CN212445242U - Inspection robot - Google Patents

Abstract

The utility model belongs to the technical field of the robotechnology and specifically relates to a patrol and examine robot is related to. The utility model discloses an explosion-proof box, explosion-proof lid, drive arrangement, drive control system, autonomous navigation system, center control system etc.. The utility model discloses explosion-proof lid is articulated to be set up and add articulated cross slab isotructure design, and each part need not break away from the complete dismantlement and break away from when making the maintenance, can realize the repair and the maintenance of inside device. The length of the connection leads between the respective component devices can be shortened. The instrument equipment in the working environment is inspected all day by the autonomous navigation system, the central control system and various data acquisition devices, and inspection efficiency is improved.

Description

Inspection robot

Technical Field

The utility model belongs to the technical field of the robot technique of patrolling and examining and specifically relates to a patrol and examine robot is related to.

Background

Explosion prevention is the primary problem in safety production in the industries and mining such as petroleum, chemical engineering, natural gas and the like. The production equipment is high-precision equipment which is mostly in a dangerous explosive gas environment, and if an emergency (such as sudden temperature rise, electric spark generation and the like) occurs, an explosive accident is very easy to occur, and the result is difficult to estimate. Therefore, it is essential to effectively prevent such safety accidents and to periodically detect the work environment.

Many enterprises adopt manual work to carry out on-site inspection, but the manual inspection has the problems of large workload, low efficiency, large difference between inspection results and actual conditions and the like.

In the prior art, in order to overcome the defects caused by manual inspection, technicians in the field research and develop inspection robots. The inspection robot is used for assisting/replacing manual inspection, the working strength of inspection personnel is greatly reduced, and the inspection efficiency is improved.

Chinese patent publication No. CN209699083U discloses a wheel type explosion-proof inspection robot and a wheel type explosion-proof inspection robot system. The wheel type explosion-proof inspection robot comprises an explosion-proof robot body, a chassis, an explosion-proof driving mechanism and wheels. The explosion-proof driving mechanism is a long-stroke suspension device which has the same mechanical structure and is mutually independent, and the driving mechanism comprises an explosion-proof shell assembly, a shock absorption buffer, a driving motor, a speed reducer and a rotating shaft.

This patent suffers from the following drawbacks: the explosion-proof motors and the speed reducers of the four explosion-proof driving mechanisms are arranged outside the chassis, so that the four explosion-proof driving mechanisms need to be disassembled and assembled and consume time during daily maintenance; and when the outside explodes, explosion-proof motor, speed reducer etc. also receive the sudden strain very easily.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a patrol and examine robot has easy access and maintains and each part all has explosion-proof setting, can independently navigate in the adverse circumstances such as inflammable and explosive, patrol and examine the advantage of work all day.

The above utility model discloses an above-mentioned utility model purpose can realize through following technical scheme:

an inspection robot comprises an explosion-proof box body, a drive control system and a drive device. The top of the explosion-proof box body is provided with an explosion-proof cover body, and the explosion-proof cover body is hinged with one side of the explosion-proof box body; the driving control systems and the driving devices are respectively provided with a plurality of driving devices, and the driving control systems correspond to the driving devices one by one; the drive control systems are all arranged in the explosion-proof box body; the driving device is arranged on the outer side of the explosion-proof box body and penetrates through the explosion-proof box body to be correspondingly connected with the driving control system respectively; and the driving device is provided with a damping device connected with the outer wall of the explosion-proof box body.

Adopt above-mentioned technical scheme, the utility model discloses arrange drive control system in explosion-proof box, the explosion-proof of realization drive control system that can be better, drive arrangement's power supply is located outside the explosion-proof box in the effective prior art of solving, makes it receive the problem of hitting violently easily.

And the drive control system is positioned in the explosion-proof box body, so that the maintenance and the repair of personnel are facilitated.

The drive control system may be a drive mechanism such as a motor. The driving control devices and the driving control systems are respectively provided with four groups, and each driving control device is controlled and driven by the corresponding driving control system, so that the driving devices can independently control to walk, and the robot can realize various travel actions such as advancing, retreating, steering and the like.

The anti-explosion cover body is connected with the anti-explosion box body through the hinge, so that the anti-explosion cover body does not need to be moved away during maintenance, labor is saved, the anti-explosion cover body is convenient to cover and accurately position, and time is saved. And because the anti-explosion cover body does not need to be removed, the length of a connecting wire between each component device positioned on the anti-explosion box body (on the anti-explosion cover body) and equipment in the anti-explosion box body can be shortened.

And the outer wall of the explosion-proof box body is provided with an explosion-proof plate at the connecting part of the driving device and the driving control system. The explosion-proof plate increases the axial length between the driving device and the driving control system, which passes through the explosion-proof box body, improves the local bearing capacity of the explosion-proof box body, and ensures that the driving device and the driving control system are more stably connected through the explosion-proof box body.

Because the sparks generated during the external explosion generally enter the explosion-proof box body from the gap of the rotating shaft. Therefore, the structure of the explosion-proof plate can be set to include the panel connected with the driving device and the extension section extending inwards, so that the axial direction of the explosion-proof plate is lengthened, the corresponding rotating shaft is correspondingly lengthened at the same time, which is equivalent to increasing the axial length of the explosion-proof surface, and the explosion-proof distance can be increased, so that sparks are not discharged into the explosion-proof box body and disappear.

And a reinforcing plate is arranged at the connecting part of the explosion-proof box body and the damping device. The reinforcing plate increases the local thickness of the side wall of the shock absorption device connected with the explosion-proof box body, so that the shock absorption device is more stably connected with the explosion-proof box body.

The utility model discloses further set up to: a top extension plate extends horizontally outwards from the upper end surface of the explosion-proof box body; the outer side wall of the explosion-proof box body is uniformly provided with a plurality of reinforcing ribs, and the upper ends of the reinforcing ribs are fixedly connected below the top extension plate; one side of the explosion-proof cover body is hinged to the outer side of the top extension plate, and the other side of the explosion-proof cover body is detachably connected with the top extension plate through a fastener.

By adopting the technical scheme, the reinforcing ribs can enhance the stability of the explosion-proof box body and prevent the explosion-proof box body from deforming. When the inspection robot works, the explosion-proof box body is in a closed environment, internal parts operate to generate heat easily, and the heat dissipation efficiency of the explosion-proof box body can be improved through the reinforcing ribs.

The utility model discloses further set up to: the driving device comprises wheels, an upper fork arm and a lower fork arm; the drive control system comprises a rotating shaft penetrating through the explosion-proof box body. The wheels are connected with the rotating shaft through a universal joint; and the two ends of the upper fork arm and the lower fork arm are respectively hinged to the wheel and the outer wall of the explosion-proof box body. One end of the damping device is connected to the upper fork arm in a sliding mode, and the other end of the damping device is hinged to the outer wall of the explosion-proof box body; the hinged position of the damping device and the explosion-proof box body is positioned above the hinged position of the upper fork arm and the explosion-proof box body.

By adopting the technical scheme, the driving device enables the wheels to be suspended and arranged outside the anti-explosion box body through the upper fork arm and the lower fork arm. Meanwhile, the upper fork arm, the lower fork arm and the damping device form a double-fork-arm structure, so that the weight of the robot explosion-proof box body and the like can be effectively shared.

The upper fork arm is connected with the damping device and the explosion-proof box body to buffer and absorb the vibration of the driving device caused by the uneven patrol environment; go up the universal joint between yoke, the lower yoke and further play the cushioning effect, meet hollow section when making the robot move, even than also can improve the stationarity than slowing down, make each part on explosion-proof box and the explosion-proof box keep steady as far as possible, reduce because of vibrations to patrolling and examining the influence that the effect caused, also reduce vibrations and make each part erection joint take place not hard up.

The utility model discloses further set up to: the system is characterized by further comprising an explosion-proof holder, a GPS module, an explosion-proof laser radar, an explosion-proof sound pickup, an explosion-proof gas detector, an explosion-proof audible and visual alarm, a central control system, an explosion-proof ultrasonic obstacle avoidance device, a battery, a wireless communication module and a control terminal. The explosion-proof ultrasonic obstacle avoidance device is an explosion-proof ultrasonic obstacle avoidance device.

And the explosion-proof cradle head is arranged on the explosion-proof box body and used for acquiring the surrounding environment information of the robot. The explosion-proof cloud platform has gaseous detection device of laser spectrum, infrared light filling lamp, high definition digtal camera and infrared imaging detector. The GPS module is arranged on the explosion-proof box body and used for monitoring the position of the robot in real time.

The explosion-proof laser radar is used for autonomous navigation. And the explosion-proof sound pickup is used for monitoring the sound information of the working environment. And the explosion-proof gas detector is used for detecting the concentration of gas in the environment around the robot. The explosion-proof audible and visual alarm is used for giving out audible and visual alarm.

And the central control system is positioned in the explosion-proof box body, is electrically connected with the equipment and is used for controlling the equipment.

The front side and the rear side of the explosion-proof box body are provided with explosion-proof ultrasonic obstacle avoidance devices, the distance and the direction of the obstacles are collected through ultrasonic waves, and judgment is made to avoid the obstacles.

And the battery is used for supplying power to the equipment positioned in the explosion-proof box body. And the control terminal is used for remotely operating the controller. And the wireless communication module is used for communication between the central control system and the control terminal and transmitting data in real time.

Explosion-proof cloud platform, GPS module, explosion-proof laser radar, explosion-proof adapter, explosion-proof gas detector, explosion-proof audible-visual annunciator are installed respectively on explosion-proof box, make things convenient for each part device to gather corresponding data information, or send out the police dispatch newspaper.

By adopting the technical scheme, the high-definition camera can realize omnibearing shooting of a working environment along with rotation of the explosion-proof holder, and complete shooting, accurate data identification, detection of details and other works on instruments, dials, pipeline electric meters and the like; the infrared imaging detector can measure the temperature information of instrument equipment of the station; high definition digtal camera and infrared imaging detector combine to be used for judging whether instrument equipment normally operates, make things convenient for operating personnel to know each instrument equipment's information through control terminal, make the judgement in advance to the accident hidden danger in instrument equipment's the environment.

The explosion-proof sound pick-up is used for collecting sound information in the working environment of the instrument and equipment, monitoring the sound information of the working environment and detecting whether abnormity exists or not. And the explosion-proof audible and visual alarm is used for sending audible and visual alarm information and giving audible and visual alarm when the robot detects abnormality.

And the explosion-proof gas detector is used for detecting the concentration of gas in the environment around the robot. The explosion-proof gas detector can adopt a four-in-one gas detector to detect the concentration of four explosive or harmful gases in the air and judge whether the gas is normal or not.

The GPS module can adopt a GPS antenna, and the position of the robot in the working range is monitored in real time through GPS signals.

The explosion-proof laser radar is used for laser high-precision navigation, a three-dimensional model is built, and the robot can avoid an obstacle in advance, remotely and in a large range (auxiliary obstacle avoidance) conveniently during multiple routing inspections. The anti-explosion ultrasonic obstacle avoidance device comprises a signal transmitting unit, a receiving unit and a processing unit, and ultrasonic waves are transmitted in the running process of the robot, so that the distance of an obstacle is identified, countermeasures are taken, and the obstacle avoidance is carried out in a short distance.

The utility model discloses still can set up explosion-proof camera in explosion-proof laser radar below for adopt video information's form record robot operation conditions, make the operator pass through control terminal audio-visual, visual understanding robot's operational aspect.

The explosion-proof radar, the explosion-proof ultrasonic obstacle avoidance device and the explosion-proof camera which can be matched form an autonomous navigation system of the inspection robot, so that autonomous navigation of the inspection robot, obstacle avoidance and optimal route establishment are realized to complete inspection tasks.

And the battery provides power for the robot to patrol.

The wireless communication module can adopt a common antenna, so that the robot and the control terminal can communicate remotely, and the remote control of the robot by an operator is realized.

The central control system can collect information, analyze data, control operation, plan routes and other functions through components such as a high-definition camera, an infrared imaging detector, an explosion-proof pickup and an explosion-proof laser radar, correspondingly judge the motion of the robot and the data collection and processing of each component and device, and transmit data to the control terminal through the wireless communication module, so that the robot can realize seamless inspection all day long, the efficiency is high, the inspection efficiency is wide, and the production cost is reduced.

The utility model discloses further set up to: a transverse partition plate is arranged in the middle of the explosion-proof box body and divides the explosion-proof box body into an upper cavity chamber and a lower cavity chamber; one side of the diaphragm plate is hinged to one side of the interior of the explosion-proof box body, so that the diaphragm plate is turned over up and down along the hinged position.

The drive control system is located in the lower chamber, and the central control system is located in the upper chamber.

Adopt above-mentioned technical scheme, drive control system is located cavity (being equivalent to the utility model discloses the chassis of robot) down, reduces the focus of robot, and central control system etc. are located cavity, arrange each device partition through the cross slab, and cavity part only need open the cross slab down during the maintenance, need not to move the aversion to last cavity part, and connecting wire between each part also need not extend, disconnection etc. conveniently overhauls, still can shorten connecting wire's length.

The utility model discloses further set up to: the inner wall of the explosion-proof box body is provided with a plurality of supporting plates which are positioned on the same plane; when the diaphragm plate is turned downwards, the lower part of the diaphragm plate just abuts against the upper part of the supporting plate.

By adopting the technical scheme, the supporting plate provides supporting force when the diaphragm plate turns downwards and limits the diaphragm plate to turn downwards excessively, and the cover presses the upper surface of the component device in the lower cavity to influence the normal work of the component device in the lower cavity and the like.

The utility model discloses further set up to: a clamping structure is arranged on the inner wall of one side of the explosion-proof box body, which is far away from the hinged part of the diaphragm plate and the explosion-proof box body; the clamping structure is positioned above the supporting plate; when the diaphragm plate is turned downwards, the clamping structure is pressed against the upper surface of the diaphragm plate.

By adopting the technical scheme, the clamping structure can ensure that the transverse partition plate is stably positioned on the supporting plate when the transverse partition plate is turned downwards, and the transverse partition plate is prevented from being turned up and down due to vibration generated when the robot runs, so that the leads of all device parts in the explosion-proof box body fall off and the arrangement of the device parts breaks down.

The utility model discloses further set up to: the clamping structure comprises a connecting plate and a fastening screw rod; the lower part of the inner side of the connecting plate is hinged to the inner wall of the explosion-proof box body; a screw hole matched with the fastening screw is formed in the middle of the connecting plate; when the diaphragm plate is turned over downwards, the fastening screw rotates downwards along the screw hole and abuts against the upper surface of the diaphragm plate.

By adopting the technical scheme, the lower part of the inner side of the connecting plate is hinged to the inner wall of the explosion-proof box body, and when the fastening screw is separated from the screw hole, the connecting plate is downwards turned over due to the gravity of the connecting plate, so that the lower surface of the connecting plate is abutted against the inner wall of the explosion-proof box body, and the influence of the connecting plate on the upward turning operation of the diaphragm plate is avoided. When the diaphragm plate is downwards overturned to abut against the upper surface of the supporting plate, the connecting plate is upwards overturned, and the fastening screw rod is downwards rotated through the screw hole until the fastening screw rod abuts against the upper surface of the diaphragm plate. The clamping structure is simple as a whole and is easy and convenient to operate.

The utility model discloses further set up to: the explosion-proof charging device is arranged on the rear side of the explosion-proof box body, and comprises an explosion-proof power switch and an explosion-proof emergency stop switch.

Adopt above-mentioned technical scheme, explosion-proof charging device is convenient for right the utility model discloses the battery of robot charges. The explosion-proof charging device can be provided with an explosion-proof manual charging device and an explosion-proof automatic charging device. The explosion-proof manual charging device is used for manually charging the robot. The explosion-proof automatic charging device is used for automatic identification, butt joint and charging after the robot is in power shortage. The robot working environment or the internal medicine of the control terminal area is provided with a charging room/charging pile, and when the robot detects a charging demand through an automatic charging device, the robot can automatically enter the charging room/charging pile to charge.

And the explosion-proof power switch is used for controlling the power supply of the robot to be switched on and off. And the explosion-proof emergency stop switch is used for cutting off the power supply of the robot in an emergency to realize emergency stop.

The utility model discloses further set up to: the explosion-proof box body is characterized by also comprising a protective outer cover positioned outside the explosion-proof box body; the outer wall of the explosion-proof box body is provided with a plurality of outer cover mounting seats; the protective outer cover is arranged on the outer cover mounting seat; the protective outer cover is connected with a mud guard cover positioned above the driving device.

By adopting the technical scheme, the protective outer cover can shield earth, rainwater and the like for the explosion-proof box body, can also isolate sparks and the like generated by external explosion, and reduces the sparks entering the explosion-proof box body and the like from the connecting holes of all parts.

The front end of the explosion-proof box body is also provided with an explosion-proof bumper for protecting the robot.

To sum up, the utility model discloses a beneficial technological effect does:

1. the utility model discloses explosion-proof lid is articulated to be set up and add articulated cross slab isotructure design, and each part need not break away from the complete dismantlement and break away from when making the maintenance, can realize the repair and the maintenance of inside device. The length of the connection leads between the respective component devices can be shortened.

2. The device realizes multi-dimensional data acquisition and analysis of images, sound, light, infrared, temperature, gas and the like on the working environment through corresponding component devices (sensors), performs field assistance in an emergency state, or prevents accidents, can realize all-day inspection on instruments and equipment in the working environment, and improves inspection efficiency.

3. The utility model discloses an unique suspension shock mitigation system is applicable to various complicacies, abominable operational environment.

4. The navigation technology combining the laser radar, the GPS and various sensors is adopted, so that the navigation precision is high, and the failure rate is low.

Drawings

FIG. 1 is a structural sectional view of the present invention;

FIG. 2 is a schematic view of the structure of the explosion-proof box body of the present invention;

FIG. 3 is the structural schematic diagram of the maintenance state of the explosion-proof box

FIG. 4 is a schematic structural view of the present invention;

FIG. 5 is a schematic block diagram of the circuit control of the present invention;

fig. 6 is a rear view structure diagram of the present invention;

FIG. 7 is a sectional view taken along line A-A in FIG. 3;

FIG. 8 is a schematic view of a clamping structure in embodiment 2;

FIG. 9 is a schematic structural diagram of an explosion-proof lidar according to embodiment 3;

FIG. 10 is a schematic structural view of example 4;

FIG. 11 is a schematic view of the structure of the holder according to embodiment 4.

In the figure, 1, an explosion-proof box body; 2. a drive control system; 3. a drive device; 4. a damping device; 5. an explosion-proof plate; 6. a reinforcing plate; 7. a wheel; 8. an upper yoke; 9. a lower yoke; 10. a rotating shaft; 11. a universal joint; 12. an explosion-proof cover body; 13. a top extension plate; 14. a fastener; 15. reinforcing ribs; 16. an explosion-proof holder; 17. a GPS module; 18. an explosion-proof laser radar; 19. an explosion-proof sound pickup; 20. an explosion-proof gas detector; 21. an explosion-proof audible and visual alarm; 22. a central control system; 23. an explosion-proof ultrasonic obstacle avoidance device; 24. a battery; 25. a wireless communication module; 26. a control terminal; 27. a high-definition camera; 28. an infrared imaging detector; 29. an explosion-proof camera; 30. a diaphragm plate; 31. an upper chamber; 32. a lower chamber; 33. a support plate; 34. a clamping structure; 35. connecting plates; 36. fastening a screw rod; 37. a screw hole; 38. a cushion layer; 39. an explosion-proof manual charging device; 40. an explosion-proof automatic charging device; 41. an explosion-proof power switch; 42. an explosion-proof emergency stop switch; 43. a protective outer cover; 44. a housing mount; 45. a mud guard cover; 46. an explosion-proof bumper; 48. a glass cover; 49. an upper cover plate; 50. a lower cover plate; 51. pulling up the plate; 52. pulling down the plate; 53. a pull rod; 54. a fixed mount; 55. a strut; 56. a clamping part; 57. a laser spectroscopy gas detection device; 58. infrared light filling lamp.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

Example 1:

as shown in fig. 1, the inspection robot comprises an explosion-proof box body 1, a drive control system 2 and a drive device 3.

The drive control devices 3 and the drive control systems 2 are respectively provided with four groups, and each drive control device 3 is controlled and driven by the corresponding drive control system 2, so that the drive devices 3 can independently control to walk, and the robot can realize various travel actions such as advancing, retreating, steering and the like.

The drive control systems 2 are all arranged in the explosion-proof box body 1; the driving device 3 is arranged outside the explosion-proof box body 1 and penetrates through the explosion-proof box body 1 to be correspondingly connected with the driving control system 2 respectively. The driving device 3 is provided with a damping device 4 connected with the outer wall of the explosion-proof box body 1.

The utility model discloses arrange drive control system 2 in explosion-proof box 1, the realization drive control system 1's that can be better is explosion-proof, and it is external that effectively to solve among the prior art drive arrangement's power supply (for example motor etc.) is located explosion-proof box, makes it receive the problem of hitting by force easily.

And the drive control system 2 is positioned in the explosion-proof box body 1, so that the maintenance and the repair of personnel are facilitated.

As shown in fig. 1, the driving device 3 includes a wheel 7, an upper yoke 8, and a lower yoke 9; the drive control system 2 includes a rotating shaft 10 penetrating the explosion-proof case 1. The wheels 8 are connected with the rotating shaft 10 through a universal joint 11; two ends of the upper fork arm 8 and the lower fork arm 9 are respectively hinged with the wheel 7 and the outer wall of the explosion-proof box body 1. One end of the damping device 4 is connected with the upper fork arm 8 in a sliding way, and the other end is hinged with the outer wall of the explosion-proof box body 1; the hinged position of the damping device 4 and the explosion-proof box body 1 is positioned above the hinged position of the upper fork arm 8 and the explosion-proof box body 1.

The driving device 3 enables the wheels 7 to be suspended outside the explosion-proof box body 1 through the upper fork arm 8 and the lower fork arm 9. Meanwhile, the upper fork arm 8, the lower fork arm 9 and the damping device 4 form a double-fork-arm structure, so that the weight of the robot explosion-proof box body and the like can be effectively shared.

The upper fork arm 8 is connected with the damping device 4 and the explosion-proof box body 1 to buffer and absorb the vibration of the driving device caused by the uneven patrol environment; go up the universal joint between yoke, the lower yoke and further play the cushioning effect, meet hollow section when making the robot move, even also can improve the stationarity than slowing down, make each part on explosion-proof box and the explosion-proof box keep steady as far as possible, reduce because of vibrations to patrolling and examining the influence that the effect caused, also reduce vibrations and make each part erection joint take place not hard up.

As shown in fig. 1, an explosion-proof plate 5 is arranged on the outer wall of the explosion-proof box body 1 at the connecting part of the driving device 3 and the driving control system 2. The explosion-proof plate 5 increases the axial length between the driving device 3 and the driving control system 2, which passes through the part of the explosion-proof box body 1, improves the local bearing capacity of the explosion-proof box body 1, and ensures that the driving device 3 and the driving control system 2 are more stably connected through the explosion-proof box body 1.

And the sparks generated in the external explosion generally enter the explosion-proof box body 1 from the gap of the rotating shaft. Therefore, the explosion-proof plate 5 can be structurally arranged to comprise a panel connected with the driving device 3 and an extension section extending inwards, so that the explosion-proof plate 5 is axially extended, and meanwhile, the corresponding rotating shaft is correspondingly extended, so that the explosion-proof distance can be increased, and sparks are not discharged into the explosion-proof box body 1.

As shown in fig. 1, a reinforcing plate 6 is arranged at the connecting part of the explosion-proof box body 1 and the damping device 4. The reinforcing plate 6 increases the thickness of the part of the side wall of the shock absorption device 5 connected with the explosion-proof box body 1, so that the shock absorption device 4 is more stably connected with the explosion-proof box body 1.

As shown in fig. 2, an explosion-proof cover 12 is mounted on the top of the explosion-proof box 1, and the explosion-proof cover 12 is hinged to one side of the explosion-proof box 1. The anti-explosion cover body 12 is connected with the anti-explosion box body 1 through the hinge, so that the anti-explosion cover body 12 does not need to be moved away during maintenance, labor is saved, the anti-explosion cover body 12 is convenient to cover and accurately positioned, and time is saved. And since it is not necessary to remove the explosion-proof cover 12, the length of the connecting wires between the respective component devices located on the upper surface of the explosion-proof case 1 (on the explosion-proof cover) and the equipment in the explosion-proof case 1 can be shortened.

As shown in fig. 2 and 3, a top extension plate 13 is horizontally and outwardly extended from the upper end surface of the explosion-proof box body 1. One side of explosion-proof cover body 12 is hinged with the outer side of top extension plate 13, and the other side is detachably connected with top extension plate 13 through fastener 14.

The outer side wall of the explosion-proof box body 1 is uniformly provided with a plurality of reinforcing ribs 15, and the upper ends of the reinforcing ribs 15 are fixedly connected below the top extension plate 13. The reinforcing ribs 15 can enhance the stability of the explosion-proof box body 1 and prevent the deformation of the explosion-proof box body 1. When the robot work patrols and examines, explosion-proof box 1 is the enclosed environment, and the easy heat production of internals operation can improve explosion-proof box 1's radiating efficiency through strengthening rib 15.

As shown in fig. 2 and 4, the utility model also comprises a protective cover 43 positioned outside the explosion-proof box body 1; the outer wall of the explosion-proof box body 1 is provided with a plurality of outer cover mounting seats 44; the protective cover 43 is mounted on the cover mounting seat 44; the protective cover 43 is connected with a mud guard 45 positioned above the driving device 3.

The protective outer cover 43 can shield the explosion-proof box body 1 from mud, rainwater and the like, can also isolate sparks and the like caused by external explosion, and reduces the sparks entering the explosion-proof box body 1 from the connecting holes of all the parts.

An explosion-proof bumper 46 can be further arranged at the front end of the explosion-proof box body 1 and used for protecting the robot.

As shown in fig. 4 and 5, the utility model discloses still include explosion-proof cloud platform 16, GPS module 17, explosion-proof laser radar 18, explosion-proof adapter 19, explosion-proof gas detector 20, explosion-proof audible-visual annunciator 21, be located the central control system 22 of explosion-proof box 1, explosion-proof ultrasonic wave keeps away barrier device 23, battery 24, wireless communication module 25 and control terminal 26.

The explosion-proof tripod head 16, the GPS module 17, the explosion-proof laser radar 18, the explosion-proof sound pickup 19, the explosion-proof gas detector 20 and the explosion-proof acousto-optic alarm 21 are respectively arranged on the explosion-proof box body 1, so that each component device can conveniently acquire corresponding data information or give an alarm.

And the explosion-proof cradle head 16 is arranged on the explosion-proof box body 1 and is used for collecting the surrounding environment information of the robot. The explosion-proof holder 16 is provided with a high-definition camera 27, an infrared imaging detector 28, a laser spectrum gas detection device 57 and an infrared light supplement lamp 58.

Along with the rotation through explosion-proof cloud platform 16, high definition digtal camera 27 can realize making a video recording to operational environment's all-round, accomplishes work such as the shooting, the accurate discernment of data, the detection to detail department to instrument, dial plate, pipeline ammeter etc.. The infrared imaging detector 28 may measure temperature information of the station instrumentation. The combination of the high-definition camera 27 and the infrared imaging detector 28 can be used for judging whether the instrument equipment normally operates, so that an operator can know information of each instrument equipment through the control terminal conveniently, and can make judgment in advance on accident potential in the environment of the instrument equipment.

The front side and the rear side of the explosion-proof box body 1 are provided with explosion-proof ultrasonic obstacle avoidance devices 23, the distance and the direction of the obstacles are collected through ultrasonic waves, and judgment is made to avoid the obstacles. The explosion-proof laser radar 18 is used for laser high-precision navigation, a three-dimensional model is built, and the robot can avoid obstacles in advance, remotely and in a large range (auxiliary obstacle avoidance) conveniently during multiple routing inspections. The anti-explosion ultrasonic obstacle avoidance device 23 comprises a signal transmitting unit, a receiving unit and a processing unit, and sends out ultrasonic waves in the running process of the robot, so that the distance of an obstacle is identified, measures are taken, and the obstacle avoidance is carried out in a short distance.

The utility model discloses still can set up explosion-proof camera 29 in explosion-proof laser radar 18 below for adopt video information's form record robot operation conditions, make the operator pass through control terminal directly perceived, visual understanding robot's operational aspect.

The explosion-proof radar 18, the explosion-proof ultrasonic obstacle avoidance device 23 and the configurable explosion-proof camera 29 form an autonomous navigation system of the inspection robot, so that autonomous navigation of the inspection robot, obstacle avoidance and optimal route establishment are realized to complete inspection tasks.

The GPS module 17 is arranged on the explosion-proof box body 1, the GPS module 17 can adopt a GPS antenna, and the position of the robot in the working range is monitored in real time through GPS signals.

The explosion-proof sound pickup 19 collects sound information in the working environment of the instrument and equipment, monitors the sound information of the working environment and detects whether abnormality exists. And the explosion-proof audible and visual alarm 21 is used for sending audible and visual alarm information and giving audible and visual alarm when the robot detects abnormality.

And an explosion-proof gas detector 20 for detecting the concentration of gas in the environment around the robot. The explosion-proof gas detector 20 can adopt a four-in-one gas detector, and detects the concentration of four explosive or harmful gases in the air to judge whether the gas is normal or not.

And the battery 24 is used for supplying power to the equipment positioned in the explosion-proof box body 1 and providing power for the robot inspection operation.

The wireless communication module 25 can adopt a common antenna, which facilitates the remote communication between the robot and the control terminal and realizes the remote control of the robot by the operator.

As shown in fig. 5, the central control system 22 is electrically connected to the devices, respectively, for controlling the devices. The central control system 22 performs information collection, data analysis, operation control, route planning and other functions through the components such as the high-definition camera 27, the infrared imaging detector 28, the explosion-proof sound pick-up 19 and the explosion-proof laser radar 18, controls the movement of the robot, collects and processes data of all the components and devices to make corresponding judgment, and transmits the data to the control terminal through the wireless communication module 25, so that the robot can realize seamless inspection throughout the day, the efficiency is high, the range is wide, the inspection efficiency is improved, and the production cost is reduced.

And a control terminal 26 for remotely operating the controller. And the wireless communication module 25 is used for communication between the central control system 22 and the control terminal 26 and transmitting data in real time.

As shown in fig. 2 and 3, a diaphragm 30 is arranged in the middle of the explosion-proof box body 1, and the diaphragm 30 divides the interior of the explosion-proof box body 1 into an upper chamber 31 and a lower chamber 32; one side of the diaphragm plate 30 is hinged with one side inside the explosion-proof box body 1, so that the diaphragm plate 30 is turned over up and down along the hinged part.

The drive control system 2 is located in the lower chamber 32, and the central control system 22 is located in the upper chamber 31.

Drive control system 2 is located cavity 32 (being equivalent to the utility model discloses the chassis of robot) down, reduces the focus of robot, and center control system 22 etc. are located cavity 31, arrange each device partition through cross slab 30, and cavity 32 part only need open cross slab 30 down during the maintenance, need not to move the aversion to cavity 31 part on, and connecting wire between each part also need not extend, disconnection etc. conveniently overhauls, still can shorten connecting wire's length.

As shown in fig. 2, the inner wall of the explosion-proof box body 1 is provided with a plurality of supporting plates 33 which are positioned on the same plane; when the diaphragm 30 is flipped down, the lower side of the diaphragm 30 just abuts against the upper side of the supporting plate 33.

The support plate 33 provides support for the diaphragm plate 30 when it is flipped down and limits its excessive flipping down, the cover pressing on the devices in the lower chamber 32, affecting the normal operation of the devices in the lower chamber 32, etc.

As shown in fig. 6, the utility model discloses still including installing explosion-proof charging device, explosion-proof switch 40 and the explosion-proof scram switch 41 in explosion-proof box 1 rear side.

Explosion-proof charging device is convenient for right the utility model discloses the battery of robot charges. The explosion-proof charging device may be provided with an explosion-proof manual charging device 39 and an explosion-proof automatic charging device 40. And the explosion-proof manual charging device 39 is used for manually charging the robot. And the anti-explosion automatic charging device 40 is used for automatic identification, butt joint and charging after the robot is in power shortage. The robot working environment or the internal medicine of the control terminal area is provided with a charging room/charging pile, and when the robot detects a charging demand through an automatic charging device, the robot can automatically enter the charging room/charging pile to charge.

And the explosion-proof power switch 41 is used for controlling the power supply of the robot to be turned on and off. And the explosion-proof emergency stop switch 42 is used for cutting off the power supply of the robot in an emergency to realize emergency stop.

Example 2:

based on embodiment 1, as shown in fig. 7, a clamping structure 34 is arranged on the inner wall of the explosion-proof box body 1, which is far away from the hinged part of the diaphragm 30 and the explosion-proof box body 1; the clamping structure 34 is located above the support plate 33; when the diaphragm 30 is flipped down, the clamp structure 34 presses against the diaphragm 30.

The clamping structure 34 can make the diaphragm plate 30 stably positioned on the support plate 33 when turned downwards, so as to avoid the situation that the diaphragm plate is turned upwards and downwards due to the vibration of the robot during operation, and further lead wires of all device parts in the explosion-proof box body 1 fall off and the arrangement fails.

As shown in fig. 8, the clamping structure 34 includes a link plate 35 and a fastening screw 36; the lower part of the inner side of the connecting plate 35 is hinged with the inner wall of the explosion-proof box body 1; the middle of the connecting plate 35 is provided with a screw hole 37 matched with the fastening screw rod 36; when the diaphragm plate 30 is flipped down, the fastening screw 36 is rotated down along the screw hole 37 against the upper surface of the diaphragm plate 30.

The lower part of the inner side of the connecting plate 35 is hinged with the inner wall of the explosion-proof box body 1, when the fastening screw 36 is separated from the screw hole 37, the connecting plate is turned downwards due to the self gravity, so that the lower surface of the connecting plate 35 is abutted against the inner wall of the explosion-proof box body 1, and the influence of the connecting plate on the upward turning operation of the diaphragm plate 30 is avoided. When the diaphragm plate 30 is turned downward against the support plate 33, the connecting plate 35 is turned upward, and the fastening screw 36 is rotated downward through the screw hole 37 until the fastening screw 36 abuts against the diaphragm plate 30. The clamping structure 34 is simple in whole and easy and convenient to operate.

A cushion layer 38 is also arranged below the fastening screw 36, so that the fastening screw 36 and the diaphragm plate 30 can be prevented from being in contact and worn, and the two can be in closer contact.

Example 3:

based on embodiment 1, as shown in fig. 9, the utility model discloses explosion-proof laser radar 18, establish the glass cover 48 in the laser radar body 47 outside including laser radar body 47, cover to and be fixed in upper cover plate 49, the lower cover plate 50 at glass cover 48 both ends respectively. The glass cover 48 is fixedly connected with the upper cover plate 49 and the lower cover plate 50 to form a first layer of explosion-proof structure of the laser body 48.

An upper pulling plate 51 is arranged on the upper cover plate 49, and a lower pulling plate 52 is arranged below the lower cover plate 50. Two pull rods 53 are connected between the upper pull plate 551 and the lower pull plate 52; the two pull rods 53 are symmetrically arranged on two sides of the upper pull plate 51 and the lower pull plate 52. Two pull rods 53 are symmetrically arranged, and the radian of the interval between the two pull rods 53 is large, so that the influence on the loss of laser radar beam transmission is reduced.

The pull rod 53, in cooperation with the upper pull plate 51 and the lower pull plate 52, can enhance the connection strength between the glass cover 18, the upper cover plate 19 and the lower cover plate 50, which is equivalent to form a second protection structure for the laser body 47.

The upper cover plate 49, the lower cover plate 50, the upper pull plate 51, the lower pull plate 52 and the pull rod 53 can be made of metal materials such as iron materials, aluminum alloy materials and steel materials, and the explosion-proof performance is enhanced.

Example 4:

based on embodiment 1, as shown in fig. 10 and 11, a detachable fixing frame 54 may be disposed below the diaphragm 30. The fixing frame 54 comprises a support rod 55 and a clamping part 56, wherein the length of the support rod 55 is greater than the width of the diaphragm plate 30; the number of the clamping parts 56 is two, the two clamping parts are respectively fixed at two ends of the supporting rod 55, and the outer ends of the clamping parts 56 are hook structures. The length of the clamping part 56 is larger than the distance between the lower surface of the diaphragm plate 30 and the outer side surface of the hinged top extension plate 13 when the diaphragm plate 30 is turned upwards to the uppermost position. When the diaphragm plate 30 is turned upwards, the support rod 55 is clamped between the lower surface of the diaphragm plate 30 and the top end of the explosion-proof box body 1, and at the moment, the two clamping parts 56 are clamped and hung outside the top extension plate 13, so that the diaphragm plate 30 is prevented from being turned downwards, and the personnel can conveniently overhaul the explosion-proof box body.

The embodiment of this specific implementation mode is the preferred embodiment of the present invention, not limit according to this the utility model discloses a protection scope, so: all equivalent changes made according to the structure, shape and principle of the utility model are covered within the protection scope of the utility model.

Claims (10)

1. The utility model provides a patrol and examine robot, includes explosion-proof box (1), drive control system (2) and drive arrangement (3), its characterized in that: an anti-explosion cover body (12) is arranged at the top of the anti-explosion box body (1), and the anti-explosion cover body (12) is hinged with one side of the anti-explosion box body (1); the drive control systems (2) and the driving devices (3) are respectively provided with a plurality of units, and the drive control systems (2) correspond to the driving devices (3) one by one; the drive control systems (2) are all arranged in the explosion-proof box body (1); the driving device (3) is arranged on the outer side of the explosion-proof box body (1) and penetrates through the explosion-proof box body (1) to be correspondingly connected with the driving control system (2) respectively; and the driving device (3) is provided with a damping device (4) connected with the outer wall of the explosion-proof box body (1).

2. The inspection robot according to claim 1, wherein: a top extension plate (13) extends horizontally outwards from the upper end face of the explosion-proof box body (1); a plurality of reinforcing ribs (15) are uniformly arranged on the outer side wall of the explosion-proof box body (1), and the upper ends of the reinforcing ribs (15) are fixedly connected to the lower surface of the top extension plate (13); one side of the explosion-proof cover body (12) is hinged to the outer side of the top extension plate (13), and the other side of the explosion-proof cover body is detachably connected with the top extension plate (13) through a fastener (14).

3. The inspection robot according to claim 1 or 2, wherein: the driving device (3) comprises wheels (7), an upper fork arm (8) and a lower fork arm (9); the drive control system (2) comprises a rotating shaft (10) penetrating through the explosion-proof box body (1); the wheels (7) are connected with the rotating shaft (10) through a universal joint (11); the two ends of the upper fork arm (8) and the lower fork arm (9) are respectively hinged to the wheel (7) and the outer wall of the explosion-proof box body (1); one end of the damping device (4) is connected to the upper fork arm (8) in a sliding manner, and the other end of the damping device is hinged to the outer wall of the explosion-proof box body (1); the hinged position of the damping device (4) and the explosion-proof box body (1) is positioned above the hinged position of the upper fork arm (8) and the explosion-proof box body (1).

4. The inspection robot according to claim 1, wherein: further comprising:

an explosion-proof holder (16) with a high-definition camera (27) and an infrared imaging detector (28) is arranged on the explosion-proof box body (1) and is used for collecting the surrounding environment information of the robot,

a GPS module (17) which is arranged on the explosion-proof box body (1) and is used for monitoring the position of the robot in real time,

an explosion-proof lidar (18) for autonomous navigation,

an explosion-proof sound pickup (19) for monitoring sound information of a working environment,

an explosion-proof gas detector (20) for detecting the concentration of gas in the environment surrounding the robot,

an explosion-proof acousto-optic alarm (21) used for giving an acousto-optic alarm, a central control system (22) is positioned in the explosion-proof box body (1), is respectively electrically connected with the high-definition camera (27), the infrared imaging detector (28), the explosion-proof holder (16), the GPS module (17), the explosion-proof laser radar (18), the explosion-proof pickup (19), the explosion-proof gas detector (20) and the explosion-proof acousto-optic alarm (21) and is used for controlling the high-definition camera (27), the infrared imaging detector (28), the explosion-proof holder (16), the GPS module (17), the explosion-proof laser radar (18), the explosion-proof pickup (19), the explosion-proof gas detector (20) and the explosion-proof acousto-optic alarm (21),

the explosion-proof ultrasonic obstacle avoidance devices (23) which are arranged on the front side and the rear side of the explosion-proof box body (1) collect the distance and the direction of the obstacle through ultrasonic waves and make a judgment to avoid the obstacle,

a battery (24) for supplying power to the above-mentioned equipment located in the explosion-proof case (1),

a control terminal (26) for remotely operating the controller,

the wireless communication module (25) is used for communication between the central control system (22) and the control terminal (26) and transmitting data in real time;

the anti-explosion box is characterized in that the anti-explosion holder (16), the GPS module (17), the anti-explosion laser radar (18), the anti-explosion sound pick-up (19), the anti-explosion gas detector (20) and the anti-explosion acousto-optic alarm (21) are respectively arranged on the anti-explosion box body (1).

5. The inspection robot of claim 4, wherein: a transverse clapboard (30) is arranged in the middle of the explosion-proof box body (1), and the transverse clapboard (30) divides the interior of the explosion-proof box body (1) into an upper chamber (31) and a lower chamber (32); one side of the diaphragm plate (30) is hinged to one side of the interior of the explosion-proof box body (1), so that the diaphragm plate (30) is turned over up and down along the hinged part;

the drive control system (2) is located in the lower chamber (32), and the central control system (22) is located in the upper chamber (31).

6. The inspection robot of claim 5, wherein: the inner wall of the explosion-proof box body (1) is provided with a plurality of supporting plates (33) which are positioned on the same plane; when the diaphragm plate (30) is turned downwards, the lower surface of the diaphragm plate (30) just abuts against the upper surface of the supporting plate (33).

7. The inspection robot of claim 6, wherein: a clamping structure (34) is arranged on the inner wall of one side of the hinged part of the explosion-proof box body (1) far away from the transverse partition plate (30) and the explosion-proof box body (1); the clamping structure (34) is located above the support plate (33); when the diaphragm (30) is turned downwards, the clamping structure (34) is pressed against the diaphragm (30).

8. The inspection robot according to claim 7, wherein: the clamping structure (34) comprises a connecting plate (35) and a fastening screw rod (36); the lower part of the inner side of the connecting plate (35) is hinged to the inner wall of the explosion-proof box body (1); a screw hole (37) matched with the fastening screw rod (36) is formed in the middle of the connecting plate (35); when the diaphragm plate (30) is turned downwards, the fastening screw rod (36) rotates downwards along the screw hole and abuts against the upper surface of the diaphragm plate (30).

9. The inspection robot according to claim 1, wherein: the anti-explosion charging device is arranged on the rear side of the anti-explosion box body (1), and comprises an anti-explosion power switch (41) and an anti-explosion emergency stop switch (42).

10. The inspection robot according to claim 1, wherein: the explosion-proof box body is characterized by also comprising a protective outer cover (43) positioned on the outer side of the explosion-proof box body (1); the outer wall of the explosion-proof box body (1) is provided with a plurality of outer cover mounting seats (44); the protective outer cover (43) is arranged on the outer cover mounting seat (44); the protective outer cover (43) is connected with a mud guard cover (45) positioned above the driving device (3).

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