CN210148096U - Indoor inspection robot - Google Patents

Abstract

The utility model discloses an indoor robot of patrolling and examining, including installing electronic gyration dish, electronic flexible push rod and the wire winding mechanism on the stand, the inside sliding ring that is equipped with of electronic gyration dish, wire winding mechanism and electronic flexible push rod are located the relative both sides of electronic gyration dish respectively. The utility model discloses a line formula structure is walked to wire winding mechanism, electric telescopic rod and electric lift push rod in for, has both avoided the cable to expose in the external world and has aroused wearing and tearing, avoids again to rely on the not enough problem of aesthetic property that the cable motion brought.

Description

Indoor inspection robot

Technical Field

The utility model relates to an intelligent robot field, more specifically the theory that says so, it relates to an indoor robot of patrolling and examining.

Background

The following background is provided to aid the reader in understanding the present invention and is not admitted to be prior art.

At present, the indoor inspection robot is more and more widely applied, and the indoor inspection robot is popularized and applied in the fields of production mechanisms, intelligent storage materials, carrying, transformer substations and the like.

An indoor S-rail type inspection robot (application number: 201410563491.0) is representative, and the robot is currently applied to batch in a substation room, but the robot needs to surround a large number of rails on an indoor ceiling or a wall surface; when a fixed-point special tour is needed, the robot is low in efficiency. An indoor inspection robot for a transformer substation (application number 201610391100.0) discloses an inspection robot based on a cross combined track, which overcomes many defects of an S track type robot, but when the robot is used for inspection, a certain amount of tracks still need to be arranged indoors, and the cost is relatively high.

In the monitoring fields of production workshops, material storage and the like, a plurality of fixed point cameras are arranged, and the method has a large blind area in monitoring and cannot realize all-dimensional monitoring of equipment. To realize the function of indoor all-round detection, the robot is required to be capable of realizing the motion of a larger stroke in both horizontal space and vertical space, and the function of indoor fire fighting can be realized if necessary. The limit of indoor space and other working equipment layouts obviously means that the conventional wheel type driving or crawler type driving mode is difficult to realize, the inspection efficiency is low, and an inspection blind area exists.

Disclosure of Invention

An object of the utility model is to provide an indoor robot of patrolling and examining, through the compound motion between electric rotary disk, electric telescopic push rod and the electric lift push rod, actuating mechanism can accurately reach indoor optional position, realizes patrolling and examining to the interior equipment.

In order to solve the problem that exists among the prior art, the utility model provides an indoor robot of patrolling and examining, including installing electric rotary disk, electric telescopic push rod and the wire winding mechanism on the stand, electric rotary disk is inside to be equipped with the sliding ring, and wire winding mechanism and electric telescopic push rod are located electric rotary disk's relative both sides respectively.

As preferred scheme, the electric rotary disc includes base, motor and carousel, and the base is fixed with the stand, and the motor is fixed in the base, and the motor output shaft is connected with the carousel, and the carousel is opened there is the passageway with the sliding ring adaptation, and the sliding ring surface is fixed with carousel passageway inner wall, sliding ring top and carousel top parallel and level.

As a preferred scheme, a third fixing bracket is arranged between the upright post and the electric rotary disc, and the base is fixed with the upright post through the third fixing bracket; the upright column, the third fixing support and the base are all provided with channels for the control cable and the power cable to pass through, and the channels are communicated with each other.

Preferably, the robot is provided with an actuating mechanism, an electric lifting push rod is arranged between the electric telescopic push rod and the actuating mechanism, and the actuating mechanism is positioned at the tail end of the electric lifting push rod.

According to the preferable scheme, the executing mechanism comprises a detection assembly and a fire extinguishing bomb, the detection assembly comprises a holder, a visible light camera and a thermal infrared imager, one end of the holder is fixed to the bottom of the electric lifting push rod, the other end of the holder is fixed to the fire extinguishing bomb, and the visible light camera and the thermal infrared imager are fixed to the two ends of the holder respectively.

As the preferred scheme, the robot is provided with a control cable and a power cable, the upright column is provided with a control box, one end of the control cable and one end of the power cable are connected with the control box, and the other end of the control cable and the other end of the power cable are connected with the input end of the slip ring. Preferably, the turntable is provided with a channel matched with the sliding ring, the outer surface of the sliding ring is fixed with the inner wall of the channel of the turntable, and the top end of the sliding ring is flush with the top end of the turntable. Preferably, the upright column, the third fixed support and the base are provided with channels which are communicated with each other, the control cable and the power cable are led out from the control box, sequentially pass through the channels of the upright column, the third fixed support, the base and the turntable and then are connected with the input end of the slip ring. Preferably, the channels are all arranged at the central positions of the upright post, the third fixed support, the base and the turntable.

As preferred scheme, wire winding mechanism passes through the second fixed bolster fixed with first fixed bolster, and wire winding mechanism includes the wire reel and winds the wire winding cable on the wire reel, and first fixed bolster, electric telescopic rod and electric lift push rod all open there is the passageway, and the intercommunication between the passageway, wire winding cable one end is connected with the output of sliding ring, and the other end passes first fixed bolster in proper order, the passageway of electric telescopic rod and electric lift push rod, is connected with fire extinguishing bomb, the cloud platform, visible light camera and thermal infrared imager respectively. Preferably, the wire winding cable comprises a wrapping layer, a steel wire rope is arranged in the wrapping layer, one end of the steel wire rope is fixed to the wire spool, and the other end of the steel wire rope is connected with the cradle head.

Preferably, the fixed pulley is arranged inside the electric telescopic push rod and is located at a turning position of the electric telescopic push rod and the electric lifting push rod.

As preferred scheme, the second fixed bolster is equipped with counter weight mechanism, and counter weight mechanism is the balancing weight. Preferably, the counterweight block and the actuating mechanism are positioned on the same straight line. Preferably, the first fixing support, the balancing weight, the second fixing support, the electric telescopic push rod and the actuating mechanism are located on the same straight line. Preferably, the second fixing bracket has a plurality of mounting holes. Preferably, the second fixed bolster is equipped with the slide rail, and the balancing weight can remove along the slide rail.

As preferred scheme, the third fixed bolster is equipped with temperature and humidity detection sensor and smoke transducer, and third fixed bolster or first fixed bolster are equipped with flame sensor.

Advantageous effects

(1) The utility model discloses a compound motion of electronic flexible push rod, electric lift push rod and electric rotary disc realizes patrolling and examining indoor equipment's real-time online, all-round, no dead angle, is applicable to the detection to indoor three-dimensional space equipment.

(2) The utility model discloses the robot can not only patrol and examine equipment both sides, and the robot can move in equipment top when electric lift push rod shrink back, can patrol and examine the position directly over the equipment, has the superiority when patrolling and examining indoor main equipment of transformer substation, GIS equipment.

(3) The utility model discloses a line formula structure is walked to wire winding mechanism, electric telescopic rod and electric lift push rod in for, has both avoided the cable to expose in the external world and has aroused wearing and tearing, avoids again to rely on the not enough problem of aesthetic property that the cable motion brought.

(4) The utility model discloses a combined motion of moving mechanism and electric rotary disk realizes patrolling and examining indoor equipment's real-time online, all-round, no dead angle, is applicable to the detection to indoor three-dimensional space equipment.

(5) The utility model discloses have the recovery mechanism, when moving mechanism broke down, can adopt this recovery mechanism to pull near moving mechanism to rotation mechanism, convenient the maintenance.

(6) The utility model can monitor indoor environment information on line; still possess the function of putting out a fire, ensure the safety of indoor personnel and equipment.

(7) The utility model can comprehensively judge whether fire disaster occurs indoors or not according to the flame sensor or the smoke sensor; when any sensor is out of the line for alarming, the robot can execute a fire extinguishing instruction, and indoor fire safety is ensured.

(8) The utility model discloses only need during the installation subaerial fixed post can, to building structures's such as wall body destruction when having significantly reduced the construction.

(9) The utility model discloses can carry on different check out test set, adapt to the different indoor requirements of patrolling and examining.

(10) When the actuating mechanism is far away from the electric rotary disk, the balancing weight is added on the second fixed support to balance a larger eccentric moment caused to the electric rotary disk.

Drawings

Fig. 1 is a schematic structural view of embodiment 1.

Fig. 2 is a schematic structural view of the slip ring installed inside the electric rotating disk.

Fig. 3 is a schematic trace diagram of embodiment 1.

Fig. 4 is a control block diagram of embodiment 1.

Fig. 5-7 are schematic views of the working process of embodiment 1.

Fig. 8 is a schematic structural view of the first embodiment in example 2.

Fig. 9 is a schematic structural view of a second embodiment in example 2.

Fig. 10 is a schematic structural view of the embodiment 2 in which the winding cable passes through the first fixing bracket and the electric telescopic push rod channel.

FIG. 11 is a schematic diagram of the structure of the embodiment 2 in which a wound cable passes through a channel of an electric lifting push rod.

Fig. 12 is a control block diagram of embodiment 2.

Fig. 13-17 are schematic views of the working process of embodiment 2.

Fig. 18 is a schematic structural view of embodiment 3.

Fig. 19 is a trace diagram according to embodiment 3.

Fig. 20 is a schematic diagram of routing of a pull wire.

Fig. 21 is another trace diagram of a pull wire.

Fig. 22 is a control block diagram of embodiment 3.

Fig. 23-27 are schematic views of the working process of embodiment 3.

Fig. 28 is a schematic view showing a structure in which a weight mechanism is attached to a robot having an electric telescopic ram.

Fig. 29 is a schematic view showing a structure in which a weight mechanism is mounted on a robot having a rail.

Fig. 30 is a schematic view of a second fixing bracket having a mounting hole.

Fig. 31 is a schematic structural view of the second fixing bracket having a slide rail.

The figure is marked with: the device comprises a vertical column 1, a power supply box 101, an electric rotary disc 2, a base 201, a motor 202, a rotary disc 203, a third fixed support 204, a first fixed support 205, a sliding ring 206, a second fixed support 207, a mounting hole 2071, a sliding rail 2072, a temperature and humidity detection sensor 208, a smoke sensor 209, a counterweight mechanism 210, a flame sensor 211, an electric telescopic push rod 3, a fixed pulley 301, an electric telescopic push rod motor 302, an actuating mechanism 4, a fire extinguishing bomb 401, a detection assembly 402, a holder 403, a visible light camera 404, an infrared thermal imager 405, a control cable and power cable 5, a control box 6, a main control box 601, an auxiliary control box 602, a main control cable 603, a power cable 604, a winding mechanism 7, a winding disc 701, a winding cable 702, a first channel 703, a second channel, an electric lifting push rod 8, a third channel 801, a track 9, a sliding contact line 901, a chassis 902, a connecting cable 903, a recovery mechanism 10, a, A wire spool 1001 and a pull wire 1002.

Detailed Description

The structures referred to in the present invention or these terms of art used are further described below. These illustrations are merely exemplary of how the present invention may be implemented and are not intended to limit the present invention in any way.

At present, the indoor inspection robot is more and more widely applied, and the indoor inspection robot is popularized and applied in the fields of production mechanisms, intelligent storage materials, carrying, transformer substations and the like. The existing inspection robot travels in a rail type and needs to depend on a rail, so that a large number of rails need to be arranged on an indoor ceiling or a wall surface, and the cost is high. In addition, because the rail-mounted robot can only advance along the designed track, not only must there be the blind area of patrolling and examining, can't carry out the fixed point and specially patrol, consequently when needs fixed point and specially patrol, patrol and examine the robot inefficiency. The indoor inspection robot is free of running by means of a track, and can realize real-time online, all-dimensional and dead-angle-free inspection of indoor equipment.

Example 1

Indoor robot of patrolling and examining, as shown in fig. 1, including stand 1, electric rotary disk 2, electric telescopic rod 3 and actuating mechanism 4, electric rotary disk 2 installs on stand 1, and electric telescopic rod 3 installs on electric rotary disk 2, and electric rotary disk 2 drives electric telescopic rod 3 and rotates, and actuating mechanism 4 is located 3 ends of electric telescopic rod. The electric rotary disc 2 can rotate 360 degrees in the horizontal plane around the center of the upright post 1, so that the electric telescopic push rod 3 is driven to rotate 360 degrees in the horizontal plane, and all-dimensional and dead-angle-free inspection of indoor equipment is realized.

As a specific embodiment, as shown in fig. 2, the electric rotary disc 2 includes a base 201, a motor 202 and a rotary disc 203, the base 201 is fixed to the column 1, the motor 202 is fixed to the base 201, and an output shaft of the motor 202 is connected to the rotary disc 203. The electric rotary disc 2 has small volume and sensitive rotation and is suitable for being used indoors. Specifically, be equipped with third fixed bolster 204 between stand 1 and the electronic gyration dish 2, base 201 is fixed with stand 1 through third fixed bolster 204, and electronic gyration dish 2 top is equipped with first fixed bolster 205, and the carousel top is fixed with first fixed bolster 205, and electronic flexible push rod 3 is fixed with first fixed bolster 205. Preferably, the upright column 1 is a cylinder or a cube, and the bottom of the upright column 1 is fixed with the ground.

Preferably, as shown in fig. 3, the electric telescopic rod 3 adopts an internal wiring type multi-section electric telescopic rod, which not only has a larger contraction stroke ratio, but also adopts an internal wiring type structure, thereby not only avoiding the cable from being exposed to the outside to cause abrasion, but also avoiding the problem of insufficient aesthetic property caused by the movement of the cable.

As a specific embodiment, as shown in fig. 1 and 3, an actuating mechanism 4 is fixed at the end of an electric telescopic push rod 3, the actuating mechanism includes a fire extinguishing bomb 401 and a detection assembly 402, the detection assembly 402 includes a pan-tilt 403, a visible light camera 404 and an infrared thermal imager 405, the pan-tilt 403 is fixed at the end of the electric telescopic push rod 3, the visible light camera 404 and the infrared thermal imager 405 are respectively fixed at two ends of the pan-tilt 403, and the fire extinguishing bomb 401 is located at the bottom of the pan-tilt 403. The visible light camera 404 is used to monitor indoor conditions, and the fire extinguishing bomb 401 is used for indoor fire extinguishing. As another embodiment, the executing mechanism can be replaced by a mechanical arm, and the grabbing and carrying work of indoor sundries, workpieces and the like can be completed.

As shown in fig. 1 and 3, a temperature and humidity sensor 208 is mounted on one side of the third fixing bracket 204, and a smoke sensor 209 is mounted on the other side. The temperature and humidity sensor 208 is used for detecting environmental information such as indoor temperature and humidity. The smoke sensor 209 mainly detects smoking, fire, and the like that may occur indoors.

The working mode of the robot can be set to automatic inspection, special inspection or manual operation, as shown in fig. 5-7, the working mode of the robot can be set to automatic inspection, special inspection or manual operation, and the working method of the embodiment 1 is as follows:

(1) the electric telescopic push rod 3 is contracted to the shortest length, as shown in fig. 5;

(2) after the above-mentioned movements are in place, the electric rotary disc 2 carries out the rotary movement, drive the electric telescopic push rod 3 to move to the target position, as shown in fig. 6;

(3) after the above-mentioned movements are in place, the electric telescopic push rod 3 carries out the extension movement, and reaches the front of the target, as shown in fig. 7;

(4) after the actions are in place, the robot executes a detection instruction, inspection of indoor equipment is achieved by combining rotation of the holder 403, meanwhile, the current pose state of the robot is recorded, collected data are returned, and data processing and automatic fault alarming are completed.

Example 2

Example 2 differs from example 1 in that: the electric rotary disk 2 of embodiment 2 is provided with an electric lifting push rod 8, and the actuating mechanism is arranged at the tail end of the electric lifting push rod 8. The electric rotary disk 2 can rotate 360 degrees in the horizontal plane around the center of the upright post 1, and the electric rotary disk 2 drives the electric lifting push rod 8 to rotate so as to realize multidirectional inspection of indoor equipment.

As a specific example, as shown in fig. 8 and 9, an electric telescopic rod 3 is disposed between the electric rotary disc 2 and the electric lifting rod 8, the electric lifting rod 8 is fixed at the end of the electric telescopic rod 3, and the actuator 4 is fixed on the electric lifting rod 8. The electric rotary disc 2 can rotate 360 degrees in the horizontal plane around the center of the stand column 1, the electric telescopic push rod 3 can stretch out and draw back in the horizontal direction, the electric lifting push rod 8 can lift in the vertical direction, all-round and dead-angle-free inspection of indoor equipment is realized, and the electric rotary disc is suitable for detection of indoor three-dimensional space equipment.

Specifically, the electric lifting push rod 8 adopts an internal wiring type multi-section electric lifting push rod, and has a larger contraction stroke ratio.

As a specific example, as shown in fig. 1, the robot is provided with a flame sensor 211, and the flame sensor 211 is fixed above the first fixing bracket 205 or fixed at one side of the third fixing bracket 204, see fig. 8 and 9. The flame sensor 211 is used for detecting indoor open fire, and when a fire disaster occurs, the robot can give out sound and light alarm; simultaneously, the electric rotary disc 2, the electric telescopic push rod 3 and the electric lifting push rod 8 perform combined motion, the fire extinguishing bomb 401 is sent to the position of a fire disaster occurrence point, and the fire extinguishing bomb 401 is thrown to extinguish fire.

As shown in fig. 13 to 17, the operation mode can be set to automatic inspection and special inspection, and the operation method of embodiment 2 when detecting or extinguishing a target is as follows:

(1) the electric lifting push rod 8 of the robot rises to the limit position, and the electric telescopic push rod 3 contracts to the shortest;

(2) after the actions are in place, the electric rotary disc 2 executes the rotary actions to drive the electric lifting push rod 8 and the electric telescopic push rod 3 to move to the target positions;

(3) after the action is in place, the electric telescopic push rod 3 executes the extension action and reaches the right front of the target;

(4) after the actions are in place, the electric lifting push rod 8 executes descending actions to drive the tail end executing mechanism to descend to the position to be inspected of the equipment;

(5) after the actions are in place, the robot executes a detection instruction or a fire extinguishing instruction, and simultaneously records the current pose state of the moving body. And returning the collected data to finish the data processing and the automatic fault alarm.

Example 3

The electric rotary disc 2, the electric telescopic push rod 3 and the electric lifting push rod 8 all need a control cable and a power cable 5 to transmit electric power and control signals. If the control cable and the power cable 5 are arranged outside the mechanism, the control cable and the power cable are easy to intertwine and wear.

The robot is equipped with control cable and power cable 5, and the arrangement mode of control cable and power cable 5 has two kinds:

the first scheme is as follows:

as shown in fig. 3 and 8, the upright column 1 is provided with a control box 6, a slip ring 206 is arranged inside the turntable 203, one end of the control cable and one end of the power cable 5 are connected with the control box 6, and the other end of the control cable and the other end of the power cable sequentially pass through the upright column 1, the third bracket 204, the base 201 and the turntable 203 and are connected with the slip ring 206. Specifically, the upright column 1, the third support 204, the base 201 and the turntable 203 are provided with channels at the center positions, the channels are communicated, the outer surface of the slip ring 206 is fixed with the inner wall of the channel of the turntable 203, the turntable 203 rotates the slip ring 206 and rotates along with the slip ring, the control cable and the power cable 5 pass through the base 201 and are connected with the slip ring 206, and the cable can be prevented from rotating along with the turntable. Preferably, the top of the slip ring 206 is flush with the top of the turntable 203, so as to avoid the abrasion of the cable caused by the friction between the cable and the edge of the turntable 203.

As a specific example, the first fixing bracket 205 is provided with a second fixing bracket 207, the second fixing bracket 207 is fixed with a winding mechanism 7, the winding mechanism 7 comprises a winding disc 701 and a winding cable 702 wound on the winding disc 701, and the winding disc 701 is fixed on the top of the second fixing bracket 207. The winding mechanism 7 can effectively avoid winding of the winding cable 702 when the robot rotates. First fixed bolster 205, electric telescopic rod 3 and electric lift push rod 8 all have the passageway, communicate between the passageway, and wire winding cable 702 one end is connected with sliding ring 206, and the other end passes first fixed bolster 205, electric telescopic rod 3 and electric lift push rod 8's passageway in proper order. When the wire-wound cable 702 is led out from the slip ring 206, the wire-wound cable 702 can pass through the outside of the first fixing bracket 205 and wind on the wire spool 701, or a vertical passage is formed in the first fixing bracket 205, and the wire-wound cable 702 passes through the vertical passage and winds on the wire spool 701, so that the wire-wound cable 702 is prevented from being exposed to the outside. Specifically, the wire spool 701 is a coil spring type wire spool, and when the electric telescopic push rod 3 or/and the electric lifting push rod 8 extend, the wire spool 701 drives the wire winding cable 702 to overcome the elasticity of the coil spring to extend; otherwise, the wound cable 702 contracts under the elastic force of the coil spring. Specifically, the first fixing bracket 205 is provided with a first channel 703, the electric telescopic push rod 3 is provided with a second channel 704, the electric lifting push rod 8 is provided with a third channel 801, and the winding cable 702 sequentially passes through the winding disc 701, the first channel 703, the second channel 704 and the third channel 801 and then is connected with the actuating mechanism 4, as shown in fig. 10 to 11. The routing path of the control cable and the power cable 5 is as follows: the control cable and the power cable 5 are led out from the control box 6, sequentially pass through the channels of the upright 1, the third fixed support 204, the base 201 and the turntable 203, and then are connected with the input end of the slip ring 206, one end of the winding cable 702 is electrically connected with the output end of the slip ring 206, and the other end of the winding cable is sequentially connected with the actuating mechanism 4 through the wire spool 701, the first channel 703, the second channel 704 and the third channel 801, namely is respectively connected with the fire extinguishing bomb 401, the pan-tilt 403, the visible light camera 404 and the thermal infrared imager 405, and is used for transmitting electric power and control signals of the electric rotating disk 2, the electric telescopic rod 3, the electric lifting rod 8 and the actuating mechanism 4, as shown in fig. 4 and. The arrangement of the slip ring 206 and the winding mechanism 7 can avoid twisting between the cables.

The second scheme is as follows:

as shown in fig. 9 and 12, the power box 101 is fixed to the column 1, the main control box 601 is fixed to the second fixing support 207, the auxiliary control box 602 is arranged at the end of the electric telescopic rod 3, the actuator 4 is installed in the auxiliary control box 602, the actuator 4 includes the detection assembly 402 and the fire extinguishing bomb 401, the detection assembly 402 includes the pan-tilt 403, the visible light camera 404 and the thermal infrared imager 405 are fixed to two ends of the pan-tilt 403 respectively, one end of the pan-tilt 403 is connected to the auxiliary control box 602, and the other end of the pan-tilt 403 is connected to the fire extinguishing bomb 401. The main control box 601 is used for controlling the movement of the electric telescopic push rod 3 and the electric lifting push rod 8.

As a specific embodiment, a slip ring 206 is arranged inside the turntable 203, one end of the control cable and the power cable 5 is connected with the power box 101, and the other end is connected with the input end of the slip ring 206; one end of the second fixing bracket 207 is fixed with the winding mechanism 7, the main control box 601 is connected with a main control cable 603, and the main control cable 603 is electrically connected with the output end of the slip ring 206. The slip ring 206 is arranged in the turntable 203, the control cable and the power cable 5 electrically connect the power box 101 and the main control box 601 together through the slip ring 206, and winding of a winding cable when the robot rotates is avoided. When the main control cable 603 is led out from the slip ring 206, the main control cable 603 may pass through the outside of the first fixing bracket 205 and be connected to the main control box 601, or a vertical channel is formed in the first fixing bracket 205, and the main control cable 603 sequentially passes through the vertical channel and the first channel 703 and is connected to the main control box 601, so as to prevent the main control cable 603 from being exposed to the outside, as shown in fig. 9.

The winding mechanism 7 comprises a winding disc 701 and a winding cable 702 wound on the winding disc 701, the first fixing support 205 is provided with a first channel 703, the electric telescopic push rod 3 is provided with a second channel 704, the first channel 703, the second channel 704 and the third channel 801 are sequentially communicated, one end of the winding cable 702 is connected with the main control box 601, and the other end of the winding cable 702 sequentially passes through the winding disc 701, the first channel 703, the second channel 704 and the third channel 801 and is respectively connected with the fire extinguishing bomb 401, the holder 403, the visible light camera 404 and the thermal infrared imager 405, see fig. 4. Specifically, the wire spool 701 is a coil spring type wire spool, and when the electric telescopic push rod 3 and/or the electric lifting push rod 8 extend, the wire-wound cable 702 is driven to overcome the elasticity of the coil spring to extend; otherwise, the wound cable 702 contracts under the elastic force of the coil spring. Specifically, the first channel 703 is disposed at the center of the first fixing bracket 205, the second channel 704 is disposed at the center of the electric telescopic rod 3, and the third channel 801 is disposed at the center of the electric lifting rod 8. The upright post 1, the third fixing bracket 204, the base 201 and the turntable 203 are all provided with channels which are communicated with each other.

The routing path of the control cable and the power cable 5 is as follows: the control cable and the power cable 5 are led out from the power box 101, sequentially pass through the channels of the upright 1, the third fixed support 204, the base 201 and the turntable 203, and then are connected with the input end of the slip ring 206, one end of the winding cable 702 is electrically connected with the output end of the slip ring 206, and the other end of the winding cable is sequentially connected with the actuating mechanism 4 through the wire spool 701, the first channel 703, the second channel 704 and the third channel 801, namely respectively connected with the fire extinguishing bomb 401, the pan-tilt 403, the visible light camera 404 and the thermal infrared imager 405, and used for transmitting electric power and control signals to the electric rotating disc 2, the electric telescopic rod 3, the electric lifting rod 8 and the actuating mechanism 4, as shown in fig. 4 and 12. The function of the wire cable 702 and the master cable 603 is the same as that of the control cable and the power cable 5.

As a specific example, when the robot is composed of the electric rotary disc 2 and the electric telescopic pushing rod 3, the fixed pulley 301 is provided inside the end of the electric telescopic pushing rod 3, the fixed pulley 301 is located at the turning position of the electric telescopic pushing rod 3 and the pan-tilt 403, and the wire-wound cable 702 is wound around the fixed pulley 301, as shown in fig. 3. Specifically, the fixed pulley 301 is a nylon fixed pulley. The fixed pulley 301 facilitates cable routing.

When the robot is composed of the electric rotary disc 2, the electric telescopic push rod 3 and the electric lifting push rod 8, the fixed pulley 301 is arranged inside the end of the electric telescopic push rod 3, the fixed pulley 301 is located at the turning position of the electric telescopic push rod 3 and the electric lifting push rod 8, and the winding cable 702 passes around the fixed pulley 301, as shown in fig. 8 and 9. Specifically, the fixed pulley 301 is a nylon fixed pulley. The fixed pulley 301 facilitates cable routing.

As a specific embodiment, a steel wire rope is provided inside the winding cable 702, one end of the steel wire rope is fixed to the winding disc 701, and the other end of the steel wire rope is fixed to the cradle head 403. Specifically, the wound cable 702 includes a wrapping layer, and the wire rope is located inside the wrapping layer. A steel wire rope is arranged in a winding cable bundle between the winding mechanism 7 and the executing mechanism 4, and the steel wire rope is used as a stress body when the steel wire rope is pulled, so that the steel wire rope is prevented from being directly pulled to damage the winding cable 702.

As a specific embodiment, as shown in fig. 9, an electric telescopic rod motor 302 is disposed above the first fixing bracket 205, the electric telescopic rod motor 302 is connected to an electrified cable 604, and the electrified cable 604 is electrically connected to the output end of the slip ring 206. The electrified cable 604 is the control cable and the power cable 5, and the electrified cable 604 has the functions of transmitting power to the electric telescopic push rod motor 302 and controlling the positive and negative rotation of the electric telescopic push rod motor 302.

As shown in fig. 4 and 8, the control cables and the power cable 5 of the temperature/humidity detection sensor 208, the smoke sensor 209, and the flame sensor 211 are directly connected to the control box 6 without passing through the slip ring 206. Alternatively, as shown in fig. 9, the control cables and the power cable 5 of the temperature/humidity sensor 208 and the smoke sensor 209 are connected to the main control box 601.

Example 4

Example 3 differs from examples 1 and 2 in that: the electric rotary disk 2 is provided with a track 9, a sliding contact line 901 is laid on the track, the moving mechanism comprises a base plate 902 and an electric lifting push rod 8, the base plate 902 slides along the track 9 through the sliding contact line 901, and the bottom of the base plate 902 is fixed with the electric lifting push rod 8, as shown in fig. 18. The track 9 in this embodiment is of a fixed length, and the indoor inspection is performed by controlling the movement of the moving mechanism. The sliding contact line 901 is used for driving the moving mechanism to move, wiring is not needed, and winding caused by cables is avoided. A plurality of moving mechanisms can be arranged on the track 9, so that a plurality of regions can be inspected at the same time, and the regions do not interfere with each other. The track 9 occupies a small space, and can be used for polling in a small space. The moving mechanism moves along the rail 9 through the sliding contact line 901, so that the control is more accurate, and the inspection range is finer.

The electric lifting push rod 8 is an internal wiring type multi-section electric lifting push rod and has a larger contraction stroke ratio.

As a specific embodiment, as shown in fig. 19 and 20, the robot is provided with a control cable and a power cable 5, the column 1 is provided with a control box 6, the inside of the turntable 203 is provided with a slip ring 206, one end of the control cable and the power cable 5 is connected with the control box 6, the other end of the control cable and the power cable is connected with an input end of the slip ring 206, one end of a slip contact line 901 is electrically connected with an output end of the slip ring 206 through a connection cable 903, and the other end of the slip contact line is connected with a. Specifically, a carbon brush is provided between the trolley line 901 and the chassis 902, and is used for electrical connection between the trolley line 901 and the chassis 902. The trolley line 901 has a power supply function and a direct current carrier communication function. Specifically, the control cable and the power cable 5 led out from the control box 6 sequentially pass through the upright post 1, the third fixing bracket 204 and the electric rotating disk 2, are mounted on the slip ring 206, and are connected with a sliding contact line 901 mounted on the track 9 after passing through the slip ring 206, and the sliding contact line 901 leads the power supply to the moving mechanism. Specifically, trolley line 901 is disposed along track 9, and the length of trolley line 901 covers the length of track 9. The control cable functions in the same way as the power cable 5 and the connection cable 903.

As a specific example, as shown in fig. 18 and 19, the second fixing bracket 207 is provided with a recovery mechanism 10, the recovery mechanism 10 includes a wire spool 1001 and a pull wire 1002, one end of the pull wire 1002 winds around the wire spool 1001, and the other end is fixed with the chassis 902. When the moving mechanism breaks down in the moving process, the recovery mechanism 10 can be adopted to drag the moving mechanism to be close to the electric rotating disc 2, so that the maintenance is convenient. Specifically, the recovery mechanism 10 is fixed below the second fixing bracket 207. Preferably, the recovery mechanism and the moving mechanism are located at opposite ends of the motorized turntable 2, and further, the recovery mechanism 10 is located on the same line as the rail 9. The recovery mechanism 10 and the track 9 are positioned on the same straight line, and the moving mechanism is conveniently dragged to the position near the electric rotary disc 2 in a labor-saving manner. The wire may be passed around the rotatable electrically powered disc 2 as shown in figure 20. Preferably, as shown in fig. 21, the first fixing bracket 205 is provided with a passage through which the pulling wire 1002 passes, is laid along the rail 9, and is then connected to the moving mechanism. The pull wire 1002 passes through the channel, so that the operation between mechanisms is prevented from being blocked, and the pull wire 1002 can be prevented from being disconnected due to the friction between the pull wire 1002 and the electric rotary disc 2. Specifically, the pull wire 1002 has a certain strength, such as a steel wire rope. Specifically, the recovery mechanism 10 is a manual type wire rope recovery mechanism. Specifically, the wire spool 1001 is a coil spring type wire spool. When the moving mechanism is far away from the recovery mechanism 10, the dragging force of the moving mechanism overcomes the elasticity of the coil spring to elongate the steel wire rope 1002; when the moving mechanism moves towards the recovery mechanism 10, the pull wire 1002 is automatically wound under the action of the elastic force of the coil spring.

As a specific embodiment, as shown in fig. 19, an elastic cable 802 is disposed inside the electric lifting push rod 8, one end of the elastic cable is connected to the chassis 902, and the other end of the elastic cable is connected to the fire extinguishing bomb 401, the pan-tilt 403, the thermal infrared imager 404, and the visible light camera 405 respectively. The elastic cable 802 is a control cable and a power cable 5, and has functions of providing power and controlling. The elastic cable 802 has elasticity, and can elastically stretch and retract along with the lifting of the electric lifting push rod 8, so that the cable is prevented from being wound due to the lifting of the electric lifting push rod 8.

Fig. 19 is a wiring diagram of the present embodiment, in which after a 220V ac power supply enters the control box 6, the voltage is converted into 24V dc power by the power conversion module. After passing through the upright post 1, a control cable and a power cable 5 led out from the control box 6 are installed on the slip ring 206, and are connected with a sliding contact line 901 installed on the track 9 after passing through the slip ring 206, and the sliding contact line 901 leads a power supply to the moving mechanism; the moving mechanism is respectively connected with the detection component 402 and the fire extinguishing bomb 401 through an elastic cable 802 installed inside the electric lifting push rod.

Fig. 23-27 are schematic views illustrating the operation of the present invention in detecting or extinguishing a target. Operating personnel can pass through the camera observation indoor circumstances at the control backstage, the utility model discloses the mode of operation of robot can set up to automatic patrolling and examining, specially patrols or manual operation, and embodiment 3 detects the target or the working method when putting out a fire as follows:

(1) the electric lifting push rod 8 of the robot rises to the limit position;

(2) after the actions are in place, the electric rotary disc 2 executes the rotary actions to drive the robot to move to the target position;

(3) after the actions are in place, the moving mechanism drives the executing mechanism 4 and the fire extinguishing bomb 401 to move along the track and reach the front of the target;

(4) after the actions are in place, the electric lifting push rod 8 performs descending actions to drive the detection assembly 402 and the fire extinguishing bomb 401 to descend to the position to be inspected of the equipment;

(5) after the actions are in place, the robot executes a data acquisition command or/and a fire extinguishing bomb throwing command, and simultaneously records the current pose state of the moving body. And returning the collected data to finish the data processing and the automatic fault alarm.

Example 5

This example differs from examples 1, 2, 3, 4 in that: in this embodiment, the robot is provided with a counterweight mechanism, as shown in fig. 18 and 19. When the electric lifting push rod 8 or the moving mechanism is far away from the electric rotary disk 2, a large eccentric moment is caused to the electric rotary disk 2, and in order to balance the eccentric moment, a counterweight mechanism is added on one side of the electric rotary disk 2, and the counterweight mechanism is the counterweight 210.

When the robot is composed of the electric rotary disc 2, the electric telescopic push rod 3 and the electric lifting push rod 8, the actuating mechanism 4 and the counterweight block 210 are respectively arranged at two opposite sides of the electric rotary disc 2, namely the counterweight block 210, the electric rotary disc 2 and the actuating mechanism 4 are on the same straight line, so that the stability of the robot can be improved, and the robot is shown in fig. 28. Specifically, the first fixing bracket 205, the counterweight 210, the second fixing bracket 207, the electric telescopic push rod 3 and the actuator 4 are located on the same straight line.

When the robot is composed of the electric rotating disc 2 and the moving machine, the actuator 4 and the weight 210 are respectively arranged at two opposite sides of the electric rotating disc 2, that is, the weight 210, the electric rotating disc 2 and the actuator 4 are on the same straight line, so that the stability of the robot can be improved, see fig. 29. Specifically, the first fixing bracket 205, the counterweight 210, the second fixing bracket 207, the rail 9, the moving mechanism, and the actuator 4 are located on the same straight line.

Specifically, the size and weight of the weight 210 are not limited, and depend on the length of the electric telescopic rod 3, the actuator 4 or the position of the actuator on the rail 9.

As a specific example, the counterweight 210 is fixed to the first fixing bracket 205 by the second fixing bracket 207, as shown in fig. 30, the second fixing bracket 207 has a plurality of mounting holes 2071, the counterweight 210 is fixed above, below or at any position on the second fixing bracket 207 by a fastener such as a screw, and the plurality of mounting holes 2071 can change the position of the counterweight 210 on the second fixing bracket 207. As another specific example, as shown in fig. 31, the second fixing bracket 205 is provided with a sliding rail 2072, and the weight 210 moves along the sliding rail 2071. The weight 210 is moved on the slide rails 2072 to balance the eccentric moment on the turntable 2. The weight of the counterweight 210 and the position of the counterweight 210 on the second fixing bracket 207 can be changed at any time according to the length of the electric telescopic push rod 3 or the position of the moving mechanism on the track 9 and the weight of the actuating mechanism.

The utility model shown and described herein may be implemented in the absence of any element, limitation, or limitations specifically disclosed herein. The terms and expressions which have been employed are used as terms of description and not of limitation, and there is no intention in the use of such terms and expressions of excluding any equivalents of the features shown and described or portions thereof, and it is recognized that various modifications are possible within the scope of the invention. It should therefore be understood that although the present invention has been specifically disclosed by various embodiments and optional features, modification and variation of the concepts herein described may be resorted to by those skilled in the art, and that such modifications and variations are considered to be within the scope of this invention as defined by the appended claims.

The contents of the articles, patents, patent applications, and all other documents and electronically available information described or cited herein are hereby incorporated by reference in their entirety to the same extent as if each individual publication was specifically and individually indicated to be incorporated by reference. Applicants reserve the right to incorporate into this application any and all materials and information from any such articles, patents, patent applications, or other documents.

Claims (10)

1. The utility model provides an indoor robot of patrolling and examining, its characterized in that, including installing electronic gyration dish, electronic flexible push rod and the wire winding mechanism on the stand, electronic gyration is coiled inside and is equipped with the sliding ring, and wire winding mechanism and electronic flexible push rod are located the relative both sides of electronic gyration dish respectively.

2. The indoor inspection robot according to claim 1, wherein the electrical rotary plate includes a base, a motor and a rotary plate, the base is fixed to the upright, the motor is fixed to the base, an output shaft of the motor is connected to the rotary plate, the rotary plate is provided with a channel adapted to the slip ring, an outer surface of the slip ring is fixed to an inner wall of the channel of the rotary plate, and a top end of the slip ring is flush with a top end of the rotary plate.

3. The indoor inspection robot according to claim 2, wherein a third fixing bracket is arranged between the upright post and the electric rotary disc, and the base is fixed with the upright post through the third fixing bracket; the upright column, the third fixing support and the base are all provided with channels for the control cable and the power cable to pass through, and the channels are communicated with each other.

4. The indoor inspection robot according to claim 3, wherein the electric telescopic push rod is fixed with the turntable through a first fixing bracket, and a channel is formed in the first fixing bracket.

5. An indoor inspection robot according to claim 4, wherein the robot is provided with an actuating mechanism, an electric lifting push rod is arranged between the electric telescopic push rod and the actuating mechanism, and the actuating mechanism is positioned at the tail end of the electric lifting push rod.

6. The indoor inspection robot according to claim 5, wherein the actuating mechanism includes a fire extinguishing bomb and a detection assembly, the detection assembly includes a cradle head, a visible light camera and a thermal infrared imager, the cradle head is fixed to the end of the electric lifting push rod, and the visible light camera and the thermal infrared imager are respectively fixed to two ends of the cradle head.

7. The indoor inspection robot according to claim 6, wherein the robot comprises a control cable and a power cable, the stand column is provided with a control box, the control cable is connected with one end of the power cable and the control box, the other end of the control cable is connected with the input end of the sliding ring, the first fixing support, the electric telescopic push rod and the electric lifting push rod are all provided with channels, the wire winding mechanism comprises a wire spool and a wire winding cable wound on the wire spool, one end of the wire winding cable is connected with the output end of the sliding ring, and the other end of the wire winding cable sequentially penetrates through the channels of the first fixing support, the electric telescopic push rod and the electric lifting push rod and is respectively connected with a fire extinguishing bomb, a cloud deck, a visible light camera and.

8. The indoor inspection robot according to claim 7, wherein the winding cable comprises a wrapping layer, a steel wire rope is arranged inside the wrapping layer, one end of the steel wire rope is fixed to the wire spool, and the other end of the steel wire rope is connected with the holder.

9. The indoor inspection robot according to claim 8, wherein a fixed pulley is disposed inside the electric telescopic rod, and the fixed pulley is located at a turning position of the electric telescopic rod and the electric lifting rod.

10. An indoor inspection robot according to claim 9, wherein the upright, the third fixing bracket and the base are provided with channels.

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