CN214163028U

CN214163028U - Mobile inspection robot

Info

Publication number: CN214163028U
Application number: CN202023168309.1U
Authority: CN
Inventors: 陈立春
Original assignee: Beijing Keshihua Technology Development Co ltd
Current assignee: Beijing Keshihua Technology Development Co ltd
Priority date: 2020-12-25
Filing date: 2020-12-25
Publication date: 2021-09-10
Anticipated expiration: 2030-12-25

Abstract

The utility model discloses a robot is patrolled and examined to movable type, including chassis, first linear module, second linear module and determine module, first linear module is installed in the chassis, and first linear module linear motion is followed to second linear module, and determine module is along second linear module linear motion, still includes main battery and auxiliary battery, and the main battery is fixed in the chassis, and auxiliary battery is fixed in second linear module, and the main battery is equipped with the interface that charges, and auxiliary battery is equipped with and charges the charging plug of interface adaptation. The utility model discloses have a plurality of power supply battery, it is chargeable between the power supply battery, prevent that the electric quantity from running out suddenly, the condition that can't in time detect the indoor set takes place, avoids the power supply cable wearing and tearing between linear module and the power supply battery simultaneously, prolongs its life.

Description

Mobile inspection robot

Technical Field

The utility model relates to a petrochemical industry fortune dimension center intellectual detection system field, more specifically the theory that says so, it relates to a robot is patrolled and examined to movable type.

Background

The mobile robot integrates a plurality of high and new technologies, and the adoption of the mobile robot to replace manual inspection or work is a necessary trend in the development of the robot technology and the intelligent inspection technology.

At present, in the petrochemical field, inspection robots are applied, and at present, the most widely applied inspection robots are used for carrying detection components to detect the appearance, the switch state, the temperature and the like of equipment. The motion of patrolling and examining the robot, detect and all need battery powered, and current patrolling and examining the robot generally only has a battery power supply, and in case the electric quantity is consumed, the robot stop work, can't in time detect equipment. Moreover, limited to equipment height factor, when present robot was patrolled and examined at the equipment, there is certain detection blind area to the higher and lower equipment of distance robot monitoring subassembly, and this is especially obvious when the indoor set detects, consequently designs a plurality of linear modules and improves the detection range and the detection field of vision of robot, but linear module frequently goes up and down, leads to the long-term wearing and tearing of power supply cable between linear module and the battery, has shortened the life of power supply cable.

Disclosure of Invention

An object of the utility model is to provide a robot is patrolled and examined to movable type has a plurality of power supply battery, and it is chargeable between the power supply battery, prevents that the electric quantity from running out suddenly, and the condition that can't in time detect indoor set takes place, avoids the power supply cable wearing and tearing between linear module and the power supply battery simultaneously, prolongs its life.

The utility model provides a technical scheme that its technical problem adopted is: the utility model provides a robot is patrolled and examined to movable type, includes the chassis, first linear module, second linear module and determine module, and first linear module is installed in the chassis, and first linear module linear motion is followed to second linear module, and determine module is along second linear module linear motion, and its characterized in that, including main battery and auxiliary battery, the main battery is fixed in the chassis, and auxiliary battery is fixed in second linear module, and the main battery is equipped with the interface that charges, and auxiliary battery is equipped with and charges the charging plug of interface adaptation.

The main battery supplies power to the first linear module, and the auxiliary battery supplies power to the second linear module and the detection component. The arrangement of the two batteries is beneficial to relieving the tension of electric quantity use. The main battery can charge the auxiliary battery, if the electric quantity of the auxiliary battery is lower than a safety threshold value, the second linear module moves to a charging plug to be in butt joint with a charging interface on the main battery, the main battery charges the auxiliary battery, and during the period, the robot can still perform detection work. Of course, the auxiliary battery may be connected to an external power source for charging. The auxiliary battery is fixed on the second linear module, so that the second linear module and the auxiliary battery do not move relatively, and the abrasion of a power supply cable between the second linear module and the auxiliary battery is avoided. The linear module is adopted, so that a large amount of equipment to be detected exists in the inspection of indoor equipment such as an operation and maintenance center machine room, a data center and the like; once the cloud platform detecting element location appears the deviation, the image that the robot camera was shot will take place the skew, leads to some to wait to patrol and examine the point and deviate from the image, causes to miss to examine. The linear module is a linear transmission device, so that the detection assembly can accurately perform linear motion, the motion direction can not deviate, higher detection precision is ensured in the detection process, and if the photographed image can not deviate. A plurality of linear module cooperations, second linear module can be along first linear module vertical lift promptly, and detecting element can detect the equipment condition of co-altitude along second linear module vertical lift, detecting element to avoid higher and lower detection blind area.

Preferably, the interface that charges is located the main battery top, and the second linear module includes the track, and the tip under the track is located to the charging plug, and the charging plug aligns with the interface that charges. When the auxiliary battery needs to be charged, the second linear module directly moves down to the charging plug to be inserted into the charging interface, so that the charging is convenient and quick.

Preferably, first linear module includes the lifter, the robot is equipped with the connecting piece, and the connecting piece includes second linear module fixed plate and battery fixed plate, and second linear module fixed plate and battery fixed plate form the T type, and the battery fixed plate is fixed in the lifter top, and auxiliary battery is fixed in battery fixed plate upper end, and auxiliary battery is coaxial with the lifter, and the track is fixed with second linear module fixed plate. . Install the auxiliary battery at the lifter top, and the auxiliary battery is coaxial with the lifter, and the auxiliary battery can regard as the balancing weight this moment, prevents that the centre of gravity of robot is unstable when detecting component rises to higher position.

Preferably, the charging plug includes plug fixing base and the fork that charges, and plug fixing base includes first support and second support, and first support is last, and the second support is under, and first support is fixed with the track tip, and the fork that charges is located the second support lower extreme, and the fork that charges exposes.

Preferably, the interface that charges includes socket fixing base and socket, and the socket fixing base includes third support and fourth support, and the third support is last, and the fourth support is under, and third support upper end is located to the socket, and the fourth support is fixed with the main battery, and the fourth support includes upper plate and hypoplastron, and upper plate and hypoplastron form the T type, and upper plate and third support laminating, upper plate are equipped with the hole that is used for charging cable to pass, and the hypoplastron has certain length. The charging fork is butted with the socket. The charging connector is inserted into the charging interface for charging, which belongs to the mature prior art and is not described herein.

Preferably, the plug fixing seat and the socket fixing seat are made of plastic materials. The plastic is non-conductive and light.

Preferably, the second bracket and the upper plate are provided with cavities matched with the heads of the bolts, and the cavities are hexagonal. Because the second support and the upper plate are made of plastic materials, the screws are easy to slide during bolt connection, and the hexagonal cavity is matched with the head of the bolt to limit the rotational freedom degree of the bolt and prevent the screws from sliding.

Preferably, the robot is provided with a first control system and a second control system, the first control system is fixed on the chassis, and the second control system is fixed at the upper end of the battery fixing plate. The first control system controls operation of the chassis, charging of the main battery, and operation of the first linear module. The second control system controls the operation of the auxiliary battery, the second linear module and the detection assembly. The first control system is powered by the main battery, and the second control system is powered by the auxiliary battery.

Preferably, the detection assembly comprises a visible light camera, a thermal infrared imager and the like, and can detect the appearance abnormality, the meter degree, the switch state, the equipment heating state and the like of indoor equipment.

The utility model has the advantages that:

1. the main battery can charge the auxiliary battery, if the electric quantity of auxiliary battery is less than the safety threshold, then the second linear module removes to the interface butt joint that charges on charging plug and the main battery, and the main battery charges to the auxiliary battery, and during this period, the robot still can carry out detection work, avoids appearing detecting empty window time.

2. The auxiliary battery is fixed on the second linear module, so that the second linear module and the auxiliary battery do not move relatively, and the abrasion of a power supply cable between the second linear module and the auxiliary battery is avoided.

3. A plurality of linear module cooperations, second linear module is along first linear module vertical lift promptly, and detecting component is along second linear module vertical lift to detecting component can detect the not equipment condition of co-altitude, thereby avoids higher and lower detection blind area, has greatly improved the detection range and the detection field of vision of robot.

4. Install the auxiliary battery at the lifter top of second linear module, and auxiliary battery and lifter are coaxial, and the auxiliary battery can regard as the balancing weight this moment, prevents that the centre of gravity of robot is unstable when detecting component from rising to higher position.

Drawings

Fig. 1 is a structural diagram of the present invention.

Fig. 2 is a structural diagram of the docking of the charging interface and the charging plug.

Fig. 3 is a connection diagram between the auxiliary battery, the first linear module and the second linear module.

Fig. 4 is a structural view of the charging plug.

Fig. 5 is a view structural diagram of the charging interface.

Fig. 6 is another view structural diagram of the charging interface.

The labels in the figure are: chassis 1, first linear module 2, lifter 21, second linear module 3, track 31, detecting component 4, main battery 5, the interface 51 that charges, socket fixing base 52, third support 521, upper plate 523, hypoplastron 524, hole 525, socket 53, auxiliary battery 6, charging plug 61, plug fixing base 62, first support 621, second support 622, cavity 623, fork 63 charges, second linear module fixed plate 71, battery fixed plate 72, first control system 8, second control system 9.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and the following detailed description. In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left" and "right" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the indicated position or element must have a specific orientation, be constituted in a specific orientation, and be operated, and thus, are not to be construed as limitations of the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the present invention, unless otherwise explicitly stated or limited, the terms "connected" and "fixed" are to be understood in a broad sense, for example, "fixed" may be a fixed connection, a detachable connection, or an integral part; either directly or indirectly through intervening media, or may be interconnected between two elements or in a relationship wherein the two elements interact, unless expressly limited otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

As shown in fig. 1-6, a robot is patrolled and examined to portable, including chassis 1, first linear module 2, second linear module 3 and determine module 4, first linear module is installed in chassis 1, second linear module 3 is along first linear module 1 linear motion, determine module 4 is along second linear module 3 linear motion, still include main battery 5 and auxiliary battery 6, main battery 5 is fixed in chassis 1, auxiliary battery 6 is fixed in second linear module 3, main battery 5 is equipped with the interface 51 that charges, auxiliary battery 6 is equipped with the charging plug 61 with the interface 51 adaptation that charges.

The main battery 5 supplies power to the first linear module 2, and the auxiliary battery 6 supplies power to the second linear module and the detection component. The arrangement of the two batteries is beneficial to relieving the tension of electric quantity use. The main battery 5 can charge the auxiliary battery 6, and if the electric quantity of the auxiliary battery 6 is lower than the safety threshold, the second linear module 3 moves to the charging plug 61 to be in butt joint with the charging interface 51 on the main battery 5, and the main battery 5 charges the auxiliary battery 6, during which time, the robot can still work. Of course, the auxiliary battery 6 may be connected to an external power source for charging. The auxiliary battery is fixed on the second linear module, so that the second linear module 3 and the auxiliary battery 6 do not move relatively, and the abrasion of a power supply cable between the second linear module 3 and the auxiliary battery 6 is avoided. The linear module is adopted, so that a large amount of equipment to be detected exists in the inspection of indoor equipment such as an operation and maintenance center machine room, a data center and the like; once the detection assembly is positioned and deviated, the image shot by the robot camera is deviated, so that part of points to be inspected deviate from the image, and the missed inspection is caused. The linear module is a linear transmission device, so that the detection assembly can accurately perform linear motion, the motion direction can not deviate, higher detection precision is ensured in the detection process, and if the photographed image can not deviate. A plurality of linear module cooperations, second linear module is along first linear module vertical lift promptly, and detecting component is along second linear module vertical lift to detecting component can detect the not equipment condition of co-altitude, thereby avoids higher and lower detection blind area, has greatly improved the detection range and the detection field of vision of robot.

As shown in fig. 2, the charging interface 51 is located at the top of the main battery 5, the second linear module 3 includes a rail 31, a charging plug 61 is provided at the lower end of the rail 31, and the charging plug 61 is aligned with the charging interface 51. When the auxiliary battery 6 needs to be charged, the second linear module 3 directly moves down to the charging plug 61 to be inserted into the charging interface 51, so that the charging is convenient and quick.

As shown in fig. 3, the first linear module 2 includes a lifting rod 21, the robot is provided with a connecting member, the connecting member includes a second linear module fixing plate 71 and a battery fixing plate 72, the second linear module fixing plate 71 and the battery fixing plate 72 form a T shape, the battery fixing plate 72 is fixed on the top of the lifting rod 21, the auxiliary battery 6 is fixed on the upper end of the battery fixing plate 72, the auxiliary battery 6 is coaxial with the lifting rod 21, and the rail 31 is fixed with the second linear module fixing plate 71. Install auxiliary battery 6 at the lifter 21 top, and auxiliary battery 6 is coaxial with lifter 21, and auxiliary battery 6 can be as the balancing weight this moment, prevents that the robot focus is unstable when detecting component 4 rises to higher position. Track 31 is the section bar structure, and the cable between auxiliary battery 6 and the charging plug 61 passes through the section bar recess and walks the line, not only avoids the winding between the cable, avoids the external wearing and tearing and the destruction to the cable moreover, walks the line pleasing to the eye.

As shown in fig. 4, the charging plug 61 includes a plug holder 62 and a charging fork 63, the plug holder 62 includes a first support 621 and a second support 622, the first support 621 is on the top, the second support 622 is on the bottom, the first support 621 is fixed to the lower end of the track 31, the charging fork 63 is disposed on the lower end of the second support, and the charging fork 63 is exposed.

As shown in fig. 5 and 6, the charging interface 51 includes a socket fixing seat 52 and a socket 53, the socket fixing seat 52 includes a third bracket 521 and a fourth bracket, the third bracket 521 is on the top, the fourth bracket is on the bottom, the socket 53 is disposed at the top of the third bracket 521, the fourth bracket is fixed to the main battery 5, the fourth bracket includes an upper plate 523 and a lower plate 524, the upper plate 523 and the lower plate 524 form a T shape, the upper plate 523 is located at the bottom of the third bracket 521, the upper plate 523 is provided with a hole 525 for a charging cable to pass through, and the lower plate 524 has a certain length. The charging fork 63 interfaces with the socket 53. The charging connector is inserted into the charging interface for charging, which belongs to the mature prior art and is not described herein. The length of the lower plate 524 should be sufficient to enable the charging plug to be docked with the charging interface when the second linear module moves downward.

The socket holder 52 and the plug holder 62 are made of plastic. The plastic is non-conductive and light.

As shown in fig. 4 and 6, the second support 622 and the upper plate 523 are provided with a cavity 623 adapted to the head of the bolt, the cavity 623 having a hexagonal shape. The first support 621 is connected with the second support 622 through bolts and nuts, the upper plate 523 is connected with the third support 521 through bolts and nuts, the second support 622 and the upper plate 523 are made of plastic materials, if the second support 622 and the upper plate 523 are connected in a screw and hole thread screwing mode, threads are easy to slide, and the hexagonal cavity 623 is matched with the head of the bolt to limit the rotation freedom degree of the bolt and prevent the threads from sliding.

As shown in fig. 1, the robot is provided with a first control system 8 and a second control system 9, the first control system 8 is fixed on the chassis 1, and the second control system 9 is fixed on the upper end of the battery fixing plate 72. The first control system 8 controls the operation of the chassis 1, the charging of the main battery 5, and the operation of the first linear module 2. The second control system 9 controls the operation of the auxiliary battery 6, the second linear module 3 and the detection assembly 4. The first control system 9 is powered by the main battery 5 and the second control system 9 is powered by the auxiliary battery 6.

The utility model discloses a working process: the second control system 9 monitors the electric quantity information of the auxiliary battery in real time, if the electric quantity of the auxiliary battery 6 is lower than the safety threshold, the first control system 8 controls the first linear module 2 to move down to make the charging plug 61 at the end of the second linear module 3 butt-joint with the charging interface 51 on the main battery 5, and the main battery 5 charges the auxiliary battery 6.

As shown in fig. 1, the detection assembly 4 includes a visible light camera, a thermal infrared imager, and the like, and is capable of detecting appearance abnormality, meter degree, on-off state, and heating state of the indoor device.

The embodiments described in this specification are merely illustrative of implementations of the inventive concept and the scope of the invention should not be considered limited to the specific forms set forth in the embodiments but rather the scope of the invention is intended to include equivalent technical means as would be understood by those skilled in the art based on the inventive concept.

Claims

1. The utility model provides a robot is patrolled and examined to movable type, includes the chassis, first linear module, second linear module and determine module, and first linear module is installed in the chassis, and first linear module linear motion is followed to second linear module, and determine module is along second linear module linear motion, and its characterized in that, including main battery and auxiliary battery, the main battery is fixed in the chassis, and auxiliary battery is fixed in second linear module, and the main battery is equipped with the interface that charges, and auxiliary battery is equipped with and charges the charging plug of interface adaptation.

2. The mobile inspection robot according to claim 1, wherein the charging interface is located at a top of the main battery, the second linear module includes a track, the charging plug is located at a lower end of the track, and the charging plug is aligned with the charging interface.

3. The mobile inspection robot according to claim 2, wherein the first linear module includes a lifting rod, the robot is provided with a connecting piece, the connecting piece includes a second linear module fixing plate and a battery fixing plate, the second linear module fixing plate and the battery fixing plate form a T shape, the battery fixing plate is fixed at the top of the lifting rod, the auxiliary battery is fixed at the upper end of the battery fixing plate, the auxiliary battery is coaxial with the lifting rod, and the rail is fixed with the second linear module fixing plate.

4. The mobile inspection robot according to claim 2, wherein the charging plug includes a plug holder and a charging fork, the plug holder includes a first bracket and a second bracket, the first bracket is on the top, the second bracket is on the bottom, the first bracket is fixed to the end of the rail, the charging fork is disposed at the bottom of the second bracket, and the charging fork is exposed.

5. The mobile inspection robot according to claim 1, wherein the charging interface includes a socket holder and a socket, the socket holder includes a third bracket and a fourth bracket, the third bracket is on top, the fourth bracket is on bottom, the socket is disposed on top of the third bracket, the fourth bracket is fixed to the main battery, the fourth bracket includes an upper plate and a lower plate, the upper plate and the lower plate form a T-shape, the upper plate is attached to the third bracket, and the upper plate is provided with a hole for the charging cable to pass through.

6. The mobile inspection robot according to claim 4, wherein the plug holder is plastic, the second support has a cavity adapted to the head of the bolt, and the cavity is hexagonal.

7. The mobile inspection robot according to claim 5, wherein the socket holders are plastic, the upper plate has cavities adapted to the heads of the bolts, and the cavities are hexagonal.

8. A mobile inspection robot according to claim 3, wherein the robot includes a first control system secured to the chassis and a second control system secured to the upper end of the battery mounting plate.

9. The mobile inspection robot according to claim 1, wherein the detection assembly includes a visible light camera and a thermal infrared imager.