CN116373753A - Explosion-proof inspection robot - Google Patents

Explosion-proof inspection robot Download PDF

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Publication number
CN116373753A
CN116373753A CN202310201734.5A CN202310201734A CN116373753A CN 116373753 A CN116373753 A CN 116373753A CN 202310201734 A CN202310201734 A CN 202310201734A CN 116373753 A CN116373753 A CN 116373753A
Authority
CN
China
Prior art keywords
explosion
lifting
proof
inspection
motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202310201734.5A
Other languages
Chinese (zh)
Inventor
徐泽杰
饶成康
王泽焕
苟益坤
蔡家红
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang Guozi Robot Technology Co Ltd
Original Assignee
Zhejiang Guozi Robot Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhejiang Guozi Robot Technology Co Ltd filed Critical Zhejiang Guozi Robot Technology Co Ltd
Priority to CN202310201734.5A priority Critical patent/CN116373753A/en
Publication of CN116373753A publication Critical patent/CN116373753A/en
Pending legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42D—BLASTING
    • F42D5/00—Safety arrangements
    • F42D5/04—Rendering explosive charges harmless, e.g. destroying ammunition; Rendering detonation of explosive charges harmless
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/02—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
    • B60R11/0211—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof for record carriers apparatus, e.g. video recorders, tape players or CD players
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/04—Component parts or accessories
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
    • B60R2011/008—Adjustable or movable supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
    • B60R2011/008—Adjustable or movable supports
    • B60R2011/0084—Adjustable or movable supports with adjustment by linear movement in their operational position
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

Abstract

The invention discloses an explosion-proof inspection robot, and aims to provide an explosion-proof inspection robot which can effectively solve the problem that navigation precision is affected by explosion suppression and can enlarge the inspection range. It comprises a patrol trolley; the laser navigation device is arranged on the inspection trolley and is an intrinsic safety type laser navigation device; the cloud deck is provided with photographing and video recording equipment for photographing and video recording; and the lifting assembly is arranged on the inspection trolley and used for lifting the cradle head.

Description

Explosion-proof inspection robot
Technical Field
The invention relates to the field of robots, in particular to an explosion-proof inspection robot.
Background
At present, some dangerous areas such as petroleum and petrochemical industry, coal conveying trestle and the like need to be inspected regularly, inspection robots replace manual inspection and are increasingly widely used at present, but in flammable and explosive high-risk areas, inspection robots meeting the explosion-proof requirements need to be used. At present, an explosion-proof inspection robot generally adopts an explosion-proof chassis and an explosion-proof cradle head mode, is provided with an explosion-proof navigation laser for navigation, and is provided with various sensors. The existing explosion-proof inspection robot has the defects that navigation laser in an explosion-proof mode is adopted for navigation (a navigation laser device is explosion-proof by an explosion-proof box), so that the navigation accuracy is greatly affected. On the other hand, the cradle head and the photographing and video recording equipment adopt a fixed mode, and the inspection range is limited greatly.
Disclosure of Invention
The invention aims to provide an explosion-proof inspection robot which can effectively solve the problem that the navigation precision is affected by explosion suppression and can enlarge the inspection range.
The technical scheme of the invention is as follows:
an explosion proof inspection robot, comprising:
inspection trolley;
the laser navigation device is arranged on the inspection trolley and is an intrinsic safety type laser navigation device;
the cloud deck is provided with photographing and video recording equipment for photographing and video recording;
and the lifting assembly is arranged on the inspection trolley and used for lifting the cradle head. According to the laser navigation device of the explosion-proof inspection robot, the intrinsic safety type laser navigation device is adopted, the explosion-proof inspection requirement can be met through intrinsic safety type laser navigation, and the explosion-proof box is not required to be used for explosion suppression, so that the problem that the explosion suppression affects the navigation precision can be effectively solved, and the navigation precision is improved. On the other hand, the lifting assembly is used for lifting the cradle head, so that the cradle head and photographing and video recording equipment can be lifted as required, and the inspection range is enlarged.
Preferably, the cradle head is a rotary cradle head, and the cradle head can rotate around a horizontal axis and a vertical axis. Therefore, the photographing and video recording equipment can be driven to rotate around the horizontal shaft and the vertical shaft through the cradle head, so that the inspection range is further enlarged.
Preferably, the inspection trolley comprises travelling wheels and a travelling assembly for driving the travelling wheels, wherein the travelling assembly comprises a travelling motor explosion-proof box, a travelling motor positioned in the travelling motor explosion-proof box, a travelling motor reducer connected with the travelling motor and a travelling connecting piece for connecting the travelling wheels with the travelling motor reducer. Thus, the traveling motor is flamed through the traveling motor flameproof box.
Preferably, the inspection trolley further comprises a steering assembly responsible for steering the inspection trolley, and the steering assembly comprises a steering motor explosion-proof box, a steering motor positioned in the steering motor explosion-proof box and a steering connecting piece connected with the steering motor. In this way, the steering motor is flamed through the steering motor flameproof box.
Preferably, the lifting assembly comprises a lifting motor explosion-proof box, a lifting motor positioned in the lifting motor explosion-proof box, a vertical fixed cylinder fixed on the inspection trolley, a lifting cylinder lifting along the vertical fixed cylinder, a screw rod rotatably arranged in the fixed cylinder and a nut matched with the screw rod, wherein the nut is connected with the lifting cylinder, and the lifting motor drives the screw rod to rotate. Thus, the lifting motor is flamed through the lifting motor flameproof box. Meanwhile, high-precision lifting is realized through the cooperation of a screw rod and a nut.
Preferably, the lifting assembly further comprises a lifting motor reducer and a synchronous belt transmission mechanism, wherein the lifting motor reducer is connected with the lifting motor, and an output shaft of the lifting motor reducer is connected with the screw rod through the synchronous belt transmission mechanism.
Preferably, the lifting assembly further comprises a lifting trigger locking device, the lifting assembly comprises a lifting table, and the lifting trigger locking device comprises:
the vertical locking rod is fixedly arranged on the inspection trolley and is provided with a vertical rack;
the ratchet is matched with the vertical rack and is rotatably arranged on the lifting platform;
the elastic piece is used for driving the ratchet to be matched with the vertical rack;
the floating trigger rod is arranged on the lifting platform and can move up and down;
a reset spring, wherein the floating trigger rod moves upwards under the action of the reset spring;
the floating trigger rod drives the ratchet to be separated from the vertical rack through the deflector rod;
when the floating trigger rod moves downwards relative to the lifting platform, the elastic piece drives the ratchet to be matched with the vertical rack. The lifting assembly can lift the cradle head, so that the inspection range can be enlarged; however, during the lifting process of the cradle head, the equipment on the cradle head may touch with some overhead components in the inspection area. In order to avoid the problem, the lifting trigger locking device is arranged, and if the floating trigger rod does not touch an overhead component in the inspection area in the lifting process of the cradle head, the cradle head can be lifted and lowered smoothly; if in the cloud platform rising process, if the overhead components in the inspection area are touched to the upper end of the floating trigger rod, then the floating trigger rod will move downwards relative to the lifting platform, and at the moment, the elastic piece drives the ratchet to be matched with the vertical rack so as to lock the lifting platform and prevent the lifting platform from moving upwards, so that the equipment on the cloud platform is prevented from touching with some overhead components in the inspection area.
Preferably, the lifting platform is provided with a vertical locking rod through hole. Thus, the vertical locking rod is arranged in a favorable manner, and the lifting table is prevented from interfering with the vertical locking rod.
Preferably, the method further comprises:
the front contact edge is arranged on the front side of the inspection trolley, and the inspection trolley stops running when the front contact edge contacts an obstacle;
the area array laser is arranged at the rear side of the inspection trolley and used for avoiding obstacles when the inspection trolley retreats. Thus, in the process of inspecting the front of the trolley, the trolley stops running when the front contact edge contacts the obstacle. When the inspection trolley retreats, obstacle avoidance can be performed through area array laser.
Preferably, the method further comprises:
an explosion-proof electric control box;
a communication antenna;
a voice alarm;
the battery box supplies power to the explosion-proof inspection robot;
and the emergency stop switch is used for controlling the inspection trolley to stop running.
The beneficial effects of the invention are as follows: the intrinsic safety type laser navigation device is adopted to meet the explosion-proof inspection requirement, and an explosion-proof box is not required to be adopted for explosion suppression, so that the problem that the explosion suppression affects the navigation precision can be effectively solved, and the navigation precision is improved. The lifting assembly is used for lifting the cradle head, so that the cradle head and photographing and video recording equipment can be lifted as required, and the inspection range is enlarged.
Drawings
Fig. 1 is a schematic structural view of an explosion-proof inspection robot according to the present invention at a certain view angle.
Fig. 2 is a schematic structural view of an explosion-proof inspection robot according to another view angle of the present invention.
Fig. 3 is an exploded view of a lifting assembly of an explosion proof inspection robot of the present invention.
Fig. 4 is an exploded view of a walking assembly of an explosion proof inspection robot of the present invention.
Fig. 5 is an exploded view of a steering assembly of an explosion proof inspection robot of the present invention.
Fig. 6 is a schematic structural view of an ascending trigger locking device of an explosion-proof inspection robot according to the present invention.
In the figure:
the inspection trolley 1 and the travelling wheel 1.1;
a laser navigation device 2;
the lifting assembly 3, a lifting motor explosion-proof box 3.1, a lifting motor 3.2, a lifting motor reducer 3.3, a synchronous belt transmission mechanism 3.4, a fixed mounting plate 3.5, a screw rod 3.6, a vertical fixed cylinder 3.7, a lifting cylinder 3.8 and a lifting table 3.9;
a cradle head 4;
a photographing and video recording device 5;
the walking assembly 6, the walking motor explosion-proof box 6.1, the walking motor 6.2, the walking motor reducer 6.3 and the walking connecting piece 6.4;
the steering assembly 7, the steering motor explosion-proof box 7.1, the steering motor 7.2, the adapter 7.3, the rotating platform 7.4 and the steering connecting piece 7.5;
the lifting trigger locking device 8, the vertical locking rod 8.1, the vertical rack 8.2, the floating trigger rod 8.3, the upper stop block 8.4, the reset spring 8.5, the lower limit block 8.6, the mounting bracket 8.7, the driving rod 8.8, the ratchet 8.9 and the deflector rod 8.10;
an explosion-proof electric cabinet 9;
an indicator light 10;
a voice alarm 11;
a front contact edge 12;
a battery box 13;
a communication antenna 14;
a wireless charger 15;
an area array laser 16;
a charging contact 17;
and a scram switch 18.
Detailed Description
The invention is described in further detail below with reference to the attached drawings and detailed description:
in a first embodiment, as shown in fig. 1 and 2, an explosion-proof inspection robot includes an inspection trolley 1, a laser navigation device 2, a pan-tilt 4 and a lifting assembly 3. The laser navigation device is arranged on the inspection trolley and is an intrinsic safety type laser navigation device. A photographing and video recording device 5 for photographing and video recording is installed on the cradle head. The lifting component is arranged on the inspection trolley and used for lifting the cradle head. The laser navigation device of the explosion-proof inspection robot adopts the intrinsic safety type laser navigation device, the intrinsic safety type laser navigation can meet the explosion-proof inspection requirement, and the explosion-proof box is not required to be used for explosion suppression, so that the problem that the explosion suppression affects the navigation precision can be effectively solved, and the navigation precision is improved. On the other hand, the lifting assembly is used for lifting the cradle head, so that the cradle head and photographing and video recording equipment can be lifted as required, and the inspection range is enlarged.
Specifically, the explosion-proof inspection robot further comprises an explosion-proof electric cabinet 9, a communication antenna 14, an indicator lamp 10, a voice alarm 11, a battery box 13 and an emergency stop switch 18. The explosion-proof electric cabinet, the communication antenna, the indicator light, the voice alarm, the battery box and the emergency stop switch are all arranged on the inspection trolley. The explosion-proof electric cabinet contains the automatically controlled subassembly of robot. The voice alarm is responsible for the sound broadcast of the explosion-proof inspection robot. A battery is arranged in the battery box to supply power for the explosion-proof inspection robot. The emergency stop switch is used for controlling the inspection trolley to stop running in an emergency mode. The communication antenna is responsible for the communication of the explosion-proof inspection robot. The explosion-proof inspection robot further comprises a manual charger, a wireless charger 15 and a charging contact 17, wherein the manual charger is arranged on the inspection trolley, and the manual charger is used for charging with the manual charger when the robot is powered off. The wireless charging is used for the robot to wirelessly charge. The charging contact may be used for robotic contact charging.
Further, the explosion-proof inspection robot further comprises a front touch edge 12 and an area array laser 16. The front contact edge is arranged on the front side of the inspection trolley, and the inspection trolley stops running when the front contact edge contacts an obstacle. The area array laser is arranged at the rear side of the inspection trolley, and obstacle avoidance is performed when the inspection trolley retreats. Thus, in the process of inspecting the front of the trolley, the trolley stops running when the front contact edge contacts the obstacle. When the inspection trolley retreats, obstacle avoidance can be performed through area array laser.
Further, the cradle head is a rotary cradle head, and the cradle head can rotate around a horizontal shaft and a vertical shaft. Therefore, the photographing and video recording equipment can be driven to rotate around the horizontal shaft and the vertical shaft through the cradle head, so that the inspection range is further enlarged.
In one implementation of this embodiment, the lifting assembly 3 includes a lifting motor explosion-proof box 3.1, a lifting motor 3.2 located in the lifting motor explosion-proof box, a vertical fixed cylinder 3.7 fixed on the inspection trolley, a lifting cylinder 3.8 lifting along the vertical fixed cylinder, a screw rod 3.6 rotatably arranged in the fixed cylinder, and a nut matched with the screw rod. The nut is connected with the lifting cylinder, and the lifting motor drives the screw rod to rotate. The lifting cylinder and the fixed cylinder cannot rotate relatively. The lifting cylinder is one or more. Thus, the lifting motor is flamed through the lifting motor flameproof box. Meanwhile, high-precision lifting is realized through the cooperation of a screw rod and a nut.
The lifting assembly further comprises a fixed mounting plate 3.5, a lifting motor reducer 3.3 and a synchronous belt transmission mechanism 3.4. The fixed mounting plate is installed on the dolly of patrolling and examining, and vertical fixed cylinder is installed on the fixed mounting plate. The lifting motor speed reducer is connected with the lifting motor, and the lifting motor speed reducer is arranged on the fixed mounting plate. An output shaft of the lifting motor reducer is connected with the screw rod through a synchronous belt transmission mechanism.
In another implementation of this embodiment, the lifting assembly employs a lifting cylinder or lifting electric cylinder or scissor lift or other lifting structure.
In the second embodiment, the rest of the structure of the present embodiment is different from that of the first embodiment in that,
as shown in fig. 4, the inspection trolley comprises a travelling wheel 1.1 and a travelling assembly 6 for driving the travelling wheel. In the embodiment, the number of the walking wheels is four, namely front walking wheels, rear walking wheels, left walking wheels and right walking wheels, and the walking components are in one-to-one correspondence with the walking wheels. The walking assembly comprises a walking motor explosion-proof box 6.1, a walking motor 6.2 positioned in the walking motor explosion-proof box, a walking motor speed reducer 6.3 connected with the walking motor and a walking connecting piece 6.4 for connecting the walking wheel and the walking motor speed reducer. Thus, the traveling motor is flamed through the traveling motor flameproof box.
As shown in fig. 5, the inspection trolley further comprises a steering assembly 7 responsible for steering the inspection trolley. The steering assembly comprises a steering motor explosion-proof box 7.1, a steering motor 7.2 positioned in the steering motor explosion-proof box and a steering connecting piece 7.5 connected with the steering motor. Specifically, the steering motor is fixed through the adapter 7.3 and the rotary platform 7.4, and the rotary platform is connected with the steering connecting piece. In this way, the steering motor is flamed through the steering motor flameproof box.
The third embodiment, the rest of the structure of this embodiment refers to the first embodiment or the second embodiment, which is different in that,
as shown in fig. 6, an explosion-proof inspection robot further includes an ascent trigger locking device 8. The lifting assembly comprises a lifting table 3.9. The cradle head is arranged on the lifting platform. The lifting trigger locking device comprises a vertical locking rod 8.1, a ratchet 8.9, an elastic piece, a floating trigger rod 8.3, a return spring 8.5 and a deflector rod 8.10.
The vertical locking rod 8.1 is fixedly arranged on the inspection trolley and is vertically distributed. The vertical locking rod is provided with a vertical rack 8.2, and the vertical rack is parallel to the vertical locking rod. The lifting platform is provided with a vertical locking rod through hole. The vertical locking rod and the vertical rack penetrate through the vertical locking rod through hole.
The ratchet 8.9 is matched with the vertical rack. The ratchet rotates and sets up on the elevating platform, and specifically, the lower surface of elevating platform is equipped with installing support 8.7, and the lower extreme rotation of ratchet sets up on the installing support, and ratchet upper end inclines to vertical rack one side. The elastic piece is used for driving the ratchet to be matched with the vertical rack, specifically, the elastic piece is used for driving the upper end of the ratchet to rotate towards the direction of the vertical rack, and the elastic piece is a torsion spring.
The floating trigger rod 8.3 is arranged on the lifting platform and can move up and down, and in particular, a vertical guide hole is formed in the lifting platform, and the floating trigger rod is arranged in the vertical guide hole in a sliding mode. The floating trigger rod is provided with a lower limiting block 8.6 and an upper stop block 8.4. The upper stop block is positioned above the lifting platform, and the lower limiting block is positioned below the lifting platform. The reset spring 8.5 is sleeved on the floating trigger rod and is positioned between the upper stop block and the lifting platform. The floating trigger rod moves upwards under the action of the reset spring until the lower limiting block abuts against the lifting table. The upper end of the floating trigger rod is higher than the highest point of the cradle head, and the upper end of the floating trigger rod is higher than the highest point of the photographing and video recording equipment.
The floating trigger rod drives the ratchet to be separated from the vertical rack through the deflector rod 8.10. Specifically, a driving rod 8.8 is arranged on the ratchet, and the driving rod is parallel to the rotation of the ratchet; the driving lever is fixed on the floating trigger lever and is positioned below the driving lever. When the lower limiting block is propped against the lifting table, the deflector rod is propped against the driving rod, and the ratchet is separated from the vertical rack. When the floating trigger rod moves downwards relative to the lifting platform (namely when the floating trigger rod moves downwards along the vertical guide hole), the elastic piece drives the ratchet to be matched with the vertical rack. When the ratchet is matched with the vertical rack, the locking lifting platform is lifted to prevent the lifting platform from moving upwards; but does not affect the lowering of the lift table.
The lifting assembly can lift the cradle head, so that the inspection range can be enlarged; however, during the lifting process of the cradle head, the equipment on the cradle head may touch with some overhead components in the inspection area. In order to avoid the problem, the lifting trigger locking device is arranged, and if the floating trigger rod does not touch an overhead component in the inspection area in the lifting process of the cradle head, the cradle head can be lifted and lowered smoothly; if in the cloud platform rising process, if the overhead components in the inspection area are touched to the upper end of the floating trigger rod, then the floating trigger rod will move downwards relative to the lifting platform, and at the moment, the elastic piece drives the ratchet to be matched with the vertical rack so as to lock the lifting platform and prevent the lifting platform from moving upwards, so that the equipment on the cloud platform is prevented from touching with some overhead components in the inspection area.
The foregoing description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and any simple modification, variation and equivalent transformation of the above embodiment according to the technical substance of the present invention still fall within the scope of the technical solution of the present invention.

Claims (10)

1. An explosion-proof inspection robot, characterized by comprising:
inspection trolley;
the laser navigation device is arranged on the inspection trolley and is an intrinsic safety type laser navigation device;
the cloud deck is provided with photographing and video recording equipment for photographing and video recording;
and the lifting assembly is arranged on the inspection trolley and used for lifting the cradle head.
2. The explosion-proof inspection robot according to claim 1, wherein the cradle head is a rotary cradle head, and the cradle head can rotate around a horizontal axis and a vertical axis.
3. The explosion-proof inspection robot according to claim 1, wherein the inspection trolley comprises travelling wheels and a travelling assembly for driving the travelling wheels, and the travelling assembly comprises a travelling motor explosion-proof box, a travelling motor positioned in the travelling motor explosion-proof box, a travelling motor reducer connected with the travelling motor and a travelling connecting piece for connecting the travelling wheels with the travelling motor reducer.
4. The explosion-proof inspection robot according to claim 1, wherein the inspection trolley further comprises a steering assembly responsible for steering the inspection trolley, and the steering assembly comprises a steering motor explosion-proof box, a steering motor positioned in the steering motor explosion-proof box and a steering connecting piece connected with the steering motor.
5. The explosion-proof inspection robot according to claim 1, 2 or 3, wherein the lifting assembly comprises a lifting motor explosion-proof box, a lifting motor positioned in the lifting motor explosion-proof box, a vertical fixed cylinder fixed on the inspection trolley, a lifting cylinder lifting along the vertical fixed cylinder, a screw rod rotatably arranged in the fixed cylinder and a nut matched with the screw rod, the nut is connected with the lifting cylinder, and the lifting motor drives the screw rod to rotate.
6. The explosion-proof inspection robot according to claim 5, wherein the lifting assembly further comprises a lifting motor reducer and a synchronous belt transmission mechanism, the lifting motor reducer is connected with the lifting motor, and an output shaft of the lifting motor reducer is connected with the screw rod through the synchronous belt transmission mechanism.
7. An explosion proof inspection robot according to claim 1, 2 or 3, further comprising a lifting trigger locking device, the lifting assembly comprising a lifting table, the lifting trigger locking device comprising:
the vertical locking rod is fixedly arranged on the inspection trolley and is provided with a vertical rack;
the ratchet is matched with the vertical rack and is rotatably arranged on the lifting platform;
the elastic piece is used for driving the ratchet to be matched with the vertical rack;
the floating trigger rod is arranged on the lifting platform and can move up and down;
a reset spring, wherein the floating trigger rod moves upwards under the action of the reset spring;
the floating trigger rod drives the ratchet to be separated from the vertical rack through the deflector rod;
when the floating trigger rod moves downwards relative to the lifting platform, the elastic piece drives the ratchet to be matched with the vertical rack.
8. The explosion-proof inspection robot of claim 7, wherein the lifting platform is provided with a vertical locking rod through hole.
9. An explosion proof inspection robot according to claim 1, 2 or 3, further comprising:
the front contact edge is arranged on the front side of the inspection trolley, and the inspection trolley stops running when the front contact edge contacts an obstacle;
the area array laser is arranged at the rear side of the inspection trolley and used for avoiding obstacles when the inspection trolley retreats.
10. An explosion proof inspection robot according to claim 1, 2 or 3, further comprising:
an explosion-proof electric control box;
a communication antenna;
a voice alarm;
the battery box supplies power to the explosion-proof inspection robot;
and the emergency stop switch is used for controlling the inspection trolley to stop running.
CN202310201734.5A 2023-02-28 2023-02-28 Explosion-proof inspection robot Pending CN116373753A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310201734.5A CN116373753A (en) 2023-02-28 2023-02-28 Explosion-proof inspection robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310201734.5A CN116373753A (en) 2023-02-28 2023-02-28 Explosion-proof inspection robot

Publications (1)

Publication Number Publication Date
CN116373753A true CN116373753A (en) 2023-07-04

Family

ID=86972130

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310201734.5A Pending CN116373753A (en) 2023-02-28 2023-02-28 Explosion-proof inspection robot

Country Status (1)

Country Link
CN (1) CN116373753A (en)

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