CN113414755A - Indoor rail-mounted electric power operation and inspection robot - Google Patents
Indoor rail-mounted electric power operation and inspection robot Download PDFInfo
- Publication number
- CN113414755A CN113414755A CN202110719766.5A CN202110719766A CN113414755A CN 113414755 A CN113414755 A CN 113414755A CN 202110719766 A CN202110719766 A CN 202110719766A CN 113414755 A CN113414755 A CN 113414755A
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- bevel gear
- robot
- groove
- oil storage
- oil
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- 238000007689 inspection Methods 0.000 title claims description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 34
- 238000001514 detection method Methods 0.000 claims abstract description 16
- 238000009434 installation Methods 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims abstract description 3
- 238000003860 storage Methods 0.000 claims description 30
- 229920000742 Cotton Polymers 0.000 claims description 9
- 238000010521 absorption reaction Methods 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 abstract description 13
- 238000000034 method Methods 0.000 abstract description 11
- 239000003921 oil Substances 0.000 description 40
- 230000008569 process Effects 0.000 description 5
- 239000010687 lubricating oil Substances 0.000 description 3
- 238000005461 lubrication Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000001050 lubricating effect Effects 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 244000309464 bull Species 0.000 description 1
- 239000003153 chemical reaction reagent Substances 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0062—Lubrication means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an indoor rail-mounted electric operation robot, which comprises a rail, a control box and a robot main body, wherein the front surface of the control box is provided with a detection mechanism and an observation mechanism, the detection mechanism comprises an installation rod, the installation rod is positioned at the top end of one side of the front surface of the control box, one side of the installation rod is provided with a sensor, and the observation mechanism comprises a fixed block; through having designed detection mechanism for when electric power fortune is examined the robot and is slided on the track, whether the detection the place ahead that can be accurate has the barrier, when there being the barrier, electric power fortune is examined the robot and can in time be stopped, the effectual electric power fortune of having avoided the robot receives the damage at the in-process that detects, through having designed observation mechanism, when electric power fortune is examined the robot and is met the barrier at the in-process that removes, observation mechanism can give the staff with the position and the size transmission of barrier and observe, the personnel of being convenient for take corresponding measure to handle.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an indoor rail type electric power operation and inspection robot.
Background
Indoor power equipment needs to have sufficient reliability on the one hand, on the other hand also needs in time to detect so that discover and overhaul the equipment that has potential hidden danger, ensure electric power system normal operating, indoor equipment's real-time detection is significant to guaranteeing its reliable safe operation, adopt rail robot can conveniently carry out real-time detection to indoor equipment in a flexible way, know the running state of equipment, consequently need use rail robot, present rail robot still has some problems at that time.
When an existing rail-type robot works, the robot can sometimes encounter obstacles to block in the process of sliding on a rail, and when the robot encounters a condition that the robot does not stop moving, the joint of the robot and the rail is easily damaged.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an indoor rail-mounted electric power operation and inspection robot, which is characterized in that a detection mechanism is designed, so that when the electric power operation and inspection robot slides on a rail, whether an obstacle exists in the front can be accurately detected, when the obstacle exists, the electric power operation and inspection robot can be stopped in time, the electric power operation and inspection robot is effectively prevented from being damaged in the detection process, and through the design of an observation mechanism, when the electric power operation and inspection robot meets the obstacle in the moving process, the observation mechanism can transmit the position and the size of the obstacle to a worker for observation, so that the worker can conveniently take corresponding measures to process.
In order to solve the technical problems, the invention provides the following technical scheme: a rail-mounted electric power operation and inspection robot used indoors comprises a rail, a control box and a robot main body, wherein the front surface of the control box is provided with a detection mechanism and an observation mechanism, the detection mechanism comprises an installation rod, the installation rod is arranged at the top end of one side of the front surface of the control box, one side of the installation rod is provided with a sensor, the observation mechanism comprises a fixed block, the fixed block is arranged in the middle of the front surface of the control box, a limit groove is formed in the surface of one side of the fixed block, a screw rod is arranged inside the limit groove, a threaded sleeve is sleeved in the middle of the screw rod, a connecting rod is arranged on one side of the threaded sleeve, a camera is arranged at one end of the connecting rod, a second bevel gear is sleeved at the bottom end of the surface of the screw rod, a first bevel gear is arranged on one side of the second bevel gear, a rotating rod is arranged on one side of the first bevel gear, and a servo motor is arranged at one end of the rotating rod, the servo motor bottom is provided with the fixed plate, fixed plate top one side is provided with the supporting shoe, just bull stick one end runs through the supporting shoe inner wall and has seted up and run through the groove, it is provided with the bearing to run through the inslot side.
The oil storage box is arranged at the top end of the fixed block, an oil storage cavity is formed in the oil storage box, oil absorption cotton is arranged on the inner side of the oil storage cavity, a bottom plate is arranged at the bottom end of the oil absorption cotton, a push rod is arranged on one side of the bottom end of the bottom plate, a stress plate is arranged at the bottom end of the push rod, and an oil guide groove is formed in one side of the bottom end surface of the inner side of the oil storage cavity.
As a preferred technical scheme of the invention, the screw rod is rotatably connected with the limiting groove, and the front section of the screw rod is rectangular.
As a preferable technical scheme of the invention, the first bevel gear and the second bevel gear have the same specification, and are in meshed connection.
As a preferable technical scheme of the invention, the bearing outer ring is fixedly connected with the inner side surface of the through groove, and the bearing inner ring is fixedly connected with the surface of the rotating rod.
As a preferable technical scheme of the invention, the threaded sleeve and the connecting rod are welded, and when the threaded sleeve is acted by force, the threaded sleeve vertically reciprocates along the surface of the screw rod.
As a preferable technical scheme of the invention, the top end of the inner side of the oil storage cavity is provided with an oil filling hole.
As a preferred technical scheme of the invention, the bottom end of the oil guide groove inclines forty-five degrees outwards, and the oil guide groove is communicated with the oil storage cavity and the limiting groove.
Compared with the prior art, the invention can achieve the following beneficial effects:
1. through having designed detection mechanism for when electric power fortune is examined the robot and is slided on the track, whether the detection the place ahead that can be accurate has the barrier, when there being the barrier, electric power fortune is examined the robot and can in time be stopped, the effectual electric power fortune of having avoided the robot receives the damage at the in-process that detects, through having designed observation mechanism, when electric power fortune is examined the robot and is met the barrier at the in-process that removes, observation mechanism can give the staff with the position and the size transmission of barrier and observe, the personnel of being convenient for take corresponding measure to handle.
2. Through having designed lubricated mechanism, can obtain effectual lubrication between screw rod and the thread bush for the thread bush is when reciprocating on the screw rod surface, and is more smooth and easy.
Drawings
FIG. 1 is a schematic overall front view of the present invention;
FIG. 2 is an enlarged view of the structure at A in FIG. 1 according to the present invention;
FIG. 3 is an enlarged view of the structure at B in FIG. 2 according to the present invention;
FIG. 4 is an enlarged view of the structure of FIG. 2 at C according to the present invention;
wherein: 1. a track; 2. a control box; 3. a robot main body; 4. a sensor; 5. a fixed block; 6. a limiting groove; 7. a screw; 8. a threaded sleeve; 9. a camera; 10. a connecting rod; 11. a servo motor; 12. a fixing plate; 13. a rotating rod; 14. a support block; 15. a through groove; 16. a bearing; 17. a first bevel gear; 18. a second bevel gear; 19. an oil storage box; 20. an oil storage chamber; 21. oil absorbing cotton; 22. a base plate; 23. a push rod; 24. a stress plate; 25. an oil guide groove; 26. and (5) installing a rod.
Detailed Description
The present invention will be further described with reference to specific embodiments for the purpose of facilitating an understanding of technical means, characteristics of creation, objectives and functions realized by the present invention, but the following embodiments are only preferred embodiments of the present invention, and are not intended to be exhaustive. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative efforts belong to the protection scope of the present invention. The experimental methods in the following examples are conventional methods unless otherwise specified, and materials, reagents and the like used in the following examples are commercially available unless otherwise specified.
Example (b):
as shown in fig. 1, 2 and 3, a rail-mounted electric inspection robot for indoor use comprises a rail 1, a control box 2 and a robot body 3, wherein a detection mechanism and an observation mechanism are arranged on the front surface of the control box 2, the detection mechanism comprises an installation rod 26, the installation rod 26 is arranged at the top end of one side of the front surface of the control box 2, a sensor 4 is arranged on one side of the installation rod 26, the observation mechanism comprises a fixed block 5, the fixed block 5 is arranged in the middle of the front surface of the control box 2, a limit groove 6 is arranged on the surface of one side of the fixed block 5, a screw 7 is arranged inside the limit groove 6, a threaded sleeve 8 is sleeved in the middle of the screw 7, a connecting rod 10 is arranged on one side of the threaded sleeve 8, a camera 9 is arranged at one end of the connecting rod 10, a second bevel gear 18 is sleeved at the bottom end of the surface of the screw 7, a first bevel gear 17 is arranged on one side of the second bevel gear 18, a rotating rod 13 is arranged on one side of the first bevel gear 17, a servo motor 11 is arranged at one end of the rotating rod 13, a fixing plate 12 is arranged at the bottom end of the servo motor 11, a supporting block 14 is arranged on one side of the top end of the fixing plate 12, a through groove 15 is formed in one end of the rotating rod 13, penetrating through the inner wall of the supporting block 14, and a bearing 16 is arranged on the inner side of the through groove 15;
when the control box 2 slides along the track 1 and encounters an obstacle halfway, the sensor 4 detects the obstacle and controls the control box 2 to stop moving, the servo motor 11 is started simultaneously, the servo motor 11 enables the first bevel gear 17 to rotate under the action of the rotating rod 13, the first bevel gear 17 drives the second bevel gear 18 to rotate simultaneously, the second bevel gear 18 enables the screw 7 to rotate inside the limiting groove 6, the limiting groove 6 enables the threaded sleeve 8 to move up and down along the surface of the screw 7 in the rotating process, the screw 7 drives the camera 9 to move up and down simultaneously under the action of the connecting rod 10, and the position and the size of the obstacle can be transmitted to a control room when the camera 9 moves, so that a person can observe the obstacle conveniently; through having designed detection mechanism for when electric power fortune is examined the robot and is slided on track 1, whether the detection the place ahead that can be accurate has the barrier, when there being the barrier, electric power fortune is examined the robot and can in time be stopped, the effectual electric power fortune of having avoided the robot receives the damage at the in-process that detects, through having designed observation mechanism, when electric power fortune is examined the robot and is met the barrier at the in-process that removes, observation mechanism can transmit the position and the size of barrier for the staff and observe, the personnel of being convenient for take corresponding measure to handle.
In other embodiments, the present embodiment discloses an oil storage box 19, as shown in fig. 4, the oil storage box 19 further includes a lubricating mechanism, the lubricating mechanism includes the oil storage box 19, the oil storage box 19 is located at the top end of the fixed block 5, an oil storage cavity 20 is formed inside the oil storage box 19, an oil absorbent cotton 21 is disposed inside the oil storage cavity 20, a bottom plate 22 is disposed at the bottom end of the oil absorbent cotton 21, a push rod 23 is disposed at one side of the bottom end of the bottom plate 22, a stress plate 24 is disposed at the bottom end of the push rod 23, and an oil guide groove 25 is formed at one side of the bottom end surface inside the oil storage cavity 20;
when the threaded sleeve 8 moves to the top end of the screw 7 along the surface of the screw 7, the top end surface of the threaded sleeve 8 pushes the stress plate 24 to move upwards, at the moment, the push rod 23 enables the bottom plate 22 to move upwards along the inner side of the oil storage cavity 20, the oil absorption cotton 21 is extruded, the lubricating oil absorbed in the oil absorption cotton 21 overflows and flows to the surface of the screw 7 through the oil guide groove 25, and the screw 7 and the threaded sleeve 8 are lubricated; through having designed lubricated mechanism, can obtain effectual lubrication between screw rod 7 and the thread bush 8 for thread bush 8 when 7 surperficial reciprocates of screw rod, more smooth and easy.
In other embodiments, the present embodiment discloses a screw 7, as shown in fig. 2, the screw 7 is rotatably connected to the limiting groove 6, and the front cross section of the screw 7 is rectangular; when the screw 7 is acted by force, the screw 7 can rotate in situ inside the limit groove 6.
In other embodiments, the present embodiment discloses a first bevel gear 17 and a second bevel gear 18, as shown in fig. 3, the specifications of the first bevel gear 17 and the second bevel gear 18 are the same, and the first bevel gear 17 and the second bevel gear 18 are in meshed connection; so that the first bevel gear 17 can effectively drive the second bevel gear 18 to synchronously rotate.
In other embodiments, the present embodiment discloses a bearing 16, as shown in fig. 3, an outer ring of the bearing 16 is fixedly connected to an inner side surface of the through groove 15, and an inner ring of the bearing 16 is fixedly connected to a surface of the rotating rod 13; so that the rotating rod 13 can be rotated while being maintained at a fixed position without being deviated.
In other embodiments, the present embodiment discloses a threaded sleeve 8, as shown in fig. 2, the threaded sleeve 8 is welded to a connecting rod 10, and when the threaded sleeve 8 is acted by a force, the threaded sleeve 8 vertically reciprocates along the surface of the screw rod 7; make 8 can drive 9 of camera in step and reciprocate for the thread bush, be convenient for observe the position and the size of barrier.
In other embodiments, the present embodiment discloses the oil storage chamber 20, and as shown in fig. 4, the top end of the inner side of the oil storage chamber 20 is provided with an oil filling hole; so that a person can replenish the lubricating oil in the oil storage chamber 20.
In other embodiments, the oil guiding groove 25 is disclosed in the present embodiment, as shown in fig. 4, the bottom end of the oil guiding groove 25 is inclined to the outside by forty-five degrees, and the oil guiding groove 25 communicates the oil storage cavity 20 and the limiting groove 6; so that the lubricating oil can accurately fall on the surface of the screw 7 for lubrication.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The utility model provides a be used for indoor rail mounted electric power operation robot, includes track (1), control box (2) and robot main part (3), its characterized in that: the front surface of the control box (2) is provided with a detection mechanism and an observation mechanism, the detection mechanism comprises an installation rod (26), the installation rod (26) is arranged at the top end of one side of the front surface of the control box (2), one side of the installation rod (26) is provided with a sensor (4), the observation mechanism comprises a fixed block (5), the fixed block (5) is arranged in the middle of the front surface of the control box (2), one side surface of the fixed block (5) is provided with a limit groove (6), the inner side of the limit groove (6) is provided with a screw rod (7), the middle part of the screw rod (7) is sleeved with a threaded sleeve (8), one side of the threaded sleeve (8) is provided with a connecting rod (10), one end of the connecting rod (10) is provided with a camera (9), the bottom end of the surface of the screw rod (7) is sleeved with a second bevel gear (18), one side of the second bevel gear (18) is provided with a first bevel gear (17), the bevel gear transmission device is characterized in that a rotating rod (13) is arranged on one side of the first bevel gear (17), a servo motor (11) is arranged at one end of the rotating rod (13), a fixing plate (12) is arranged at the bottom end of the servo motor (11), a supporting block (14) is arranged on one side of the top end of the fixing plate (12), one end of the rotating rod (13) penetrates through the inner wall of the supporting block (14) and is provided with a penetrating groove (15), and a bearing (16) is arranged on the inner side of the penetrating groove (15).
2. An orbital electric motion inspection robot for use indoors according to claim 1, wherein: still include lubricated mechanism, lubricated mechanism includes oil storage box (19), oil storage box (19) are in fixed block (5) top, oil storage box (19) inside oil storage chamber (20) have been seted up, oil storage chamber (20) inboard is provided with oil absorption cotton (21), oil absorption cotton (21) bottom is provided with bottom plate (22), bottom plate (22) bottom one side is provided with catch bar (23), catch bar (23) bottom is provided with atress board (24), just oil storage chamber (20) inboard bottom surface one side has been seted up and has been led oil groove (25).
3. An orbital electric motion inspection robot for use indoors according to claim 1, wherein: the screw rod (7) is rotatably connected with the limiting groove (6), and the front section of the screw rod (7) is rectangular.
4. An orbital electric motion inspection robot for use indoors according to claim 1, wherein: the first bevel gear (17) and the second bevel gear (18) are in the same specification, and the first bevel gear (17) and the second bevel gear (18) are in meshed connection.
5. An orbital electric motion inspection robot for use indoors according to claim 1, wherein: the outer ring of the bearing (16) is fixedly connected with the inner side surface of the through groove (15), and the inner ring of the bearing (16) is fixedly connected with the surface of the rotating rod (13).
6. An orbital electric motion inspection robot for use indoors according to claim 1, wherein: the threaded sleeve (8) is welded with the connecting rod (10), and when the threaded sleeve (8) is acted by force, the threaded sleeve (8) vertically reciprocates along the surface of the screw rod (7).
7. An orbital electric motion inspection robot for use indoors according to claim 2, wherein: and the top end of the inner side of the oil storage cavity (20) is provided with an oil filling hole.
8. An orbital electric motion inspection robot for use indoors according to claim 2, wherein: lead oil groove (25) bottom to the outside slope forty-five degrees, just lead oil groove (25) intercommunication oil storage chamber (20) and spacing groove (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110719766.5A CN113414755A (en) | 2021-06-28 | 2021-06-28 | Indoor rail-mounted electric power operation and inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110719766.5A CN113414755A (en) | 2021-06-28 | 2021-06-28 | Indoor rail-mounted electric power operation and inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113414755A true CN113414755A (en) | 2021-09-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110719766.5A Pending CN113414755A (en) | 2021-06-28 | 2021-06-28 | Indoor rail-mounted electric power operation and inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113414755A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101334495B1 (en) * | 2013-05-03 | 2013-11-29 | 주승갑 | Cartesian robot without oil supplement |
| CN106540390A (en) * | 2016-10-27 | 2017-03-29 | 中国矿业大学 | Hanger rail type fire protection patrol robot system |
| CN211072593U (en) * | 2019-12-06 | 2020-07-24 | 安徽双林机械制造有限公司 | Lubricating device of sliding guide rail for lathe |
| CN111623218A (en) * | 2020-06-02 | 2020-09-04 | 郑州工程技术学院 | Fixed point offset and fixing structure for machine vision detection |
| CN112261272A (en) * | 2020-10-26 | 2021-01-22 | 陈浩明 | Need not abluent intelligent security surveillance camera head |
-
2021
- 2021-06-28 CN CN202110719766.5A patent/CN113414755A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101334495B1 (en) * | 2013-05-03 | 2013-11-29 | 주승갑 | Cartesian robot without oil supplement |
| CN106540390A (en) * | 2016-10-27 | 2017-03-29 | 中国矿业大学 | Hanger rail type fire protection patrol robot system |
| CN211072593U (en) * | 2019-12-06 | 2020-07-24 | 安徽双林机械制造有限公司 | Lubricating device of sliding guide rail for lathe |
| CN111623218A (en) * | 2020-06-02 | 2020-09-04 | 郑州工程技术学院 | Fixed point offset and fixing structure for machine vision detection |
| CN112261272A (en) * | 2020-10-26 | 2021-01-22 | 陈浩明 | Need not abluent intelligent security surveillance camera head |
Non-Patent Citations (1)
| Title |
|---|
| 李树森: "《木材抓斗理论与设计》", 30 March 2001 * |
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Application publication date: 20210921 |