CN212421326U - An emergency detection robot for gas-liquid leakage accident - Google Patents
An emergency detection robot for gas-liquid leakage accident Download PDFInfo
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- CN212421326U CN212421326U CN202021520250.5U CN202021520250U CN212421326U CN 212421326 U CN212421326 U CN 212421326U CN 202021520250 U CN202021520250 U CN 202021520250U CN 212421326 U CN212421326 U CN 212421326U
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Abstract
本实用新型提供了一种用于气液泄漏事故的应急侦测机器人，包括移动式底盘,以及设置在所述移动式底盘上的视觉系统、第一机械臂、气体检测仪和液体采集器；所述液体采集器包括收集瓶、采样管以及设置在所述收集瓶和采样管之间的液泵；所述采样管的入口端固定在所述第一机械臂的末端；该机器人能够实时检测事故现场的危险气体残留情况并收集泄漏的液体以便后续检测。
The utility model provides an emergency detection robot for gas-liquid leakage accident, comprising a mobile chassis, a vision system, a first mechanical arm, a gas detector and a liquid collector arranged on the mobile chassis; The liquid collector includes a collection bottle, a sampling tube and a liquid pump arranged between the collection bottle and the sampling tube; the inlet end of the sampling tube is fixed at the end of the first mechanical arm; the robot can detect in real time Hazardous gas residues at the accident site and collect leaked liquids for subsequent detection.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to an emergent robot of listening for gas-liquid leakage accident.
Background
In the chemical industry and the coal mine collection industry, accidents are caused by the leakage of toxic and harmful gas and liquid, wherein the leakage of the toxic and harmful gas and liquid easily causes the accidents of personnel poisoning, explosion, mine collapse and the like.
At present, after an accident is caused by leakage of toxic and harmful gases and liquid, emergency personnel often need to be dispatched to enter an accident site for emergency rescue, however, as a large amount of toxic and harmful, flammable and explosive gases and liquid possibly exist in the accident site, the emergency personnel possibly have exposure risks, and personal safety is greatly threatened.
Therefore, there is a need for an emergency detection robot capable of detecting the residual hazardous gas condition at the accident site in real time and collecting the leaked liquid for subsequent detection, so as to help emergency personnel perform environmental detection in advance before the emergency personnel enter the accident site, so that the emergency personnel can take countermeasures.
SUMMERY OF THE UTILITY MODEL
In view of the foregoing prior art's weak point, an object of the utility model is to provide an emergent robot of listening for gas-liquid leakage accident, the hazardous gas that can the real-time detection accident scene remains the condition and collects the liquid of leakage for subsequent detection.
In order to achieve the purpose, the utility model adopts the following technical proposal:
an emergency detection robot for gas-liquid leakage accidents comprises a movable chassis, and a visual system, a first mechanical arm, a gas detector and a liquid collector which are arranged on the movable chassis;
the liquid collector comprises a collecting bottle, a sampling pipe and a liquid pump arranged between the collecting bottle and the sampling pipe; the inlet end of the sampling pipe is fixed at the tail end of the first mechanical arm.
In the emergency detection robot for gas-liquid leakage accidents, the liquid collector further comprises a flow sensor arranged between the sampling pipe and the liquid pump.
In the emergency detection robot for gas-liquid leakage accidents, a funnel-shaped sampler is arranged at the inlet end of the sampling pipe.
The emergency detection robot for gas-liquid leakage accidents further comprises a second mechanical arm arranged on the movable chassis;
the tail end of the second mechanical arm is provided with a cleaning tool for cleaning floating objects on water; or the tail end of the second mechanical arm is provided with a filtering separation net.
In the emergency detection robot for gas-liquid leakage accidents, the first mechanical arm and the second mechanical arm are both seven-shaft mechanical arms.
In the emergency detection robot for gas-liquid leakage accidents, the liquid pump is a peristaltic pump.
The emergency detection robot for gas-liquid leakage accidents further comprises a radar arranged on the front side of the movable chassis.
The emergency detection robot for gas-liquid leakage accidents is characterized in that the visual system comprises a holder and a binocular camera arranged on the holder.
The mobile chassis is a crawler-type chassis in the emergency detection robot for gas-liquid leakage accidents.
The emergency detection robot for gas-liquid leakage accidents is characterized in that a protective cover is arranged at the top of the movable chassis, and the gas detector and the liquid collector are arranged in the protective cover.
Has the advantages that:
the utility model provides an emergent detection robot for gas-liquid leakage accident can move to the accident scene through the portable chassis, can carry out the analysis to poisonous and harmful, flammable and explosive gas content in the air through the gas detector, can gather the liquid that leaks through the liquid collector for the follow-up detection, can guarantee that the entry end of sampling pipe aims at the liquid leakage position and gathers through the cooperative work of vision system and first mechanical arm; the robot can detect the residual situation of the dangerous gas in the accident site in real time and collect the leaked liquid for subsequent detection, and can help emergency personnel to carry out environmental detection in advance before the emergency personnel enter the accident site so as to take countermeasures.
Drawings
Fig. 1 is the utility model provides an emergent robot that listens's for gas-liquid leakage accident structural schematic.
Fig. 2 is the utility model provides an among the emergent robot of listening for gas-liquid leakage accident, liquid collector's structural schematic.
Fig. 3 is the utility model provides an among the emergent robot of listening for gas-liquid leakage accident, the entry end of sampling pipe and the terminal connection structure picture of first arm.
Fig. 4 is a schematic view of an exemplary liquid collector in the emergency detection robot for gas-liquid leakage accident provided by the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
The following disclosure provides embodiments or examples for implementing different configurations of the present invention. In order to simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or reference letters in the various examples, which have been repeated for purposes of simplicity and clarity and do not in themselves dictate a relationship between the various embodiments and/or arrangements discussed. In addition, the present disclosure provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.
Referring to fig. 1-4, the utility model provides an emergency detection robot for gas-liquid leakage accident, which comprises a mobile chassis 1, a vision system 2, a first mechanical arm 3, a gas detector 4 and a liquid collector 5, wherein the vision system 2, the first mechanical arm 3, the gas detector 4 and the liquid collector 5 are arranged on the mobile chassis 1;
referring to fig. 2, the liquid collector 5 comprises a collecting bottle 5.1, a sampling pipe 5.2 and a liquid pump 5.3 arranged between the collecting bottle 5.1 and the sampling pipe 5.2; the inlet end of the sampling tube 5.2 is fixed to the end of the first robot arm 3 (as shown in figure 3).
When the device works, the device is moved to an accident site through the movable chassis 1, then the content of toxic, harmful, flammable and explosive gases in the air is analyzed through the gas detector 4, and meanwhile, leaked liquid is collected through the liquid collector 5 for subsequent detection; when the leaked liquid is collected, the visual system 2 and the first mechanical arm 3 work cooperatively to ensure that the inlet end of the sampling tube 5.2 is aligned with the liquid leakage position for collection. Therefore, the robot can detect the residual situation of the dangerous gas on the accident site in real time and collect the leaked liquid for subsequent detection, and can help emergency personnel to carry out environmental detection in advance before the emergency personnel enter the accident site so as to take countermeasures.
In this embodiment, as shown in fig. 3, a fixing clamp block 3.1 is disposed at an end of the first robot arm 3, and the sampling tube 5.2 is connected to the fixing clamp block 3.1.
The gas detector 4 may be one or more of an infrared gas detector, a thermomagnetic gas detector, an electrochemical gas detector, a semiconductor gas detector, and an ultraviolet gas detector.
In some preferred embodiments, see fig. 2, the liquid collector 5 further comprises a flow sensor 5.4 arranged between the sampling tube 5.2 and the liquid pump 5.3. The total volume of the collected liquid can be measured in real time through the flow sensor 5.4, so that the liquid pump 5.3 is controlled to stop working when the sampling amount meets the requirement, and the condition that the liquid collection amount is insufficient or excessive is prevented.
In some preferred embodiments, see fig. 3, the inlet end of the sampling tube 5.2 is provided with a funnel-shaped sampler 5.5. Sometimes the liquid leakage position is at a high position and drop is formed, and the sampler 5.5 can be controlled by the first mechanical arm 3 to be aligned to the liquid leakage position upwards, so that the leakage liquid in the form can be effectively collected.
In some preferred embodiments, the emergency detection robot for gas-liquid leakage accidents further comprises a second mechanical arm 6 (see fig. 1) arranged on the mobile chassis;
the tail end of the second mechanical arm 6 is provided with a cleaning tool (not shown in the figure) for cleaning the floating objects on the water; or the end of the second arm 6 is provided with a filtering screen (not shown). Sometimes, liquid leaks more and forms accumulated liquid on the ground, or the leaked liquid flows into a water body, and a sample needs to be directly extracted from the accumulated liquid or the water body, but some floating objects or other impurities may exist in the accumulated liquid or the water body, so that the sampling pipe 5.2 is easily blocked; at this time, the floating objects or impurities can be cleaned or filtered separately by the second mechanical arm 6.
For example, a cleaning tool is arranged at the tail end of the second mechanical arm 6, the cleaning tool can be a clamping jaw, a net bag and the like, and floating objects can be directly removed through the clamping jaw, the net bag and the like;
for another example, the end of the two mechanical arms 6 is provided with a filter screen, and the filter screen extends to the inlet end of the sampling tube 5.2 to block the inlet during sampling, so that impurities are isolated.
Furthermore, the end of the second robot arm 6 may be provided with other tools as required, for example, fingers may be provided for cleaning obstacles on the moving path.
In the present embodiment, as shown in fig. 1, the first robot arm 3 and the second robot arm 6 are each a seven-axis robot arm, but are not limited thereto. The seven sampling mechanical arms have good flexibility and can complete more actions.
In some embodiments, the liquid pump 5.3 is a peristaltic pump. In the peristaltic pump, the fluid is isolated in the pump tube and can not contact the pump body, so that the pump body can not be polluted, and the peristaltic pump has the advantages of replaceable pump tube, reversible fluid, dry rotation and the like.
In some preferred embodiments, see fig. 4, the liquid collector 5 comprises a plurality of collecting bottles 5.1 and at least one washing liquid bottle 5.6 for storing the washing liquid, each collecting bottle 5.1 and each washing liquid bottle 5.6 are respectively connected with the liquid pump 5.3 through a connecting pipe 5.7, and each connecting pipe 5.7 is provided with an electromagnetic valve 5.8.
When leakage liquid is collected, a plurality of leakage positions are possible, and the leakage liquid at each leakage position may be different, at this time, the liquid pump 5.3 can be communicated with different collecting bottles 5.1 by controlling the operation of each electromagnetic valve 5.8, so that different samples can be stored in different collecting bottles 5.1. Before each switching of the collecting bottles 5.1, the electromagnetic valves 5.8 of all the collecting bottles 5.1 can be closed to disconnect the liquid pump 5.3, then the liquid pump 5.3 is communicated with the washing liquid bottle 5.6, the liquid pump 5.3 is reversed, the backwashing liquid is pumped from the washing liquid bottle 5.6 to backwash the pipeline, and after the backwashing is finished, the other collecting bottle 5.1 is switched, so that the cross contamination of each sample can be avoided.
Furthermore, as shown in fig. 4, a liquid discharge pipe 5.9 connected with the liquid pump 5.3 can be arranged, an electromagnetic valve 5.8 is arranged on the liquid discharge pipe 5.9, after the back washing is completed, the liquid pump 5.3 can be switched to a state of being only communicated with the liquid discharge pipe 5.9, then the sampling is carried out, the extracted sample liquid can wash a pipeline to take away residual back washing liquid, finally the sample liquid is discharged from the liquid discharge pipe 5.9, and then another collection bottle 5.1 is switched to carry out formal sampling, so that the situation that the back washing liquid pollutes the sample can be avoided.
Wherein, fluid-discharge tube 5.9 can directly stretch out the robot and carry out the flowing back, also can set up collecting vat 5.10 in the exit of fluid-discharge tube 5.9 to collect the waste liquid and place polluted ground.
In some embodiments, see fig. 1, the emergency detection robot for gas-liquid leakage accident further comprises a radar 7 disposed at the front side of the mobile chassis 1. The radar is used for providing front obstacle information for the movement of the robot, realizes the navigation function, and can be matched with a vision system to more accurately judge the position of an object.
In some embodiments, see fig. 1, the vision system 2 comprises a pan-tilt 2.1 and a binocular camera 2.2 arranged thereon. Can drive binocular camera 2.2 through cloud platform 2.1 and rotate towards all directions to increase binocular camera 2.2's detection range. The head 2.1 may be a single degree of freedom head, a double degree of freedom head or a more degree of freedom head. In fig. 1, the pan/tilt head 2.1 is a two-degree-of-freedom pan/tilt head, and can drive the binocular camera 2.2 to perform azimuth rotation and pitch rotation.
In some embodiments, see fig. 1, the mobile chassis 1 is a tracked chassis. Has better climbing capability, can rotate in situ and can be better adapted to complex pavements.
In some embodiments, see fig. 1, a protective cover 8 is arranged on top of the mobile chassis 1, and the gas detector 4 and the liquid collector 5 are arranged inside the protective cover 8 (only a part of the protective cover 8 is shown in the figure). Wherein the probe of the gas detector 4 extends out of the protective cover 8.
In summary, although the present invention has been described with reference to the preferred embodiments, the above-mentioned preferred embodiments are not intended to limit the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and the embodiments are substantially the same as the present invention.
Claims (10)
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021520250.5U CN212421326U (en) | 2020-07-28 | 2020-07-28 | An emergency detection robot for gas-liquid leakage accident |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021520250.5U CN212421326U (en) | 2020-07-28 | 2020-07-28 | An emergency detection robot for gas-liquid leakage accident |
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| CN212421326U true CN212421326U (en) | 2021-01-29 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111844077A (en) * | 2020-07-28 | 2020-10-30 | 季华实验室 | An emergency detection robot for gas-liquid leakage accident |
| CN115452482A (en) * | 2022-10-28 | 2022-12-09 | 国网山西省电力公司超高压变电分公司 | Liquid taking device in narrow electrified space of transformer substation or converter station |
-
2020
- 2020-07-28 CN CN202021520250.5U patent/CN212421326U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111844077A (en) * | 2020-07-28 | 2020-10-30 | 季华实验室 | An emergency detection robot for gas-liquid leakage accident |
| CN111844077B (en) * | 2020-07-28 | 2024-12-13 | 季华实验室 | An emergency detection robot for gas and liquid leakage accidents |
| CN115452482A (en) * | 2022-10-28 | 2022-12-09 | 国网山西省电力公司超高压变电分公司 | Liquid taking device in narrow electrified space of transformer substation or converter station |
| CN115452482B (en) * | 2022-10-28 | 2023-07-04 | 国网山西省电力公司超高压变电分公司 | Liquid taking device in narrow and small electrified space of transformer substation or convertor station |
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