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CN-122016846-A - Special equipment detection robot

CN122016846ACN 122016846 ACN122016846 ACN 122016846ACN-122016846-A

Abstract

The invention belongs to the technical field of equipment vision detection, and discloses a special equipment detection robot, which comprises a detection table, wherein a workbench is fixed at the top end of the detection table, a limiting mechanism is fixed in the workbench, a camera panel cleaning mechanism is fixed at the top end of the detection table, the invention can adapt to the complex detection environment of special equipment by arranging the cooperation of structures such as a travelling crawler, a multi-axis mechanical arm, a vision monitoring camera and the like, realize accurate vision detection under multiple scenes, the starting advancing crawler belt can drive the whole device to move in areas such as the inside of a pipeline and the surface of equipment, and breaks through the limitation of dangerous environments such as narrow and high altitude which are difficult to enter in manual detection, the multi-axis mechanical arm can flexibly adjust the angle and the position of the visual monitoring camera, the camera can be ensured to be aligned to the defect areas such as surface cracks and corrosion of special equipment, the detection equipment is not required to be manually held, and finally the effects of expanding the detection range and improving the detection safety and precision are achieved.

Inventors

  • WU FENGLAN

Assignees

  • 江西山海科达智能科技有限公司

Dates

Publication Date
20260512
Application Date
20251218

Claims (10)

  1. 1. The special equipment detection robot comprises a detection table (1) and is characterized in that a workbench (5) is fixed at the top end of the detection table (1), a limiting mechanism (6) is fixed in the workbench (5), and a camera panel cleaning mechanism (7) is fixed at the top end of the detection table (1); The limiting mechanism (6) comprises a first servo motor (601), a first connecting rod (602) and a working disc (603), wherein the first servo motor (601) is fixed at the bottom end inside the workbench (5), the first connecting rod (602) is fixed at the rotating end of the first servo motor (601), the working disc (603) is fixed at the top end of the first connecting rod (602), a supporting base (604) is fixed at the top end of the working disc (603), a second servo motor (605) is fixed at the outer part of the supporting base (604), and a bidirectional screw rod (606) is fixed at the rotating end of the second servo motor (605); The camera panel cleaning mechanism (7) comprises a cleaning box (701), a cover plate (702) and a transmission rod (703), wherein the cleaning box (701) is fixed at the top end of the detection table (1), the cover plate (702) is rotationally connected to the top end of the cleaning box (701), the transmission rod (703) is rotationally connected to the inside of the cleaning box (701), a cleaning belt (704) is sleeved on the outside of the transmission rod (703), a third connecting rod (705) is rotationally connected to the inside of the cleaning box (701), and a fourth bevel gear (706) is fixed to the outside of the third connecting rod (705).
  2. 2. The special equipment detection robot according to claim 1, wherein a first limiting block (607) is connected to an external thread of the bidirectional screw rod (606), a second limiting block (608) is connected to an external thread of the bidirectional screw rod (606), a limiting ring (609) is fixed to the top end of the working disc (603), a first bevel gear (610) is fixed to the outer portion of the first connecting rod (602), a second connecting rod (612) is connected to the inner portion of the working table (5) in a rotating mode, a second bevel gear (611) is fixed to the outer portion of the second connecting rod (612), and a third bevel gear (613) is fixed to the outer portion of the second connecting rod (612).
  3. 3. The special equipment detection robot according to claim 2, wherein the first limiting block (607) and the second limiting block (608) are symmetrically distributed about a central axis of the bidirectional screw rod (606), the height of the limiting ring (609) is equal to the height of the first limiting block (607) and the height of the second limiting block (608), and two groups of buffer pads are fixed outside the first limiting block (607) and the second limiting block (608).
  4. 4. The special equipment detecting robot according to claim 2, wherein a plurality of groups of teeth are fixed on the outer wall of the first bevel gear (610), a plurality of groups of teeth are fixed on the outer wall of the second bevel gear (611), and the first bevel gear (610) and the second bevel gear (611) are connected in a meshed mode.
  5. 5. The special equipment detection robot according to claim 1, wherein a transmission disc (707) is fixed to the outer portion of the third connecting rod (705), a transmission block (708) is fixed to the outer portion of the transmission disc (707), a fourth connecting rod (710) is rotatably connected to the inner portion of the cleaning box (701), a swinging block (709) is fixed to the outer portion of the fourth connecting rod (710), and a cleaning rod (711) is fixed to the outer portion of the fourth connecting rod (710).
  6. 6. The special equipment detection robot according to claim 1, wherein two groups of cleaning grooves are formed in the top end of the cleaning box (701), the cleaning grooves are symmetrically distributed with respect to the central axis of the cleaning box (701), two groups of transmission rods (703) and cleaning belts (704) are arranged, the transmission rods (703) and the cleaning belts (704) are symmetrically distributed with respect to the central axis of the cleaning box (701), cleaning hairs are fixed on the surface of the cleaning belts (704), and the cleaning hairs are distributed in an array.
  7. 7. The special equipment detection robot according to claim 5, wherein the outer wall of the fourth bevel gear (706) is provided with a plurality of groups of teeth, the fourth bevel gear (706) is in meshed connection with the second connecting rod (612), the transmission disc (707) is provided with two groups, and the transmission disc (707) is symmetrically distributed about the central axis of the third connecting rod (705).
  8. 8. The special equipment detection robot according to claim 5, wherein the outer wall of the transmission block (708) is attached to the inner wall of the swinging block (709), the diameter of the transmission block (708) is equal to the width of the inner diameter of the swinging block (709), a plurality of groups of cleaning rods are fixed at the top end of the cleaning rod (711), the cleaning rods are distributed in an array, two groups of the swinging block (709) and the cleaning rod (711) are arranged, the swinging block (709) and the cleaning rod (711) are symmetrically distributed about the central axis of the fourth connecting rod (710), and chip removal grooves are formed in the bottom end of the cleaning box (701).
  9. 9. The special equipment detection robot according to claim 1, wherein the traveling crawler belt (2) is arranged outside the detection table (1), a multi-axis mechanical arm (3) is fixed at the top end of the detection table (1), and a visual monitoring camera (4) is fixed at one end of the multi-axis mechanical arm (3).
  10. 10. The special equipment detection robot according to claim 9, wherein the travelling crawler belt (2) is provided with two groups, the multi-axis mechanical arm (3) is provided with two groups, and the travelling crawler belt (2) and the multi-axis mechanical arm (3) are symmetrically distributed about the central axis of the detection table (1).

Description

Special equipment detection robot Technical Field The invention belongs to the technical field of equipment vision detection, and particularly relates to a special equipment detection robot. Background The special equipment is a core infrastructure in the fields of industrial production and civil engineering, the operation safety of the special equipment is directly related to the life and property safety and production continuity of personnel, so that the regular and accurate detection is a key link of equipment operation and maintenance, the current special equipment detection mainly relies on two modes of manual detection and traditional mechanical auxiliary detection, a significant technical bottleneck exists, the manual detection is a traditional main stream mode, the detection personnel need to enter dangerous working environments such as narrow space, high altitude or high temperature and the like, and defect identification is completed through means such as visual observation, ultrasonic detection and the like, so that the labor intensity is high, the safety risk is high, the equipment is easily influenced by subjective factors such as personnel experience, fatigue degree and the like, the identification accuracy of hidden defects such as micro cracks, internal corrosion and the like is low, and the high-precision detection requirement is difficult to meet. Publication number CN114964638A discloses a multifunctional robot for special equipment detects, the on-line screen storage device comprises a base, the top fixed mounting of base has the box, the top fixed mounting of box has the support body, fixed mounting has identification mechanism in the middle of the top of support body, the equal fixed mounting in top both sides of box has the lift cylinder, the opening has been seted up in the middle of the top of box, adopts above-mentioned structure, through adopting above-mentioned technical scheme, drives the clamp plate through setting up flexible cylinder and stretches out and draws back, alright drive the clamp plate through flexible cylinder and extrude the seal rubber piece of flexible cylinder inboard surface this moment, because seal clamp splice fixed connection is in flexible cylinder's inner rather than its output inner, the clamp plate extrusion seal rubber piece makes the seal rubber piece take place deformation this moment, and then increases its area to can block up the pressure pipeline of different specifications, conveniently detect the pressure pipeline of different pipe diameters. When the device is used, the telescopic cylinder is arranged to drive the pressing plate to stretch out and draw back, at the moment, the telescopic cylinder can be used for driving the pressing plate to extrude the sealing rubber blocks on the inner side and the outer surface of the telescopic cylinder, so that pressure pipelines with different specifications can be blocked, the pressure pipelines with different pipe diameters can be conveniently detected, but the device cannot detect the pressure pipelines with longer length or other special equipment when in use, the applicability is low, and the special equipment detection robot can move in the pipelines or the relevant areas of the special equipment through the crawler belt so as to adapt to different equipment, and the camera is utilized to acquire and detect visual data on the surfaces of the special equipment and the surfaces of parts of the special equipment. Disclosure of Invention In order to solve the problems in the background technology, the invention provides a special equipment detection robot. In order to achieve the purpose, the invention provides the technical scheme that the special equipment detection robot is provided. The technical scheme for solving the technical problems is as follows: the device comprises a detection table, wherein a workbench is fixed at the top end of the detection table, a limiting mechanism is fixed in the workbench, and a camera panel cleaning mechanism is fixed at the top end of the detection table; The limiting mechanism comprises a first servo motor, a first connecting rod and a working disc, wherein the first servo motor is fixed at the bottom end inside the workbench, the first connecting rod is fixed at the rotating end of the first servo motor, the working disc is fixed at the top end of the first connecting rod, a supporting base is fixed at the top end of the working disc, a second servo motor is fixed outside the supporting base, and a bidirectional screw rod is fixed at the rotating end of the second servo motor; The camera panel cleaning mechanism comprises a cleaning box, a cover plate and a transmission rod, wherein the cleaning box is fixed at the top end of the detection table, the cover plate is rotationally connected to the top end of the cleaning box, the transmission rod is rotationally connected to the inside of the cleaning box, a cleaning belt is sleeved on the outside of the transmis