CN-121973144-A - Explosion-proof robot

CN121973144ACN 121973144 ACN121973144 ACN 121973144ACN-121973144-A

Abstract

The application provides an explosion-proof robot, which relates to the technical field of robots and comprises a machine body, an outer shell, a detection assembly, a walking assembly and a control module, wherein the machine body comprises a first cavity, the detection assembly comprises a position adjustment module, a first gas detection module and an image acquisition module, the control module is positioned in the first cavity and is respectively and electrically connected with the position adjustment module, the first gas detection module, the image acquisition module and the walking assembly, the control module is used for controlling the first gas detection module to acquire gas concentration data of an environment where the explosion-proof robot is located, determining an abnormal position of a target device according to the gas concentration data, and controlling the position adjustment module to adjust an image acquisition direction of the image acquisition module according to the abnormal position of the target device so as to acquire image information of the abnormal position. The application can not only rapidly pass in a complex and narrow high-risk environment, but also rapidly and accurately locate the gas leakage point.

Inventors

YANG CAO
WEN QUAN
LUO SHIYU
BIAN XU
ZHANG CHAOHUI
ZHAO WANQIU
LIAO JIAHAO
ZHAO QIAN

Assignees

深圳优艾智合机器人科技有限公司

Dates

Publication Date: 20260505
Application Date: 20251231

Claims (10)

1. An explosion-proof robot is characterized in that, the explosion-proof robot includes: the machine body comprises a first cavity and a load mounting seat, wherein the first cavity is provided with a first connecting port, and the load mounting seat is in threaded connection with the first connecting port; The outer shell covers the outer side of the machine body and is detachably connected with the machine body; The detection assembly comprises a position adjustment module, a first gas detection module and an image acquisition module, wherein the position adjustment module comprises a bearing seat and a first connecting seat, the first gas detection module and the image acquisition module are both arranged on the bearing seat, the position adjustment module is used for adjusting the positions of the image acquisition module and the first gas detection module, the first gas detection module is used for acquiring gas concentration data of the environment where the explosion-proof robot is located, the image acquisition module is used for acquiring image information of a target device, the position adjustment module is positioned on the outer side of the first cavity, and the first connecting seat is connected with the load mounting seat; the walking assembly is connected with the machine body to drive the machine body to move; The control module is located in the first cavity, the control module is respectively and electrically connected with the position adjusting module, the first gas detection module, the image acquisition module and the walking assembly, and the control module is used for: Controlling the first gas detection module to acquire gas concentration data of the environment where the explosion-proof robot is located; determining an abnormal position of the target device according to the gas concentration data; And controlling the position adjustment module to adjust the image acquisition direction of the image acquisition module according to the abnormal position of the target device so as to acquire the image information of the abnormal position.
2. The explosion proof robot of claim 1, wherein the determining the abnormal position of the target device from the gas concentration data comprises: If the gas concentration data exceeds a preset concentration value, controlling the position adjustment module to move according to a preset space scanning path so as to drive the first gas detection module to obtain gas concentration data of a plurality of space orientations; and determining the abnormal position of the target device according to the gas concentration data of a plurality of the space orientations.
3. The explosion-proof robot of claim 1, wherein the body further comprises a second cavity, the second cavity is communicated with the first cavity, and a second connection port is arranged at the top of the second cavity; The explosion-proof robot further comprises a positioning navigation module, wherein the positioning navigation module is used for acquiring position data of the explosion-proof robot, is positioned on the outer side of the second cavity and is electrically connected with the control module, and comprises a second connecting seat which is in threaded connection with the second connecting port.
4. The explosion-proof robot according to claim 1, wherein the machine body further comprises a third cavity, the third cavity is communicated with the first cavity, and a third connecting port is formed in the top of the third cavity; The explosion-proof robot further comprises a communication module, wherein the communication module is used for realizing remote communication between the explosion-proof robot and an upper computer, is positioned at the outer side of the third cavity and is electrically connected with the control module, and comprises a third connecting seat which is in threaded connection with a third connecting port.
5. The explosion proof robot of claim 1, wherein the walking assembly comprises: The buffer module comprises a buffer mounting frame and an elastic unit, wherein the elastic unit is arranged in the buffer mounting frame, and the buffer mounting frame is connected with the machine body; the steering module is connected with the buffer mounting frame; the steering driving module is connected with the steering module and is electrically connected with the control module, and the steering driving module is used for driving the steering module to rotate; The tire module is provided with a mounting hole and is used for driving the explosion-proof robot to deflect and move; The walking module comprises a walking arm, a first driving unit and a first output shaft, wherein the walking arm is connected with the steering module, the walking arm is provided with a containing cavity, the first driving unit and the first output shaft are both arranged in the containing cavity, the first driving unit is connected with one end of the first output shaft, the first driving unit is electrically connected with the control module and is used for driving the first output shaft to rotate, the other end of the first output shaft extends to the outside of the containing cavity and is fixedly connected with the mounting hole through a locking piece, and the first output shaft is used for driving the tire module to move.
6. The explosion-proof robot according to claim 5, wherein the steering driving module comprises a first shell, a first mounting cover, a second driving unit, a second output shaft and a first gear, the first mounting cover is in threaded connection with the first shell, the second driving unit is arranged in the first shell and is connected with the first gear through the second output shaft, the first gear extends to the outer side of the first shell, the second driving unit is electrically connected with the control module, and the second driving unit is used for driving the first gear to rotate; The steering module comprises a second shell, a second mounting cover, a second gear and a rotating shaft, wherein the second shell is cylindrical, the second mounting cover is in threaded connection with the top of the second shell, the second gear and the rotating shaft are both arranged in the second shell, the second gear is in meshed connection with the first gear, the second gear is fixedly connected with one end of the rotating shaft, and the other end of the rotating shaft is fixedly connected with the walking arm.
7. The explosion-proof robot of claim 6, wherein the steering module further comprises a first spool, a receiving seat and a first encoder, one end of the first spool is fixedly connected with one end of the rotating shaft, the receiving seat is fixedly connected with the other end of the first spool, the first encoder is located on the receiving seat and is used for acquiring deflection angle data of the rotating shaft, the first encoder is electrically connected with the control module, and the control module is further used for outputting an angle adjustment instruction according to the deflection angle data and a preset target angle and transmitting the angle adjustment instruction to the second driving unit so as to control the second driving unit to drive the rotating shaft to rotate to the preset target angle.
8. The explosion-proof robot of claim 5, wherein the mounting frame comprises an upper fork arm, two lower fork arms, a fork arm seat and two suspension mounting seats, the fork arm seat is connected with the steering module, the upper fork arm is respectively and rotatably connected with the top of the fork arm seat and the two suspension mounting seats, the lower fork arm is respectively and rotatably connected with the bottom of the fork arm seat and the suspension mounting seats, the elastic unit is respectively connected with the two suspension mounting seats and the bottom of the fork arm seat, and the suspension mounting seats and the elastic unit are both connected with the body of the explosion-proof robot.
9. The explosion-proof robot of claim 1, further comprising a frame below the body, a guard disposed at a front side and a rear side of the frame, and an energy storage assembly mounted between the body and the outer housing through a fixing frame.
10. The explosion-proof robot of claim 1, further comprising a status indicator, a carrying handle, a noise sensor, a voice intercom module, a speaker module, and a wireless operation and maintenance module, wherein the status indicator, the carrying handle, the noise sensor, the voice intercom module, the speaker module, and the wireless operation and maintenance module are all disposed outside the body.

Description

Explosion-proof robot Technical Field The application relates to the technical field of robots, in particular to an explosion-proof robot. Background In chemical plants where hazardous gases or other gases are used in the production process, there is always a risk of gas leakage, and once the hazardous gases leak into the air, the hazardous gases can cause different degrees of damage to human bodies or can cause destructive explosion accidents, so that the environment and the running state of equipment on site need to be checked regularly. The traditional manual inspection or fixed monitoring has the defects of low efficiency, limited coverage, lag response, safety risk and the like. In recent years, explosion-proof inspection robots with multiple sensors and intelligent algorithms are gradually applied to the field, however, the design of the inspection robots currently in main flow on the market still has obvious technical shortboards. Firstly, in order to adapt to more operation environments, on one hand, no redundant position is arranged on a robot body so as to install an additional functional load module, on the other hand, even if additional functional load can be added on the robot body, the robot throws away the problems of insufficient compactness and large volume of structural layout, the passing flexibility in limited spaces such as narrow roadways and equipment dense areas is insufficient, the inspection operation of a narrow path is difficult to smoothly complete so as to meet more operation requirements, secondly, electric components on the inspection robot are in direct contact with gas in the environment, electric sparks generated by the electric components easily cause explosion of the gas in the environment, the explosion-proof effect is poor, and thirdly, in the process of inspecting the preset path, the abnormal position such as a gas leakage point of a target device positioned in the preset path cannot be positioned in a high-precision, high-efficiency and self-adaptive manner. Based on the above, how to design an explosion-proof robot which can rapidly pass in a complex and narrow high-risk environment and rapidly and accurately locate a gas leakage point is a technical problem to be solved. Disclosure of Invention The application mainly aims to provide an explosion-proof robot which can rapidly pass in a complex and narrow high-risk environment and rapidly and accurately locate a gas leakage point. The application provides an explosion-proof robot, which comprises a machine body, an outer shell, a detection assembly, a walking assembly and a control module, wherein the machine body is provided with a plurality of sensors; the machine body comprises a first cavity and a load mounting seat, the first cavity is provided with a first connecting port, the load mounting seat is in threaded connection with the first connecting port, the outer shell covers the outer side of the machine body and is detachably connected with the machine body, the detection assembly comprises a position adjusting module, a first gas detection module and an image acquisition module, the position adjusting module comprises a bearing seat and a first connecting seat, the first gas detection module and the image acquisition module are both arranged on the bearing seat, the position adjusting module is used for adjusting the positions of the image acquisition module and the first gas detection module, the first gas detection module is used for acquiring gas concentration data of an environment where the explosion-proof robot is located, the image acquisition module is used for acquiring image information of a target device, the position adjusting module is located on the outer side of the first cavity, the first connecting seat is connected with the load mounting seat, the walking assembly is connected with the machine body to drive the machine body to move, the control module is located in the first cavity, the first gas detection module is used for adjusting the positions of the image acquisition module and the first gas detection module, the first gas detection module is used for acquiring gas concentration data of the environment where the explosion-proof robot is located, the image acquisition module is used for acquiring image information of the target device according to the abnormal gas concentration data, the position of the first gas detection module is used for acquiring the abnormal gas concentration data of the target device, the first gas detection module is located in the abnormal position detection module is used for acquiring the image information according to the position of the first gas detection module, and controlling the position adjustment module to adjust the image acquisition direction of the image acquisition module so as to acquire the image information of the abnormal position. According to the explosion-proof robot provided by the application, firstly, the first cavity can isolate the c