CN-121973147-A - Intelligent inspection robot based on 5G communication technology and inspection method thereof

CN121973147ACN 121973147 ACN121973147 ACN 121973147ACN-121973147-A

Abstract

The invention relates to the technical field of manipulators, in particular to an intelligent inspection robot based on a 5G communication technology and an inspection method thereof, comprising a machine body, a visual perception holder arranged in the machine body, and a travelling mechanism for driving the machine body to move; the ultrasonic cleaning machine comprises a machine body, a mechanical arm arranged at the top of the machine body, a clamping jaw assembly, a positioning mechanism, a detection module and a cleaning assembly, wherein the tail end of the mechanical arm is provided with a turntable, the clamping jaw assembly is arranged on the turntable through a connecting seat and comprises clamping jaws used for clamping and a power torque mechanism used for driving the clamping jaws to rotate, the positioning mechanism is used for adjusting the distance between the clamping jaws and comprises a wire block arranged between the clamping jaws, the detection module comprises a composite probe movably arranged on the clamping jaws and a transmission mechanism used for driving the contact pressure of the composite probe, the composite probe is integrated with an ultrasonic probe, and the cleaning assembly comprises an exhaust cavity arranged in the clamping jaws, a side air hole communicated with the exhaust cavity and a plug column arranged in the exhaust cavity and used for switching gas to be exhausted through the exhaust cavity or the side air hole.

Inventors

HU GAOBIN
WANG TAO
WANG SHOUCHEN
ZHA XIAOYI
Zha Pengfei
ZHANG XIAOWEI
ZHU PENG
YU JIAJUN
HU MINGWEN

Assignees

江苏国信靖江发电有限公司
江苏国信数智服务有限公司

Dates

Publication Date: 20260505
Application Date: 20260323

Claims (10)

1. An intelligent inspection robot based on 5G communication technology, includes fuselage (100) and vision perception cloud platform (102) in setting up in it, its characterized in that still includes: The walking mechanism is used for driving the machine body (100) to move; A mechanical arm (201) arranged at the top of the machine body (100), and a turntable (203) is arranged at the tail end of the mechanical arm; a clamping jaw assembly mounted on the turntable (203) through a connecting seat (204), wherein the clamping jaw assembly comprises clamping jaws (200) used for clamping and a power torque mechanism used for driving a plurality of clamping jaws (200) to rotate; a positioning mechanism for adjusting the pitch of the clamping jaws (200), the positioning mechanism comprising a wire block (212) mounted between the plurality of clamping jaws (200); The detection module comprises a composite probe (300) movably arranged on the clamping jaw (200) and a transmission mechanism for driving the contact pressure of the composite probe (300), wherein an ultrasonic probe is integrated in the composite probe (300); The cleaning assembly comprises an exhaust cavity (400) arranged in the clamping jaw (200), a side air hole (402) communicated with the exhaust cavity (400) and a plug (408) arranged in the exhaust cavity (400) and used for switching gas to be exhausted through the exhaust cavity (400) or the side air hole (402), and a gas transmission mechanism for supplying gas into the exhaust cavity (400) is arranged on the clamping jaw (200).
2. The intelligent inspection robot based on the 5G communication technology, as set forth in claim 1, wherein the power torque mechanism comprises a mounting plate (206) for supporting the plurality of clamping jaws (200), a rotating motor (205) for driving the mounting plate (206) to rotate is fixedly connected in the connecting seat (204), and a strain gauge type torque sensor (207) is arranged on one side, close to the output end of the rotating motor (205), of the mounting plate (206).
3. The intelligent inspection robot based on the 5G communication technology, as set forth in claim 2, wherein the positioning mechanism further comprises a plurality of cranks (213) rotatably connected to the outer surface of the wire block (212), the middle ends of the cranks (213) are rotatably connected with the clamping jaw (200), one side of the mounting plate (206) is fixedly connected with a motor (210), the output end of the motor (210) is fixedly connected with a screw rod (211) in threaded connection with the wire block (212), one side of the mounting plate (206) is fixedly connected with a plurality of sliding rails (208), and the outer surface of the sliding rails (208) is slidably connected with a sliding seat (209) fixedly connected with the clamping jaw (200).
4. The intelligent inspection robot based on the 5G communication technology, as set forth in claim 3, wherein the transmission mechanism comprises a seesaw (302) rotatably connected in the clamping jaw (200), one end of the seesaw (302) is fixedly connected with a connecting sleeve (301) for supporting the composite probe (300), the other end of the seesaw (302) is rotatably connected with a connecting handle (305), the side surface of the clamping jaw (200) is fixedly connected with a sliding bar (303), the outer surface of the sliding bar (303) is slidably connected with an arc-shaped seat (304) rotatably connected with the connecting handle (305), and one end of the crank (213) is rotatably connected with a ball (306) abutting against the side surface of the arc-shaped seat (304).
5. The intelligent inspection robot based on the 5G communication technology, as set forth in claim 4, wherein the gas transmission mechanism comprises a gas transmission cylinder (403) and a piston rod (407) slidably connected to one end of the gas transmission cylinder (403), an auxiliary rod (406) fixedly connected with the piston rod (407) is fixedly connected to one side of the arc-shaped base (304), one end of the gas transmission cylinder (403) is communicated with the exhaust cavity (400) through the gas transmission pipe (404), and a reset spring (405) for driving the piston rod (407) to reset is fixedly connected to the inside of the gas transmission cylinder (403).
6. The intelligent inspection robot based on the 5G communication technology, as set forth in claim 1, is characterized in that a plurality of narrowing cylinders (401) are fixedly connected to the inside of the exhaust cavity (400), side air holes (402) are formed in the narrowing cylinders (401), dislocation grooves (410) for moving the plug (408) are formed in the inside of the exhaust cavity (400), and a plurality of spring pieces (409) fixedly connected with the inner walls of the dislocation grooves (410) are fixedly connected to the outer surfaces of the plug (408).
7. The intelligent inspection robot based on the 5G communication technology, as set forth in claim 1, is characterized in that the battery box (101) is installed at the top of the machine body (100), and the bottom of the mechanical arm (201) is fixedly connected with the machine body (100) through the installation holder (202).
8. The intelligent inspection robot based on the 5G communication technology, as set forth in claim 1, wherein the traveling mechanism comprises a tire (106) and a driving motor (107) for driving the tire (106) to rotate, a support arm (103) is installed on the side surface of the machine body (100), an auxiliary arm (104) for supporting the tire (106) is installed on one side of the support arm (103), an adjusting motor (105) is installed in the auxiliary arm (104), and the adjusting motor (105) can drive the tire (106) to lift so as to achieve obstacle crossing.
9. The intelligent inspection robot based on the 5G communication technology, as set forth in claim 1, is characterized in that the visual perception cradle head (102) is internally integrated with a high-definition visible light zoom camera, an infrared thermal imager and an ultraviolet corona detector.
10. An intelligent inspection method based on a 5G communication technology, which adopts the intelligent inspection robot based on the 5G communication technology as set forth in any one of claims 1 to 9, is characterized by comprising the following steps: S1, carrying out large-range non-contact scanning on equipment through a visual perception holder (102), and primarily positioning an abnormal area; s2, operating the mechanical arm (201) and the rotary table (203) to position the clamping jaw assembly to the equipment interface, and tightening the clamping jaw (200) through the positioning mechanism for clamping; S3, driving the clamping jaw (200) to rotate through the power torque mechanism, performing screwing operation on the joint bolt, detecting torque through the strain gauge type torque sensor (207), and simultaneously, driving the composite probe (300) to contact the surface of equipment through the transmission mechanism by the action of the positioning mechanism, and performing ultrasonic flaw detection and dynamic dielectric response detection under the condition of applying pressure; S4, before the composite probe (300) contacts and detects, the action of the transmission mechanism synchronously triggers the cleaning assembly to generate pulse air flow to be sprayed out of the side air holes (402) so as to perform local purging cleaning on the detection points; S5, when large-area dehumidification or dust removal is required to be carried out on the surface of the equipment, controlling the power torque mechanism to drive the clamping jaw (200) to continuously rotate, opening an inlet of the exhaust cavity (400) through centrifugal force, controlling the positioning mechanism to reciprocate, and driving the cleaning assembly to generate continuous air flow to axially spray out of the exhaust cavity (400) for purging.

Description

Intelligent inspection robot based on 5G communication technology and inspection method thereof Technical Field The invention relates to the technical field of manipulators, in particular to an intelligent inspection robot based on a 5G communication technology and an inspection method thereof. Background In the fields of energy, chemical industry, traffic and other key infrastructure, equipment inspection is basic work for guaranteeing safe and stable operation of a system. The traditional manual inspection mode has multiple challenges for a long time, inspection personnel need to frequently enter high-risk working environments such as high pressure, high temperature, strong electromagnetic radiation and the like, personal safety risks are outstanding, the inspection process is highly dependent on individual experience, subjective judgment differences and false detection omission hidden dangers exist, data fragmentation is caused by paper records and manual reports, continuous images of equipment states are difficult to form, manual inspection efficiency is limited especially in areas with complex structures such as a booster station, a switching room and the like, high-frequency and full-coverage fine monitoring cannot be realized, time lag exists in response to sudden hidden dangers, and the inspection robot technology is developed gradually and applied to industrial sites in order to break through the bottleneck. For example, patent document with CN211440001U in prior art, the patent document provides a patrol robot and a patrol system, and belongs to the technical field of robot manufacturing. The inspection robot comprises a moving platform, an imaging device and a mechanical arm, wherein the imaging device is arranged on the moving platform through the mechanical arm and is used for collecting images of inspection targets. The inspection system comprises the inspection robot. The aim of this patent document is to provide a patrol robot and patrol system, can replace artifical patrol through patrol robot, improve patrol efficiency, save the manpower use that the electric wire netting was patrolled and examined, the security when improving staff's operation. The conventional inspection robot can replace manual work to complete conventional inspection tasks, so that the operation efficiency and the personnel safety are improved, but the detection capability of the conventional inspection robot mainly depends on a visual sensor. For faults such as joint loosening, no obvious appearance deformation, displacement or color change is usually generated at the initial stage of loosening, and the faults are difficult to effectively identify only by image analysis. The manual inspection can sense the shaking or the clearance of the connecting piece through hand touch, and the robot can not reproduce the physical diagnosis behaviors due to lack of a touch interaction and mechanical feedback mechanism, so that hidden dangers are easily missed, and the reliability of inspection results and the timeliness of operation and maintenance early warning are restricted. Therefore, the application provides an intelligent inspection robot based on a 5G communication technology and an inspection method thereof. Disclosure of Invention The invention aims to provide an intelligent inspection robot based on a 5G communication technology and an inspection method thereof, so as to solve the problems in the background technology. In order to achieve the purpose, the invention provides the following technical scheme that the intelligent inspection robot based on the 5G communication technology comprises a machine body, a visual perception holder arranged in the machine body, and further comprises: the walking mechanism is used for driving the machine body to move; the mechanical arm is arranged at the top of the machine body, the tail end of the rotary table is provided with a rotary table; The clamping jaw assembly is arranged on the rotary table through a connecting seat and comprises clamping jaws used for clamping and a power torque mechanism used for driving the clamping jaws to rotate; The positioning mechanism is used for adjusting the distance between the clamping jaws and comprises a wire block arranged among the clamping jaws; The detection module comprises a composite probe movably arranged on the clamping jaw and a transmission mechanism for driving the composite probe to contact pressure, and an ultrasonic probe is integrated in the composite probe; the cleaning assembly comprises an exhaust cavity arranged in the clamping jaw, a side air hole communicated with the exhaust cavity, and a plug column arranged in the exhaust cavity and used for switching gas to be exhausted through the exhaust cavity or the side air hole, wherein the clamping jaw is provided with a gas transmission mechanism for supplying gas into the exhaust cavity. Preferably, the power torque mechanism comprises a mounting plate for supporting a plurali