CN220094594U

CN220094594U - Cabin inspection robot

Info

Publication number: CN220094594U
Application number: CN202321417989.7U
Authority: CN
Inventors: 孟杰; 王涛; 胡钊政; 谭恒涛; 肖汉彪; 沈帮炉; 宋连
Original assignee: Chongqing Research Institute Of Wuhan University Of Technology; Wuhan University of Technology WUT
Current assignee: Chongqing Research Institute Of Wuhan University Of Technology; Wuhan University of Technology WUT
Priority date: 2023-06-05
Filing date: 2023-06-05
Publication date: 2023-11-28
Anticipated expiration: 2033-06-05

Abstract

The utility model relates to a cabin inspection robot, which comprises a robot body, a supporting mechanism and a monitoring mechanism, wherein the robot body is provided with a cabin; the robot body comprises a main body part and a walking part, wherein the walking part is arranged on the main body part and used for driving the main body part to move in the cabin; the supporting mechanism comprises a supporting part and a driving part, wherein the supporting part is arranged at the front end of the main body part in the moving direction and is movably arranged along the vertical direction so as to be capable of moving to the ground and away from the ground, and when moving to the ground, the supporting part is used for lifting the front end of the main body part in the moving direction, and the driving part is arranged at the main body part and is in driving connection with the supporting part so as to drive the supporting part to move along the vertical direction; the monitoring mechanism comprises an environment sensing submodule and a gas sensing submodule which are arranged on the main body part, wherein the environment sensing submodule is used for navigation and positioning, and the gas sensing submodule is used for monitoring gas in the cabin. The quick roadblock that passes through of inspection cabin robot of this scheme of being convenient for can monitor the intrabay environment simultaneously, need not the manual work and detects under the cabin, improves the security.

Description

Cabin inspection robot

Technical Field

The utility model relates to the technical field of ship cabin inspection robots, in particular to a cabin inspection robot.

Background

The throughput of the Yangtze river trunk line cargo breaks through 30 hundred million tons, but the potential pollution hazard on water and the safety and efficiency problems of cargo transportation are more remarkable. The ship inspection cabin can be used for inspecting the ship cabin to determine whether the gas environment and the cleanliness of the cabin meet the green transportation regulations of cargoes or the operation safety conditions in the artificial cabin. The inspection operation is important and frequently-occurring guarantee work in the green and safe water transportation of ships.

In recent years, with the development of artificial intelligence technology, a lot of heavy and dangerous scenes use robots to replace people to realize efficient and safe operation, which provides a new operation idea for ship inspection. For example, patent CN 113635322A discloses an automatic cabin leakage-seeking and plugging robot, which is provided with a plugging component and an indicating component below a bottom plate of the leakage-seeking component, wherein a found leakage port is plugged through the plugging component, and the damage condition of a ship body of a shipman is indicated through an indicating device, so that further plugging measures are taken.

However, for dangerous chemicals ships, the cabin environment is complex, the ship cabin needs to be checked to determine whether the cabin gas environment and the cleanliness meet the green transportation regulations of cargoes or the operation safety conditions in the artificial cabin, and the leakage finding and plugging robot has single function and cannot meet the independent cabin inspection requirements of dangerous chemicals ships.

Disclosure of Invention

In view of the above, it is necessary to provide a cabin inspection robot for solving the technical problem that the cabin inspection robot in the prior art has a single function and cannot meet the requirement of autonomous cabin inspection of dangerous chemical ships.

The utility model provides a cabin inspection robot, which comprises:

the robot body comprises a main body part and a walking part, wherein the walking part is arranged on the main body part and is used for driving the main body part to move in the cabin;

the supporting mechanism comprises a supporting part and a driving part, wherein the supporting part is arranged at the front end of the main body part in the moving direction and is movably arranged along the vertical direction so as to be capable of moving to be supported on the ground and away from the ground, and is used for lifting the front end of the main body part in the moving direction when moving to be supported on the ground, and the driving part is arranged on the main body part and is in driving connection with the supporting part so as to drive the supporting part to move along the vertical direction; the method comprises the steps of,

the monitoring mechanism comprises an environment sensing submodule and a gas sensing submodule which are arranged on the main body part, wherein the environment sensing submodule is used for navigation and positioning, and the gas sensing submodule is used for monitoring gas in the cabin.

Optionally, the driving part is an electric telescopic rod, the electric telescopic rod is arranged at the front end of the main body part in the moving direction, and the telescopic end of the electric telescopic rod faces downwards, wherein the supporting part is arranged at the telescopic end of the electric telescopic rod.

Optionally, the supporting part is the supporting roller, the supporting roller locates the flexible end of electric telescopic handle to rotate around the axis that is located horizontal direction and set up, and can be under the drive of main part and synchronous rotation when moving to supporting in ground.

Optionally, the housing of the electric telescopic rod is detachably mounted to the main body portion.

Optionally, the supporting mechanism further comprises a mounting seat, and the mounting seat is fixedly connected with the shell of the electric telescopic rod;

the mounting seat and one of the main body parts are provided with a slot, the other is correspondingly provided with an inserting block, the slot and the inserting block extend along the horizontal direction, the side wall of the slot is concavely provided with a limiting groove, at least one end of the limiting groove in the horizontal direction is open, the inserting block is inserted into the slot and corresponds to the limiting groove, a limiting block is convexly arranged on the limiting groove, and the limiting block stretches into the limiting groove to limit the inserting block to be separated from the slot.

Optionally, the side wall of the slot is further provided with a screw hole communicated with the outside, and the supporting mechanism further comprises a compression screw, wherein the compression screw is screwed in the screw hole and is compressed on the plug-in block.

Optionally, the electric telescopic rod is arranged in a backward inclined way from the upper end to the lower end; and/or the number of the groups of groups,

the electric telescopic rods are arranged in a plurality, the electric telescopic rods are arranged at intervals in the horizontal direction, the supporting parts are arranged in a plurality, and the supporting parts are in one-to-one correspondence with the electric telescopic rods.

Optionally, the environment sensing submodule includes a laser radar, an inertial measurement unit and a plurality of cameras arranged on the main body, wherein the cameras are arranged on the periphery of the main body at intervals.

Optionally, the gas sensing submodule comprises an anemometer, a temperature sensor, a carbon dioxide sensor and an explosion-proof sensor which are arranged on the main body part, wherein the explosion-proof sensor is used for monitoring the content of oxygen, hydrogen sulfide, combustible gas and carbon monoxide in air.

Optionally, the main body part includes a chassis, a rotating pan and a driving motor, the rotating pan is disposed on the chassis and rotates around an axis located in a vertical direction, and the driving motor is disposed on the chassis and is in driving connection with the rotating pan and is used for driving the rotating pan to rotate, where the environment sensing submodule and the gas sensing submodule are disposed on the rotating pan; and/or the number of the groups of groups,

the walking part is a walking crawler belt arranged on the main body part; and/or the number of the groups of groups,

the inspection robot further comprises a mechanical arm, the mechanical arm comprises a driving seat and driving arms which are sequentially hinged to each other in a multi-section mode, the driving seat is arranged at the rear end of the main body portion in the moving direction in a rotating mode around an axis located in the vertical direction, one driving arm located at the end portion is connected with the driving seat, the driving arm located at the other end portion is connected with a clamping jaw, and each driving arm can be arranged in a rotating mode relative to the adjacent driving arm.

Compared with the prior art, the cabin inspection robot provided by the utility model has the advantages that the main body part is driven to move in the cabin through the walking part, and when the cabin is raised, the supporting part is driven to move towards the vertical direction through the driving part, so that the supporting part is supported on the ground, the front end of the main body part can be jacked, the distance between the front end of the main body part and the raised part is pulled open, the main body part is convenient to advance through the raised part, and the cabin inspection robot can conveniently and rapidly pass through the roadblock. Meanwhile, navigation and positioning can be performed through the environment sensing sub-module so as to facilitate the walking of the main body; and can detect the gaseous environment in the cabin through gaseous perception submodule to when finding abnormal conditions, if flammable and explosive gas leaks, can in time feed back to the inspection cabin personnel, need not the manual work and go into the cabin and detect, improve the security.

The foregoing description is only an overview of the present utility model, and is intended to provide a better understanding of the present utility model, as it is embodied in the following description, with reference to the preferred embodiments of the present utility model and its details set forth in the accompanying drawings. Specific embodiments of the present utility model are given in detail by the following examples and the accompanying drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model and do not constitute a limitation on the utility model. In the drawings:

FIG. 1 is a schematic diagram of an embodiment of a cabin inspection robot according to the present utility model;

FIG. 2 is a schematic view of the inspection robot of FIG. 1 at another angle;

FIG. 3 is a schematic view of the supporting mechanism in FIG. 2;

FIG. 4 is a schematic cross-sectional view of the support structure of FIG. 3;

FIG. 5 is a schematic view of the inspection robot of FIG. 2, with the support mechanism not shown;

FIG. 6 is an enlarged schematic view of FIG. 5A;

FIG. 7 is a partial cross-sectional view of the body portion of FIG. 6;

fig. 8 is a side view of the inspection robot of fig. 2.

Reference numerals illustrate:

100. cabin inspection robot; 1. a robot body; 11. a main body portion; 11a, a slot; 11b, a limit groove; 11c, screw holes; 111. a chassis; 112. rotating the cradle head; 12. a walking unit; 121. a walking track; 2. a support mechanism; 21. a support part; 211. supporting rollers; 22. a driving section; 221. an electric telescopic rod; 23. a mounting base; 231. a plug block; 232. a limiting block; 24. a compression screw; 3. a monitoring mechanism; 31. an environment sensing sub-module; 311. a laser radar; 312. a camera; 32. a gas sensing sub-module; 321. an anemometer; 322. a temperature sensor; 323. a carbon dioxide sensor; 324. an explosion-proof sensor; 4. a mechanical arm; 41. a driving seat; 42. a driving arm; 43. a clamping jaw; 5. and controlling the host.

Detailed Description

The following detailed description of preferred embodiments of the utility model is made in connection with the accompanying drawings, which form a part hereof, and together with the description of the embodiments of the utility model, are used to explain the principles of the utility model and are not intended to limit the scope of the utility model.

Referring to fig. 1 to 8, the inspection robot 100 includes a robot body 1, a support mechanism 2, and a monitoring mechanism 3; the robot body 1 comprises a main body 11 and a walking part 12, wherein the walking part 12 is arranged on the main body 11 and is used for driving the main body 11 to move in the cabin; the supporting mechanism 2 includes a supporting portion 21 and a driving portion 22, the supporting portion 21 is disposed at a front end of the main body portion 11 in a moving direction and is movably disposed along a vertical direction so as to be capable of moving to and away from a ground surface, and when moving to and supporting the ground surface, the driving portion 22 is disposed at the main body portion 11 and is in driving connection with the supporting portion 21 so as to drive the supporting portion 21 to move along the vertical direction; the monitoring mechanism 3 comprises an environment sensing sub-module 31 and a gas sensing sub-module 32 which are arranged on the main body 11, wherein the environment sensing sub-module 31 is used for navigation and positioning, and the gas sensing sub-module 32 is used for monitoring gas in the cabin.

According to the inspection robot 100 provided by the utility model, the main body 11 is driven to move in the cabin through the walking part 12, and when a bulge is encountered, the supporting part 21 is driven to move in the vertical direction through the driving part 22, so that the supporting part 21 is supported on the ground, the front end of the main body 11 can be jacked, the distance between the front end of the main body 11 and the bulge is pulled, the main body 11 can conveniently advance through the bulge, and the inspection robot 100 can conveniently and rapidly pass through a roadblock. Meanwhile, navigation and positioning can be performed through the environment sensing sub-module 31 so as to facilitate the walking of the main body 11; and can detect the gaseous environment in the cabin through gaseous perception submodule 32 to when finding abnormal conditions, such as inflammable and explosive gas leakage, can in time feed back to the inspection cabin personnel, need not the manual work and go into the cabin and detect, improve the security. In the example of the drawing, the rear end and the front end of the inspection robot 100 are shown as F1 and F2, respectively.

Further, the driving portion 22 is an electric telescopic rod 221, and the electric telescopic rod 221 is provided at a front end of the main body portion 11 in the moving direction with a telescopic end facing downward, wherein the supporting portion 21 is provided at a telescopic end of the electric telescopic rod 221. In this embodiment, the driving part 22 is configured as an electric telescopic rod 221 to drive the supporting part 21 to move along the vertical direction, so as to realize that the main body part 11 quickly passes over the roadblock, and the structure is simple and reliable.

Further, the supporting portion 21 is a supporting roller 211, and the supporting roller 211 is disposed at the telescopic end of the electric telescopic rod 221, and is rotatably disposed around an axis in the horizontal direction, and can be synchronously rotated under the driving of the main body 11 when moving to be supported on the ground. In this scheme, after the supporting roller 211 is supported on the ground to jack up the front end of the main body 11, when the main body 11 is driven by the walking portion 12 to move, the supporting roller 211 can rotate synchronously, so that the main body 11 moves, and the speed of the main body 11 crossing the obstacle is increased.

Meanwhile, in order to facilitate replacement and maintenance of the electric telescopic rod 221, the housing of the electric telescopic rod 221 is detachably mounted to the main body 11. Specifically, the supporting mechanism 2 further includes a mounting seat 23, and the mounting seat 23 is fixedly connected with the housing of the electric telescopic rod 221; wherein, one of the mounting seat 23 and the main body 11 is provided with a slot 11a, the other is correspondingly provided with an inserting block 231, the slot 11a and the inserting block 231 extend along the horizontal direction, the side wall of the slot 11a is concavely provided with a limit groove 11b, at least one end of the limit groove 11b in the horizontal direction is opened, the inserting block 231 is inserted into the slot 11a and is convexly provided with a limit block 232 corresponding to the limit groove 11b, and the limit block 232 extends into the limit groove 11b to limit the inserting block 231 from separating from the slot 11a. In this embodiment, the insertion slot 11a and the insertion block 231 extend in the horizontal direction, so, during installation, the insertion block 231 is inserted into the insertion slot 11a, the limiting block 232 correspondingly extends into the limiting slot, and at this time, the insertion block 231 is limited to be separated from the insertion slot 11a by the cooperation of the limiting block 232 and the limiting slot 11b, so that the installation between the electric telescopic rod 221 and the main body 11 is realized. The electric telescopic rod 221 is required to be disassembled, and the plug-in block 231 is only required to be drawn in the horizontal direction, so that the operation is simple and convenient. In the present embodiment, the slot 11a is provided on the main body 11, and the corresponding socket 231 is provided on the mounting base 23.

Further, in order to improve the installation stability of the insert block 231 in the slot 11a, the side wall of the slot 11a is further penetrated with a screw hole 11c communicated with the outside, and the supporting mechanism 2 further comprises a compression screw 24, where the compression screw 24 is screwed into the screw hole 11c and is compressed against the insert block 231. In this way, after the insertion block 231 is inserted into the insertion slot 11a, the compression screw 24 is screwed to press against the insertion block 231, so as to limit the insertion block 231 to move in the horizontal direction, and improve the installation stability of the electric telescopic rod 221.

Further, the electric telescopic rod 221 is disposed to be inclined rearward from the upper end to the lower end, thus expanding the space between the front end of the main body 11 and the supporting portion 21 so that the main body 11 passes over the roadblock. In addition, the plurality of electric telescopic rods 221 are provided, the plurality of electric telescopic rods 221 are arranged at intervals in the horizontal direction, the plurality of supporting parts 21 are correspondingly provided, and the plurality of supporting parts 21 are in one-to-one correspondence with the plurality of electric telescopic rods 221 so as to improve the stability of the supporting of the main body part 11 by the supporting parts 21.

Further, the environment sensing sub-module 31 includes a laser radar 311, an inertial measurement unit (not shown), and a plurality of cameras 312 disposed on the main body 11, wherein the plurality of cameras 312 are disposed on the periphery of the main body 11 at intervals. In this embodiment, the laser radar 311 and the Inertial Measurement Unit (IMU) are used for performing accurate navigation and positioning on the position of the inspection robot 100, and meanwhile, by means of the plurality of cameras 312, on one hand, reference is provided for navigation, on the other hand, the chickens can be placed on different images inside the cabin, the detection is convenient and fast, manual cabin falling is not needed for detection, and the safety is improved while the efficiency is improved. It should be noted that, the specific structures of the lidar 311 and the Inertial Measurement Unit (IMU) are the prior art, and are not described herein.

Further, the gas sensing sub-module 32 includes an anemometer 321, a temperature sensor 322, a carbon dioxide sensor 323 and an explosion-proof sensor 324, wherein the explosion-proof sensor 324 is used for monitoring the oxygen, hydrogen sulfide, combustible gas and carbon monoxide content in the air. In this embodiment, whether there is air flow to the cabin interior is convenient for detect through anemograph 321 to be convenient for monitor the temperature of cabin interior through temperature sensor 322, and monitor the carbon dioxide content of cabin interior in real time through carbon dioxide sensor 323. In addition, the explosion-proof sensor 324 is a sensor of oxygen, hydrogen sulfide, combustible gas and carbon monoxide, so as to analyze the gas in the cabin more accurately and pre-warn the dangerous gas with inflammability and explosiveness, thereby improving the safety. It should be noted that, specific structures of the anemometer 321, the temperature sensor 322, the carbon dioxide sensor 323, and the explosion-proof sensor 324 are in the prior art, and are not described herein.

Further, the main body 11 includes a chassis 111, a rotating pan-tilt 112, and a driving motor, where the rotating pan-tilt 112 is disposed on the chassis 111 and rotates around an axis located in a vertical direction, and the driving motor is disposed on the chassis 111 and is in driving connection with the rotating pan-tilt 112, for driving the rotating pan-tilt 112 to rotate, and the environment sensing sub-module 31 and the gas sensing sub-module 32 are disposed on the rotating pan-tilt 112. In this solution, the rotating pan-tilt 112 can rotate around the axis located in the vertical direction, so as to adjust the angles of the environment sensing sub-module 31 and the gas sensing sub-module 32, thereby improving flexibility. The traveling unit 12 is a traveling crawler 121 provided on the main body 11, and has a simple and reliable structure, and specifically, two traveling crawlers 121 are provided, and the two traveling crawlers 121 are provided at intervals in the width direction of the main body 11. The main body 11 is further provided with a control main unit 5 electrically connected to each component.

Further, the inspection robot 100 further includes a mechanical arm 4, the mechanical arm 4 includes a driving seat 41 and a plurality of sections of driving arms 42 hinged in sequence, the driving seat 41 is pivoted around an axis located in a vertical direction and is disposed at a rear end of the main body 11 in a moving direction, one driving arm 42 located at an end is connected to the driving seat 41, a driving arm 42 located at another end is connected to a clamping jaw 43, and each driving arm 42 can be pivoted relative to an adjacent driving arm 42. Specifically, in the present embodiment, three driving arms 42 are provided, and the three driving arms 42 are sequentially hinged, and one driving arm 42 at the end is hinged to the driving seat 41, so as to be capable of adjusting the rotation angle of the mechanical arm 4. And each actuating arm 42 can rotate relative to adjacent actuating arms 42 to make the position of clamping jaw 43 can nimble adjustment, and can cooperate with supporting part 21, be convenient for inspection robot 100 to cross the roadblock. Meanwhile, the device is convenient to deal with the use requirements of different working conditions, is convenient to sample or carry different detection equipment outside for use, and improves the applicability. It should be noted that the driving mode of the driving arms 42 is not limited, and in an embodiment, a driving motor is disposed between two adjacent driving arms 42 to realize the rotation of the driving arms 42, but may be other modes.

The present utility model is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present utility model are intended to be included in the scope of the present utility model.

Claims

1. The utility model provides a cabin inspection robot which characterized in that, it includes:

2. The inspection robot according to claim 1, wherein the driving part is an electric telescopic rod, the electric telescopic rod is disposed at a front end of the main body part in a moving direction, and a telescopic end thereof is directed downward, and wherein the supporting part is disposed at a telescopic end of the electric telescopic rod.

3. The inspection robot according to claim 2, wherein the supporting portion is a supporting roller, the supporting roller is disposed at a telescopic end of the electric telescopic rod, is rotatably disposed around an axis located in a horizontal direction, and can be driven by the main body portion to rotate synchronously when moving to be supported on the ground.

4. The inspection robot of claim 2, wherein the housing of the electric telescopic rod is detachably mounted to the main body.

5. The inspection robot of claim 4, wherein the support mechanism further comprises a mounting base fixedly connected with the housing of the electric telescopic rod;

6. The inspection robot according to claim 5, wherein the side wall of the slot is further provided with a screw hole communicated with the outside, and the supporting mechanism further comprises a compression screw which is screwed into the screw hole and is compressed with the plug-in block.

7. The inspection robot according to claim 2, wherein the electric telescopic rod is inclined backward from the upper end to the lower end; and/or the number of the groups of groups,

8. The inspection robot of claim 1, wherein the environmental perception submodule comprises a lidar, an inertial measurement unit and a plurality of cameras arranged on the main body, wherein the cameras are arranged on the periphery of the main body at intervals.

9. The inspection robot of claim 1, wherein the gas sensing submodule comprises an anemometer, a temperature sensor, a carbon dioxide sensor and an explosion-proof sensor arranged on the main body part, wherein the explosion-proof sensor is used for monitoring oxygen, hydrogen sulfide, combustible gas and carbon monoxide content in air.

10. The inspection robot according to claim 1, wherein the main body part comprises a chassis, a rotating cradle head and a driving motor, the rotating cradle head is arranged on the chassis and is rotationally arranged around an axis in a vertical direction, the driving motor is arranged on the chassis and is in driving connection with the rotating cradle head and is used for driving the rotating cradle head to rotate, and the environment sensing submodule and the gas sensing submodule are arranged on the rotating cradle head; and/or the number of the groups of groups,