WO2024040970A1

WO2024040970A1 - Intelligent hot work inspection robot for construction site security

Info

Publication number: WO2024040970A1
Application number: PCT/CN2023/084923
Authority: WO
Inventors: 冷喆祥; 郑冠雨; 朱荣军; 孙坚; 董建曦; 陈洪帅; 梅英宝; 尤雪春
Original assignee: 上海建工七建集团有限公司
Priority date: 2022-08-25
Filing date: 2023-03-30
Publication date: 2024-02-29
Also published as: CN115465376A

Abstract

The present application relates to the field of inspection robots, and discloses an intelligent hot work inspection robot for construction site security. The intelligent hot work inspection robot for construction site security comprises a mounting chassis; a monitoring module used for monitoring a surrounding environment of the robot and a movement module used for driving the robot to move are provided on the mounting chassis; the movement module comprises four power wheels that are rotatably arranged at four corners of the mounting chassis one by one and a driving mechanism used for driving the power wheels to move, and further comprises an obstacle crossing mechanism used for driving the power wheels to cross a cable on the ground. The present application has the effect of avoiding new potential safety hazards in a fire forbidding area caused by the inspection robot rolling on connection cables when moving.

Description

Intelligent construction site security fire inspection robot

Technical field

This application relates to the field of inspection robots, and in particular to an intelligent construction site security fire inspection robot.

Background technique

Hot work refers to welding and cutting operations in fire-prohibited areas and the use of blowtorches, electric drills, grinding wheels and other temporary operations in flammable and explosive places that may produce flames, sparks and heated surfaces. Safety officers are required during hot work to ensure the standardization of hot work and thereby ensure the safety of the construction site.

However, due to problems such as the generally low quality of employees and insufficient safety awareness in manual inspections, construction accidents will still occur due to illegal construction and fires. At the same time, considering that it is difficult for camera monitoring to fully cover the construction site, patrols will also be used on the construction site. Inspection robots replace manual workers to inspect hot work sites. A common inspection robot usually includes a mounting base, a monitoring device and a power device arranged on the mounting base. The power device usually includes four power wheels so that the inspection robot can move and monitor in the work area.

Regarding the above-mentioned related technologies, the inventor found that there are the following defects: because the inspection robot used in hot work is used for safety inspection during hot work in no-fire areas, and during hot work, there will be electric drills, grinding wheels, etc. The connecting cables of the flammable equipment are temporarily connected to the fire-prohibited area and arranged on the ground in the fire-prohibited area for construction workers to work. The power wheels of the inspection robot will repeatedly crush the flammable equipment when the inspection robot moves and monitors. For normal hot work, the inspection robot repeatedly crushes the connecting cables of hot equipment for a long time, which will create new safety hazards during hot work.

Contents of the invention

In order to improve the problem that the inspection robot repeatedly crushes the connecting cables during mobile monitoring, causing safety hazards, this application provides an intelligent construction site security fire inspection robot.

An intelligent construction site fire inspection robot provided by this application adopts the following technical solution:

An intelligent construction site security fire inspection robot, including an installation chassis provided with a monitoring module for monitoring the surrounding environment of the robot and a motion module for driving the robot to move;

The motion module includes four power wheels that are rotated one by one at the four corners of the mounting chassis and a driving mechanism for driving the power wheels to move. It also includes a driving mechanism for driving the power wheels across the ground. Cable obstacle clearance mechanism.

By adopting the above technical solution, the chassis is installed as the installation base of the inspection robot. The monitoring module is used to monitor the surrounding environment of the robot to determine whether the hot work is standardized or whether there is a danger at the hot work site; the motion module It is used to drive the inspection robot to move on the construction site to monitor various positions and angles of the hot work construction site. Among them, the obstacle crossing mechanism is used to make the inspection robot cross the cables on the ground of the construction site to avoid the inspection robot. During mobile inspections, the connecting cables of fire equipment on the ground are repeatedly crushed to avoid new safety hazards caused by inspection robots in fire-free zones.

Optionally, the driving mechanism is provided with two groups, and the two power wheels located at two opposite positions in the width direction of the installation chassis correspond to one group of the driving mechanism;

The driving mechanism includes a connecting sleeve rod. A driving motor and a differential are provided in the connecting sleeve rod. The output end of the driving motor is coaxially fixed with the input end of the differential. The differential The two output ends are respectively fixed with rotating shafts, and the two rotating shafts are respectively fixed to the two power wheels in one-to-one correspondence.

By adopting the above technical solution, the cooperation of the drive motor and the differential drives a set of power wheels in the width direction to rotate forward or realize the steering of the inspection robot, realizing the normal movement of the inspection robot and enabling the inspection robot to move to the construction site. Hot work is monitored at different locations on site.

Optionally, the obstacle overcoming mechanism includes a lifting link with one end fixed to the outer wall of the connecting sleeve rod. The lifting link moves up and down in a direction perpendicular to the installation chassis. The installation chassis is also provided with a useful The first lifting component that drives the lifting link to lift;

The obstacle overcoming mechanism also includes a lifting strut that is disposed in the middle of the installation chassis and rises and falls in a direction perpendicular to the installation chassis, and an auxiliary wheel that is disposed at the bottom end of the lifting strut. The installation chassis is also provided with a useful The second lifting component is used to drive the lifting support rod to rise and fall.

By adopting the above technical solution, when the inspection robot inspects the connecting cable, the second lifting component drives the lifting strut down to the auxiliary wheel to support it on the ground, and the first lifting component drives the lifting link to rise, thereby driving the connecting rod and the front wheel set (i.e., the two power wheels located at the front end of the inspection robot) connected to both ends of the set rod rise above the cable. At this time, the auxiliary wheels and the rear wheel set (i.e., the two power wheels located at the rear end of the inspection robot) are used In order to support the inspection robot, the driving motor drives the rear wheel set to rotate and then drives the inspection robot forward to the front wheel set across the connecting cable on the ground. At this time, the lifting strut drives the auxiliary wheel to rise and recover;

When the rear wheel set travels close to the connecting cable, the auxiliary wheels descend and the rear wheel set rises. At the same time, the front wheel set and the auxiliary wheels jointly drive the inspection robot forward, causing the rear wheel set to cross the connecting cable, thereby making the inspection robot move forward. The connecting cables that span the ground as a whole will not cause damage to the connecting cables on the ground during the inspection process.

Optionally, the first lifting assembly includes a first slide block slidably connected to the installation chassis along the width direction of the installation chassis, with a first connecting rod hinged on the first slide block, and the The other end of the first link is hinged to the lifting link; the mounting chassis is also provided with a linear drive component for driving the first slider to slide.

By adopting the above technical solution, when the linear drive assembly drives the first slider to move toward the lifting link along the width direction of the mounting chassis, the first slider drives the first connecting rod to rotate, and the first link in turn drives the lifting link to rise; when When the first slider moves in a direction away from the lifting link, the first connecting rod drives the lifting link to descend.

Optionally, a counterweight block is slidably provided on the installation chassis; a second connecting rod is hinged on one side of the first slider, and a third connecting rod is hinged on the other end of the second connecting rod, so The other end of the third link is hinged to the counterweight, and the mounting chassis is also provided with a guide structure for driving the third link to slide along the length direction of the mounting chassis.

By adopting the above technical solution, when the first slider moves toward the lifting link, the first slider drives the second link to rotate, and the second link rotates and then drives the third link to move along the mounting chassis under the action of the guide structure. Move in the length direction; specifically, when the first slider moves toward the lifting link, the lifting link rises, and the third link drives the counterweight block to move in the direction away from the lifting link, and the power wheel is adjusted by the counterweight block to hang in the air The center of gravity of the entire inspection robot is adjusted so that the two power wheels and auxiliary wheels used to support the inspection robot can more stably support the inspection robot when crossing the connecting cable.

Optionally, the lifting strut is a threaded rod; the second lifting component includes a worm gear rotatably connected to the mounting chassis, the rotation axis of the worm gear is perpendicular to the mounting chassis, and the lifting strut is threaded Connected throughout At the center of the worm gear, a worm is engaged and connected to one side of the worm gear. The lifting assembly also includes a guide member for limiting the rotation of the lifting support rod with the rotation of the worm gear and a worm driving member for driving the worm to rotate.

By adopting the above technical solution, the worm driving member drives the worm to rotate, which in turn drives the worm gear that is meshed with the worm gear to rotate. Under the action of the guide member, the lifting rod threadedly connected to the worm gear cannot rotate due to the rotation of the worm gear, and then under the action of the thread, Move along its axial direction to realize the lifting and lowering of the lifting support rod and auxiliary wheel.

Optionally, the linear drive assembly includes a slide rail fixed on the installation chassis and slidingly adapted to the first slide block. A threaded rotating rod is rotatably connected to the slide rail along its length direction, so The threaded rotating rod is threaded through the first slide block, and one end of the slide rail is also provided with a rotating rod driving member for driving the threaded rotating rod to rotate around its axial direction.

By adopting the above technical solution, the rotating rod driving member drives the threaded rotating rod to rotate. Due to the restriction of the first slide block by the rail wall of the slide rail, it is difficult for the first sliding block to rotate with the rotation of the threaded rotating rod, thereby causing the first slide block to rotate. Under the action of the thread, it moves along the length direction of the slide rail, thereby driving the lifting link to lift; at the same time, through the cooperation of the threaded rotating rod and the rotating rod driver, the sliding stroke of the first slide block can be compared with that driven by a cylinder or other means. Large, thereby increasing the lifting adjustment range of the lifting link.

Optionally, the lifting link is fixed with a chute along its length direction, and both ends of the chute are closed; a second slider is slidably connected to the chute, and the first link is One end away from the first slide block is hinged to the second slide block;

The starting end of the slide rail is also provided with a sensing component for monitoring the sliding state of the first slider; when the second slider slides to the top of the chute, the lifting strut drives the The auxiliary wheels descend until they touch the ground.

By adopting the above technical solution, when the first slide block moves toward the lifting link, the second slide block first moves along the chute until the second slide block slides to the top of the chute. At this time, the first slide block continues to move toward the lifting link. When the rod moves, the second slider drives the lifting link to rise; that is, adjusting the time when the second slider slides in the chute matches the time when the lifting support rod descends to the auxiliary wheel supporting the ground, so that the power wheel can be When it rises to leave the ground, the auxiliary wheel drops to be supported on the ground, so that the time for raising and lowering the driving wheel and the auxiliary wheel can be shortened to as small as possible; the sliding of the first slider is monitored through the induction component to drive the auxiliary wheel down in time. .

Optionally, the sensing component includes an infrared transmitter and an infrared receiver spaced apart along the length of the mounting chassis, and the infrared transmitter and the infrared receiver are arranged on both sides of the slide rail; The induction component also includes a controller, which is electrically connected to the infrared receiver and the rotating rod driving member.

By adopting the above technical solution, when the first slider is located at the starting end of the slide rail, the first slider is located between the infrared transmitter and the infrared receiver, and blocks the infrared rays emitted by the infrared transmitter. When the first slider starts When the first slide moves toward the lifting link and leaves the starting end of the slide rail, the infrared receiver can receive the light signal emitted by the infrared receiver and transmit the signal to the controller, which drives the rotating rod driver to start. , thereby driving the auxiliary wheels down.

Optionally, the lifting support rod is provided with a steering member for driving the auxiliary wheel to turn.

By adopting the above technical solution, the steering component controls the direction of the auxiliary wheels. After adjusting the direction of the auxiliary wheels, lower the auxiliary wheels and raise the front wheel set or the rear wheel set, so that the inspection robot can turn in the direction of the auxiliary wheels, which greatly improves the efficiency of the inspection robot. Flexibility of inspection robot movement.

To sum up, this application includes at least one of the following beneficial technical effects:

1. The obstacle-crossing mechanism is used to enable the inspection robot to cross the cables on the ground of the construction site to prevent the inspection robot from repeatedly running over the connecting cables of the ignition equipment on the ground during mobile inspections, thereby preventing the inspection robot from being prohibited from running. Fire zones bring new security All hidden dangers;

2. Use the counterweight to adjust the center of gravity of the inspection robot when the power wheels are suspended in the air, so that the two power wheels and auxiliary wheels used to support the inspection robot when crossing the connecting cable can support the inspection robot more stably;

3. Control the direction of the auxiliary wheels through the steering component. After adjusting the direction of the auxiliary wheels, lower the auxiliary wheels and raise the front or rear wheels, so that the inspection robot can turn in the direction of the auxiliary wheels, which greatly improves the efficiency of the inspection robot. Flexibility to move.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of an embodiment of the present application.

FIG. 2 is a schematic structural diagram mainly used to show the driving mechanism according to the embodiment of the present application.

Figure 3 is a schematic structural diagram mainly used to demonstrate the obstacle crossing mechanism according to the embodiment of the present application.

FIG. 4 is a schematic structural diagram from another angle mainly used to demonstrate the obstacle crossing mechanism according to the embodiment of the present application.

FIG. 5 is an enlarged schematic diagram of part A in FIG. 4 .

Reference signs: 1. Installation chassis; 111. Camera module; 112. PTZ module; 113. Environmental sensor module; 12. Remote control box pushing mechanism; 2. Power wheel; 3. Driving mechanism; 31. Connecting rod; 32 , drive motor; 33. differential; 34. rotating shaft; 4. obstacle crossing mechanism; 41. lifting link; 42. first lifting component; 421. first slider; 422. first connecting rod; 423. slide Rail; 424, threaded rotating rod; 425, rotating rod driving member; 43, lifting support rod; 44, auxiliary wheel; 45, second lifting component; 451, worm gear; 452, worm; 453, worm driving member; 454, guide Slot; 461, counterweight block; 462, second connecting rod; 463, third connecting rod; 464, guide rail; 471, chute; 472, second slide block; 473, pressure sensor; 481, infrared transmitter; 482 , Infrared receiver; 5. Steering motor.

Detailed ways

The present application will be further described in detail below in conjunction with Figures 1-5.

The embodiment of this application discloses an intelligent construction site fire inspection robot. Referring to Figure 1, the intelligent construction site security fire inspection robot includes an overall rectangular installation chassis 1, a motion module provided on the installation chassis 1 and used to drive the inspection robot to move, and a monitoring module mounted on the installation chassis 1.

The motion module includes four power wheels 2 that are respectively rotatably arranged at the four corners of the installation chassis 1, a driving mechanism 3 for driving the power wheels 2 to rotate, and a connecting cable for driving the power wheels 2 across the ground ignition equipment. The obstacle-crossing mechanism 4 is used to prevent the inspection robot from running over the connecting cables during the mobile inspection process, thereby avoiding new safety hazards during hot work.

Referring to Figures 1 and 2 in combination, in the embodiment of the present application, the two power wheels 2 located at the front end of the inspection robot are called front wheel sets, and the two power wheels 2 located at the rear end of the inspection robot are called rear wheel sets. There are two mechanisms 3, which drive the front wheel set and the rear wheel set in one-to-one correspondence.

Specifically, referring to Figure 2, the driving structure includes a connecting sleeve rod 31. The connecting sleeve rod 31 is a hollow square rod and its length direction is parallel to the width direction of the mounting chassis 1. A differential 33 is installed in the middle of the inner cavity of the connecting sleeve rod 31. , a drive motor 32 is fixedly connected to an outer wall of the connecting sleeve rod 31, and the driving motor 32 is coaxially fixed with the input end of the differential 33; the two output ends of the differential 33 point to the length direction of the connecting sleeve rod 31 respectively. Both ends of the differential 33 are coaxially fixed with rotating shafts 34, and the two ends of the two rotating shafts 34 that are far away from each other are coaxially fixed with the corresponding power wheels 2 respectively. The power wheel 2 can be driven to move through the cooperation of the drive motor 32 and the differential 33 .

Referring to Figures 3 and 4 in conjunction, the obstacle overcoming mechanism 4 in the embodiment of the present application includes a lifting link 41 and a first lifting component 42 for driving the lifting link 41 to rise and fall; the lifting link 41 vertically penetrates the mounting chassis 1 square rod, and one end of the lifting link 41 extends out of the mounting chassis 1 and is fixed to the side of the connecting sleeve rod 31 close to the mounting chassis 1. The first lifting component 42 drives the lifting link 41 to rise, which can drive the connecting sleeve rod 31 in turn. The two power wheels 2 corresponding to the connecting sleeve rod 31 rise.

The obstacle crossing mechanism 4 also includes a lifting strut 43 that is disposed through the center of the mounting chassis 1 and rises and falls in a direction perpendicular to the mounting chassis 1 and an auxiliary wheel 44 disposed at the bottom end of the lifting strut 43 . When the inspection robot travels in front of the connecting cable, the auxiliary wheels 44 are driven down to contact the ground, and then the front wheel set is driven to rise above the connecting cable. The inspection robot moves forward through the cooperation of the auxiliary wheels 44 and the rear wheel set. After the front wheel set has crossed the connecting cable, lower the front wheel set and raise the auxiliary wheels 44. Then when the inspection robot travels through the distance between the front wheel set and the rear wheel set, lower the auxiliary wheels 44 and raise the rear wheel set. Through the cooperation of the front wheel set and the auxiliary wheel 44, the rear wheel set can cross the connecting cable, so that the entire inspection robot can cross the connecting cable to avoid crushing the connecting cable.

Since the methods and structures of connecting cables across the front wheel set and the rear wheel set are the same in the embodiment of the present application, the front wheel set will be described as an example. Specifically, with reference to Figures 4 and 5, the first lifting assembly 42 includes a first slide block 421 that slides on the installation chassis 1 along the width direction of the installation chassis 1 and a first end hinged to the upper end surface of the first slide block 421. The connecting rod 422 , the rotation axis of the first connecting rod 422 is parallel to the length direction of the mounting chassis 1 , and the other end of the first connecting rod 422 is hinged to the lifting link 41 .

At this time, the first slider 421 is driven to move toward the lifting link 41. At the same time, the angle between the first link 422 and the mounting chassis 1 becomes larger, driving the lifting link 41 to rise, thereby lifting the front wheel set; therefore, the installation The chassis 1 is also provided with a linear drive assembly for driving the first slider 421 to slide.

Referring to Figure 5, the linear drive assembly includes a slide rail 423 fixed on the installation chassis 1 along the width direction of the installation chassis 1. The slide rail 423 is two L-shaped rails arranged oppositely. The slide block is in an inverted T shape, and its big end The head is slidably adapted to the slide rail 423, and the small head protrudes from the slide rail 423.

The linear drive assembly also includes a threaded rotating rod 424 with an axial direction parallel to the length direction of the slide rail 423. The threaded rotating rod 424 rotates around its axial direction, and the threaded rotating rod 424 threads through the first slide block 421, and the slide rail 423 is away from the lifting link. One end of the shaft 41 is also provided with a rotating rod driving member 425 for driving the threaded rotating rod 424 to rotate. The rotating rod driving member 425 may be a servo motor.

The rotating rod driver 425 drives the threaded rotating rod 424 to rotate, and the first slide block 421 is difficult to rotate axially around the threaded rotating rod 424 under the restriction of the L-shaped slide rail 423, and then moves along the length of the sliding rail 423 under the action of the thread. direction movement, driving the lifting link 41 and the front wheel set to lift. In order to make the lifting of the lifting link 41 more stable, the first lifting assembly 42 in the embodiment of the present application is provided with two groups, arranged on two opposite sides of the lifting link 41 .

At the same time, in order to realize the lifting and lowering of the lifting support rod 43, the mounting chassis 1 is also provided with a second lifting assembly 45. Specifically referring to Figure 4, the lifting support rod 43 is a threaded rod. The second lifting assembly 45 includes a worm gear 451 connected to the mounting chassis 1 for vertical rotation. The lifting support rod 43 is threaded through the center of the worm wheel 451. There are also worm gears 451 on the mounting chassis 1. The worm 452 is rotatably connected with the worm gear 451. The axial direction of the worm 452 is parallel to the length direction of the mounting chassis 1. The mounting chassis 1 is also fixed with a worm driving member 453 for driving the worm 452 to rotate around its axial direction; this application The worm driving member 453 in the embodiment may also be a servo motor, and the output end of the servo motor is coaxially fixed with the worm 452 .

The mounting chassis 1 is also provided with a guide member for limiting the rotation of the lifting strut 43 with the rotation of the worm wheel 451. Specifically, the guide member is a guide fixed on the mounting chassis 1 at the hole where the lifting strut 43 penetrates the mounting chassis 1. block (not shown in the figure), the arc side wall of the lifting strut 43 is provided with a guide groove 454 that is adapted to be inserted into the guide block. The guide groove 454 extends along the axial direction of the lifting strut 43 and in its extension direction. Both ends pass through the lifting support rod 43.

Under this arrangement, when the worm driving member 453 drives the worm 452 to rotate, the worm gear 451 rotates with the rotation of the worm 452, and the lifting support rod 43, with the cooperation of the guide block and the guide groove 454, is difficult to rotate with the rotation of the worm gear 451, and thus By moving along its own axial direction under the action of the thread, the lifting support rod 43 is raised and lowered, and the auxiliary wheel 44 is lowered and raised.

Continuing to refer to Figure 4, the auxiliary wheel 44 is a one-way wheel. The lower end of the lifting support rod 43 is fixed with a steering component for driving the auxiliary wheel 44 to turn. The steering component is the steering motor 5, and the output end of the steering motor 5 is fixed with a mounting plate. (Not shown in the figure), the auxiliary wheel 44 is installed on the side of the mounting plate away from the steering motor 5 . The angle of the auxiliary wheels 44 can be adjusted by driving the steering motor 5 to rotate. After the front wheel set or the rear wheel set is lifted, the rear wheel set or the front wheel set moves to drive the inspection robot to turn under the action of the auxiliary wheels 44, so that the inspection robot can turn. The robot's steering is more flexible.

Furthermore, when the front wheel set is raised, the entire vehicle weight of the inspection robot is supported by the auxiliary wheels 44 located in the middle of the mounting chassis 1 and the rear wheel set located at the rear end of the mounting chassis 1. The front end of the mounting chassis 1 is suspended in the air, which may cause the inspection robot to shake. .

Therefore, in order to enable the inspection robot to cross the connecting cable more stably, a counterweight block 461 is also slidably provided on the installation chassis 1 . Referring to Figures 4 and 5, a second link 462 is hingedly connected to the side of the first slider 421 close to the center of the mounting chassis 1. The rotation axis of the second link 462 is perpendicular to the mounting chassis 1, and the second link 462 is away from the first link 462. A third connecting rod 463 is hingedly connected to one end of a connecting rod 422 , and a counterweight 461 is fixed to an end of the third connecting rod 463 away from the second connecting rod 462 .

The mounting chassis 1 is also provided with a guide structure for driving the third link 463 to slide along the length direction of the mounting chassis 1. Specifically, there are two L-shaped guide rails 464 fixed to the mounting chassis 1 at intervals along the width direction of the mounting chassis 1. , the two opposite side walls of the third link 463 are provided with guide grooves that are slidingly adapted to one end of the L-shaped guide rail 464. The length direction of the guide groove is parallel to the length direction of the installation chassis 1, and the guide rail 464 is far away from the installation chassis 1. One end is slidably connected in the guide groove.

Under this setting, when the first slide block 421 is in the initial position away from the lifting link 41, the counterweight block 461 is located at the center of the mounting chassis 1; when the first slide block 421 slides toward the lifting link 41, the The second connecting rod 462 gradually rotates to be perpendicular to the threaded rotating rod 424, and at the same time drives the third connecting rod 463 to move toward the rear end of the mounting chassis 1, thereby moving the counterweight 461 to the rear end of the mounting chassis 1.

That is, when the front wheel set is raised, the counterweight block 461 corresponding to the front wheel set moves backward, causing the center of gravity of the inspection robot to move toward the rear end of the installation chassis 1, so that the auxiliary wheel 44 and the rear wheel set can support the installation more stably. Chassis 1; Referring to Figure 3, the counterweight block 461 corresponding to the rear wheel set and the counterweight block 461 corresponding to the front wheel set are centrally symmetrically arranged on the mounting chassis 1, that is, when the rear wheel set is lifted, the inspection robot's center of gravity is in front of Move so that the front wheel set and the auxiliary wheels 44 can better support the installation chassis 1.

Furthermore, when the inspection robot crosses the connecting cable, it must first lower the auxiliary wheels 44 to support the mounting chassis 1, and then raise the front wheel set or the rear wheel set to maintain the stability of the inspection robot itself.

Therefore, in order to optimize the timing of lowering the auxiliary wheel 44 and lifting the front wheel set/rear wheel set, with reference to Figures 4 and 5, the lifting link 41 is provided with an opening on the side close to the first link 422 along its length direction. T-shaped chute 471. Both ends of the chute 471 are closed. At the same time, the lifting link 41 slides in the chute 471 with a T-shaped second slide block 472. One end of the first link 422 away from the first slide block 421 is hinged to on the second slider 472.

When the first slider 421 is located at the initial position away from the lifting link 41, the second slider 472 is located at the lower end of the chute 471; under this setting, when the first slider 421 slides toward the lifting link 41, it will first The second slider 472 is driven to slide in the chute 471 until the second slider 472 slides to contact the end wall of the upper end of the chute 471. At this time, the first slider 421 continues to slide toward the lifting link 41. , just drove the lifting link 41 to rise, driving the front wheel set to rise.

At the same time, the starting end of the slide rail 423 is also provided with a sensing component for monitoring the sliding state of the first slider 421. The sensing component specifically includes infrared emitters 481 spaced apart in the length direction of the installation chassis 1 and relatively arranged on both sides of the slide rail 423. red The external receiver 482, the infrared transmitter 481 and the infrared receiver 482 are all located at the starting end of the slide rail 423, and when the first slider 421 is at the initial position, the first slider 421 blocks the infrared transmitter 481 and the infrared receiver. 482 rooms.

The sensing component also includes a controller (not shown in the figure), which is electrically connected to the infrared receiver 482 and the rotating rod driver 425 . When the first slider 421 slides toward the lifting link 41, the first slider 421 is no longer blocked between the infrared receiver 482 and the infrared transmitter 481, so that the infrared transmitter 481 can receive the signal sent by the infrared transmitter 481. , and transmits it to the controller, which drives the lifting support rod 43 to drive the auxiliary wheel 44 to descend.

Adjust the rotational speeds of the rotating rod driving member 425 and the worm driving member 453 so that when the second slide block 472 slides to contact the end wall of the chute 471, the auxiliary wheel 44 just contacts the ground, thereby lowering the auxiliary wheel 44 The time difference between the front wheel set and the lifting of the front wheel set is the shortest, which means that the inspection robot can take less time to cross the connecting cable.

Referring to Figure 4, in the embodiment of the present application, the rear wheel set is also provided with a corresponding sensing component. It should be noted that when the infrared receiver 482 corresponding to the front wheel set or the rear wheel set receives a signal, the auxiliary device can be activated. The wheels 44 are lowered to support the installation chassis 1.

Furthermore, in order to maintain the stability of the inspection robot during the lifting of the front/rear wheel set and the lowering of the auxiliary wheels 44, the lowering speed of the auxiliary wheels 44 should not be too fast. When the lowering of the auxiliary wheels 44 is completed, it needs to be lowered quickly. Lift the front/rear wheel set over the connecting cables.

Therefore, the groove wall at the top of the chute 471 is also embedded with a pressure sensor 473 that is electrically connected to the controller. At the same time, the controller is electrically connected to the rotating rod driving member 425; when the second slider 472 slides to drive the lifting link 41 When rising, the second slider 472 triggers the pressure sensor 473. At this time, the controller drives the rotating rod driving member 425 to accelerate rotation, and then after the auxiliary wheel 44 is lowered, the lifting speed of the front wheel set/rear wheel set is accelerated to reduce the inspection time. The robot’s obstacle crossing time.

Furthermore, due to the arrangement of the chute 471, when the front wheel set descends to contact the ground, the first slider 421 has not returned to the initial position. If the auxiliary wheel 44 continues to be controlled through the cooperation of the infrared transmitter 481 and the infrared receiver 482 The lifting time, that is, when the signal generated by the infrared transmitter 481 is blocked by the first slider 421 and then the auxiliary wheel 44 is driven to lift, a waste of time will occur.

Therefore, in the embodiment of the present application, when the pressure sensor 473 is no longer triggered by the second slider 472, that is, the front wheel set/rear wheel set drops to the original position, the controller immediately drives the auxiliary wheel 44 to lift, further shortening the inspection robot. obstacle crossing time.

The inspection robot realizes its own movement through the motion module, and uses the monitoring module to monitor the environment around the inspection robot during hot work. Looking back at Figure 1, the monitoring module includes a camera module 111, a pan/tilt module 112 and an environmental sensor module 113 mounted on the mounting chassis 1. The camera module 111 is connected to the mounting chassis 1 through the pan/tilt module 112.

The camera module 111 can include one or more of an ordinary camera, a thermal camera or a night vision camera to enable good monitoring of operations in different environments; the environmental sensor module is installed at the front of the car and can be configured according to actual conditions. Different combinations of environmental detection sensors, temperature sensors, gas sensors, and radar sensors are selected to assist in detecting the environment around the inspection robot.

At the same time, the environmental sensor module in this application includes a radar sensor, which can be used to monitor obstacles in front of the inspection robot, so that the inspection robot can overcome obstacles when the front wheel set moves in front of the connecting cable.

The inspection robot is also equipped with a remote control box push mechanism 12 for the staff to remotely drive the inspection robot to move, a GPS module for positioning the inspection robot, and a wireless transmission module for signal transmission to realize the control of the inspection robot. Cloud control enables inspection robots to be better used for intelligent inspections on construction sites.

The implementation principle of an intelligent construction site fire inspection robot in the embodiment of the present application is as follows: when the inspection robot travels to the connecting cable, the first slider 421 is driven to move toward the lifting link 41 through the rotating rod driver 425. in red at this time With the cooperation of the external transmitter 481 and the infrared receiver 482, the worm driving member 453 drives the auxiliary wheel 44 to descend. With the cooperation of the second slider 472 and the chute 471, when the auxiliary wheel 44 descends to contact the ground, the third A slider 421 then drives the lifting link 41 to lift above the connecting cable. At the same time, the counterweight 461 moves in the opposite direction to the 2 sets of lifted power wheels to adjust the overall center of gravity of the inspection robot. At this time, the auxiliary wheels 44 and the other set of The power wheel 2 can drive the inspection robot forward to the raised power wheel set 2 to cross the connecting cable; through the cooperation of the second slider 472 and the pressure sensor 473, the time for the inspection robot to cross the connecting cable is further shortened.

The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application shall be covered by the scope of protection of the present application. Inside.

Claims

An intelligent construction site security fire inspection robot, characterized by: including an installation chassis (1), the installation chassis (1) is provided with a monitoring module for monitoring the surrounding environment of the robot and a motion for driving the robot to move module;

The motion module includes four power wheels (2) that are rotated one by one at the four corners of the mounting chassis (1) and a driving mechanism (3) for driving the power wheels (2) to move. It also includes an obstacle crossing mechanism (4) for driving the power wheel (2) to cross the ground cable.
The intelligent construction site security fire inspection robot according to claim 1, characterized in that: the driving mechanism (3) is provided with two groups, and the two said driving mechanisms (3) are located at two opposite positions in the width direction of the installation chassis (1). The power wheel (2) corresponds to a set of the driving mechanisms (3);

The driving mechanism (3) includes a connecting rod (31). A driving motor (32) and a differential (33) are provided in the connecting rod (31). The output end of the driving motor (32) is connected to the connecting rod (31). The input end of the differential (33) is coaxially fixed, and the two output ends of the differential (33) are respectively fixed with rotating shafts (34), and the two rotating shafts (34) correspond to each other one by one. Fixed to the two power wheels (2).
The intelligent construction site security fire inspection robot according to claim 2, characterized in that the obstacle crossing mechanism (4) includes a lifting link (41) with one end fixed to the outer wall of the connecting rod (31). , the lifting link (41) rises and falls in a direction perpendicular to the mounting chassis (1), and the mounting chassis (1) is also provided with a first lifting component for driving the lifting link (41) to rise and fall. (42);

The obstacle crossing mechanism (4) also includes a lifting strut (43) disposed in the middle of the installation chassis (1) and rising and falling in a direction perpendicular to the installation chassis (1), and a lifting strut (43) disposed on the lifting strut (1). 43) The auxiliary wheel (44) at the bottom, the mounting chassis (1) is also provided with a second lifting assembly (45) for driving the lifting support rod (43) to rise and fall.
The intelligent construction site security fire inspection robot according to claim 3, characterized in that: the first lifting component (42) includes a component that is slidably connected to the installation chassis (1) along the width direction of the installation chassis (1). 1) on the first slider (421), a first connecting rod (422) is hinged on the first slider (421), and the other end of the first connecting rod (422) is hinged on the lifting link. Rod (41); the mounting chassis (1) is also provided with a linear drive assembly for driving the first slider (421) to slide.
The intelligent construction site security fire inspection robot according to claim 4, characterized in that: a counterweight block (461) is slidably provided on the installation chassis (1); and one of the first slider (421) A second link (462) is hinged to the side, a third link (463) is hinged to the other end of the second link (462), and the other end of the third link (463) is hinged to the fitting. Weight (461), the mounting chassis (1) is also provided with a guide structure for driving the third link (463) to slide along the length direction of the mounting chassis (1).
The intelligent construction site security fire inspection robot according to any one of claims 4-5, characterized in that: the lifting support rod (43) is a threaded rod; the second lifting component (45) includes a rotating connection On the worm gear (451) on the mounting chassis (1), the rotation axis of the worm gear (451) is perpendicular to the mounting chassis (1), and the lifting rod (43) is threadedly connected to the worm gear (451). At the center of 451), a worm (452) is engaged and connected to one side of the worm wheel (451). The lifting assembly also includes a guide member for restricting the rotation of the lifting support rod (43) with the rotation of the worm wheel (451). A worm drive (453) used to drive the worm (452) to rotate.
The intelligent construction site security fire inspection robot according to claim 6, characterized in that: the linear drive assembly includes a component that is fixed on the installation chassis (1) and is adapted to slide with the first slider (421). The slide rail (423) is equipped with a threaded rotating rod (424) that is rotatably connected to the slide rail (423) along its length direction. The threaded rotating rod (424) is threaded through the first slide block (421). , one end of the slide rail (423) is also provided with a device for driving the threaded rotating rod (424) around its axial direction. Rotating lever drive (425).
The intelligent construction site security fire inspection robot according to claim 7, characterized in that: the lifting link (41) is fixedly connected with a chute (471) along its length direction, and the chute (471) Both ends are closed; a second slider (472) is slidably connected to the chute (471), and one end of the first connecting rod (422) away from the first slider (421) is hinged to the second slider(472);

The starting end of the slide rail (423) is also provided with a sensing component for monitoring the sliding state of the first slider (421); when the second slider (472) slides to the slide groove (471 ) at the top, the lifting rod (43) drives the auxiliary wheel (44) to descend to contact the ground.
The intelligent construction site security fire inspection robot according to claim 8, characterized in that: the sensing component includes an infrared transmitter (481) and an infrared receiver (482) spaced along the length of the installation chassis (1). ), and the infrared transmitter (481) and the infrared receiver (482) are arranged on both sides of the slide rail (423); the sensing component also includes a controller, and the controller is connected to the infrared receiver. The receiver (482) and the rotating rod driving member (425) are electrically connected.
The intelligent construction site security fire inspection robot according to claim 3, characterized in that: the lifting support rod (43) is provided with a steering member for driving the auxiliary wheel (44) to turn.