CN118219229A - Fault self-positioning explosion-proof inspection robot - Google Patents
Fault self-positioning explosion-proof inspection robot Download PDFInfo
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- CN118219229A CN118219229A CN202410646960.9A CN202410646960A CN118219229A CN 118219229 A CN118219229 A CN 118219229A CN 202410646960 A CN202410646960 A CN 202410646960A CN 118219229 A CN118219229 A CN 118219229A
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Abstract
The invention discloses a fault self-positioning explosion-proof inspection robot which comprises a driving base, an obstacle avoidance assembly, an inspection bracket and an inspection probe, wherein the driving base is provided with a driving base; the driving base is used for bearing the obstacle avoidance assembly, the inspection support and the inspection probe and driving the inspection support to carry out omnibearing inspection detection in an inspection area; the obstacle avoidance assembly is arranged on the driving base, and is used for detecting the distribution condition of obstacles in the area around the driving base and transmitting the distribution condition to the control system of the driving base; the inspection support is arranged at the top of the driving base and is used for driving the inspection probe to reciprocate in the horizontal direction and the vertical direction; the inspection probe is arranged at the end part of the inspection probe, and the inspection probe performs omnibearing inspection detection on an inspection area through the driving of the inspection support. The invention can carry out inspection detection on the inspection area in an omnibearing way, effectively reduces the safety risk brought by the inspection detection blind area and greatly improves the accuracy of the inspection result of the inspection robot.
Description
Technical Field
The invention relates to the field of inspection robots, in particular to a fault self-positioning explosion-proof inspection robot.
Background
The inspection robot is an automatic device and is mainly used for replacing manual periodic inspection and monitoring of a specific area or facility. They are typically equipped with sensors, cameras, control systems, etc., capable of performing tasks in various environments, such as power inspection, petrochemical inspection, substation inspection, etc. The development of intelligent inspection robots is gradually changing the traditional inspection mode, improving efficiency and safety through automation, reducing cost and being applied in a plurality of industries. With the continuous progress of technology, these robots are expected to play a more important role in future industrial inspection.
The explosion-proof inspection robot is an intelligent robot specially designed for dangerous environments such as inflammable and explosive environments, and can conduct automatic inspection work in places where inflammable and explosive substances exist, such as petroleum, chemical industry, coal mines, pipe galleries and the like. The development of the explosion-proof inspection robot has important significance for improving the safety production level of high-risk industries, and the safety of inspection work is improved by reducing the exposure of personnel in dangerous environments, and the inspection efficiency and accuracy are improved by an automation technology. With the continuous progress of technology and the increase of market demands, it is expected that the explosion-proof inspection robot will play an important role in future industrial safety inspection.
At present, an inspection probe of an explosion-proof inspection robot is generally installed at the top of a robot main body, and in the process of performing explosion-proof inspection, the inspection probe performs 360-degree rotation inspection in the horizontal plane direction. As shown in fig. 1, since the inspection probe has a certain height from the bottom surface, when the inspection robot approaches the inspection equipment, an inspection blind area exists at the bottom of the inspection equipment, and a certain potential safety hazard exists.
Disclosure of Invention
The invention aims to provide a fault self-positioning explosion-proof inspection robot so as to realize the omnibearing inspection of an inspection area, reduce inspection blind areas and reduce inspection potential safety hazards.
In order to solve the technical problems, the invention provides a fault self-positioning explosion-proof inspection robot, which comprises a driving base, an obstacle avoidance assembly, an inspection bracket and an inspection probe;
The driving base is used for bearing the obstacle avoidance assembly, the inspection support and the inspection probe and driving the inspection support to carry out omnibearing inspection detection in an inspection area;
The obstacle avoidance assembly is arranged on the driving base, and is used for detecting the distribution condition of obstacles in the area around the driving base and transmitting the distribution condition to the control system of the driving base;
the inspection support is arranged at the top of the driving base and is used for driving the inspection probe to reciprocate in the horizontal direction and the vertical direction;
The inspection probe is arranged at the end part of the inspection support, and the inspection probe performs omnibearing inspection detection on an inspection area through the driving of the inspection support.
Further, the driving base comprises a frame body, travelling wheels, a travelling driving piece and a control module;
the travelling wheel is movably arranged on the frame body and is used for driving the frame body to move in a patrol area;
The travelling driving piece is arranged on the frame body and is in transmission connection with the travelling wheel, and the driving piece is used for driving the travelling wheel to turn and rotate;
The control module is electrically connected with the driving piece, and the control module controls the motion state of the travelling wheel through the driving piece according to a control instruction.
Further, the robot electric component charging system further comprises a power module, wherein the power module is used for supplying electric energy to the robot electric component and is provided with a charging interface.
Further, the obstacle avoidance assembly is provided with a plurality of groups, the obstacle avoidance assemblies are distributed on the peripheral side walls of the frame body, the obstacle avoidance assembly adopts an infrared sensor, and the infrared sensor is electrically connected with the control module.
Further, the inspection support comprises a mounting frame, a guide rail cover, a driving seat and a mounting rod;
the guide rail cover is fixedly arranged on the mounting frame, is in a spherical shape with an opening at the top, and is provided with a high-low fluctuation guide boss;
the driving seat is rotatably arranged at the bottom of the guide rail cover, a driving piece is arranged on the driving seat in a transmission way, and the driving piece is arranged on the mounting frame;
The installation rod is rotatably installed on the driving seat, a positioning sleeve is slidably installed on the installation rod along the length direction of the installation rod, and the positioning sleeve is slidably connected along the surface of the guide boss.
Further, the driving piece comprises a driving motor and a worm and gear assembly;
The driving motor is fixedly arranged on the mounting frame and is used for driving the driving seat to rotate;
The input end of the worm and gear assembly is connected with the driving motor, and the output end of the worm and gear assembly is in transmission connection with the driving seat.
Further, the driving motor adopts a servo motor.
Further, a positioning groove synchronous with the guide boss is formed in the side wall of the guide rail cover, a positioning column is slidably arranged in the positioning groove, and the positioning column is fixedly arranged on the positioning sleeve.
Furthermore, a linear bearing is arranged on the inner wall of the positioning sleeve, and the inner ring of the linear bearing is in sliding contact with the outer side wall of the mounting rod.
Furthermore, one end of the mounting rod, which is close to the driving seat, is positioned at the spherical center of the guide rail cover, and the radial direction of the mounting rod is consistent with that of the guide rail cover in the moving process.
Compared with the prior art, the invention has at least the following beneficial effects:
The inspection probe can synchronously move in the horizontal direction and the vertical direction, so that the inspection probe can carry out comprehensive inspection and detection work on inspection areas at different horizontal positions and different heights, and can carry out comprehensive inspection and detection on inspection equipment when a robot approaches the inspection equipment, thereby greatly reducing inspection and detection blind areas and effectively improving the accuracy of inspection results of the inspection robot.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a fault self-positioning explosion-proof inspection robot;
FIG. 2 is a schematic diagram of a track cover structure of the fault self-positioning explosion-proof inspection robot;
Fig. 3 is a schematic diagram of a positioning sleeve mounting structure of the fault self-positioning explosion-proof inspection robot.
Reference numerals: 1.a frame body; 2. a walking wheel; 3. a control module; 4. an obstacle avoidance assembly; 5. a travel drive; 6. a mounting frame; 7. a guide rail cover; 8. a driving seat; 9. a mounting rod; 10. a positioning sleeve; 11. a guide boss; 12. a driving motor; 13. a worm gear assembly; 14. a positioning groove; 15. positioning columns; 16. and inspecting the probe.
Detailed Description
The fault self-locating explosion proof inspection robot of the present invention will be described in more detail with reference to the drawings, in which preferred embodiments of the present invention are shown, it being understood that the person skilled in the art can modify the invention described herein while still achieving the advantageous effects of the invention. Accordingly, the following description is to be construed as broadly known to those skilled in the art and not as limiting the invention.
The invention is more particularly described by way of example in the following paragraphs with reference to the drawings. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the drawings are in a very simplified form and are all to a non-precise scale, merely for convenience and clarity in aiding in the description of embodiments of the invention.
As shown in fig. 1 to 3, an embodiment of the present invention proposes a fault self-positioning explosion-proof inspection robot, which includes a driving base, an obstacle avoidance assembly 4, an inspection bracket and an inspection probe 16.
Specifically, the driving base is used for bearing the obstacle avoidance assembly 4, the inspection support and the inspection probe 16, and driving the inspection probe to perform omnibearing inspection detection in an inspection area.
The obstacle avoidance assembly 4 is installed on the driving base, and the obstacle avoidance assembly 4 is used for detecting the distribution condition of the obstacles in the area around the driving base and transmitting the distribution condition to the control system of the driving base.
The inspection support is mounted on the top of the driving base and is used for driving the inspection probe 16 to reciprocate in the horizontal direction and the vertical direction.
The inspection probe 16 is mounted at the end of the inspection support, and the inspection probe 16 is driven by the inspection support to conduct omnibearing inspection detection on an inspection area.
In this embodiment, the driving base drives the inspection support and the inspection probe 16 to perform inspection and detection in the inspection area. In the travelling process of the driving base, the obstacle avoidance assembly 4 always keeps in a working state, detects whether an obstacle exists around the driving base, transmits obstacle information to a control system of the driving base, and then controls the movement state of the driving base and bypasses the obstacle.
In the travelling process of the driving base, the inspection support drives the inspection probe 16 to reciprocate in the horizontal direction, and meanwhile, the inspection probe 16 reciprocates in the vertical direction, and the inspection range of the inspection probe 16 can be greatly increased by combining the inspection support with the inspection probe. When the driving base is close to the inspection equipment, the comprehensive inspection detection work can be performed on the inspection equipment, so that the inspection detection blind area is greatly reduced, and the accuracy of the inspection detection result is greatly improved.
The inspection probe 16 is composed of multiple sensors, and includes at least a visual sensor, a gas sensor, and a temperature sensor. The following sequentially describes the function of each sensor in the detection and inspection process:
(1) Visual sensor: vision sensors are a direct source of information for the entire machine vision system, consisting essentially of one or two graphic sensors, sometimes with light projectors and other auxiliary devices. The primary function of the vision sensor is to acquire the most primitive images that the machine vision system is to process. The pattern sensor may be a laser scanner, a linear array or an area array CCD camera or a TV camera, or may be a digital camera which has recently appeared.
In the explosion-proof inspection robot, the visual sensor can collect the boundary information of the inspection area, and the processed map image information of the inspection area can be formed, so that the fault position can be marked in the map image information conveniently. Meanwhile, by matching with the image information of the fault equipment, the on-site personnel can be helped to quickly locate the fault occurrence position, and the safety risk brought by the fault is reduced.
In addition, the instrument information of the inspection equipment can be acquired and identified, and the inspection alarm state is obtained when the instrument data exceeds the set threshold range.
(2) Gas sensor: the gas sensor mainly detects the content of flammable and explosive gas in the inspection area. When inflammable and explosive gas in the inspection area leaks, the gas sensor can detect and capture the information, so that an inspection alarm signal is sent out.
(3) Temperature sensor: a temperature sensor refers to a sensor that senses temperature and converts it into a usable output signal. The measuring method can be divided into two main types, namely contact type and non-contact type, and the measuring method can be divided into two types, namely thermal resistor and thermocouple according to the characteristics of sensor materials and electronic elements.
The temperature sensor mainly detects the temperature of the surface of the inspection equipment and the environment temperature of the inspection area, and when the detected temperature exceeds a set threshold value, an inspection alarm signal is sent out.
It should be noted that different temperature thresholds can be set for different inspection equipment, and the vision sensor can automatically identify the inspection equipment and match the corresponding temperature threshold. And when the actually detected temperature exceeds a temperature threshold value, namely the inspection equipment has safety risk, sending out an inspection alarm signal.
Further, the driving base comprises a frame body 1, a travelling wheel 2, a travelling driving piece 5 and a control module 3.
Specifically, the travelling wheel 2 is movably mounted on the frame body 1, and the travelling wheel 2 is used for driving the frame body 1 to move in a patrol area.
The travelling driving piece 5 is installed on the frame body 1, the travelling driving piece 5 is in transmission connection with the travelling wheel 2, and the travelling driving piece 5 is used for driving the travelling wheel 2 to turn and rotate.
The control module 3 is electrically connected with the travelling driving piece 5, and the control module 3 controls the movement state of the travelling wheel 2 through the travelling driving piece 5 according to a control instruction.
In the present embodiment, the control module 3 controls the road wheels 2 through the travel driver 5, and the control of the road wheels 2 mainly includes forward movement, backward movement, and turning. Under the control of the controller, the travelling wheel 2 can drive the inspection robot to automatically inspect and detect in the inspection area, and timely detect and find the security risk point of the inspection area. Meanwhile, the controller is connected with a touch screen display, and the patrol personnel can specify an important patrol area in the map image information, and at the moment, the patrol robot performs patrol operation in the specified patrol area.
In addition, the drive base further comprises a power module for supplying electrical energy to the electrical components of the robot, the power module having a charging interface. When the inspection robot needs to be charged, the inspection robot can automatically travel to the charging seat, the matching and butt joint between the charging interface and the charging seat are realized, and the quick energy charging of the inspection robot is automatically completed.
The driving base has autonomous navigation and obstacle detection functions, and can sense the environment and autonomously determine the travel route to avoid the obstacle. The driving base controls the running and turning mainly comprises:
A sensor: obstacle avoidance carts are typically equipped with a variety of sensors, such as ultrasonic sensors, infrared sensors, laser radar (LIDAR), cameras, etc., for detecting the surrounding environment and obstacles.
And (3) data processing: the data collected by the sensors needs to be processed by an onboard computer or microcontroller to identify the location, size and distance of the obstacle.
Navigation algorithm: based on the sensor data, the obstacle avoidance cart uses specific navigation algorithms (e.g., path planning algorithms, obstacle avoidance algorithms) to determine how to travel and turn. Common algorithms include:
Artificial potential field method: creating a virtual potential field, the obstacle generating a repulsive force, the target point generating an attractive force, the trolley moving in the direction of the gradient of the potential field.
Fast explore random tree (RRT): an algorithm for path planning can find a feasible path from a start point to an end point.
Dynamic window method (DWA): the path is planned by searching for viable control inputs in continuous space, taking into account the kinematic constraints of the trolley.
And (3) drive control: and controlling a motor or a servo system of the trolley according to the instruction generated by the navigation algorithm so as to adjust the speed and the direction of the wheels and realize advancing and turning.
Steering control: similar to conventional trolleys, steering of obstacle avoidance trolleys is typically achieved by steering mechanisms (e.g., steering engines or power steering systems).
Feedback control: the obstacle avoidance cart may also use a feedback control system, such as a proportional-integral-derivative (PID) controller, to adjust the travel speed and steering angle to more accurately track the predetermined path.
Communication system: in some cases, the drive base may need to communicate with other central control systems to obtain more information or receive instructions.
Further, the obstacle avoidance assemblies 4 are provided with a plurality of groups, the obstacle avoidance assemblies 4 are distributed on the peripheral side walls of the frame body 1, the obstacle avoidance assemblies 4 adopt infrared sensors, and the infrared sensors are electrically connected with the control module 3.
Specifically, the obstacle avoidance assembly 4 mainly detects the obstacle condition of the surrounding area of the driving base in the advancing process, and transmits the obstacle information to the control system of the driving base, and the control system controls the driving base to change the motion state, so that the obstacle avoidance aim is achieved.
Wherein, the obstacle avoidance assembly 4 adopts an infrared sensor. An infrared sensor obstacle avoidance is a technology that uses infrared characteristics to detect obstacles in the surrounding environment. The infrared obstacle avoidance sensor uses infrared rays as detection signals, wherein the infrared rays are electromagnetic waves, and have the characteristics of long wavelength, high frequency, low energy and the like, and cannot be directly perceived by human eyes. The infrared obstacle avoidance sensor detects the presence and distance of an obstacle by transmitting an infrared signal and receiving the reflected signal.
When the infrared sensor detects an obstacle, the infrared sensor transmits distance information of the obstacle to the control system, and the control system controls the driving base to adjust the motion state, so that the obstacle can be effectively avoided in the advancing process of the driving base.
Further, the inspection support comprises a mounting frame 6, a guide rail cover 7, a driving seat 8 and a mounting rod 9.
Specifically, the guide rail cover 7 is fixedly mounted on the mounting frame 6, the guide rail cover 7 is in a spherical shape with an open top, and the guide rail cover 7 is provided with a guide boss 11 with high and low fluctuation.
The driving seat 8 is rotatably arranged at the bottom of the guide rail cover 7, a driving piece is arranged on the driving seat 8 in a transmission manner, and the driving piece is arranged on the mounting frame 6.
The installation rod 9 is rotatably installed on the driving seat 8, the installation rod 9 is slidably installed with a positioning sleeve 10 along the length direction of the installation rod through a linear bearing, and the positioning sleeve 10 is slidably connected along the surface of the guide boss 11.
Specifically, the guide boss 11 is disposed at the top edge of the guide rail cover 7, when the installation rod 9 rotates, the installation rod 9 moves up and down in a fluctuating manner through the positioning sleeve 10 when rotating along the guide boss 11 at the top edge of the guide rail cover 7, so that the installation rod 9 rotates along the horizontal direction and simultaneously moves up and down through the guide boss 11, and the synchronous movement of the installation rod 9 in the horizontal direction and the movement of the installation rod in the vertical direction are realized, so that the movement of the inspection probe 16 in the horizontal direction and the movement of the inspection probe in the vertical direction are driven to synchronously carry out.
In the present embodiment, the driving seat 8 is driven by the driving member to reciprocate, and the mounting rod 9 movably provided on the driving seat 8 moves circumferentially together therewith. At the same time, the mounting rod 9 is slidably connected with the guide boss 11 through the positioning sleeve 10, and the mounting rod 9 also performs reciprocating lifting movement in the vertical direction along the surface of the guide boss 11 while the mounting rod 9 moves circumferentially.
The inspection probe 16 mounted at the end of the mounting rod 9 moves synchronously with the mounting rod 9, and the movement of the inspection probe 16 can be decomposed into horizontal rotation and vertical lifting. Compared with the prior art, the inspection probe 16 can also perform lifting movement in the vertical direction while rotating, so that the moving range of the inspection probe 16 is wider, the inspection detection area of the inspection probe 16 is wider, the blind area of inspection detection is greatly reduced, and the accuracy of inspection detection results is greatly improved.
Wherein the driving piece comprises a driving motor 12 and a worm and gear assembly 13. The driving motor 12 is fixedly installed on the installation frame 6, and the driving motor 12 is used for driving the driving seat 8 to rotate. The input end of the worm and gear component 13 is connected with the driving motor 12, and the output end of the worm and gear component 13 is in transmission connection with the driving seat 8.
In this embodiment, the worm gear assembly 13 is a common mechanical transmission device, and is composed of a worm and a worm wheel. The self-locking type gear box has the main characteristics of large transmission ratio, compact structure, stable transmission, low noise and self-locking performance, and is suitable for occasions needing large reduction ratio and accurate control. By self-locking the worm and gear assembly 13, the inspection probe 16 can be stably kept at a certain position. If the inspection probe 16 is at the lowest position, the overall height of the inspection robot is lowered, and the inspection robot can enter a narrow space to perform inspection and detection work, so that the application scene of the inspection robot is increased.
In addition, the driving motor 12 is a servo motor. A servo motor is a motor that precisely controls angle and speed, and is typically used to perform precise position control. It differs from a normal motor in that the servo motor can receive a feedback signal, thereby achieving closed loop control. The driving motor 12 adopts a servo motor, and can accurately control the position of the inspection probe 16, so that inspection and detection operations can be accurately performed on an inspection area.
Further, a positioning groove 14 synchronous with the guiding boss 11 is provided on the side wall of the guide rail cover 7, a positioning column 15 is slidably provided in the positioning groove 14, and the positioning column 15 is fixedly provided on the positioning sleeve 10.
Specifically, one end of the mounting rod 9, which is close to the driving seat, is located at the spherical center of the guide rail cover 7, and the radial direction of the mounting rod 9 is consistent with that of the guide rail cover 7 during the movement process. During the rotation of the drive seat 8, the mounting rod 9 always performs a telescopic movement in the radial direction of the guide rail cover 7. On the one hand, the installation pole 9 can do the circumference motion in the horizontal direction, and on the other hand, the installation pole 9 along guide boss 11 in the ascending and descending motion of vertical direction, and the two combine together, can comprehensively patrol and examine the area and examine the detection operation.
When the inspection robot is specifically used, the inspection robot can operate according to the following methods, wherein the operation methods include, but are not limited to, the following operation modes, and the specific method is as follows:
s100, the inspection robot traverses the whole inspection area, and the inspection probe is used for acquiring ground information and inspection equipment information to obtain map image information and inspection equipment information.
The map image information shows the layout of the whole inspection area, and when the inspection robot works, the real-time position of the inspection robot can be displayed in the map image information. Meanwhile, when the inspection robot inspects the abnormal condition, the inspection robot can also mark in the map image information, so that the inspection personnel can conveniently inspect and maintain the inspection equipment subsequently.
The inspection equipment information can name and number the inspection equipment in a labeling mode, and meanwhile, the threshold range of the inspection equipment instrument is set. When the inspection robot identifies the inspection equipment and the corresponding instrument, the inspection robot automatically compares the detected data with a set threshold range, and when the detected data exceeds the set threshold range, the inspection robot sends out an alarm signal.
It should be noted that, the inspection robot can automatically push the data detected in real time to the mobile terminal equipment of the client, and the client can know the inspection condition of the inspection area at any time. Meanwhile, the client with the operation authority can send instructions to the inspection robot through the mobile terminal, such as inspection of a designated area, recharging and the like.
S200, the inspection robot automatically or receives an instruction to perform inspection detection operation in an inspection area.
The inspection robot can automatically perform inspection through program setting, or perform inspection according to instructions of inspection personnel. In the inspection process, the inspection probe always keeps moving, the area around the driving base is inspected in real time, the inspection result is transmitted back to the mobile terminal of the client, and the client can check the inspection result conveniently. When abnormal conditions occur in the inspection area, the abnormal positions are marked in the map image information, inspection equipment information of abnormal work is shot, equipment text information and abnormal conditions are arranged, and the abnormal conditions are pushed to inspection personnel along with the field pictures.
In addition, the patrol personnel can specify the region in the map image information aiming at the key position of the patrol region, and the patrol robot can patrol according to the specified region, so that the patrol efficiency can be effectively improved. The inspection probe can be adjusted to the lowest height aiming at the area with a narrow inspection space, and then the detection position of the inspection probe is adjusted by driving the rotation of the base, so that the comprehensive inspection operation of the narrow area is completed.
Compared with the prior art, the invention has at least the following beneficial effects:
The inspection probe can synchronously move in the horizontal direction and the vertical direction, so that the inspection probe can carry out comprehensive inspection and detection work on inspection areas at different horizontal positions and different heights, and can carry out comprehensive inspection and detection on inspection equipment when a robot approaches the inspection equipment, thereby greatly reducing inspection and detection blind areas and effectively improving the accuracy of inspection results of the inspection robot.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (9)
1. The fault self-positioning explosion-proof inspection robot is characterized by comprising a driving base, an obstacle avoidance assembly, an inspection bracket and an inspection probe;
The driving base is used for bearing the obstacle avoidance assembly, the inspection support and the inspection probe and driving the inspection support to carry out omnibearing inspection detection in an inspection area;
The obstacle avoidance assembly is arranged on the driving base, and is used for detecting the distribution condition of obstacles in the area around the driving base and transmitting the distribution condition to the control system of the driving base;
the inspection support is arranged at the top of the driving base and is used for driving the inspection probe to reciprocate in the horizontal direction and the vertical direction;
The inspection probe is arranged at the end part of the inspection support, and the inspection probe performs omnibearing inspection detection on an inspection area through driving of the inspection support;
The inspection support comprises a mounting frame, a guide rail cover, a driving seat and a mounting rod;
the guide rail cover is fixedly arranged on the mounting frame, is in a spherical shape with an opening at the top, and is provided with a high-low fluctuation guide boss;
the driving seat is rotatably arranged at the bottom of the guide rail cover, a driving piece is arranged on the driving seat in a transmission way, and the driving piece is arranged on the mounting frame;
the mounting rod is rotatably mounted on the driving seat, a positioning sleeve is slidably mounted on the mounting rod along the length direction of the mounting rod, and the positioning sleeve is slidably connected along the surface of the guide boss;
when the driving piece drives the installation rod to rotate, the installation rod moves up and down synchronously along the guide boss at the top end of the guide rail cover through the positioning sleeve.
2. The fault self-locating explosion-proof inspection robot of claim 1, wherein the drive base comprises a frame, a travelling wheel, a travelling drive and a control module;
the travelling wheel is movably arranged on the frame body and is used for driving the frame body to move in a patrol area;
the driving piece is arranged on the frame body, the traveling driving piece is in transmission connection with the traveling wheel, and the traveling driving piece is used for driving the traveling wheel to turn and rotate;
The control module is electrically connected with the driving piece, and the control module controls the motion state of the travelling wheel through the travelling driving piece according to a control instruction.
3. The fault self-locating explosion-proof inspection robot of claim 2, further comprising a power module for supplying electrical power to the robot electrical components, the power module having a charging interface.
4. The fault self-positioning explosion-proof inspection robot according to claim 2, wherein a plurality of groups of obstacle avoidance assemblies are arranged, the plurality of groups of obstacle avoidance assemblies are distributed on the peripheral side wall of the frame body, the obstacle avoidance assemblies adopt infrared sensors, and the infrared sensors are electrically connected with the control module.
5. The fault self-locating explosion-proof inspection robot of claim 1, wherein the driving member comprises a driving motor and a worm gear assembly;
The driving motor is fixedly arranged on the mounting frame and is used for driving the driving seat to rotate;
The input end of the worm and gear assembly is connected with the driving motor, and the output end of the worm and gear assembly is in transmission connection with the driving seat.
6. The fault self-locating explosion-proof inspection robot of claim 5, wherein the drive motor employs a servo motor.
7. The fault self-positioning explosion-proof inspection robot according to claim 1, wherein a positioning groove synchronous with the guide boss is arranged on the side wall of the guide rail cover, a positioning column is slidably arranged in the positioning groove, and the positioning column is fixedly arranged on the positioning sleeve.
8. The fault self-positioning explosion-proof inspection robot according to claim 1, wherein a linear bearing is mounted on the inner wall of the positioning sleeve, and the inner ring of the linear bearing is in sliding contact with the outer side wall of the mounting rod.
9. The fault self-positioning explosion-proof inspection robot according to claim 1, wherein one end of the mounting rod, which is close to the driving seat, is located at the spherical center of the guide rail cover, and the radial direction of the mounting rod is consistent with that of the guide rail cover during the movement process of the mounting rod.
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN118219229A true CN118219229A (en) | 2024-06-21 |
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