CN114179110A - Inspection robot - Google Patents
Inspection robot Download PDFInfo
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- CN114179110A CN114179110A CN202111676753.0A CN202111676753A CN114179110A CN 114179110 A CN114179110 A CN 114179110A CN 202111676753 A CN202111676753 A CN 202111676753A CN 114179110 A CN114179110 A CN 114179110A
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- 238000007689 inspection Methods 0.000 title claims abstract description 42
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 238000004891 communication Methods 0.000 claims abstract description 6
- 238000004880 explosion Methods 0.000 claims description 11
- 238000013016 damping Methods 0.000 claims description 7
- 230000003139 buffering effect Effects 0.000 claims description 6
- 239000000725 suspension Substances 0.000 claims description 4
- 230000007306 turnover Effects 0.000 claims description 4
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 230000000116 mitigating effect Effects 0.000 claims 1
- 238000012423 maintenance Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 9
- 239000007789 gas Substances 0.000 description 8
- 230000004888 barrier function Effects 0.000 description 5
- 230000001276 controlling effect Effects 0.000 description 4
- 241000237983 Trochidae Species 0.000 description 3
- 238000013461 design Methods 0.000 description 3
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- RWSOTUBLDIXVET-UHFFFAOYSA-N Dihydrogen sulfide Chemical compound S RWSOTUBLDIXVET-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a patrol robot, which comprises: an explosion-proof chassis having a plurality of drive wheels thereon; the explosion-proof driving module is arranged on the explosion-proof chassis, is connected with the driving wheels and is used for driving each driving wheel to independently act; the base module is detachably arranged on the explosion-proof chassis, is coupled with the explosion-proof driving module and is used for providing electric energy, navigation and communication functions for the inspection robot; and the detection module is detachably installed on the explosion-proof chassis, is coupled with the basic module and is used for detecting the gas concentration and the temperature and humidity in the working environment. But this inspection robot quick replacement functional module, independently patrol and examine, have excellent obstacle performance, easy and simple to handle, the maintenance of being convenient for.
Description
Technical Field
The invention relates to the field of robot equipment, in particular to an explosion-proof inspection robot applied to a multi-scene complex environment.
Background
The equipment inspection is the safe production in the storage area, and is a very important work in the equipment maintenance. Due to the complexity and danger of the reservoir environment, oil transportation station personnel are required to perform patrol inspections on the reservoir environment at regular intervals.
At present, some wheel type inspection robots have application cases in China, but the wheel type inspection robots have single functions and can only be used in specific working scenes, when the robots break down, the functional modules cannot be replaced quickly, and the maintenance cost is high. Therefore, the inspection robot which combines independent explosion prevention and integral explosion prevention of each function module in a highly integrated manner under a multi-scene complex environment is provided. But quick replacement functional module, independently patrol and examine, have excellent obstacle performance, easy and simple to handle, the single multi-functional explosion-proof robot of patrolling and examining of body of being convenient for maintain is very necessary.
Disclosure of Invention
The technical purpose can be achieved by adopting the following technical characteristics, and other multiple technical effects are brought.
The invention provides a patrol robot, which comprises:
an explosion-proof chassis having a plurality of drive wheels thereon;
the explosion-proof driving module is arranged on the explosion-proof chassis, is connected with the driving wheels and is used for driving each driving wheel to independently act;
the base module is detachably arranged on the explosion-proof chassis, is coupled with the explosion-proof driving module and is used for providing electric energy, navigation and communication functions for the inspection robot;
and the detection module is detachably installed on the explosion-proof chassis, is coupled with the basic module and is used for detecting the gas concentration and the temperature and humidity in the working environment.
In addition, the inspection robot according to the present invention may further have the following technical features:
in one example of the present invention, the explosion proof chassis includes:
the body part is of a frame structure, and the detection module is installed on the body part;
a base housing part connected to a lower end of the body part, the base module being mounted on the base housing part.
In one example of the present invention, the body part includes:
at least two transverse bars arranged at intervals in the longitudinal direction and extending in the transverse direction;
at least two longitudinal bars arranged at intervals in the transverse direction and extending in the longitudinal direction, and the longitudinal bars are fixedly coupled with the transverse bars.
In one example of the present invention, the method further comprises: a collision avoidance module, comprising:
the safety beam is telescopically connected to the front end and/or the rear end of the explosion-proof chassis;
and the flexible element is coupled between the safety beam and the explosion-proof chassis and used for buffering the impact force of the outside on the safety beam.
In one example of the present invention, the flexible element comprises: one of the compression spring, the elastic sheet and the rubber piece.
In one example of the present invention, the explosion-proof driving module includes:
a plurality of hub motors;
the steering motors correspond to the hub motors one by one, are connected between the explosion-proof chassis and the hub motors and are used for driving the hub motors correspondingly connected with the steering motors to steer;
wherein the steering motor is arranged along a longitudinal direction.
In one example of the present invention, the explosion-proof driving module further includes:
the driver is coupled with the hub motor and is used for controlling the hub motor to rotate forwards, turn over and stop; the steering control device is coupled with the steering motor and used for controlling the hub motor to rotate by taking the joint of the hub motor and the steering motor as a central axis and taking the distance between the hub motor and the joint as a radius.
In one example of the present invention, the explosion-proof driving module further includes:
and the damping suspension is arranged between the hub motor and the steering motor and used for buffering the impact force between the inspection robot and the ground.
In one example of the present invention, the method further comprises: an intelligent pan-tilt head is provided,
the system is connected to the explosion-proof chassis and is used for statically shooting an instrument or valve image at a mark point and extracting a target object, and the target object adopting color indication can be extracted, and color recording and uploading can be judged.
In one example of the present invention, the method further comprises: a lifting platform is arranged on the base, a lifting platform is arranged on the lifting platform,
one end of the intelligent cloud platform is fixedly connected to the explosion-proof chassis, and the other end of the intelligent cloud platform is connected with the intelligent cloud platform and used for lifting or lowering the height of the intelligent cloud platform in the height direction.
The following description of the preferred embodiments for carrying out the present invention will be made in detail with reference to the accompanying drawings so that the features and advantages of the present invention can be easily understood.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments of the present invention will be briefly described below. Wherein the drawings are only for purposes of illustrating some embodiments of the invention and are not to be construed as limiting the invention to all embodiments thereof.
Fig. 1 is a perspective view of an inspection robot according to an embodiment of the present invention;
fig. 2 is a perspective view of the inspection robot structure according to the embodiment of the invention (with the top shell part hidden);
fig. 3 is a top view of an inspection robot configuration (with the top shell portion removed) according to an embodiment of the present invention;
reference numerals:
an inspection robot 100;
an explosion proof chassis 110;
a body portion 111;
a transverse bar 1111;
a longitudinal rod 1112;
a base portion 112;
a top case portion 113;
an explosion-proof driving module 120;
a base module 130;
a detection module 140;
an intelligent pan-tilt 150;
a lift platform 160;
the collision avoidance module 170.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of specific embodiments of the present invention. Like reference symbols in the various drawings indicate like elements. It should be noted that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the description and claims of the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not necessarily denote a limitation of quantity. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
An inspection robot 100 according to the present invention, as shown in fig. 1 to 3, includes:
the explosion-proof chassis 110 is provided with a plurality of driving wheels;
the explosion-proof driving module 120 is installed on the explosion-proof chassis 110, is connected with the driving wheels, and is used for driving each driving wheel to independently act;
a base module 130 detachably mounted on the explosion-proof chassis 110, coupled to the explosion-proof driving module 120, and configured to provide electric energy, navigation and communication functions for the inspection robot 100;
the detection module 140 is detachably mounted on the explosion-proof chassis 110, is coupled to the base module 130, and is configured to detect gas concentration and temperature and humidity in a working environment;
the explosion-proof driving module 120 is controlled by the basic module 130 to drive the inspection robot 100 to execute corresponding actions, and the inspection robot 100 can execute flexible obstacle crossing actions through the independent cooperative control of four-wheel rotating speed and steering in a four-wheel-drive independent steering mode; meanwhile, the detection module 140 detects the gas concentration and the temperature and humidity of the reservoir area in real time, and the robot is of a modular structure, so that the functional module can be quickly replaced, autonomous inspection can be realized, the barrier crossing performance is excellent, the operation is simple and convenient, and the maintenance is convenient.
The explosion-proof wheel type inspection robot 100 is characterized in that an explosion-proof body module is of a frame-skin structure form, the robot is completely based on a modular design concept, the explosion-proof design of the robot is entirely based on an explosion-proof form by arranging a universal electromechanical integrated quick-change interface, an explosion-proof design scheme of a key component unit is adopted, and a part of explosion-proof structures are matched with a part of intrinsic safety explosion-proof devices for selection, and meanwhile, the part of explosion-proof structures are fused with a positive pressure explosion-proof scheme;
based on different operation requirements of obstacle crossing and function modules, the layout is optimized, the overall structure of the robot is designed in a layered mode, and basic modules of the robot, such as a battery, a dustproof charging module, a navigation positioning module, a communication module and the like, are arranged on the lowest portion of a vehicle body. Through general mechatronic quick change interface, but arrange the functional module of quick replacement, plug-and-play, such as gas sensor, temperature and humidity sensor, laser radar on automobile body upper portion.
In one example of the present invention, the explosion proof chassis 110 includes:
a body 111 having a frame structure, wherein the detection module 140 is mounted on the body 111;
a base housing part 112 connected to a lower end of the body part 111, the base module 130 being mounted on the base housing part 112;
the weight of the explosion-proof chassis 110 can be greatly reduced by designing the body part 111 as a frame structure, so that the flexibility of movement thereof is improved, and the base shell part 112 is connected to the body part 111, so that the body part 111 and components installed in the body part 111 are protected; of course, the top shell 113 is covered on the main body 111, so as to protect the main body 111 and its related components.
In one example of the present invention, the body part 111 includes:
at least two transverse rods 1111 arranged at intervals in the longitudinal direction and extending in the transverse direction;
at least two longitudinal bars 1112 arranged at intervals in the transverse direction and extending in the longitudinal direction, and the longitudinal bars 1112 are fixedly coupled with the transverse bars 1111;
the body part 111 can be more light-weighted through the structure, and the structure is simple and convenient to process; furthermore, the frame structure can divide the body 111 into a plurality of functional areas, and each functional area can be installed with a specific component, so that the internal structural layout of the inspection robot 100 is clearer.
In one example of the present invention, the method further comprises: a collision avoidance module 170 comprising:
a safety beam telescopically connected to the front end and/or the rear end of the explosion-proof chassis 110;
a flexible member coupled between the safety beam and the explosion-proof chassis 110 for buffering an impact force from the outside to the safety beam;
through the arrangement of the anti-collision module 170, when the inspection robot 100 collides with the outside, the impact force between the inspection robot and the robot is greatly reduced, so that the inspection robot 100 is protected.
In one example of the present invention, the flexible element comprises: one of the compression spring, the elastic sheet and the rubber piece.
In one example of the present invention, the explosion-proof driving module 120 includes:
a plurality of hub motors;
the steering motors correspond to the hub motors one by one, are connected between the explosion-proof chassis 110 and the hub motors, and are used for driving the hub motors correspondingly connected with the steering motors to steer;
wherein the steering motors are arranged along a longitudinal direction;
that is to say, patrolling and examining robot 100 by in-wheel motor drive and advancing or retreat, and can realizing turning to of each in-wheel motor by turning to the motor, can energy-conserving nimble accurate the turning to of ability in the advancing process of can simulating the digit under different operating modes to accurate following predetermine route of patrolling and examining, robot possesses zero turning radius simultaneously, can realize 360 pivot turning under the special circumstances.
In an example of the present invention, the explosion-proof driving module 120 further includes:
the driver is coupled with the hub motor and is used for controlling the hub motor to rotate forwards, turn over and stop; the steering control device is coupled with the steering motor and used for controlling the hub motor to rotate by taking the connecting part of the hub motor and the steering motor as a central axis and taking the distance between the hub motor and the connecting part as a radius;
in short, the driver is a control center of the hub motor and controls the hub motor to rotate forwards, turn over and stop.
In an example of the present invention, the explosion-proof driving module 120 further includes:
a damping suspension, which is disposed between the in-wheel motor and the steering motor, for buffering an impact force between the inspection robot 100 and the ground;
the damping suspension is matched with the local deformation of the tire with adjustable tire pressure and the shock absorption effect of a shock absorption element arranged at a key part so as to passively filter the excitation of an uneven road surface; preferably, an active damping mechanism is further installed in the inspection robot 100, and the active damping mechanism is that an active damping device is arranged at a vibration sensitive component of the robot, for example, a three-dimensional gyroscope is arranged in a camera holder, and by detecting vibration quantities of all directions of the camera holder in real time, three-degree-of-freedom rotation angles of the camera holder are dynamically and actively adjusted, and meanwhile, an image stabilization is ensured by combining an image stabilization algorithm.
In one example of the present invention, the method further comprises: the intelligent cloud deck 150 is provided with a cloud deck,
the system is connected to the explosion-proof chassis 110 and is used for statically shooting an instrument or valve image at a mark point and extracting a target object, and extracting the object and judging color recording and uploading the object adopting color indication;
the infrared thermal imaging detector and the visible light and starlight level high-definition camera carried by the intelligent cloud deck 150 can be used for statically shooting instrument or valve images at a mark point and extracting target objects, objects adopting color indication, such as signal lamps and the like, can be extracted, color recording and uploading can be judged, and the camera can be used as visual assistance during background intervention remote control.
In one example of the present invention, the method further comprises: the lifting platform 160 is moved up and down,
one end of the intelligent cloud platform is fixedly connected to the explosion-proof chassis 110, and the other end of the intelligent cloud platform is connected to the intelligent cloud platform and used for lifting or lowering the height of the intelligent cloud platform 150 in the height direction;
the lifting platform 160 is a three-stage tandem type lifting platform 160 which drives the intelligent cradle head 150 to lift and is arranged on the explosion-proof chassis 110, and a driving device push rod motor of the lifting rod is arranged in the explosion-proof body module to form an explosion-proof mechanism meeting the explosion-proof requirement; the driving device is connected with the lifting rod of the three-stage serial lifting platform 160 to drive the lifting rod to perform telescopic action. The omnibearing intelligent cradle head 150 is installed on the top end of the three-stage series lifting platform 160 and meets the explosion-proof requirement, and the omnibearing intelligent cradle head ascends and descends along with the lifting rod of the three-stage series lifting platform 160. The two ends of the platform are respectively provided with a travel limit switch push rod motor which can automatically power off when running to the bottom or after reaching the top, so that the motor is protected from idling and burning.
The explosion-proof charging module is used for meeting the safety requirements of the battery in the charging, discharging, storage and transportation states, and the battery is designed to be single explosion-proof. The lithium battery pack power management system (BMS) adopts a centralized management BMS and mainly comprises a main control unit (CMU) and a plurality of monitoring units (BMU). The BMU detects and equally manages the voltage and temperature of the battery module, and transmits data to the CMU. The CMU detects the total voltage, the total current and the insulation degree of the lithium battery pack, is responsible for communicating with a robot control system and a charger, and protects the charging and discharging of the battery pack. The robot interface that charges utilizes the public head of super-large-scale special-shaped conical surface, increase and fill electric pile area of contact, is convenient for charge, and the robot body adopts flexible dustproof construction protection interface that charges.
And the multi-sensor fusion system is used for acquiring real-time wind speed and wind direction data of a working site. The explosion-proof four-in-one gas detector is fixedly arranged at the front part of the robot in an externally hanging mode, so that the influence of medium flow field turbulence can be avoided, and harmful gases such as oil gas, hydrogen sulfide, combustible gas and the like around the robot in the process of advancing can be accurately detected in time. The environment information acquisition module is connected with the data acquisition module, and is transmitted to the remote control end through the communication module after being processed by the industrial personal computer. The cloud configuration platform can be provided by matching with the RTU of a person, a configuration interface can be configured by the mobile phone according to the field situation, and the mobile phone can check data and give an alarm at any time.
Safety beam is installed to safety protection module, the front and back end of robot 100 patrols and examines, and inside contains array ultrasonic sensor and realizes keeping away the barrier and detect, and fixed camera compensation cloud platform camera field blind area forms binocular vision simultaneously. The flexible element is arranged to realize buffering, emergency stop and passive safety protection. Through accomplishing the detection achievement of place ahead barrier jointly with ultrasonic sensor cooperation, patrol and examine robot 100 and handle through keeping away the information that the barrier was gathered to laser radar etc. can judge automatically whether the distance of patrolling and examining between robot 100 and the equipment at present is greater than safe distance, otherwise the robot can send out the police dispatch newspaper and independently keep away the barrier, realizes the initiative safety protection of robot.
The exemplary embodiment of the inspection robot 100 proposed by the present invention has been described in detail with reference to the preferred embodiments, however, it will be understood by those skilled in the art that various modifications and changes may be made to the above specific embodiments and various combinations of the technical features and structures proposed by the present invention may be made without departing from the concept of the present invention, and the scope of the present invention is determined by the appended claims.
Claims (10)
1. An inspection robot, comprising:
an explosion proof chassis (110), the explosion proof chassis (110) having a plurality of drive wheels thereon;
the explosion-proof driving module (120) is arranged on the explosion-proof chassis (110), is connected with the driving wheels and is used for driving each driving wheel to independently act;
the base module (130) is detachably mounted on the explosion-proof chassis (110), is coupled with the explosion-proof driving module (120), and is used for providing electric energy, navigation and communication functions for the inspection robot;
and the detection module (140) is detachably mounted on the explosion-proof chassis (110), is coupled with the base module (130), and is used for detecting the gas concentration and the temperature and humidity in the working environment.
2. The inspection robot of claim 1,
the explosion proof chassis (110) comprises:
the body part (111) is of a frame structure, and the detection module (140) is installed on the body part (111);
a base housing part (112) connected to a lower end of the body part (111), the base module (130) being mounted on the base housing part (112).
3. The inspection robot of claim 2,
the body part (111) includes:
at least two transverse bars (1111) arranged at intervals in the longitudinal direction and extending in the transverse direction;
at least two longitudinal bars (1112) arranged at intervals in the transverse direction and extending in the longitudinal direction, and the longitudinal bars (1112) are fixedly coupled with the transverse bars (1111).
4. The inspection robot of claim 1,
further comprising: a collision avoidance module (170) comprising:
the safety beam is telescopically connected to the front end and/or the rear end of the explosion-proof chassis (110);
a flexible element coupled between the safety beam and the explosion proof chassis (110) for mitigating an impact force of an exterior to the safety beam.
5. The inspection robot of claim 4,
the flexible element comprises: one of the compression spring, the elastic sheet and the rubber piece.
6. The inspection robot of claim 1,
the explosion-proof driving module (120) includes:
a plurality of hub motors;
the steering motors correspond to the in-wheel motors one by one, are connected between the anti-explosion chassis (110) and the in-wheel motors and are used for driving the in-wheel motors correspondingly connected with the anti-explosion chassis to steer;
wherein the steering motor is arranged along a longitudinal direction.
7. The inspection robot of claim 6,
the explosion-proof driving module (120) further comprises:
the driver is coupled with the hub motor and is used for controlling the hub motor to rotate forwards, turn over and stop; the steering control device is coupled with the steering motor and used for controlling the hub motor to rotate by taking the joint of the hub motor and the steering motor as a central axis and taking the distance between the hub motor and the joint as a radius.
8. The inspection robot of claim 1,
the explosion-proof driving module (120) further comprises:
and the damping suspension is arranged between the hub motor and the steering motor and used for buffering the impact force between the inspection robot and the ground.
9. The inspection robot of claim 1,
further comprising: an intelligent pan-tilt (150),
the device is connected to the explosion-proof chassis (110) and is used for statically shooting an instrument or valve image at a mark point and extracting a target object, and the object adopting color indication can be extracted, and color recording and uploading can be judged.
10. The inspection robot of claim 9,
further comprising: a lifting platform (160),
one end of the intelligent cloud platform is fixedly connected to the explosion-proof chassis (110), and the other end of the intelligent cloud platform is connected with the intelligent cloud platform and used for lifting or lowering the height of the intelligent cloud platform (150) in the height direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111676753.0A CN114179110A (en) | 2021-12-31 | 2021-12-31 | Inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111676753.0A CN114179110A (en) | 2021-12-31 | 2021-12-31 | Inspection robot |
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| Publication Number | Publication Date |
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| CN114179110A true CN114179110A (en) | 2022-03-15 |
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| CN202111676753.0A Pending CN114179110A (en) | 2021-12-31 | 2021-12-31 | Inspection robot |
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