CN218592994U - Intelligent mobile robot suitable for explosive environment - Google Patents

Abstract

The application discloses an intelligent mobile robot suitable for explosive environment, the intelligent mobile robot can comprise a thermosensitive element in heat conduction contact with a power component, the overall power supply output of a battery module of the intelligent mobile robot can be controlled by a power supply switch, and the on-off state of the power supply switch can be associated with the state switching of the thermosensitive element, so that the overall power supply output of the battery module can be interrupted when the thermosensitive element is in an over-temperature state due to the component temperature of the power component, and the component temperature of the power component is prevented from being continuously increased to a dangerous value which possibly causes environmental explosion; moreover, a charging switch can be arranged between the charging interface of the intelligent mobile robot and the battery module, and the charging switch can be switched on only when the intelligent mobile robot is in a safe charging area and switched off when the intelligent mobile robot is in an explosive environment. Thus, the risk of the intelligent mobile robot causing environmental explosion can be reduced.

Description

Intelligent mobile robot suitable for explosive environment

Technical Field

The application relates to an explosion-proof technology of a robot, in particular to an intelligent mobile robot suitable for an explosive environment.

Background

The intelligent mobile robot can be applied to various industrial environments to replace manpower to complete corresponding tasks. In particular, the smart mobile robot is widely applied to an explosive industrial environment in which an environmental explosion (for example, a high dust concentration or a flammable gas in the environment) is easily generated.

During the task execution period, a power part (such as a motor) of the smart mobile robot may be continuously in an operating state, and the temperature of the power part in the operating state may be increased. If the smart mobile robot performs a task in an explosive industrial environment, the temperature rise of the power components may cause an environmental explosion.

Therefore, how to suppress the risk of causing environmental explosion in an explosive industrial environment by the smart mobile robot becomes a technical problem to be solved in the prior art.

SUMMERY OF THE UTILITY MODEL

In an embodiment of the application, a smart mobile robot is provided that helps to reduce the risk of causing an environmental explosion in an explosive industrial environment.

In one embodiment, a smart mobile robot includes:

a chassis assembly;

the control component is arranged on the chassis component;

the power component is arranged on the chassis component and is electrically connected with the control component;

a heat sensitive element in thermally conductive contact with the power component;

the power supply assembly comprises a battery module, a first power supply interface used for supplying power for the control assembly and the power component, a second power supply interface independent of the first power supply interface, and a power supply switch positioned between the battery module and the first power supply interface;

the intrinsic safety type explosion-proof plate set is powered by the second power supply interface, electrically connected with the thermosensitive element and electrically connected with the control end of the power supply switch, so that the power supply switch is set to be in a closed state when the thermosensitive element is in a default state and is set to be in an open state when the thermosensitive element is in an over-temperature state.

In some examples, optionally, the set of intrinsically safe explosion proof plates comprises an intrinsically safe plate and an overtemperature plate; the intrinsic safety board is provided with a detection port which is electrically connected with the thermosensitive element, and the port level of the detection port is changed in association with the physical form of the thermosensitive element; the super-temperature board is provided with a control port, the control port is electrically connected with a control end of the power supply switch, and the intrinsic safety board and the super-temperature board are interconnected through an inter-board bus so as to enable the intrinsic safety board and the super-temperature board to be connected with each other; when the thermosensitive element is in a default state, the control level formed by the control port at the control end of the power supply switch is at a first level for triggering the power supply switch to be conducted; when the thermosensitive element is in an over-temperature state, the control level formed by the control port at the control end of the power supply switch is at a second level for triggering the power supply switch to be switched off.

In some examples, optionally, the thermal element comprises a temperature-controlled switch, wherein: the default state of the temperature-sensitive element is one of an on state and an off state of the temperature-controlled switch, the over-temperature state of the temperature-sensitive element is the other of the on state and the off state of the temperature-controlled switch, and switching of the temperature-controlled switch between the on state and the off state causes a change in the port level of the detection port.

In some examples, optionally, the power switch comprises a relay.

In some examples, optionally, further comprising a charging interface exposed at an outer wall of the chassis assembly; the power supply assembly further comprises a charging switch, the charging switch is arranged between the battery module and the charging interface, and a control end of the charging switch is electrically connected with the control assembly.

In some examples, optionally, the charging switch comprises a contactor.

In some examples, optionally, the chassis assembly has a flameproof box; the control assembly, the power supply assembly and the intrinsic safety type explosion-proof plate group are all contained in the explosion-proof box.

In some examples, optionally, the explosion-proof box includes a first explosion-proof box and a second explosion-proof box which are arranged at intervals; the control assembly is accommodated in the first explosion-proof box; the power supply assembly and the intrinsic safety type explosion-proof plate group are both contained in the second explosion-proof box; the explosion-proof cable is arranged between the first explosion-proof box and the second explosion-proof box, the power supply assembly and the intrinsically safe explosion-proof plate assembly are electrically connected with the control assembly through the explosion-proof cable, and the explosion-proof cable is physically connected with the first explosion-proof box and the second explosion-proof box through the Glan head.

In some examples, optionally, the thermal element of the power component in thermal contact with the heat conducting element is wrapped in a component flameproof sleeve.

In some examples, optionally, the driving module of the power component is accommodated inside the explosion-proof box; the driving module is electrically connected with the control assembly; the power component is electrically connected with the first power supply interface and the driving module through an explosion-proof cable outside the explosion-proof box; the explosion-proof cable is physically connected with the explosion-proof box and the component explosion-proof sleeve through the Glan head.

In some examples, optionally, further comprising a code reading camera, wherein: the code reading camera is coated in the camera explosion-proof sleeve outside the explosion-proof box; the lens view field of the code reading camera is covered and shielded by the light-transmitting explosion-proof plate; the code reading camera is electrically connected with the first power supply interface and the control component through an explosion-proof cable arranged between the camera explosion-proof sleeve and the explosion-proof box; the explosion-proof cable is physically connected with the camera explosion-proof sleeve and the explosion-proof box through the Glan head.

In some examples, optionally, further comprising a sensing element, wherein: the sensing element is coated by a cast explosion-proof layer outside the explosion-proof box; the sensing element is electrically connected with the first power supply interface and the control assembly through an explosion-proof cable butted on the explosion-proof box; the explosion-proof cable is physically connected with the explosion-proof box through a Glan head.

In some examples, optionally, further comprising an antenna assembly, wherein: the antenna component is coated by a cast explosion-proof layer outside the explosion-proof box; the antenna assembly is electrically connected with the first power supply interface and the control assembly through an explosion-proof cable butted on the explosion-proof box; the explosion-proof cable is physically connected with the explosion-proof box through a Glan head.

In some examples, optionally, further comprising a hollow bumper strip, a crash control box, an audible alarm, and a fire retardant tray, wherein: the hollow anti-collision strip is arranged at the end edge of the chassis component; the anti-collision control box and the audio alarm are positioned in the explosion-proof box; the fire retardant disc covers the box cover opening of the explosion-proof box; an air flow passage is arranged between the anti-collision control box and the hollow anti-collision strip, the anti-collision control box is electrically connected with the audio alarm, so that when the air pressure in the hollow anti-collision strip changes due to collision and extrusion, the audio alarm is triggered to generate an alarm sound transmitted through the fire retardant disc.

In some examples, optionally, further comprising: the walking driving component is arranged on the side part of the chassis component; the action execution assembly is arranged above the chassis assembly; the power component comprises a wheel shaft driving motor in transmission connection with the walking driving assembly, and a lifting driving motor and a rotating driving motor in transmission connection with the action executing assembly.

Based on the above embodiment, the smart mobile robot may include a thermal element in thermal contact with the power component, the global power output of the battery module of the smart mobile robot may be controlled by the power switch, and the smart mobile robot may further include an intrinsically safe explosion-proof board set that receives independent power from the battery module, wherein the intrinsically safe explosion-proof board set may associate the on-off state of the power switch with the state switching of the thermal element, so that, when the component temperature of the power component causes the thermal element to be in an over-temperature state, the global power output of the battery module may be interrupted to avoid the component temperature of the power component from continuing to rise to a dangerous value that may cause an environmental explosion, thereby helping to reduce the risk of causing an environmental explosion in an explosive industrial environment.

Drawings

The following drawings are only schematic illustrations and explanations of the present application, and do not limit the scope of the present application:

fig. 1 is a schematic view of an example of an assembly structure of an intelligent mobile robot suitable for an explosive environment in an embodiment of the present application;

fig. 2 is a schematic view illustrating an example of an exploded structure of the intelligent mobile robot shown in fig. 1;

fig. 3 is a partial structural view of a chassis assembly of the intelligent mobile robot shown in fig. 1;

fig. 4 is a partial structural schematic diagram of a walking driving assembly of the intelligent mobile robot shown in fig. 1;

fig. 5 is a partial structural view of an action performing component of the intelligent mobile robot shown in fig. 1;

FIG. 6 is a schematic diagram of an exemplary structure of an electrical system of a smart mobile robot suitable for use in an explosive environment according to an embodiment of the present application;

FIG. 7 is a schematic diagram of an example configuration of the electrical system shown in FIG. 6;

FIG. 8 is an expanded structural schematic view of the electrical system shown in FIG. 6;

FIG. 9 is a schematic view of the flameproof protection structure of the code reading camera of the intelligent mobile robot shown in FIG. 1;

fig. 10 is a schematic view illustrating an assembly structure of an antenna assembly of the smart mobile robot shown in fig. 1.

Description of reference numerals:

10 Chassis assembly

11 bottom base plate

110 caster

12 side edge notch

131 first explosion-proof box

132 second explosion-proof box

141 first cover

142 second cover

151 first explosion-proof window

152 second explosion-proof window

16 side shell

17 antenna fixing seat

170 antenna receiving slot

181 first crashproof strip

182 second bumper strip

19 fire retardant disc

20 travel drive assembly

200 driving wheel

21 wheel plate

22 floating plate

23 suspension supporting mechanism

25 speed reducer

30 action execution assembly

31 base

32 lifting mechanism

33 rotating mechanism

40 Battery module

400 charging interface

50 tray

51 first code reading camera

52 second reading camera

61 detection module

62 display module

631. Lifting height detection sensor

632. Rotation phase detection sensor

67 antenna assembly

68 anticollision control box

69 audible alarm

71 control assembly

72 explosion-proof board group of this ampere of type

721 Benan board

722 overtemperature plate

80 Glan head

81 parts explosion-proof sleeve

811 first end cap

812 second end cap

82 camera explosion-proof sleeve

820 light-transmitting explosion-proof plate

90 power parts

91 axle driving motor

92 lifting driving motor

93 rotating drive motor

S1 first power supply interface

S2 second power supply interface

KM1 power supply switch

KM2 charging switch

KR0 thermosensitive element

SW0 key switch

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below by referring to the accompanying drawings and examples.

In an embodiment of the present application, a smart mobile robot adapted for use in an explosive environment may include a chassis assembly, a walking drive assembly for driving the chassis assembly to move, and a motion performing assembly carried on the chassis assembly for performing task-related operations, and may further include a power unit (e.g., a motor) for providing a driving force to the walking drive assembly and the motion performing assembly, a control assembly for controlling the power unit, and a power supply assembly for providing power to the power unit and the control assembly.

Fig. 1 is a schematic view of an example of an assembly structure of an intelligent mobile robot suitable for an explosive environment in an embodiment of the present application. Fig. 2 is a schematic view illustrating an example of an exploded structure of the intelligent mobile robot shown in fig. 1. Fig. 3 is a partial structural view of a chassis assembly of the intelligent mobile robot shown in fig. 1. Fig. 4 is a partial structural schematic diagram of a walking driving assembly of the intelligent mobile robot shown in fig. 1. Fig. 5 is a partial structural diagram of an action performing component of the intelligent mobile robot shown in fig. 1. Referring to fig. 1 and 2, in the embodiment of the present application, the smart mobile robot suitable for use in an explosive environment may be an AGV (automatic Guided Vehicle), but it is understood that the physical form of the smart mobile robot may not be limited to the AGV.

Referring to fig. 3 in conjunction with fig. 1 and 2, in the case of an AGV, the chassis assembly 10 may have a base plate 11 and casters 110 mounted below the base plate 11, for example, the base plate 11 may have a substantially rectangular outer contour, and the casters 110 of four multi-degree-of-freedom wheels such as universal wheels may be distributed at four corners adjacent to the rectangle.

Referring to fig. 4 in conjunction with fig. 1 and fig. 2, the travel driving assembly 20 may be mounted on a side portion of the chassis assembly 10, that is, a pair of travel driving assemblies 20 may be respectively mounted on two opposite sides of the chassis assembly 10, for example, two opposite side edges of the bottom substrate 11 of the chassis assembly 10 may have lateral notches 12, and the travel driving assembly 20 may be mounted on the bottom substrate 11 of the chassis assembly 10 at the notches 12, so that an outer surface of the travel driving assembly 20 is flush with the side edges of the bottom substrate 11. Wherein the walking drive assembly 20 of each side may comprise:

a wheel plate 21, the wheel plate 21 being fixedly mountable to the chassis assembly 10, for example, the wheel plate 21 being fixedly mountable above the base substrate 11 at the lateral recess 12 of the base substrate 11 such that an outer surface of the wheel plate 21 is flush with a side of the base substrate 11;

a floating plate 22, wherein the floating plate 22 can be arranged at the inner side of the wheel plate 21 through a floating support mechanism 23, for example, the floating plate 22 can be suspended and supported by the floating support mechanism 23 at the inner side of the lateral notch 12 of the bottom base plate 11;

a driving wheel 200, the driving wheel 200 being rotatably mounted to the floating plate 22, for example, the driving wheel 200 being rotatably mounted between the floating plate 22 and the wheel plate 21 and being located in the lateral recess 12 of the bottom base plate 11;

a decelerator 25, the decelerator 25 may be drivingly connected to the axle of the driving wheel 200, for example, the decelerator 25 may be drivingly connected to the axle of the driving wheel 200 inside the floating plate 22, that is, the decelerator 25 may be located above the bottom base plate 11 of the floor assembly 10.

The decelerator 25 may also be in transmission connection with a wheel axle driving motor 91 (e.g., a servo motor) serving as a power component, that is, the driving wheel 200 is driven to rotate in response to the power output of the wheel axle driving motor 91, so that the chassis assembly 10 is driven to move by the rotation of the driving wheel 200.

Referring to fig. 5 in conjunction with fig. 1 and 2, the motion actuator 30 may be disposed above the chassis assembly 10 (e.g., the bottom substrate 11), and the motion actuator 30 may include:

a base 31, the base 31 being fixable over the chassis assembly 10 (e.g., the bottom substrate 11);

a lifting mechanism 32, wherein the lifting mechanism 32 can be arranged on the top of the base 31;

a rotating mechanism 33, wherein the rotating mechanism 33 can be installed on the lifting mechanism 32.

Wherein the elevation of the elevation mechanism 32 can be driven by an elevation driving motor 92 (e.g., a servo motor) serving as a power member, the phase rotation of the rotation mechanism 33 can be driven by a rotation driving motor 93 (e.g., a servo motor) serving as a power member, and the top of the rotation mechanism 33 can be placed with the tray 50 for holding the article to adjust the holding posture of the tray 50 by the elevation of the elevation mechanism 32 and the rotation of the rotation mechanism 33.

That is, in the embodiment of the present application, the power components of the smart mobile robot may include at least the wheel axle driving motor 91, the lifting driving motor 92, and the rotating driving motor 93, and the power components may be mounted on the chassis assembly 10 and electrically connected to the control assembly.

In addition, in an embodiment of the present application, the control component (not shown in fig. 1 and 2) may include a data Processor such as a CPU (Central Processing Unit), an ISP (Image Signal Processor), a GPU (Graphic Processing Unit), and the like, and the power component may include at least the battery module 40 shown in fig. 2.

Since the temperature of the power components (e.g., the pair of wheel axle driving motors 91, and the lifting driving motor 92 and the rotating driving motor 93) in the running state may rise and there is a risk of causing an environmental explosion during the task execution of the intelligent mobile robot, in the embodiment of the present application, the power supply of the power components (e.g., the pair of wheel axle driving motors 91, and the lifting driving motor 92 and the rotating driving motor 93) by the battery module 40 may be controlled through the temperature detection of the power components (e.g., the pair of wheel axle driving motors 91, and the lifting driving motor 92 and the rotating driving motor 93).

Fig. 6 is an exemplary structural diagram of an electrical system of the intelligent mobile robot suitable for use in an explosive environment in the embodiment of the present application. Referring to fig. 6, in an embodiment of the present application, the smart mobile robot adapted to an explosive environment may further include a heat-sensitive element KR0, and the heat-sensitive element KR0 is in heat-conducting contact with the power component 90 (e.g., a pair of axle driving motors 91, and a lifting driving motor 92 and a rotation driving motor 93). In the case where there are a plurality of power units 90, each power unit 90 is independently provided with a heat sensitive element KR0.

Still referring to fig. 6, the power supply assembly of the smart mobile robot may further include, in addition to the battery module 40:

a first power supply interface S1, where the first power supply interface S1 may be regarded as an interface for global power supply output of the battery module 40, that is, power receiving components such as the control component 70 and power components (e.g., the pair of wheel axle driving motors 91, the lifting driving motor 92, and the rotation driving motor 93) receive power supply of the battery module 40 through the first power supply interface S1;

a power supply switch KM1 located between the battery module 40 and the first power supply interface S1;

and a second power supply interface S2 independent of the first power supply interface S1.

With continued reference to fig. 6, in an embodiment of the present application, the smart mobile robot adapted for use in an explosive environment may further include an intrinsically safe explosion-proof plate set 72.

The intrinsically safe explosion-proof plate set 72 can be powered by the second power supply interface S2, that is, the intrinsically safe explosion-proof plate set 72 receives independent power supply of the battery module 40, rather than receiving global power supply.

This intrinsically safe explosion proof plate set 72 is electrically connected to the thermosensitive element KR0, so that, when the thermosensitive element KR0 is in a default state and an over-temperature state, this intrinsically safe explosion proof plate set 72 can sense different level signals from the thermosensitive element KR0, respectively.

For example, the thermosensitive element KR0 may include a temperature-controlled switch, in which:

the default state of the thermosensitive element KR0 may be one of the on state and the off state of the temperature controlled switch;

the over-temperature state of the thermosensitive element KR0 may be the other of the on state and the off state of the temperature control switch;

the switching of the temperature control switch between the on state and the off state can cause the level signal sensed by the intrinsically safe explosion-proof plate group 72 from the thermal element KR0 to change.

It is understood that the type of the thermal element KR0 may not be limited to the temperature-controlled switch, but other components capable of inducing a level signal change in response to a temperature change, such as a thermistor, may also be used. Regardless of the component selected for the thermal element KR0, the critical temperature between the "default state" and the "over-temperature state" is lower than a dangerous temperature that may cause an environmental explosion, which may be a predetermined empirical value, for example, 125 ℃.

This explosion-proof board of this ann's type group 72 still is connected with power supply switch KM 1's control end electricity to, through the level signal that senses from thermal element KR0, explosion-proof board of this ann's type group 72 can form corresponding level setting at power supply switch KM 1's control end, so that:

the power supply switch KM1 is set to a closed state when the thermosensitive element KR0 is in a default state;

the power supply switch KM1 is turned off when the thermosensitive element KR0 is in an over-temperature state.

For example, the power supply switch KM1 may include a relay, and accordingly, the control terminal of the power supply switch KM1 may be a relay control terminal, and the power supply module may further include a relay control board, that is, the intrinsically safe explosion-proof board set 72 may be electrically connected to the control terminal (i.e., the relay control terminal) of the power supply switch KM1 through the relay control board.

For the case where there are a plurality of power units 90 and each power unit 90 is independently equipped with one heat-sensitive element KR0, the intrinsically safe explosion-proof board set 72 sets the corresponding level formed at the control end of the power supply switch KM1 by the level signal sensed from all the heat-sensitive elements KR0, so that:

the power supply switch KM1 is set to the closed state when the thermosensitive element KR0 in heat-conductive contact with each power component 90 is in the default state;

the power supply switch KM1 is set to an off state when the thermosensitive element KR0 in heat-conductive contact with any of the power components 90 is in an over-temperature state.

Based on the above embodiment, the smart mobile robot may include the thermal element KR0 in thermal contact with the power component 90, the global power output of the battery module 40 of the smart mobile robot may be controlled by the power switch KM1, and the smart mobile robot may further include the intrinsically safe explosion-proof plate set 72 that receives independent power from the battery module 40, wherein the intrinsically safe explosion-proof plate set 72 may associate the on/off state of the power switch KM1 with the state switching of the thermal element KR0, so that when the component temperature of the power component 90 causes the thermal element to be in an over-temperature state, the global power output of the battery module 40 may be interrupted to avoid the component temperature of the power component 90 from continuing to rise to a dangerous value that may cause environmental explosion, thereby helping to reduce the risk of causing environmental explosion in the explosive industrial environment. If the component temperature of the power component 90 falls after the interruption of the global power output of the battery module 40, the global power output of the battery module 40 can be automatically recovered based on the correlation between the open/close state of the power switch KM1 and the state switching of the thermosensitive element KR0.

In the embodiment of the present application, the function of the intrinsically safe explosion-proof board set 72 is not limited to the control of the power supply switch KM1, but the electrical system of the smart mobile robot satisfies the specification in the definition of "intrinsically safe explosion-proof": the explosion-proof performance of the electrical equipment which is installed in a dangerous place in an isolated manner meets the intrinsic safety explosion-proof requirement.

Fig. 7 is a schematic diagram of an example configuration of the electrical system shown in fig. 6. Referring to fig. 7, in the embodiment of the present application, the intrinsically-safe explosion-proof board set 72 may include an intrinsically-safe board (safe-relay-board) 721 and an overtemperature board (quad-overvoltage-board) 722, where the intrinsically-safe board 721 is used for enabling the electrical system of the smart mobile robot to satisfy the above-mentioned definition in the definition of "intrinsically-safe explosion-proof", the intrinsically-safe board 721 is also responsible for detecting the state of the thermal element KR0, and the overtemperature board 722 takes on the control output of the power supply switch KM1, specifically:

the intrinsically safe board 721 may have a detection port electrically connected to a thermosensitive element KR0 (e.g., a temperature control switch), and a port level of the detection port is changed in association with a physical form of the thermosensitive element KR0, and in the case where a plurality of power parts 90 exist and each power part 90 is independently provided with one thermosensitive element KR0, the detection port of the intrinsically safe board 721 may be electrically connected to each of the thermosensitive elements KR0 which are in heat-conductive contact with each power part 90, and the port level of the detection port may assume a combination of levels reflecting states of all the thermosensitive elements KR 0;

the super-temperature board 722 may have a control port, which may be electrically connected to a control terminal (e.g., a relay control terminal) of the power supply switch KM1;

the intrinsically safe board 721 and the super-temperature board 722 are interconnected by an inter-board bus, so that;

when the thermosensitive element KR0 is in a default state, for example, the thermosensitive element KR0 in heat-conducting contact with each power component 90 is in a default state, the control level formed by the control port of the overtemperature board 722 at the control end (for example, the relay control end) of the power supply switch KM1 is at a first level for causing the power supply switch KM1 to be turned on;

when the thermal element KR0 is in an over-temperature state, for example, the thermal element KR0 in thermal conductive contact with any power component 90 is in a default state, the control level formed by the control port of the overtemperature board 722 at the control end (for example, the relay control end) of the power supply switch KM1 is at the second level for triggering the power supply switch KM1 to be turned off.

For example, the super-thermal board 722 may include a processing device having a data processing capability, such as an MCU (micro controller Unit), or may also be a logic device implementing logic control based on a logic Array, such as an FPGA (Field Programmable Gate Array), so as to convert a port level of a detection port of the intrinsically safe board 721 received by the super-thermal board 722 through an inter-board bus into a control level formed by a control port of the super-thermal board 722 at a control terminal (e.g., a relay control terminal) of the power supply switch KM 1.

In addition, the default state of the power supply switch KM1 may be an off state, for example, the power supply switch KM1 may be a normally open contactor, and, as can be seen from fig. 7, the power supply assembly may further have a key switch SW0 arranged between the battery module 40 and the second power supply interface S2, and the on-off state of the key switch SW0 may be switched by a key matching operation, so that:

when the intelligent mobile robot needs to be started, firstly, the key switch SW0 needs to be switched from a default off state to a closed state, so that the battery module 40 supplies power to the intrinsic safety type explosion-proof plate group 72, namely, the intrinsic safety type explosion-proof function is started;

when the safety detection of the intelligent mobile robot is passed by the intrinsic safety type explosion-proof plate group 72, the normally open power supply switch KM1 can be switched to a closed conduction state, thereby allowing the intelligent mobile robot to be started globally.

Referring back to fig. 2, in the embodiment of the present application, the smart mobile robot may have a charging interface 400, and the charging interface 400 is exposed on an outer wall of the chassis assembly 100 to support self-charging of the smart mobile robot, that is, the smart mobile robot may move to a charging area in a secure environment according to a charging instruction issued by the scheduling platform, so that the charging interface 400 is in butt joint with the charging pile to realize automatic charging. For the intelligent mobile robot with self-charging capability, when the intelligent mobile robot operates in a work area in an explosive environment, the battery module 40 may generate an ignition source such as an electric spark or an electric arc at the charging interface 400, which also belongs to a risk factor that is easy to cause an environmental explosion.

Therefore, in the embodiment of the present application, in addition to suppressing the risk of environmental explosion due to heat generation of the power component 90, in the embodiment of the present application, it is also attempted to suppress the risk factor of the charging interface 400.

Fig. 8 is an expanded structural schematic diagram of the electrical system shown in fig. 6. Referring to fig. 8, in an embodiment of the present application, the power supply module of the smart mobile robot may further include a charging switch KM2, the charging switch KM2 is disposed between the battery module 40 and the charging interface 400, and a control terminal of the charging switch KM2 is electrically connected to the control module 71.

The control component 71 can receive a charging instruction and a task instruction of the scheduling platform to go and go between a charging area in the safe environment and a working area in the explosive environment, and the control component 71 can further include a Positioning module such as a GPS (Global Positioning System), so that the control component 71 can:

when the intelligent mobile robot is located in a charging area in a safe environment, the charging switch KM2 is controlled to be closed so as to conduct a power line and a signal line between the battery module 40 and the charging interface 400, so that the intelligent mobile robot is allowed to automatically charge the charging interface 400 through the butt joint with a charging pile in the charging area in the safe environment;

when the intelligent mobile robot is located in a working area in an explosive environment, the charging switch KM2 is controlled to be switched off so as to disconnect a power line and a signal line between the battery module 40 and the charging interface 400, and therefore ignition sources such as electric sparks or electric arcs generated by the charging interface 400 in the working area in the explosive environment are avoided.

Generally, the charging current borne by charging switch KM2 is a strong current, and therefore, it is preferable that the charging switch KM2 is a contactor, and accordingly, the control terminal of charging switch KM2 is a contactor control terminal. The power supply module may further include a contactor control board, and the control module 71 may be electrically connected to the control terminal (i.e., the contactor control terminal) of the charging switch KM2 through the contactor control board.

Based on above-mentioned extension structure, the switch KM2 that charges can be arranged between this intelligent mobile robot's the interface 400 that charges and battery module 40, this switch KM2 that charges can only switch on when this intelligent mobile robot is in the charging area in the secure environment to break off when this intelligent mobile robot is in the work area of explosive environment, thereby, can avoid charging the ignition sources such as electric spark or electric arc that interface 400 appears in explosive environment, and then, help further reducing the risk that causes the environment explosion in explosive industrial environment.

In the embodiment of the application, besides the implementation of the intrinsically safe explosion-proof and charging interface 400 protection, at least one of an explosion-proof EX d, a casting explosion-proof EX m and a sparkless explosion-proof can be further implemented.

If adopt explosion-proof EX d of flame-proof type, then, in the embodiment of this application, chassis component can have the flame proof case to, control assembly, power supply module and this ampere of type explosion-proof plate group can all hold the inside at chassis component's flame proof case, and in addition, interface 400 that charges can expose at the outer wall of flame proof case.

Referring back to fig. 2 and 3, the chassis assembly 10 may include a first flameproof box 131 and a second flameproof box 132 arranged at intervals, for example, the first flameproof box 131 may be located at the front end of the chassis assembly 10, the second flameproof box 132 may be located at the rear end of the chassis assembly 10, accordingly, the motion executing assembly 30 may be arranged in the middle of an inter-box space between the first flameproof box 131 and the second flameproof box 132, and the traveling driving assembly 20 may be arranged at a side of the inter-box space between the first flameproof box 131 and the second flameproof box 132, so that the pair of wheel axle driving motors 91, the lifting driving motor 92, and the rotating driving motor 93 included in the power component are located in the inter-box space between the first flameproof box 131 and the second flameproof box 132.

The control assembly can be accommodated inside the first flameproof box 131, and the detection module 61 can be accommodated in the first flameproof box 131. Wherein, for the convenience of assembly, the top of the first flameproof box 131 can have a top opening covered by a detachable first box cover 141. And, survey module 61 can include visual navigation part such as camera and keep away barrier detection part such as laser instrument, consequently, the window opening that is sheltered from the protection by first explosion-proof window 151 can be seted up to the preceding terminal surface of first explosion-proof case 131 for dodge survey module 61's detection field of vision.

Power module and this ampere of type explosion-proof board group all hold in the inside of second explosion-proof case 132, and the top of second explosion-proof case 132 can have the open-top that is covered by detachable second case lid 142, and interface 400 that charges can be installed in second explosion-proof case 132 and expose at the rear end face of second explosion-proof case 132. In addition, the rear end surface of the second flameproof box 132 may further be provided with a Display module 62 including a Display panel such as an LCD (Liquid Crystal Display), and the Display module 62 may be shielded and protected by the second flameproof window 152.

In this case, an explosion-proof cable may be disposed between the first explosion-proof box 131 and the second explosion-proof box 132, the power supply module and the intrinsically safe explosion-proof plate set may be electrically connected to the control module through the explosion-proof cable, and the explosion-proof cable may be physically connected to the first explosion-proof box 131 and the second explosion-proof box 132 through the glan head 80 (for example, a copper glan head), so that the explosion-proof box is used to implement explosion-proof protection for the electrical components, and meanwhile, the explosion-proof protection for the cable is also implemented by preventing the cable from being exposed.

As described above, the pair of wheel axle driving motors included in the power component, the lifting driving motor 92 and the rotating driving motor 93 are located in the inter-box space between the first explosion-proof box 131 and the second explosion-proof box 132, and although it can be seen from fig. 2 that the tray 50 lifted by the motion actuator 30 is located above the top of the inter-box space, and the side casing 16 completely shielding the inter-box space from the outside of the traveling driving assembly 20 is further installed on the side of the chassis assembly 10, the embodiment of the present application still implements explosion-proof and explosion-proof protection on the power component, that is, the thermal sensitive element of the power component in thermal contact with the power component can be wrapped in the component explosion-proof sleeve 81.

Referring back to fig. 2 and 4, each wheel axle driving motor 91 and the thermosensitive element in heat-conducting contact therewith may be coated in the component flameproof sheath 81 together, one end of the flameproof sheath 81 has a first end cap 811 for the transmission connection of the wheel axle driving motor 91 and the speed reducer 25, and the other end of the flameproof sheath 81 has a second end cap 812 which is completely closed, and the second end cap 812 may facilitate the operation of detaching and attaching the wheel axle driving motor 91 and the flameproof sheath 81.

Referring back to fig. 2 and 5, similarly to the wheel axle driving motor 91, each of the lifting driving motor 92 and the rotating driving motor 93, and the heat-sensitive element in heat-conductive contact therewith may also be coated in the component flameproof sleeve 81.

In addition, a driving module (e.g., a motor servo driver) of the power component (e.g., a pair of wheel axle driving motors, and the lifting driving motor 92 and the rotating driving motor 93) may be accommodated inside the flameproof box (e.g., the first flameproof box 131 and/or the second flameproof box 132) of the chassis module 10, and the driving module may be electrically connected to the control module.

For example, a pair of wheel axle driving motors 91, four motor servo drivers of the lifting driving motor 92 and the rotating driving motor 93 can be respectively accommodated in the first explosion-proof box 131 and the second explosion-proof box 132 in a group of two, wherein:

if the driving module is located inside the first flameproof box 131 where the control component is located, the driving module and the control module can be electrically connected through an in-box wire harness;

if the driving module is located inside the second flameproof box 132, the driving module may be electrically connected to the control module in the first flameproof box 131 through an explosion-proof cable, and the explosion-proof cable is also physically connected to the first flameproof box 131 and the second flameproof box 132 through a glan head 80 (for example, a copper glan head).

Similarly, the power component can be electrically connected with the first power supply interface and the driving module through an explosion-proof cable outside the explosion-proof box, that is, the power component located in the inter-box space between the first explosion-proof box 131 and the second explosion-proof box 132 can be electrically connected with the driving module in the first explosion-proof box 131 and/or the second explosion-proof box 132 through the explosion-proof cable and electrically connected with the first power supply interface of the power supply component in the second explosion-proof box 132 through the explosion-proof cable, and the explosion-proof cables are physically connected with the first explosion-proof box 131 and/or the second explosion-proof box 132 and the explosion-proof sleeve 81 of the component through the glan head 80 (for example, a copper glan head).

Referring back to fig. 2 and 5, in the embodiment of the present disclosure, the smart mobile robot may further include code reading cameras, that is, a first code reading camera 51 with an upward lens view and a second code reading camera 52 with a downward lens view, and the code reading cameras (that is, the first code reading camera 51 and the second code reading camera 52) may be mounted on the motion performing assembly 30. Accordingly, the bottom of the tray 50 may have an opening to avoid the lens view of the first code reading camera 51, so that the first code reading camera can read codes on the bottom of the article held by the tray 50; also, the bottom substrate 11 of the chassis assembly 10 may have an opening to avoid the view of the lens of the second reading camera 51, so as to facilitate reading of the ground mark on which the intelligent mobile robot passes.

As described above, the motion executing assembly 30 may be disposed in the inter-box space between the first explosion-proof box 131 and the second explosion-proof box 132, so that the code reading cameras (i.e., the first code reading camera 51 and the second code reading camera 52) are also disposed in the inter-box space between the first explosion-proof box 131 and the second explosion-proof box 132, and similar to the power components (e.g., the pair of wheel shaft driving motors, the lifting driving motor 92 and the rotating driving motor 93), the code reading cameras may also use independent explosion-proof sleeves to implement explosion-proof type explosion-proof protection.

Fig. 9 is a schematic view of the flameproof protection structure of the code reading camera of the intelligent mobile robot shown in fig. 1. Referring to fig. 9 and looking back at fig. 2 and 5, the first code-reading camera 51 may be covered in the camera flameproof sleeve 82 outside the flameproof box, the field of view of the lens of the first code-reading camera 51 may be covered and blocked by the light-transmitting flameproof plate 820, the first code-reading camera 51 may be electrically connected to the control component and the first power supply interface of the power component through the flameproof cables disposed between the camera flameproof sleeve 82 and the flameproof box (i.e., the first flameproof box 131 and the second flameproof box 132), and the flameproof cables are physically connected to the camera flameproof sleeve 82 and the flameproof box (i.e., the first flameproof box 131 and the second flameproof box 132) by using the glan head 80 (e.g., a copper glan head). In addition, the second code reading camera 52, which is not shown in fig. 9, is similar to the first code reading camera 51, and may be covered in the camera flameproof sleeve 82 outside the flameproof box, the view of the lens thereof may be covered and blocked by the light-transmitting flameproof plate 820, and the second code reading camera may be physically connected to the flameproof cable by using the glan head 80 (for example, a copper glan head).

The power component can be electrically connected with the first power supply interface and the driving module outside the explosion-proof box through an explosion-proof cable, namely, the power component in the space between the first explosion-proof box 131 and the second explosion-proof box 132 can be electrically connected with the driving module in the first explosion-proof box 131 and/or the second explosion-proof box 132 through the explosion-proof cable and is electrically connected with the first power supply interface of the power module in the second explosion-proof box 132 through the explosion-proof cable, and the explosion-proof cables are physically connected with the first explosion-proof box 131 and/or the second explosion-proof box 132 and the explosion-proof sleeve 81 through the gland head 80 (such as a copper gland head)

Referring back to fig. 5, in the embodiment of the present application, the motion performing assembly 30 may include a lifting height detecting sensor 631 and a rotation phase detecting sensor 632, for example, the lifting height detecting sensor 631 may be disposed at two upper and lower limit height positions of the lifting mechanism 32 for limiting the lifting of the lifting mechanism 32; the rotational phase detection sensor 632 may be disposed at an initial phase set in advance for the rotation mechanism 33, for achieving phase calibration for the rotation mechanism 33. Because the lifting height detecting sensor 631 and the rotation phase detecting sensor 632 are small in size, for example, proximity sensors such as hall sensors can be used as the lifting height detecting sensor 631 and the rotation phase detecting sensor 632, and the sensing surfaces of the lifting height detecting sensor 631 and the rotation phase detecting sensor 632 need to be kept exposed, the lifting height detecting sensor 631 and the rotation phase detecting sensor 632 are not suitable for explosion-proof protection using an explosion-proof sleeve.

In the embodiment of the present application, an encapsulation type explosion-proof EX m is used for the sensing elements similar to the lifting height detection sensor 631 and the rotation phase detection sensor 632, that is, the sensing elements may be covered by an encapsulation explosion-proof layer outside the explosion-proof box, the sensing elements may be electrically connected to the control component and the power component through explosion-proof cables butted to the explosion-proof boxes (for example, the first explosion-proof box 131 and the second explosion-proof box 132), and the explosion-proof cables and the explosion-proof boxes (for example, the first explosion-proof box 131 and the second explosion-proof box 132) may be physically connected by using glans 80 (for example, copper glans).

Fig. 10 is a schematic view illustrating an assembly structure of an antenna assembly of the smart mobile robot shown in fig. 1. Referring to fig. 10 and back to fig. 2, in order to facilitate the control component to receive the instructions of the scheduling platform, the smart mobile robot may further include an antenna component 67.

The antenna assembly 67 may be mounted on the side casing 16 of the intelligent mobile robot (i.e., the side casing 16 mounted on the side of the chassis assembly 10) through the antenna fixing seat 17, and the antenna assembly 67 is coated by the casting explosion-proof layer outside the explosion-proof box (i.e., the inter-box space between the first explosion-proof box 131 and the second explosion-proof box 132).

For example, the antenna holder 17 may be fixedly installed on the inner surface of the side case 16 facing the inter-case space, the surface of the antenna holder 17 facing the inter-case space has an antenna receiving groove 170, and the antenna assembly 67 may be coated in the antenna receiving groove 170 of the antenna holder 17 by a potting explosion-proof layer.

In addition, the antenna assembly 67 may be electrically connected to the control assembly through an explosion-proof cable butted to the explosion-proof box (e.g., the first explosion-proof box 131), and the explosion-proof cable is physically connected to the explosion-proof box (e.g., the first explosion-proof box 131) by using a glan head 80 (e.g., a copper glan head).

Referring back to fig. 2, in an embodiment of the present application, the smart mobile robot may further include a first bumper strip 181 located at a front end edge of the chassis assembly 10, and a second bumper strip 182 located at a rear end edge of the chassis assembly 10.

The first bumper strip 181 may be a hollow bumper strip disposed at an end edge of the chassis assembly 10, the intelligent mobile robot may include a crash control box 68 located inside a flame-proof box (e.g., the first flame-proof box 131), and an air flow path (e.g., a communication hole) is provided between the crash control box 68 and the hollow bumper strip (i.e., the first bumper strip 181). Therefore, when the hollow anti-collision strip (namely the first anti-collision strip 181) is touched, the hollow anti-collision strip (namely the first anti-collision strip 181) can deform, the deformation of the hollow anti-collision strip (namely the first anti-collision strip 181) can cause the air pressure change in the explosion-proof box (for example, the first explosion-proof box 131) through an air flow passage, and then the anti-collision control box 68 can send an alarm signal to the control component 71, so that the control component 71 reports collision information indicating that the intelligent mobile robot collides to the dispatching platform through the antenna component 67.

In addition, the intelligent mobile robot may include an audio alarm 69 located inside the flameproof box (e.g., the first flameproof box 131), wherein the audio alarm 69 may be disposed inside the flameproof box (e.g., the first flameproof box 131) at a position adjacent to the cover (e.g., the first cover 141), the cover (e.g., the first cover 141) of the flameproof box (e.g., the first flameproof box 131) may have a cover opening for sound transmission, and the intelligent mobile robot may further include a fire barrier disc 19 that covers the cover opening of the flameproof box (e.g., the first flameproof box 131). The audio alarm 69 in the flameproof box (e.g. the first flameproof box 131) is electrically connected to the control assembly 71, so that when the internal air pressure of the hollow bumper strip (i.e. the first bumper strip 181) changes due to impact extrusion, the control assembly 71 responds to the alarm signal sent by the crash control box 68 to trigger the audio alarm 69 to generate an alarm sound transmitted through the fire damper disc 19.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the scope of protection of the present application.

Claims (15)

1. An intelligent mobile robot suitable for explosive environment, comprising:

a chassis assembly;

the control component is arranged on the chassis component;

the power component is arranged on the chassis component and is electrically connected with the control component;

a heat sensitive element in thermally conductive contact with the power component;

the power supply assembly comprises a battery module, a first power supply interface used for supplying power for the control assembly and the power component, a second power supply interface independent of the first power supply interface, and a power supply switch positioned between the battery module and the first power supply interface;

the intrinsic safety type explosion-proof plate set is powered by the second power supply interface, electrically connected with the thermosensitive element and electrically connected with the control end of the power supply switch, so that the power supply switch is set to be in a closed state when the thermosensitive element is in a default state and is set to be in an open state when the thermosensitive element is in an over-temperature state.

2. The intelligent mobile robot of claim 1,

the intrinsic safety type explosion-proof plate set comprises an intrinsic safety plate and an overtemperature plate;

the intrinsic safety board is provided with a detection port which is electrically connected with the thermosensitive element, and the port level of the detection port is changed in relation to the physical form of the thermosensitive element;

the super-temperature board is provided with a control port, the control port is electrically connected with a control end of the power supply switch, and the intrinsic safety board and the super-temperature board are interconnected through an inter-board bus so as to enable the intrinsic safety board and the super-temperature board to be connected with each other;

when the thermosensitive element is in a default state, the control level formed by the control port at the control end of the power supply switch is at a first level for triggering the power supply switch to be conducted;

when the thermosensitive element is in an over-temperature state, the control level formed by the control port at the control end of the power supply switch is at a second level for triggering the power supply switch to be switched off.

3. The intelligent mobile robot of claim 2,

the heat-sensitive element includes a temperature-controlled switch, wherein:

the default state of the temperature-sensitive element is one of an on state and an off state of the temperature-controlled switch, the over-temperature state of the temperature-sensitive element is the other of the on state and the off state of the temperature-controlled switch, and switching of the temperature-controlled switch between the on state and the off state causes a change in the port level of the detection port.

4. The intelligent mobile robot of claim 2,

the power supply switch includes a relay.

5. The intelligent mobile robot of claim 1,

the charging interface is exposed on the outer wall of the chassis component;

the power supply assembly further comprises a charging switch, the charging switch is arranged between the battery module and the charging interface, and a control end of the charging switch is electrically connected with the control assembly.

6. The intelligent mobile robot of claim 5,

the charging switch includes a contactor.

7. The intelligent mobile robot of claim 1,

the chassis component is provided with an explosion-proof box;

the control assembly, the power supply assembly and the intrinsic safety type explosion-proof plate group are all contained in the explosion-proof box.

8. The intelligent mobile robot of claim 7,

the explosion-proof box comprises a first explosion-proof box and a second explosion-proof box which are arranged at intervals;

the control assembly is accommodated in the first explosion-proof box;

the power supply assembly and the intrinsic safety type explosion-proof plate group are both accommodated in the second explosion-proof box;

the explosion-proof cable is arranged between the first explosion-proof box and the second explosion-proof box, the power supply assembly and the intrinsically safe explosion-proof plate assembly are electrically connected with the control assembly through the explosion-proof cable, and the explosion-proof cable is physically connected with the first explosion-proof box and the second explosion-proof box through the Glan head.

9. The intelligent mobile robot of claim 7,

the power component and the thermosensitive element in heat conduction contact are coated in the component explosion-proof sleeve.

10. The intelligent mobile robot of claim 9,

the driving module of the power component is accommodated in the explosion-proof box;

the driving module is electrically connected with the control assembly;

the power component is electrically connected with the first power supply interface and the driving module through an explosion-proof cable outside the explosion-proof box;

the explosion-proof cable is physically connected with the explosion-proof box and the component explosion-proof sleeve through the Glan head.

11. The intelligent mobile robot of claim 7,

further comprising a code reading camera, wherein:

the code reading camera is coated in the camera explosion-proof sleeve outside the explosion-proof box;

the lens view field of the code reading camera is covered and shielded by the light-transmitting explosion-proof plate;

the code reading camera is electrically connected with the first power supply interface and the control component through an explosion-proof cable arranged between the camera explosion-proof sleeve and the explosion-proof box;

the explosion-proof cable is physically connected with the camera explosion-proof sleeve and the explosion-proof box through the Glan head.

12. The intelligent mobile robot of claim 7,

further comprising a sensing element, wherein:

the sensing element is coated by a cast explosion-proof layer outside the explosion-proof box;

the sensing element is electrically connected with the first power supply interface and the control assembly through an explosion-proof cable butted on the explosion-proof box;

the explosion-proof cable is physically connected with the explosion-proof box through a Glan head.

13. The intelligent mobile robot of claim 7,

further comprising an antenna assembly, wherein:

the antenna assembly is coated by a cast explosion-proof layer outside the explosion-proof box;

the antenna assembly is electrically connected with the first power supply interface and the control assembly through an explosion-proof cable butted on the explosion-proof box;

the explosion-proof cable is physically connected with the explosion-proof box through a Glan head.

14. The intelligent mobile robot of claim 7,

further include cavity anticollision strip, anticollision control box, audio alarm and hinder the fire disk, wherein:

the hollow anti-collision strip is arranged at the end edge of the chassis component;

the anti-collision control box and the audio alarm are positioned in the explosion-proof box;

the fire retardant disc covers the box cover opening of the explosion-proof box;

an air flow passage is arranged between the anti-collision control box and the hollow anti-collision strip, the anti-collision control box is electrically connected with the audio alarm, so that when the air pressure in the hollow anti-collision strip changes due to collision and extrusion, the audio alarm is triggered to generate an alarm sound transmitted through the fire retardant disc.

15. The intelligent mobile robot of claim 1, further comprising:

the walking driving component is arranged on the side part of the chassis component;

the action execution assembly is arranged above the chassis assembly;

the power component comprises a wheel shaft driving motor in transmission connection with the walking driving assembly, a lifting driving motor in transmission connection with the action executing assembly and a rotating driving motor.

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