CN111923007B - Inspection robot - Google Patents
Inspection robot Download PDFInfo
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- CN111923007B CN111923007B CN202010837313.8A CN202010837313A CN111923007B CN 111923007 B CN111923007 B CN 111923007B CN 202010837313 A CN202010837313 A CN 202010837313A CN 111923007 B CN111923007 B CN 111923007B
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- inspection robot
- motor
- robot
- hollow base
- controller
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/005—Mechanical details of housing or structure aiming to accommodate the power transfer means, e.g. mechanical integration of coils, antennas or transducers into emitting or receiving devices
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
Abstract
The invention provides a patrol robot, comprising: the inspection robot comprises a base plate, four groups of symmetrically arranged travelling mechanisms are mounted at the bottom of the base plate, and the four groups of travelling mechanisms are used for driving the inspection robot to travel; the hollow base is fixedly arranged at the upper part of the bottom plate, and a control mechanism is arranged in the hollow base and used for controlling the four groups of travelling mechanisms to operate; the supporting shell is fixedly installed on the upper portion of the hollow base, the path-seeing mechanism is installed on the upper portion of the supporting shell, and the path-seeing mechanism is used for inspecting the walking road condition of the robot. The inspection robot designed by the invention is flexible to walk and good in practicability; under the condition of dark light, the walking robot can still walk freely; the difficulty of searching for a target fault motor by maintenance personnel can be effectively reduced, and meanwhile, the working efficiency of the maintenance personnel can be effectively improved; the automatic charging function is achieved; can prevent the phenomenon of collision with the surrounding objects and effectively ensure the service life.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an inspection robot.
Background
A Robot (Robot) is an intelligent machine capable of semi-autonomous or fully autonomous operation. Historically, the earliest robots were found in puppet robots built by the institute of workers, who have institutional, seating, standing, worship, lodging, and the like. The robot has the basic characteristics of perception, decision, execution and the like, can assist and even replace human beings to finish dangerous, heavy and complex work, improves the working efficiency and quality, serves human life, and expands or extends the range of activities and abilities of the human beings.
In super large-scale automation plant, generally can use a large amount of motors, because motor distribution range is wider, and the motor distribution position is dispersion not, it is very big to want to find the target fault motor degree of difficulty to lead to maintenance personal who is not very familiar with the mill environment, for this reason, super large-scale automation plant's staff has researched and developed a high in the clouds motor fault judgement system and the robot that patrols and examines that forms a complete set uses, high in the clouds motor fault judgement system is a system that carries out the sound wave to the motor and gathers then carry out fault judgement, it sends the positional information of fault motor for patrolling and examining the robot when judging fault motor, let the robot go to look for the target fault motor, but the robot that patrols and examines among the prior art still has following shortcoming:
1. the walking is not very flexible, and the practicability is not good;
2. in the dark condition, the walking is difficult to move freely;
3. the method can only be used for maintaining the fault motor before waiting for maintenance personnel on site when the target fault motor is found, still cannot effectively reduce the difficulty of the maintenance personnel in finding the target fault motor, and cannot effectively improve the working efficiency of the maintenance personnel;
4. the function of automatic charging is not provided;
5. the collision phenomenon with the surrounding objects is easy to happen, and the service life of the device is difficult to guarantee.
Disclosure of Invention
In view of the above disadvantages of the prior art, the present invention provides an inspection robot, which is used for solving the problems of the inspection robot in the prior art that the walking is not very flexible and the practicability is not good; in the case of dark light, it is difficult to walk freely; the method can only be used for maintaining the fault motor before waiting for maintenance personnel on site when the target fault motor is found, still can not effectively reduce the difficulty of the maintenance personnel for searching the target fault motor, and can not effectively improve the working efficiency of the maintenance personnel; the function of automatic charging is not provided; easily collide with the surrounding objects and are difficult to ensure the service life.
To achieve the above and other related objects, the present invention provides an inspection robot, including:
the inspection robot comprises a base plate, four groups of symmetrically arranged travelling mechanisms are mounted at the bottom of the base plate, and the four groups of travelling mechanisms are used for driving the inspection robot to travel;
the hollow base is fixedly arranged on the upper part of the bottom plate, a control mechanism is arranged in the hollow base, and the control mechanism is used for controlling the four groups of the travelling mechanisms to operate;
the support shell is fixedly installed on the upper portion of the hollow base, a road viewing mechanism is installed on the upper portion of the support shell, the road viewing mechanism is used for the inspection robot to view walking road conditions, and the road viewing mechanism is electrically connected with the control mechanism;
the positioning chip releasing mechanism is electrically connected with the control mechanism and is used for releasing a positioning chip;
the wireless charging mechanism is electrically connected with the control mechanism and is used for charging the control mechanism in a wireless mode.
Preferably, every group running gear all includes riser, connecting axle, walking wheel and motor, the riser is vertical and install fixedly in the bottom of bottom plate, the connecting axle passes through the bearing level and installs fixedly in the bottom of riser, walking wheel fixed mounting is in the one end tip of connecting axle, the motor passes through motor cabinet fixed mounting and is in the riser is kept away from on the side of walking wheel, just the axis of rotation of motor with the other end fixed connection of connecting axle.
Preferably, the control mechanism comprises a controller, a wireless communication module, a loudspeaker, a card slot body, a storage card, a storage battery and a voltage sensor, the controller, the wireless communication module, the loudspeaker, the card slot body, the storage battery and the voltage sensor are fixedly mounted in the hollow base, the storage card is inserted in the card slot body, the controller is respectively connected with the wireless communication module, the loudspeaker, the storage card, the voltage sensor and the motor, and the storage battery is respectively connected with the controller, the wireless communication module, the loudspeaker, the voltage sensor and the motor.
Preferably, a plurality of through holes are further formed in the position, close to the horn, of the side wall of the hollow base, a charging interface is further embedded in the position, close to the storage battery, of the side wall of the hollow base, and the charging interface is electrically connected with the storage battery.
Preferably, the mechanism of looking the way includes pole setting, cylindrical assembly piece, a plurality of camera and a plurality of light, the pole setting is vertical and install fixedly support the upper portion of casing, cylindrical assembly piece fixed mounting be in the upper end tip of pole setting, it is a plurality of the camera is hoop equiangular inlay the dress and is in on the side of cylindrical assembly piece, it is a plurality of the light is hoop equiangular inlay the dress and is in on the side of cylindrical assembly piece, it is a plurality of light and a plurality of the camera all with controller electric connection, it is a plurality of light and a plurality of the camera all with battery electric connection.
Preferably, the top of the cylindrical assembling block is also fixedly provided with an LED status indicator lamp, and the LED status indicator lamp is respectively electrically connected with the storage battery and the controller.
Preferably, the positioning chip releasing mechanism comprises a storage cylinder, a guide sleeve, a releasing channel, a support plate, a connecting plate, a driving arm and an electric push rod, the storage cylinder is vertically and fixedly mounted on the upper portion of the hollow base, the upper end of the storage cylinder penetrates through the top wall of the support housing, the storage cylinder is used for storing the positioning chip, the guide sleeve is fixedly mounted on one side of the storage cylinder, the releasing channel is fixedly mounted on the other side of the storage cylinder, the releasing channel is arranged opposite to the guide sleeve, the support plate is fixedly mounted on one side surface of the hollow base, the upper portion of the support plate is aligned with the upper portion of the hollow base, the connecting plate is slidably disposed on the upper portion of the support plate, the driving arm is slidably mounted inside the guide sleeve, and one end of the driving arm is fixedly connected with the connecting plate, the other end of the driving arm movably extends into the bottom of the storage cylinder, the electric push rod is fixedly mounted on the hollow base through an assembling base, the telescopic end of the electric push rod is fixedly connected with the connecting plate, and the electric push rod is electrically connected with the controller and the storage battery respectively.
Preferably, two notches are symmetrically formed in the bottom end of the storage cylinder close to the inner side wall of the storage cylinder, elastic rubber clamping blocks are fixedly mounted on one sides, facing the central line of the storage cylinder, of the two notches, and the elastic rubber clamping blocks are used for clamping the bottommost positioning chip.
Preferably, wireless charging mechanism includes cylindrical casing, induction coil and rectifier, cylindrical casing fixed mounting the cavity base dorsad put in on the side of passageway, induction coil fixed mounting be in the inside of cylindrical casing, the rectifier passes through fixing base fixed mounting in the inside of cylindrical casing, the input of rectifier pass through the wire with induction coil's wiring end electric connection, the output of rectifier pass through the wire with battery electric connection.
Preferably, a plurality of millimeter wave radar sensors are fixedly mounted at the edge of the side part of the bottom plate, and the plurality of millimeter wave radar sensors are electrically connected with the controller.
As described above, the inspection robot of the present invention has at least the following advantageous effects:
in addition, each group of travelling mechanisms consists of a vertical plate, a connecting shaft, travelling wheels and a motor, and the motor can drive the connecting shaft to drive the travelling wheels to rotate, so that the aim of travelling of the robot is fulfilled;
the road-viewing mechanism is used for inspecting the walking road condition of the robot, the illuminating lamps are used for illuminating the robot, and the camera can clearly shoot the road condition around the robot under the condition of dark light, so that the robot can still walk freely under the condition of dark light;
thirdly, the robot is connected with a cloud motor fault judging system through a wireless communication module, when the robot receives a command of searching for a fault motor sent by the cloud motor fault judging system, a controller controls four groups of travelling mechanisms to work and search for the fault motor according to received position information data of the fault motor, when a target fault motor is found, the controller controls an electric push rod to work, the electric push rod drives a driving arm to move along a guide sleeve through a connecting plate, a positioning chip stored in a storage cylinder is pushed out to be arranged beside the fault motor, and therefore maintenance personnel can navigate according to the position of the positioning chip to quickly find the target fault motor, the robot is particularly suitable for being used by maintenance personnel in a super-large factory and not familiar with the factory environment, and can help the maintenance personnel in the non-familiar factory environment to quickly find the target fault motor, the difficulty of searching for a target fault motor by maintenance personnel can be effectively reduced, and the working efficiency of the maintenance personnel can be effectively improved;
the robot charging system comprises a wireless charging mechanism, a wireless charger and a controller, wherein the wireless charger is used for charging the control mechanism in a wireless mode, the controller controls the robot to approach the wireless charger arranged for the robot when the voltage of the storage battery is too low until the wireless charging mechanism is connected with the wireless charger, the storage battery can be charged in a wireless mode, and when the voltage sensor detects that the voltage of the storage battery reaches a set value, the controller controls the robot to leave the wireless charger, so that the robot has an automatic charging function.
In the invention, the arranged millimeter wave radar sensors work cooperatively with the controller to prevent the inspection robot from colliding with surrounding objects, thereby ensuring the service life of the inspection robot.
Drawings
Fig. 1 is a perspective view showing an inspection robot according to the present invention.
Fig. 2 is a perspective view showing another perspective view of the inspection robot according to the present invention.
Fig. 3 is an enlarged schematic view of a partial view a in fig. 2.
Fig. 4 is an exploded view illustrating the traveling mechanism of the inspection robot according to the present invention.
Fig. 5 is a partial structural view showing a traveling mechanism of the inspection robot according to the present invention.
Fig. 6 is a schematic structural diagram of fig. 5 after changing the viewing angle.
Fig. 7 is a schematic structural view of a positioning chip dropping mechanism of the inspection robot according to the present invention.
Fig. 8 is an enlarged view of the partial view B in fig. 7.
Fig. 9 shows the internal structure of the hollow bottom.
Fig. 10 is an enlarged schematic view of a partial view C of fig. 9.
Fig. 11 shows a schematic structure of a hollow bottom.
Fig. 12 is a semi-sectional structural view of a wireless charging mechanism of the inspection robot according to the present invention.
Description of the element reference
1. A base plate;
2. a hollow base;
3. a support housing;
4. a traveling mechanism; 401. a vertical plate; 402. a connecting shaft; 403. a traveling wheel; 404. a motor; 405. a motor base;
5. a road viewing mechanism; 501. erecting a rod; 502. a cylindrical fitting block; 503. a camera; 504. an illuminating lamp;
6. positioning a chip releasing mechanism; 601. a storage cylinder; 602. a guide sleeve; 603. a drive arm; 604. a support plate; 605. a connecting plate; 606. a throwing channel; 607. an electric push rod; 608. assembling a base; 609. an elastic rubber clamping block; 610. a notch;
7. a control mechanism; 701. a controller; 702. a wireless communication module; 703. a battery; 704. a voltage sensor; 705. a clamping groove body; 706. a memory card; 707. a horn; 708. a through hole; 709. a charging interface;
8. a wireless charging mechanism; 801. a cylindrical housing; 802. an induction coil; 803. a rectifier; 804. a fixed seat;
9. an LED status indicator light; 10. a millimeter wave radar sensor; 11. the chip is positioned.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure of the present invention.
Please refer to fig. 1 to 12. It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are used for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms may be changed or adjusted without substantial change in the technical content.
The following examples are for illustrative purposes only. The various embodiments may be combined, and are not limited to what is presented in the following single embodiment.
Referring to fig. 1 to 12, the present invention provides an inspection robot, including:
as shown in fig. 1-2, four sets of symmetrically arranged traveling mechanisms 4 are installed at the bottom of the bottom plate 1, and the four sets of traveling mechanisms 4 are used for driving the inspection robot to travel. As shown in fig. 2 and fig. 4, each group of traveling mechanisms 4 includes a vertical plate 401, a connecting shaft 402, traveling wheels 403 and a motor 404, the vertical plate 401 is vertically and fixedly mounted at the bottom of the bottom plate 1, the connecting shaft 402 is horizontally and fixedly mounted at the bottom end of the vertical plate 401 through a bearing, the traveling wheels 403 are fixedly mounted at one end of the connecting shaft 402, the motor 404 is fixedly mounted on a side of the vertical plate 401 away from the traveling wheels 403 through a motor base 405, and a rotating shaft of the motor 404 is fixedly connected with the other end of the connecting shaft 402. Four running gear 4 of group that above technical scheme set up can realize that this robot gos forward and retreats and turns to make this robot walking more nimble, the practicality is better, in addition, every running gear 4 of group comprises riser 401, connecting axle 402, walking wheel 403 and motor 404, and usable motor 404 drive connecting axle 402 drives walking wheel 403 and rotates, thereby realizes the purpose of this robot walking.
As shown in fig. 2 and 9, the hollow base 2 is fixedly installed on the upper portion of the bottom plate 1, and the control mechanism 7 is arranged inside the hollow base 2, and the control mechanism 7 is used for controlling the four sets of travelling mechanisms 4 to operate; as shown in fig. 4 and 9-11, the control mechanism 7 includes a controller 701, a wireless communication module 702, a speaker 707, a card slot body 705, a memory card 706, a storage battery 703 and a voltage sensor 704, the controller 701, the wireless communication module 702, the speaker 707, the card slot body 705, the storage battery 703 and the voltage sensor 704 are all fixedly installed inside the hollow base 2, the memory card 706 is inserted inside the card slot body 705, the controller 701 is respectively electrically connected with the wireless communication module 702, the speaker 707, the memory card 706, the voltage sensor 704 and the motor 404, the storage battery 703 is respectively electrically connected with the controller 701, the wireless communication module 702, the speaker 707, the voltage sensor 704 and the motor 404, a plurality of through holes 708 are further opened on the side wall of the hollow base 2 near the speaker 707, and a charging interface 709 is further embedded on the side wall of the hollow base 2 near the storage battery 703, the charging interface 709 is electrically connected to the battery 703. The control mechanism 7 arranged in the technical scheme is also used for being matched with a cloud motor fault judgment system, the cloud motor fault judgment system is a system for conducting sound wave collection on a motor and then conducting fault judgment, when a fault motor is judged, the position information of the fault motor is sent to the wireless communication module 702, the wireless communication module 702 sends the received position information of the fault motor to the controller 701, the controller 701 controls the four groups of travelling mechanisms 4 to work and search for the fault motor according to the received position information data of the fault motor, the loudspeaker 707 is used for sending an alarm sound to remind a maintainer to maintain timely when the robot has a fault, the card slot body 705 is used for installing the memory card 706, the memory card 706 is convenient to disassemble, assemble and replace, the memory card 706 is used for storing the position information data of all motors in a factory, and the robot can accurately find the position of the fault motor according to the data, the battery 703 is used to supply power to the robot, and the voltage sensor 704 is used to detect the voltage condition of the battery 703 in real time.
As shown in fig. 1-3, the supporting shell 3 is fixedly installed on the upper portion of the hollow base 2, the road-viewing mechanism 5 is installed on the upper portion of the supporting shell 3, the road-viewing mechanism 5 is used for the inspection robot to view walking road conditions, and the road-viewing mechanism 5 is electrically connected with the control mechanism 7; as shown in fig. 1 to 3 and 9, the road viewing mechanism 5 includes a vertical rod 501, a cylindrical assembling block 502, a plurality of cameras 503 and a plurality of illuminating lamps 504, the vertical rod 501 is vertically and fixedly installed on the upper portion of the supporting housing 3, the cylindrical assembling block 502 is fixedly installed at the upper end portion of the vertical rod 501, the plurality of cameras 503 are annularly and equiangularly embedded on the side surface of the cylindrical assembling block 502, the plurality of illuminating lamps 504 and the plurality of cameras 503 are electrically connected to the controller 701, the plurality of illuminating lamps 504 and the plurality of cameras 503 are electrically connected to the storage battery 703, an LED status indicator lamp 9 is further fixedly installed at the top of the cylindrical assembling block 502, and the LED status indicator lamp 9 is electrically connected to the storage battery 703 and the controller 701 respectively. Above technical scheme sets up look way mechanism 5 is used for patrolling and examining the robot and look over walking road conditions, and look way mechanism 5 by pole setting 501, cylindrical assembly piece 502, a plurality of cameras 503 and a plurality of light 504 constitute, a plurality of cameras 503 are used for shooing the peripheral road conditions of this robot, for this robot guides the walking direction, in addition, a plurality of light 504 are used for this robot illumination, can guarantee that camera 503 can clearly shoot the peripheral road conditions of this robot under the darker condition of light, thereby make this robot still can walk freely under the darker condition of light.
As shown in fig. 1, 5-9, the positioning chip releasing mechanism 6 and the control mechanism 7 are electrically connected, and the positioning chip releasing mechanism 6 is used for releasing the positioning chip 11; wherein, the positioning chip releasing mechanism 6 comprises a storage cylinder 601, a guide sleeve 602, a releasing channel 606, a support plate 604, a connecting plate 605, a driving arm 603 and an electric push rod 607, the storage cylinder 601 is vertically and fixedly installed on the upper portion of the hollow base 2, the upper end of the storage cylinder 601 penetrates through the top wall of the support housing 3, the storage cylinder 601 is used for storing the positioning chip 11, the guide sleeve 602 is fixedly installed on one side of the storage cylinder 601, the releasing channel 606 is fixedly installed on the other side of the storage cylinder 601, the releasing channel 606 is arranged opposite to the guide sleeve 602, the support plate 604 is fixedly installed on one side of the hollow base 2, the upper portion of the support plate 604 is aligned with the upper portion of the hollow base 2, the connecting plate 605 is slidably placed on the upper portion of the support plate 604, the driving arm 603 is slidably installed inside the guide sleeve 602, one end of the driving arm 603 is fixedly connected with the connecting plate 605, the other end of the driving arm 603 movably extends into the inner bottom of the storage cylinder 601, the electric push rod 607 is fixedly installed on the hollow base 2 through the assembling seat 608, the telescopic end of the electric push rod 607 is fixedly connected with the connecting plate 605, the electric push rod 607 is further electrically connected with the controller 701 and the storage battery 703 respectively, two notches 610 are symmetrically formed in the bottom end of the storage cylinder 601 close to the inner side wall of the storage cylinder, an elastic rubber clamping block 609 is fixedly installed on one side of each notch 610, which faces the central line of the storage cylinder 601, and the elastic rubber clamping block 609 is used for clamping the bottommost positioning chip 11. The positioning chip releasing mechanism 6 provided by the above technical solution is used for releasing the positioning chip 11, and the positioning chip releasing mechanism 6 is composed of a storage cylinder 601, a guide sleeve 602, a releasing channel 606, a support plate 604, a connection plate 605, a driving arm 603 and an electric push rod 607, when in use, the storage cylinder 601 is used for storing the positioning chip 11, the electric push rod 607 drives the driving arm 603 to move along the guide sleeve 602 through the connection plate 605, the thickness of the driving arm 603 is as thick as that of the positioning chip 11, so that it can be ensured that only one positioning chip 11 can fall down when the driving arm 603 retracts, that is, the electric push rod 607 can be ensured that only one positioning chip 11 can be released out by pushing the driving arm 603 at a time, the positioning chip 11 is placed beside a faulty motor through the releasing channel 606, so that a maintenance worker can navigate to quickly find a target faulty motor according to the position of the positioning chip 11, therefore, the robot is particularly suitable for being matched with maintenance personnel in an ultra-large factory, who are not familiar with the factory environment, because the motors in the large factory are wide in distribution range and large in number, for maintenance personnel who are not familiar with the factory environment, the difficulty of finding the target fault motor is very high, however, the inspection robot acquires the position information of the fault motor sent by the cloud motor fault judging system, automatically finds the position of the target fault motor, and a positioning chip 11 is put on the position of the target fault motor, so that a maintenance worker can navigate through equipment such as a mobile phone and the like to quickly and accurately find the position of the target fault motor, therefore, the robot is matched with the maintenance worker to work, the difficulty of searching for the target fault motor by maintenance personnel can be effectively reduced, and the working efficiency of the maintenance personnel can be effectively improved.
As shown in fig. 2, 9 and 12, the wireless charging mechanism 8 is electrically connected to the control mechanism 7, and the wireless charging mechanism 8 is configured to wirelessly charge the control mechanism 7. Wherein, wireless charging mechanism 8 includes cylindrical housing 801, induction coil 802 and rectifier 803, cylindrical housing 801 fixed mounting is on the side of cavity base 2 release passageway 606 dorsad, induction coil 802 fixed mounting is in the inside of cylindrical housing 801, rectifier 803 passes through fixing base 804 fixed mounting in the inside of cylindrical housing 801, the input of rectifier 803 passes through the wire and is connected with induction coil 802's terminal electric connection, the output of rectifier 803 passes through the wire and is connected with battery 703 electric connection, a plurality of millimeter wave radar sensor 10 of lateral part edge fixed mounting of bottom plate 1, a plurality of millimeter wave radar sensor 10 all with controller 701 electric connection. The wireless charging mechanism 8 arranged in the above technical solution is used for charging the control mechanism 7 in a wireless manner, and the wireless charging mechanism 8 is composed of a cylindrical shell 801, an induction coil 802 and a rectifier 803, when in use, since the arranged voltage sensor 704 can detect the voltage condition of the storage battery 703 in real time, when the voltage of the storage battery 703 is too low, the controller 701 controls the robot to approach towards the wireless charger arranged for the robot until the wireless charging mechanism 8 establishes connection with the wireless charger, at this time, the storage battery 703 can be charged in a wireless manner, when the voltage sensor 704 detects that the voltage of the storage battery 703 reaches a set value, the controller 701 controls the robot to leave the wireless charger, when the voltage of the storage battery 703 is not lower than the set minimum value, once receiving a command sent by the cloud motor fault judgment system for finding a faulty motor, under the condition that the robot can predict the position where the robot can reach a target fault motor and can return to the position of a wireless charger, the robot immediately performs the task of searching for the target fault motor, the induction coil 802 is used for being matched with the wireless charger to receive alternating current, the rectifier 803 is used for converting the alternating current into direct current to charge the storage battery 703, and the millimeter wave radar sensors 10 are matched with the controller 701 to work cooperatively so as to prevent the inspection robot from colliding with surrounding objects.
It should be noted that the wireless communication module 702 may be a 4G communication module, a 5G communication module, or a wireless network card, the controller 701 may be a siemens s7-300 series PLC controller, and the positioning chip 11 is a GPS chip coated with a plastic layer, and the shape thereof is preferably a circular plate.
The working principle is as follows: when the inspection robot is used, the robot is connected with a cloud motor fault judging system through a wireless communication module 702, when the robot receives a command for searching for a fault motor sent by the cloud motor fault judging system, under the condition that the robot predicts the position of the target fault motor and can return to the position of a wireless charger, the robot immediately executes the task of searching for the target fault motor, a controller 701 controls four groups of traveling mechanisms 4 to work and search for the fault motor according to the received position information data of the fault motor, a road watching mechanism 5 checks the traveling road condition for the inspection robot, when the target fault motor is found, a controller 701 controls an electric push rod 607 to work, the electric push rod 607 drives a driving arm 603 to move along a guide sleeve 602 through a connecting plate 605, a storage chip 11 in a storage cylinder 601 is pushed out to be placed beside the fault motor, therefore, the maintenance personnel can navigate according to the position of the positioning chip 11 to quickly find the target fault motor, the motor is particularly suitable for being used by maintenance personnel who are not familiar with the factory environment and cooperate with an ultra-large factory, the maintenance personnel who are not familiar with the factory environment can quickly find the target fault motor, the difficulty of searching for the target fault motor by the maintenance personnel can be effectively reduced, and meanwhile the working efficiency of the maintenance personnel can be effectively improved.
In view of the above, it is possible to provide,
in addition, each group of walking mechanism 4 consists of a vertical plate 401, a connecting shaft 402, walking wheels 403 and a motor 404, and the motor 404 can be used for driving the connecting shaft 402 to drive the walking wheels 403 to rotate, so that the purpose of walking of the robot is realized;
secondly, in the invention, the arranged road watching mechanism 5 is used for checking walking road conditions of the inspection robot, and the plurality of illuminating lamps 504 are used for illuminating the robot, so that the condition that the road conditions around the robot can be clearly shot by the camera 503 under the condition of dark light can be ensured, and the robot can still freely walk under the condition of dark light;
thirdly, the robot is connected with a cloud motor fault judging system through a wireless communication module 702, when the robot receives a command of searching for a fault motor sent by the cloud motor fault judging system, a controller 701 controls four groups of traveling mechanisms 4 to work and search for the fault motor according to received position information data of the fault motor, when a target fault motor is found, the controller 701 controls an electric push rod 607 to work, the electric push rod 607 drives a driving arm 603 to move along a guide sleeve 602 through a connecting plate 605, a positioning chip 11 stored in a storage cylinder 601 is pushed out to be placed beside the fault motor, and therefore a maintenance worker can navigate according to the position of the positioning chip 11 to quickly find the target fault motor, the robot is particularly suitable for being used by maintenance workers who are not familiar with the environment of a super-large factory and can help the maintenance workers who are not familiar with the environment of the factory to quickly find the target fault motor, the difficulty of searching for a target fault motor by maintenance personnel can be effectively reduced, and the working efficiency of the maintenance personnel can be effectively improved;
in the invention, the arranged voltage sensor 704 is used for detecting the voltage condition of the storage battery 703 in real time, the arranged wireless charging mechanism 8 is used for charging the control mechanism 7 in a wireless manner, when the voltage of the storage battery 703 is too low, the controller 701 controls the robot to approach towards the wireless charger arranged for the robot until the wireless charging mechanism 8 is connected with the wireless charger, at the moment, the storage battery 703 can be charged in a wireless manner, and when the voltage sensor 704 detects that the voltage of the storage battery 703 reaches a set value, the controller 701 controls the robot to leave the wireless charger, so that the robot has the function of automatic charging.
In the invention, the arranged millimeter wave radar sensors 10 work in cooperation with the controller 701 to prevent the inspection robot from colliding with surrounding objects, thereby ensuring the service life of the inspection robot.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and scope of the present invention as defined in the appended claims.
Claims (6)
1. The utility model provides an inspection robot, its characterized in that, inspection robot includes:
the inspection robot comprises a base plate, four groups of symmetrically arranged travelling mechanisms are mounted at the bottom of the base plate, and the four groups of travelling mechanisms are used for driving the inspection robot to travel;
the hollow base is fixedly arranged on the upper part of the bottom plate, a control mechanism is arranged in the hollow base, and the control mechanism is used for controlling the four groups of the travelling mechanisms to operate; each group of travelling mechanisms comprises a vertical plate, a connecting shaft, a travelling wheel and a motor, wherein the vertical plate is vertically and fixedly arranged at the bottom of the bottom plate, the connecting shaft is horizontally and fixedly arranged at the bottom end of the vertical plate through a bearing, the travelling wheel is fixedly arranged at one end of the connecting shaft, the motor is fixedly arranged on one side surface of the vertical plate far away from the travelling wheel through a motor base, and a rotating shaft of the motor is fixedly connected with the other end of the connecting shaft; the control mechanism comprises a controller, a wireless communication module, a loudspeaker, a card slot body, a storage card, a storage battery and a voltage sensor, the controller, the wireless communication module, the loudspeaker, the card slot body, the storage battery and the voltage sensor are all fixedly installed inside the hollow base, the storage card is inserted inside the card slot body, the controller is respectively electrically connected with the wireless communication module, the loudspeaker, the storage card, the voltage sensor and the motor, and the storage battery is respectively electrically connected with the controller, the wireless communication module, the loudspeaker, the voltage sensor and the motor;
the support shell is fixedly installed on the upper portion of the hollow base, a road viewing mechanism is installed on the upper portion of the support shell, the road viewing mechanism is used for the inspection robot to view walking road conditions, and the road viewing mechanism is electrically connected with the control mechanism;
the positioning chip feeding mechanism is electrically connected with the control mechanism and is used for feeding positioning chips; the positioning chip throwing mechanism comprises a storage cylinder, a guide sleeve, a throwing channel, a support plate, a connecting plate, a driving arm and an electric push rod, wherein the storage cylinder is vertically and fixedly arranged at the upper part of the hollow base, the upper end of the storage cylinder penetrates through the top wall of the support shell, the storage cylinder is used for storing the positioning chip, the guide sleeve is fixedly arranged at one side of the storage cylinder, the throwing channel is fixedly arranged at the other side of the storage cylinder, the throwing channel and the guide sleeve are oppositely arranged, the support plate is fixedly arranged on one side surface of the hollow base, the upper part of the support plate is aligned with the upper part of the hollow base, the connecting plate is arranged at the upper part of the support plate in a sliding manner, the driving arm is arranged in the guide sleeve in a sliding manner, and one end of the driving arm is fixedly connected with the connecting plate, the other end of the driving arm movably extends into the bottom of the storage cylinder, the electric push rod is fixedly mounted on the hollow base through an assembling base, the telescopic end of the electric push rod is fixedly connected with the connecting plate, and the electric push rod is electrically connected with the controller and the storage battery respectively; two notches are symmetrically formed in the bottom end of the storage cylinder close to the inner side wall of the storage cylinder, elastic rubber clamping blocks are fixedly mounted on one sides of the two notches, which face the central line of the storage cylinder, and the elastic rubber clamping blocks are used for clamping the bottommost positioning chip;
the wireless charging mechanism is electrically connected with the control mechanism and is used for charging the control mechanism in a wireless mode.
2. The inspection robot according to claim 1, wherein: the novel storage battery charging device is characterized in that a plurality of through holes are further formed in the position, close to the horn, of the side wall of the hollow base, a charging interface is further embedded in the position, close to the storage battery, of the side wall of the hollow base, and the charging interface is electrically connected with the storage battery.
3. The inspection robot according to claim 1, wherein: look the way mechanism and include pole setting, cylindrical assembly piece, a plurality of camera and a plurality of light, the pole setting is vertical and install fixedly support the upper portion of casing, cylindrical assembly piece fixed mounting be in the upper end tip of pole setting, it is a plurality of the camera is the angle such as hoop and inlays the dress and be in on the side of cylindrical assembly piece, it is a plurality of the light is the angle such as hoop and inlays the dress and be in on the side of cylindrical assembly piece, it is a plurality of light and a plurality of the camera all with controller electric connection, it is a plurality of light and a plurality of the camera all with battery electric connection.
4. The inspection robot according to claim 3, wherein: the top of the cylindrical assembling block is also fixedly provided with an LED status indicator lamp, and the LED status indicator lamp is respectively electrically connected with the storage battery and the controller.
5. The inspection robot according to claim 1, wherein: wireless charging mechanism includes cylindrical casing, induction coil and rectifier, cylindrical casing fixed mounting be in the cavity base dorsad on the side of input passageway, induction coil fixed mounting be in the inside of cylindrical casing, the rectifier passes through fixing base fixed mounting in the inside of cylindrical casing, the input of rectifier pass through the wire with induction coil's wiring end electric connection, the output of rectifier pass through the wire with battery electric connection.
6. The inspection robot according to claim 1, wherein: the side edge of bottom plate fixed mounting a plurality of millimeter wave radar sensor, a plurality of millimeter wave radar sensor all with controller electric connection.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010837313.8A CN111923007B (en) | 2020-08-19 | 2020-08-19 | Inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010837313.8A CN111923007B (en) | 2020-08-19 | 2020-08-19 | Inspection robot |
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| CN111923007B true CN111923007B (en) | 2022-07-22 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112882471A (en) * | 2021-01-15 | 2021-06-01 | 南京工业大学 | UWB-based inspection robot and positioning method thereof |
| CN112959333A (en) * | 2021-01-29 | 2021-06-15 | 王英杰 | Remote control type garbage delivery intelligent robot |
| CN112959332A (en) * | 2021-01-29 | 2021-06-15 | 王英杰 | Intelligent robot is delivered to rubbish |
| CN113464813B (en) * | 2021-05-31 | 2022-11-08 | 福州木鸡郎智能科技有限公司 | Henhouse inspection robot with bidirectional inspection function |
| CN113524139B (en) * | 2021-07-23 | 2022-11-01 | 北京搜狗科技发展有限公司 | Robot |
| CN113771041B (en) * | 2021-09-30 | 2023-06-27 | 中国工商银行股份有限公司 | Robot control method, apparatus, computer device, and storage medium |
| CN113771990A (en) * | 2021-10-13 | 2021-12-10 | 郎方 | Urban rail signal system troubleshooting device |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| DE3417065A1 (en) * | 1984-05-09 | 1985-11-14 | Franz Pohl, Metall- und Kunststoffwarenfabrik GmbH, 7500 Karlsruhe | Apparatus for delivering a quantity of flat mouldings |
| JP2005282455A (en) * | 2004-03-30 | 2005-10-13 | Japan Science & Technology Agency | Power generating device and robot for guard and/or disaster relief using same |
| US7673773B1 (en) * | 2005-05-04 | 2010-03-09 | Kennik Innovations, Llc | Beverage lid dispenser including easy loading lid packaging |
| CN106787233A (en) * | 2016-12-22 | 2017-05-31 | 武汉大学 | Cable tunnel inspection robot and charging method with wireless charging device |
| CN109079740A (en) * | 2018-09-04 | 2018-12-25 | 南京理工大学 | A kind of Intelligent Mobile Robot |
| CN109531533B (en) * | 2018-11-30 | 2019-11-05 | 北京海益同展信息科技有限公司 | A kind of computer room cruising inspection system and its working method |
| CN113427462B (en) * | 2018-12-14 | 2022-07-01 | 杭州申昊科技股份有限公司 | Intelligent inspection robot |
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