and a map building system, an initial inspection line can be set for the inspection robot according to the actual situation of a machine room and the inspection requirement at that time, and meanwhile, the inspection line can be autonomously adjusted according to the condition of the inspection line in real time. Elevating system 300 can remove camera unit 29 at certain height range with patrolling and examining to satisfy the not image information's of the rack of co-altitude collection, and then satisfy the difference and patrol and examine the requirement of task to image acquisition, and then realize the nimble different tasks of patrolling and examining of execution according to the demand.

The holder 33 is provided with a first driving component for driving the patrol camera unit 29 to deflect, and the first driving component can drive the patrol camera unit 29 to deflect in the vertical direction, namely change the vertical collection angle, so that the height range covered by the image collection area at a certain height is larger, the action times of the lifting mechanism 300 are reduced, and the service life of the lifting mechanism 300 is prolonged. The first driving assembly can be a motor which drives the inspection camera unit 29 to make deflection motion in the vertical direction through the corresponding assembly.

The touch screen 43 can be mounted on the body 25 for real-time interaction, and can be used for visually observing various information and inputting various operation instructions.

Further, as another specific implementation of the inspection robot that this application provided, fuselage 25 is equipped with crashproof strip 2505, is equipped with touch switch between crashproof strip 2505 and the fuselage 25. When the bumper strip 2505 touches with the barrier, the bumper strip 25 triggers the touch switch, so that the inspection robot brakes emergently. The bumper strip 2505 may be a flexible member, preventing the inspection robot from being subjected to rigid impact, as a protection member of the inspection robot.

Further, as another specific embodiment of the inspection robot provided by the present application, the inspection robot further includes modules such as PM2.5 (fine particulate matter) detection, temperature and humidity detection, and RFID (radio frequency identification) to detect various types of data, and perform display and operation through the touch screen 43.

Further, referring to fig. 1-2, as another specific embodiment of the inspection robot provided in the present application, a fixing frame 34 is disposed between the lifting mechanism 300 and the pan/tilt head 33; the holder 33 is connected with the output end of the lifting mechanism 300 through a fixed frame 34; the fixing frame 34 is provided with a containing groove 3401; the holder 33 is inserted into the accommodating groove 3401, so that the holder 33 can be quickly installed; the fixing frame 34 extends in the direction away from the cradle head 33 to form a protection sleeve 3402, the protection sleeve 3402 is sleeved outside the lifting mechanism 300, and external foreign matters are not easy to enter the lifting mechanism 300 when the lifting mechanism 300 stretches.

Further, referring to fig. 1-2, as another specific embodiment of the inspection robot provided in the present application, the inspection robot further includes a first camera 26 disposed on the body 25, a second camera 27 disposed on the body 25, and a third camera 28 disposed on the body 25; the first camera 26, the second camera 27, and the third camera 28 are sequentially disposed in the height direction of the body 25. Because the first camera 26, the second camera 27 and the third camera 28 are sequentially arranged along the height direction of the machine body 25, the three cameras can cooperatively collect image data of all instruments and equipment in the height interval of the machine body 25, so that a blind area of image data collection in the height interval of the machine body 25 is eliminated, and the blind area is not easy to exist when the inspection robot inspects in a narrow channel.

Further, referring to fig. 1-2, as another specific embodiment of the inspection robot provided by the present application, the second camera 27 is located between the first camera 26 and the third camera 28, and the height of the third camera 28 is greater than that of the first camera 26; the height difference between the second camera 27 and the first camera 26 ranges from 214 mm to 260 mm; the height difference between the third camera 28 and the second camera 27 ranges from 254 mm to 400 mm; the height of the first camera 26 is less than or equal to 326 millimeters. The width range of the channel between the cabinets is generally 1-1.2 m, and the height difference between the second camera 27 and the first camera 26 is 214-260 mm; the height difference between the third camera 28 and the second camera 27 is 254 mm-400 mm, which can ensure that when the image data acquisition robot moves in the inner channel of the width range, an image acquisition overlapping area exists between the adjacent cameras, and further eliminate the image data acquisition blind area of the data acquisition robot in the width range of 1 m-1.2 m. Setting the height of the first camera 26 to be less than or equal to 326 mm ensures that the image-capturing area of the first camera 26 covers up to an instrument device at a height of 200 mm and may further cover up to an instrument device at a height of 150 mm within a passage of 1-1.2 m.

Further, referring to fig. 1-2, as another embodiment of the inspection robot provided by the present application, the main body 25 includes a driving base 2501, a mounting bracket 2502 rotatably mounted to the driving base 2501, and a second driving assembly for driving the mounting bracket 2502 to rotate; the first camera 26, the second camera 27, and the third camera 28 are all mounted on the same side of the mounting bracket 2502. The second driving assembly drives the mounting frame 2502 to rotate 360 degrees relative to the driving seat 2501, so as to collect image data in 360 degrees. The second driving assembly can be a motor of the prior art, and drives the mounting bracket 2502 to rotate 360 degrees relative to the driving base 2501 through a belt 4041 assembly or a gear assembly. The moving wheel set 44 is mounted on the driving seat 2501.

Further, referring to fig. 1-2, as another embodiment of the inspection robot provided by the present application, a first decoration 30 symmetrical to the first camera 26, a second decoration 31 symmetrical to the second camera 27, and a third decoration 32 symmetrical to the third camera 28 are disposed on the mounting frame 2502. In order to ensure the aesthetic appearance of the image data collecting robot, a first decoration 30, a second decoration 31, and a third decoration 32 are disposed on the mounting bracket 2502, and are respectively disposed in one-to-one correspondence and symmetry with the first camera 26, the second camera 27, and the third camera 28, that is, at symmetrical positions having the same height. The first decoration member 30, the second decoration member 31, and the third decoration member 32 are formed in conformity with the first camera 26, the second camera 27, and the third camera 28.

Further, referring to fig. 2, as another specific embodiment of the inspection robot provided in the present application, the body 25 has a receiving cavity 2503, and the body 25 is provided with an abdicating hole 2504; the lifting mechanism 300 is disposed in the accommodating cavity 2503 and penetrates through the abdicating hole 2504, and a sealing ring 35 is disposed between the lifting mechanism 300 and the inner wall of the abdicating hole 2504 to prevent foreign matters from entering the interior of the body 25.

Further, referring to fig. 3-4 and 7, the lifting mechanism 300 includes a base 1, a first sleeve 2 installed on the base 1, a movable rod assembly 310 movably installed in the first sleeve 2, and a lifting driving assembly for driving the movable rod assembly 310 to move relative to the first sleeve 2.

Further, referring to fig. 3-4 and fig. 7, as another specific embodiment of the inspection robot provided in the present application, the lifting driving assembly includes a transmission screw 3 rotatably installed on the base 1 and located in the first sleeve 2, a driving mechanism 4 for driving the transmission screw 3 to rotate, and a first screw nut 6 installed on the transmission screw 3; the movable rod assembly 310 is connected to the first lead screw nut 6. When the lifting mechanism 300 is lifted, the driving mechanism 4 drives the transmission screw rod 3 to rotate on the base 1, and when the transmission screw rod 3 rotates, the first screw rod nut 6 sleeved on the transmission screw rod 3 moves along the axis direction of the transmission screw rod 3, so as to drive the movable rod assembly 310 connected with the first screw rod nut 6 to move along the axis direction of the transmission screw rod 3, and the movable rod assembly 310 is extended (or retracted) out of the first sleeve 2.

Further, referring to fig. 3-4 and 6-7, as another embodiment of the inspection robot provided by the present application, the movable rod assembly 310 includes a second sleeve 5 disposed in the first sleeve 2 and connected to the first lead screw nut 6, and a third sleeve 8 disposed in the second sleeve 5; the inspection robot further comprises a hollow screw rod 7 which is sleeved outside the transmission screw rod 3 and is positioned in the second sleeve 5, and a second screw rod nut 9 which is arranged on the hollow screw rod 7 and is connected with the third sleeve 8; the hollow screw rod 7 is rotatably arranged on the second sleeve 5, a spline groove 701 is formed in the inner wall of the hollow screw rod 7, and a spline shaft 10 is arranged at one end, far away from the base 1, of the transmission screw rod 3; spline shaft 10 is provided with spline projection 1001 inserted into spline groove 701. Because the spline shaft 10 is arranged between the transmission screw rod 3 and the hollow screw rod 7, when the transmission screw rod 3 rotates, the hollow screw rod 7 is driven to rotate relative to the second sleeve 5 through the spline shaft 10 (when the hollow screw rod 7 rotates relative to the second sleeve 5, the hollow screw rod 7 also synchronously moves along the axis direction of the transmission screw rod 3 along with the second sleeve 5), when the hollow screw rod 7 rotates, the second screw rod nut 9 sleeved on the hollow screw rod 7 moves along the axis direction of the hollow screw rod 7, and then the third sleeve 8 connected with the second screw rod nut 9 is driven to move along the axis direction of the hollow screw rod 7, so that the third sleeve 8 stretches out (or retracts) into the second sleeve 5, and the stretching of the lifting mechanism 300 is completed.

Further, please refer to fig. 4 and 6, due to the functions of the transmission screw rod 3, the hollow screw rod 7 and the spline shaft 10, the transmission screw rod 3 drives the hollow screw rod 7 to rotate through the spline shaft 10 when rotating, and further drives the second sleeve 5 and the third sleeve 8 to do telescopic motion, so the telescopic stroke of the lifting mechanism 300 is the sum of the lengths of the second sleeve 5 and the third sleeve 8, under the condition of the same telescopic stroke, the length of the first sleeve 2 and the lengths of the second sleeve 5 and the third sleeve 8 arranged in the first sleeve 2 can be small enough, compared with the traditional two-section lifting rod (the length of the extended rod is the telescopic stroke), the whole length of the lifting mechanism 300 is effectively reduced, and the requirement of the inspection robot for miniaturization is met.

It will be appreciated that a fourth and fifth sleeve … … may also be provided for the same telescopic stroke. Only a plurality of hollow screw rods 7 need to be continuously arranged, spline shafts 10 are arranged between the adjacent hollow screw rods 7, and then a theoretical infinite plurality of sleeves are integrated on one lifting mechanism 300, so that the length of the lifting mechanism 300 is infinitely shortened.

Further, please refer to fig. 8, as another specific embodiment of the inspection robot provided in the present application, a first connection portion 37 is disposed in the first sleeve 2, a guide pulley 36 is mounted at one end of the second sleeve 5 close to the base 1, and a second connection portion 38 is disposed at a distal end of the third sleeve 8 far from the base 1; the inspection robot also comprises a wire 39 which is fixedly connected with the first connecting part 37 and the second connecting part 38 and is wound on the guide pulley 36; the contact portion of the wire 39 with the guide pulley 36 is located between the first connecting portion 37 and the second connecting portion 38. The wire 39 is used for data or electrical connection with components such as the inspection camera unit 29.

As shown in fig. 10, when the lifting mechanism 300 is extended: because the wire 39 is fixedly connected with the first sleeve 2 and the second sleeve 5 at the first connecting portion 37 and the second connecting portion 38, respectively, the wire 39 is wound on the guide pulley 36, and the contact portion of the wire 39 and the guide pulley 36 is located between the positions where the wire 39 is connected with the first connecting portion 37 and the second connecting portion 38, the second sleeve 5 moves to extend out of the first sleeve 2, and the wire 39 is forced by the second connecting portion 38 to slide relative to the guide pulley 36 so as to elongate the wire 39 (the length of the wire 39 connected between the first connecting portion 37 and the second connecting portion 38 is not changed, and the elongation is defined as releasing the original folding state to achieve elongation), at this time, the guide pulley 36 is equivalent to a fixed pulley; due to the guiding effect of the guide pulley 36, the wire 39 is not easy to contact and rub other structures inside the lifting rod when being elongated, so that abnormal abrasion is avoided, the wire 39 is not easy to damage, and the service life of the lifting mechanism 300 is prolonged.

As shown in fig. 9, when the lifting mechanism 300 is retracted, the movable rod assembly 310 performs a movement of retracting the first sleeve 2; at this time, since the wire 39 is fixedly connected to the first connecting portion 37, the guide pulley 36 slides relative to the guide pulley 36 to fold the wire 39 in the first sleeve 2 along with the wire 39 sliding along the guide pulley 36 when the second sleeve 5 retracts into the first sleeve 2, and the guide pulley 36 is equivalent to a fixed pulley; due to the guiding function of the guiding pulley 36, the wire 39 is folded along a predetermined path when being folded, and is not easy to be accumulated at a certain position (the wire is easy to be crushed by the inner wall of the first sleeve 2 and the moving second sleeve 5 when being accumulated at a certain position due to the large volume, and the lifting rod is easy to be pulled to be broken when being extended), and is not easy to be worn or broken.

Therefore, the lifting mechanism 300 with the guide pulley 36 is provided, the track of the wire 39 moving inside the lifting rod is clear and determined when the wire is extended and contracted, the wire is not easy to contact with other structures, the friction is effectively avoided, the wire is not easy to be interfered by other structures, the use stability is high, the wire 39 is not easy to be damaged, and the service life of the lifting mechanism 300 is further prolonged.

The first sleeve 2 is provided with a third connecting part 42, the third connecting part 42 is positioned at one end of the first sleeve 2 close to the base 1, and the first connecting part 37 is positioned at one end of the first sleeve 2 far away from the base 1; the wire 39 is fixedly connected to the first connecting portion 37. The portion of the wire 39 located in the first sleeve 2 is fixedly installed between the first connecting portion 37 and the third connecting portion 42, and the third connecting portion 42 can also be used as a wire inlet end of the wire 39 entering the first sleeve 2.

Further, referring to fig. 11-12, as another embodiment of the inspection robot provided by the present application, a mounting shaft 40 is disposed on the second sleeve 5, and the guide pulley 36 is rotatably mounted on the mounting shaft 40, so that when the wire 39 moves relative to the guide pulley 36, the guide pulley 36 itself also rotates relative to the mounting shaft 40, and rolling friction is generated between the wire 39 and the guide pulley 36, so that the wire 39 moves more smoothly, the wire 39 is effectively prevented from being jammed, and the service lives of the wire 39 and the lifting mechanism 300 are prolonged. Since the wire 39 is positioned in the stopper groove 3601 formed in the side surface of the guide pulley 36, when the wire 39 moves relative to the side surface of the guide pulley 36, the inner side wall of the stopper groove 3601 can restrict the movement of the wire 39 in the axial direction of the guide pulley 36, thereby preventing the wire 39 from being separated from the guide pulley 36. The depth of the retaining groove 3601 gradually increases in a direction away from the second sleeve 5.

Further, referring to fig. 11 to 12, as another embodiment of the inspection robot provided by the present application, a protective cover 41 covering the outside of the guide pulley 36 is further included; the surface of one side of the protective cover 41 far away from the base 1 is provided with a wire outlet notch 4103; the protective cover 41 can further prevent the wire 39 from contacting other structures in the lifting mechanism 300, avoid the friction between the wire 39 and other structures, and prolong the service life. The shield 41 includes an end stop 4101 coupled to an end of the mounting shaft 40 remote from the second sleeve 5, and an arcuate stop 4102 coupled to the end stop 4101; the curved baffle 4102 is positioned between the end baffle 4101 and the second sleeve 5; the arc-shaped flapper 4102 has a gap with the side surface of the guide pulley 36. The end surface blocking plate 4101 can protect the wire 39 from the end surface direction of the guide pulley 36, and prevent the wire 39 from being affected by the direction structure in the elevating mechanism 300. The arc-shaped barriers 4102 can provide isolation protection to the side surfaces of the guide pulley 36 to prevent the directional structure in the elevating mechanism 300 from affecting the wire 39. In the embodiment of the present application, the side surface of the guide pulley 36 is a cylindrical surface of the guide pulley 36; the end faces of the guide pulley 36 are flat faces at both ends thereof.

Further, referring to fig. 11 to 12, as another specific embodiment of the inspection robot provided by the present application, at least one first guiding bracket 11 is installed on the first lead screw nut 6, a first guiding wheel 12 is rotatably installed on the first guiding bracket 11, and the first guiding wheel 12 is in contact with the inner wall of the first sleeve 2; in the process that the second sleeve 5 extends out of or retracts into the first sleeve 2 along with the first lead screw nut 6, the first guide wheel 12 rotatably mounted on the first guide bracket 11 rotates along the inner wall of the first sleeve 2, so that the second sleeve 5 can stably move along the axial direction of the first sleeve 2 (the axial direction of the transmission lead screw 3).

Further, referring to fig. 11 to 12, as another embodiment of the inspection robot provided by the present application, the number of the first guide brackets 11 is plural, and the plural first guide brackets 11 are distributed along the circumference of the first lead screw nut 6; each first guide bracket 11 is provided with a first guide wheel 12. The first guide brackets 11 are distributed along the circumference of the first spindle nut 6 and the first guide wheels 12 are in contact with the inner wall of the first sleeve 2, so that the second sleeve 5 is not deflected relative to the first sleeve 2 when moving (no deflection occurs in the radial direction of the first sleeve 2).

Further, referring to fig. 4, as another specific embodiment of the inspection robot provided in the present application, a first guide fixing disc 13 is disposed on an inner wall of the first sleeve 2; a plurality of first guide rods 14 which correspond to the first guide brackets 11 one by one are arranged on the first guide fixing disc 13; the first guide groove 1201 that is adapted to first guide bar 14 is seted up to the side surface of first leading wheel 12, and the side surface of first guide bar 14 sets up with the inner wall contact of first guide groove 1201, and also first guide bar 14 is absorbed in first guide groove 1201, and then has realized the circumference spacing to first leading truck and second sleeve 5, and consequently first leading truck and second sleeve 5 can not rotate 2 relatively for the axis direction motion of first sleeve 2 can be stabilized along to second sleeve 5.

The above-described guide pulley 36 may be mounted on the first guide bracket 11 to set the guide pulley 36 not higher than the surface of the second sleeve 5.

Further, please refer to fig. 4 and 7, as another specific embodiment of the inspection robot provided in the present application, at least one second guiding bracket 15 is installed on the second lead screw nut 9, a second guiding wheel 16 is rotatably installed on the second guiding bracket 15, and the second guiding wheel 16 is in contact with the inner wall of the second sleeve 5. In the process that the third sleeve 8 extends out of or retracts into the second sleeve 5 along with the second lead screw nut 9, the second guide wheel 16 rotatably mounted on the second guide bracket 15 rotates along the inner wall of the second sleeve 5, so that the third sleeve 8 can stably move along the axial direction of the second sleeve 5 (the axial direction of the transmission lead screw 3).

Further, referring to fig. 4 and 7, as another specific embodiment of the inspection robot provided in the present application, the number of the second guide brackets 15 is multiple, and the multiple second guide brackets 15 are distributed along the circumference of the second lead screw nut 9; each second guide bracket 15 is provided with a first guide wheel 12. The second guide brackets 15 are distributed along the circumference of the second spindle nut 9 and the second guide wheels 16 are in contact with the inner wall of the second sleeve 5, so that the third sleeve 8 is not deflected relative to the second sleeve 5 when it is displaced (no deflection in the radial direction of the second sleeve 5 occurs).

Further, referring to fig. 4 and 7, as another specific embodiment of the inspection robot provided in the present application, a second guide fixing plate 17 is disposed on an inner wall of the second sleeve 5; a plurality of second guide rods 18 which correspond to the second guide brackets 15 one by one are arranged on the second guide fixing disc 17; the second guide groove 1601 that is adapted to the second guide bar 18 is seted up to the side surface of second leading wheel 16, and the side surface of second guide bar 18 and the inner wall contact setting of second guide groove 1601, and the second guide bar 18 is absorbed in the second guide groove 1601 promptly, and then has realized the circumference spacing to second leading truck and third sleeve 8, therefore second leading truck and third sleeve 8 can not rotate relative to second sleeve 5 for the axis direction motion along second sleeve 5 that third sleeve 8 can be stable.

Further, referring to fig. 4-5 and 7, as another embodiment of the inspection robot provided by the present application, the driving mechanism 4 includes a driving motor 401 mounted on the base 1, a driving wheel 402 mounted on an output shaft of the driving motor 401, a driven wheel 403 mounted on the transmission screw 3, and a transmission assembly 404 disposed between the driving wheel 402 and the driven wheel 403. The process that the driving mechanism 4 drives the transmission screw rod 3 to rotate relative to the base 1 is as follows: the driving motor 401 drives the driving wheel 402 to rotate, and then drives the driven wheel 403 to rotate through the transmission belt 4041 of the transmission component 404, so as to drive the transmission screw rod 3 to rotate.

Further, referring to fig. 4-5 and 7, as another specific embodiment of the inspection robot provided in the present application, the driving wheel 402 and the driven wheel 403 are both belt wheels, and the transmission component 404 is a transmission belt 4041, and the transmission belt 4041 is sleeved between the driving wheel 402 and the driven wheel 403.

Further, as another specific implementation of the inspection robot provided by the present application, the driving wheel 402 and the driven wheel 403 may both be gears, and the transmission assembly 404 is a gear assembly.

Further, please refer to fig. 5, as another specific embodiment of the inspection robot provided in the present application, the base 1 has a mounting cavity 102, and the base 1 is provided with a mounting hole 101 corresponding to the mounting cavity 102; a first bearing 19 is arranged at the mounting hole 101, and the transmission screw rod 3 is mounted on the base 1 through the first bearing 19; the driving wheel 402, the driven wheel 403 and the transmission assembly 404 are all arranged in the installation cavity 102, so that the compactness of the structure of the lifting mechanism 300 is improved.

Further, referring to fig. 4, as another specific embodiment of the inspection robot provided in the present application, a second bearing 20 is installed on the first guide bracket 11; the first guide bracket 11 is connected with the second sleeve 5; the hollow screw 7 is rotatably mounted on the second sleeve 5 via a second bearing 20.

Further, please refer to fig. 4, as another specific embodiment of the inspection robot provided in the present application, the inner wall of the first sleeve 2 is provided with a first flexible sealing ring 21, and the first flexible sealing ring 21 is in contact with the outer wall of the second sleeve 5; the inner wall of the second sleeve 5 is provided with a second flexible sealing ring 22, and the second flexible sealing ring 22 is arranged in contact with the outer wall of the third sleeve 8. The first flexible sealing ring 21 can fill the gap between the first sleeve 2 and the second sleeve 5, so as to prevent external foreign matters from entering the first sleeve 2, so that the internal structure of the lifting mechanism 300 is damaged by the foreign matters when the lifting mechanism acts. The second flexible sealing ring 22 can fill the gap between the second sleeve 5 and the third sleeve 8, so as to prevent external foreign matters from entering the second sleeve 5, and prevent the internal structure from being damaged by the foreign matters when the lifting mechanism 300 acts.

Further, please refer to fig. 7, as another specific embodiment of the inspection robot provided in the present application, a first position sensor 23 for detecting a lifting height of the second sleeve 5 is installed in the first sleeve 2, so as to avoid rigid impact between the second sleeve 5 and the first sleeve 2; and a second position sensor 24 for detecting the lifting height of the third sleeve 8 is arranged in the second sleeve 5, so that rigid impact between the third sleeve 8 and the second sleeve 5 is avoided.

It is to be understood that aspects of the present invention may be practiced otherwise than as specifically described.

It should be understood that the above examples are merely examples for clearly illustrating the present application, and are not intended to limit the embodiments of the present application. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. The inspection robot is characterized by comprising a robot body, a lifting mechanism arranged on the robot body, a holder arranged at the movable end of the lifting mechanism, an inspection camera unit rotatably arranged on the holder, and a movable wheel set arranged at the bottom of the robot body; the holder is provided with a first driving component for driving the routing inspection camera unit to deflect; the lifting mechanism comprises a base arranged on the machine body, a first sleeve arranged on the base, a movable rod assembly movably arranged in the first sleeve, and a lifting driving assembly used for driving the movable rod assembly to move relative to the first sleeve; the lifting driving assembly comprises a transmission screw rod, a driving mechanism and a first screw rod nut, wherein the transmission screw rod is rotatably arranged on the base and is positioned in the first sleeve; the movable rod assembly is connected with the first screw rod nut; the movable rod assembly comprises a second sleeve arranged in the first sleeve and connected with the first lead screw nut, and a third sleeve arranged in the second sleeve; a first connecting part is arranged in the first sleeve, a guide pulley is arranged at one end, close to the base, of the second sleeve, and a second connecting part is arranged at the far end, far away from the base, of the third sleeve; the inspection robot also comprises a wire which is fixedly connected with the first connecting part and the second connecting part and is wound on the guide pulley; the contact portion of the wire with the guide pulley is located between the first connecting portion and the second connecting portion.

2. The inspection robot according to claim 1, wherein a fixed mount is arranged between the lifting mechanism and the holder; the holder is connected with the output end of the lifting mechanism through the fixed frame; the fixing frame is provided with a containing groove; the holder is inserted in the accommodating groove; the fixing frame extends towards the direction of transporting away from the holder to form a protective sleeve, and the protective sleeve is sleeved outside the lifting mechanism.

3. The inspection robot according to claim 1, further comprising a first camera disposed on the body, a second camera disposed on the body, and a third camera disposed on the body; the first camera, the second camera, and the third camera is followed the direction of height of fuselage sets gradually.

4. The inspection robot according to claim 1, wherein the body is provided with an anti-collision strip, and a touch switch is arranged between the anti-collision strip and the body.

5. The inspection robot according to claim 4, further comprising a hollow screw rod sleeved outside the transmission screw rod and located inside the second sleeve, and a second screw rod nut mounted on the hollow screw rod and connected with the third sleeve; the hollow screw rod is rotatably arranged on the second sleeve, a spline groove is formed in the inner wall of the hollow screw rod, and a spline shaft is arranged at one end, far away from the base, of the transmission screw rod; the spline shaft is provided with a spline bulge inserted in the spline groove.

6. The inspection robot according to claim 4, wherein the second sleeve is provided with an installation shaft, the guide pulley is rotatably installed on the installation shaft, and a side surface of the guide pulley is provided with a limiting groove; the depth of the limiting groove is gradually increased along the direction far away from the second sleeve.

7. The inspection robot according to claim 6, further including a protective cover covering the exterior of the guide pulley; the surface of one side of the protective cover, which is far away from the base, is provided with a wire outlet notch; the protective cover comprises an end face baffle connected with one end of the mounting shaft, which is far away from the second sleeve, and an arc baffle connected with the end face baffle; the cowl is positioned between the end face cowl and the second sleeve; a gap is formed between the arc-shaped baffle plate and the side surface of the guide pulley.

8. The inspection robot according to claim 5, wherein the first lead screw nut is provided with at least one first guide bracket, the first guide bracket is rotatably provided with a first guide wheel, and the first guide wheel is in contact with the inner wall of the first sleeve; at least one second guide support is installed on the second lead screw nut, a second guide wheel is installed on the second guide support in a rotating mode, and the second guide wheel is arranged in contact with the inner wall of the second sleeve.