CN113799805A - Intelligent monitoring robot used between ship LNG fuels - Google Patents
Intelligent monitoring robot used between ship LNG fuels Download PDFInfo
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- CN113799805A CN113799805A CN202111311152.XA CN202111311152A CN113799805A CN 113799805 A CN113799805 A CN 113799805A CN 202111311152 A CN202111311152 A CN 202111311152A CN 113799805 A CN113799805 A CN 113799805A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 39
- 239000000446 fuel Substances 0.000 title claims abstract description 31
- 230000007246 mechanism Effects 0.000 claims abstract description 53
- 239000002737 fuel gas Substances 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 3
- 238000007689 inspection Methods 0.000 description 5
- 238000007726 management method Methods 0.000 description 5
- 239000000523 sample Substances 0.000 description 5
- 230000002159 abnormal effect Effects 0.000 description 2
- 239000007789 gas Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- QGZKDVFQNNGYKY-UHFFFAOYSA-N Ammonia Chemical compound N QGZKDVFQNNGYKY-UHFFFAOYSA-N 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 239000001257 hydrogen Substances 0.000 description 1
- 229910052739 hydrogen Inorganic materials 0.000 description 1
- 125000004435 hydrogen atom Chemical class [H]* 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
- 238000013024 troubleshooting Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B13/00—Other railway systems
- B61B13/04—Monorail systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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Abstract
The invention discloses an intelligent monitoring robot used in a ship LNG fuel room, which comprises a guide rail, a robot body, a walking guide wheel, a walking driving mechanism, a camera and a camera platform, wherein the guide rail is fixed on a hull structure of a cabin monitoring area, the walking guide wheel is arranged on the upper side of the robot body, the robot body is arranged on the guide rail through the walking guide wheel, the walking guide wheel is connected with the walking driving mechanism and driven by the walking driving mechanism, and the camera is arranged on the lower side of the robot body through the camera platform and driven by the camera platform to rotate along a horizontal plane and a vertical plane. The invention adopts the track robot to automatically inspect the dangerous area, has convenient arrangement and lower overall cost, occupies small space for the robot and the track, and can be arranged in a narrow area, thereby being convenient to realize the omnibearing coverage of the dangerous area.
Description
Technical Field
The invention relates to a duty robot, in particular to an intelligent monitoring robot used between ship LNG fuels, and belongs to the field of ship safety monitoring.
Background
With the enhancement of the environmental awareness of the world, clean fuels such as liquid ammonia, liquid hydrogen, liquid LNG and the like are gradually valued by the shipping industry and become green and environment-friendly marine fuels gradually. Due to the characteristics of easy volatilization, low flash point, flammability and explosiveness of the clean fuel, the clean fuel for the ship can cause fire disasters due to static accumulation of pipelines and leakage of the clean fuel due to cracks of pipeline equipment in the processes of storage, transportation and use, and accidents such as fire disasters occur. With the trend of large-scale ships, the container ship with an ultra-large size of more than 400m is usually designed in a double island mode with a separated residential area and a separated engine room, a fuel cabin and fuel equipment are located at a residential place at the front part, a main engine is located in an engine room area at the tail part, and clean fuel is sent to the engine room at the tail part through a lower deck channel by a fuel gas supply pipe. Areas covered by clean fuel, such as fuel cabins, gas equipment rooms, filling stations, engine cabins and the like, are all dangerous areas. In order to ensure safe operation of the ship, real-time monitoring of areas where clean fuel may leak is required. Because the dangerous area is widely distributed and the area is dispersed, the inspection difficulty is extremely high. Therefore, for safety, any dangerous area covered by clean fuel needs to be monitored in real time and regularly patrolled to ensure safety.
According to the survey of the conventional on-duty monitoring technology of a conventional ship (a conventional petrochemical fuel ship), the on-duty monitoring system of the conventional ship mainly adopts two technical schemes of manual inspection on duty or temperature or smoke probe monitoring. The technical scheme of manual inspection has low inspection frequency and long intervals, cannot realize real-time monitoring, wastes a large amount of manpower, is inconvenient for people to enter and exit in partial areas, and has inspection dead angles and dangerous areas which easily cause casualties. In the technical scheme of the probe, because a single probe covers a small area, the number of probes required for covering key points of a dangerous area in the whole ship is large, the investment cost is too high, all areas cannot be completely covered, the number of probes is large, the fault probability is high, the reliability is low, the fault troubleshooting is difficult, and the cable arrangement is complex.
Disclosure of Invention
The invention aims to provide an intelligent monitoring robot used between ship LNG fuels, which is low in cost, wide in coverage area, safe and reliable.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the utility model provides an intelligent supervisory-controlled robot for between boats and ships LNG fuel which characterized in that: contain the guide rail, the robot, the walking guide pulley, walking actuating mechanism, sensor module, camera and platform of making a video recording, the guide rail is fixed on cabin monitoring area's hull structure, the walking guide pulley sets up at the robot upside and the robot passes through the walking guide pulley setting on the guide rail, the walking guide pulley is connected with walking actuating mechanism and is driven by walking actuating mechanism, the camera passes through the platform of making a video recording setting at the robot downside and it is rotatory along horizontal plane and vertical face under the drive of platform of making a video recording, sensor module sets up on the robot, sensor module contains temperature sensor, fuel gas sensor and distance sensor.
Further, the temperature sensor collects temperature information of a cabin monitoring area in real time, the fuel gas sensor collects fuel gas concentration information of the cabin monitoring area in real time, the distance sensor collects the distance between the robot body and a monitoring target object in real time, the temperature sensor, the fuel gas sensor and the distance sensor upload collected information to an intelligent management platform of a ship control center through the wireless communication module, and the intelligent management platform analyzes the collected information and generates corresponding alarm content.
Further, the robot body contains first body and second body, and the one end of first body is articulated with the one end of second body, and the upper end of first body and second body is provided with a set of walking guide pulley respectively.
Further, the walking guide wheel comprises a first vertical guide wheel, a second vertical guide wheel, a first side plate and a second side plate, the first side plate is vertically fixed at one side edge of the first body or the second body, the second side plate is vertically fixed at the other side edge of the first body or the second body, the first vertical guide wheel is arranged along the vertical direction and can walk on the bottom surface of the guide rail along the length direction of the guide rail, the first vertical guide wheel is rotatably arranged on the first side plate through a rotating shaft, the second vertical guide wheel is arranged along the vertical direction and can walk on the bottom surface of the guide rail along the length direction of the guide rail, the second vertical guide wheel is rotatably arranged on the second side plate through a rotating shaft, and the walking guide wheel of the first body is connected with the walking driving mechanism.
Further, the walking driving mechanism comprises a walking driving motor, a first synchronizing wheel, a second synchronizing wheel and a first synchronizing belt, the walking driving motor is fixed on the lower side of the first body, the first synchronizing wheel is arranged on an output shaft of the walking driving motor, the second synchronizing wheel is arranged at the end portion of a rotating shaft of a first vertical guide wheel of a walking guide wheel of the first body, and the first synchronizing belt is arranged on the first synchronizing wheel and the second synchronizing wheel.
Furthermore, a group of horizontal guide wheel mechanisms are respectively arranged at the upper ends of the first side plate and the second side plate, and the horizontal guide wheel mechanisms at the two sides are symmetrically arranged at the two sides of the guide rail.
Furthermore, the horizontal guide wheel mechanism comprises a horizontal guide wheel, a guide wheel bracket, a first slide rod, a first slide block, a first spring, a second slide rod, a second slide block, a second spring and a mounting block, wherein the horizontal guide wheel is arranged along the horizontal direction and is arranged on the side surface of the guide rail, the horizontal guide wheel is rotatably arranged on the guide wheel bracket, the first slide rod and the second slide rod are arranged in parallel, one end of the first slide rod and one end of the second slide rod are respectively fixed at two ends of one side of the guide wheel bracket, the first slide block is fixed at the other end of the first slide rod, the second slide block is fixed at the other end of the second slide rod, the mounting block is fixed at the upper side of the first side plate or the second side plate, a first blind hole matched with the first slide block and a second blind hole matched with the second slide block are formed in the mounting block, the first slide block is arranged in the first blind hole in a sliding manner, the second slide block is arranged in the second blind hole in a sliding manner, the first spring is sleeved on the first slide rod and the first spring is positioned between the mounting block and the guide wheel bracket, the second spring is sleeved on the second slide rod and is positioned between the mounting block and the idler wheel bracket.
Further, the platform of making a video recording contains horizontal rotary table, horizontal rotary table actuating mechanism, vertical support and vertical support actuating mechanism, and horizontal rotary table rotates the downside that sets up at the second body and horizontal rotary table is connected with horizontal rotary table actuating mechanism and is driven along the horizontal plane rotation by horizontal rotary table actuating mechanism, and vertical support sets up and the downside at horizontal rotary table is fixed to the upper end of vertical support along vertical direction, and the camera both sides rotate through the axis of rotation and set up at vertical support lower extreme and camera both sides axis of rotation is connected with vertical support actuating mechanism and is driven along the vertical plane rotation by vertical support actuating mechanism.
Further, horizontal turntable actuating mechanism contains third synchronizing wheel, fourth synchronizing wheel, second hold-in range and horizontal driving motor, and the third synchronizing wheel is fixed in the horizontal turntable outside, and the fourth synchronizing wheel sets up on horizontal driving motor's output shaft, and the second hold-in range sets up on third synchronizing wheel and fourth synchronizing wheel, and horizontal driving motor fixes on the second body.
Further, vertical support actuating mechanism contains fifth synchronizing wheel, sixth synchronizing wheel, third hold-in range and vertical driving motor, and the fifth synchronizing wheel is fixed at camera side axis of rotation tip, and the sixth synchronizing wheel sets up on vertical driving motor's output shaft, and the third hold-in range sets up on fifth synchronizing wheel and sixth synchronizing wheel, and vertical driving motor fixes in the carousel.
Compared with the prior art, the invention has the following advantages and effects: the intelligent monitoring robot for the ship LNG fuel room adopts the rail robot to automatically inspect the dangerous area, is convenient to arrange and low in overall cost, occupies small space with the rail, and can be arranged in a narrow area, so that the comprehensive coverage of the dangerous area is convenient to realize; the robot through automatic walking realizes that the efficient is automatic to patrol and examine, and the check-up efficiency is high, and the interval is short to replace the manual work to patrol and examine completely, the security is high.
Drawings
Fig. 1 is a schematic diagram of an intelligent monitoring robot for a ship LNG refueling room according to the present invention.
Fig. 2 is a side view of an intelligent monitoring robot for a ship LNG refueling room according to the present invention.
Fig. 3 is a plan view of the robot body of the present invention.
FIG. 4 is a schematic view of the horizontal idler mechanism of the present invention.
Fig. 5 is a schematic view of the imaging stage of the present invention.
Detailed Description
To elaborate on technical solutions adopted by the present invention to achieve predetermined technical objects, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, it is obvious that the described embodiments are only partial embodiments of the present invention, not all embodiments, and technical means or technical features in the embodiments of the present invention may be replaced without creative efforts, and the present invention will be described in detail below with reference to the drawings and in conjunction with the embodiments.
As shown in fig. 1, the invention discloses an intelligent monitoring robot for a ship LNG fuel room, comprising a guide rail 1, a robot body 2, a walking guide wheel 3, a walking driving mechanism 4, a sensor assembly, a camera 5 and a camera platform 6, wherein the guide rail 1 is fixed on a hull structure of a cabin monitoring area, the walking guide wheel 3 is arranged on the upper side of the robot body 2, the robot body 2 is arranged on the guide rail 1 through the walking guide wheel 3, the walking guide wheel 3 is connected with the walking driving mechanism 4 and driven by the walking driving mechanism 4, and the camera 5 is arranged on the lower side of the robot body 2 through the camera platform 6 and is driven by the camera platform 6 to rotate along a horizontal plane and a vertical plane. The robot body 2 is driven by the walking driving mechanism 4 to patrol and examine in the dangerous area inside the container ship along the guide rail 1, and meanwhile, the angle of the camera 5 can be adjusted through the camera shooting platform 6, so that the omnibearing image acquisition is realized. The sensor assembly is arranged on the robot body and comprises a temperature sensor, a fuel gas sensor and a distance sensor.
The temperature sensor collects temperature information of a cabin monitoring area in real time, the fuel gas sensor collects fuel gas concentration information of the cabin monitoring area in real time, the distance sensor collects the distance between the robot body and a monitoring target object in real time, the temperature sensor, the fuel gas sensor and the distance sensor upload collected information to an intelligent management platform of a ship control center through a wireless communication module, and the intelligent management platform analyzes the collected information and generates corresponding alarm content. The intelligent management platform is internally provided with an image recognition system, images collected by the camera are recognized and judged in real time, when the image recognition system recognizes that the image comparison is abnormal before and after monitoring the space, or when the sensor monitors that the temperature or the gas composition is abnormal, an alarm is given, the control center controls the telescopic rotary mechanical arm to scan and analyze equipment, pipelines and the like around the alarm for 360 degrees according to the alarm position, and after the alarm reason is determined, maintenance personnel can maintain the alarm quickly.
The guide rail 1 is an I-shaped guide rail. As shown in fig. 3, the robot body 2 includes a first body 7 and a second body 8, one end of the first body 7 is hinged to one end of the second body 8, and a set of walking guide wheels 3 are respectively disposed at the upper ends of the first body 7 and the second body 8. When the track turns between the cabin of difference like this, adopt the first body 7 of articulated formula and the setting of second body 8 to make things convenient for robot body 2 to turn to on guide rail 1, ensure the smoothness of robot walking.
As shown in fig. 2, the traveling guide wheel 3 includes a first vertical guide wheel 9, a second vertical guide wheel 10, a first side plate 11 and a second side plate 12, the first side plate 11 is vertically fixed at one side edge of the first body 7 or the second body 8, the second side plate 12 is vertically fixed at the other side edge of the first body 7 or the second body 8, the first vertical guide wheel 9 is arranged along the vertical direction and can travel along the length direction of the guide rail 1 on the bottom surface of the guide rail 1, the first vertical guide wheel 9 is rotatably arranged on the first side plate 11 through a rotating shaft, the second vertical guide wheel 10 is arranged along the vertical direction and can travel along the length direction of the guide rail 1 on the bottom surface of the guide rail 1, the second vertical guide wheel 10 is rotatably arranged on the second side plate 12 through a rotating shaft, and the traveling guide wheel of the first body 7 is connected with the traveling drive mechanism 4.
The walking driving mechanism 4 comprises a walking driving motor 13, a first synchronizing wheel 14, a second synchronizing wheel 15 and a first synchronizing belt 16, the walking driving motor 13 is fixed on the lower side of the first body 7, the first synchronizing wheel 14 is arranged on an output shaft of the walking driving motor 13, the second synchronizing wheel 15 is arranged at the end part of a rotating shaft of the first vertical guide wheel 9 of the walking guide wheel of the first body 7, and the first synchronizing belt 16 is arranged on the first synchronizing wheel 14 and the second synchronizing wheel 15. Under the drive of walking driving motor 13, first synchronizing wheel 14 is rotatory, through the transmission of first hold-in range 16, drives second synchronizing wheel 15 and rotates to drive the first vertical guide pulley 9 of the walking guide pulley of first body 7 and rotate, thereby drive whole robot and walk along guide rail 1.
The upper ends of the first side plate 11 and the second side plate 12 are respectively provided with a group of horizontal guide wheel mechanisms, and the horizontal guide wheel mechanisms on the two sides are symmetrically arranged on the two sides of the guide rail 1. As shown in fig. 4, the horizontal guide wheel mechanism comprises a horizontal guide wheel 17, a guide wheel bracket 18, a first slide rod 19, a first slide block 20, a first spring 21, a second slide rod 22, a second slide block 23, a second spring 24 and a mounting block 25, wherein the horizontal guide wheel 17 is arranged along the horizontal direction and arranged on the side surface of the guide rail 1, the horizontal guide wheel 17 is rotatably arranged on the guide wheel bracket 18, the first slide rod 19 and the second slide rod 22 are arranged in parallel, one end of the first slide rod 19 and one end of the second slide rod 22 are respectively fixed on two ends of one side of the guide wheel bracket 18, the first slide block 20 is fixed on the other end of the first slide rod 19, the second slide block 23 is fixed on the other end of the second slide rod 22, the mounting block 25 is fixed on the upper side of the first side plate 11 or the second side plate 12 and is provided with a first blind hole 26 matched with the first slide block 20 and a second blind hole 27 matched with the second slide block 23, the first slide block 20 is arranged in the first blind hole 26 in a sliding way, second slide block 23 is slidably disposed within second blind bore 27, first spring 21 is disposed over first slide bar 19 and first spring 21 is disposed between mounting block 25 and idler bracket 18, and second spring 24 is disposed over second slide bar 22 and second spring 24 is disposed between mounting block 25 and idler bracket 18. The installation block 25 is detachably fixed at the upper end of the side plate through a bolt, and after the installation is completed, the horizontal guide wheel 17 is tightly pressed on the side surface of the guide rail 1 under the elastic action of the spring, so that the robot is stable in level, and the stability of the robot during walking and turning is ensured.
As shown in fig. 5, the image pickup platform 6 includes a horizontal turntable 28, a horizontal turntable driving mechanism, a vertical support 29 and a vertical support driving mechanism, the horizontal turntable 28 is rotatably disposed at the lower side of the second body 8 and the horizontal turntable 28 is connected with the horizontal turntable driving mechanism and is driven by the horizontal turntable driving mechanism to rotate along the horizontal plane, the vertical support 29 is disposed along the vertical direction and the upper end of the vertical support 29 is fixed at the lower side of the horizontal turntable 28, the two sides of the camera 5 are rotatably disposed at the lower end of the vertical support 29 through rotating shafts and the rotating shafts at the two sides of the camera 5 are connected with the vertical support driving mechanism and are driven by the vertical support driving mechanism to rotate along the vertical plane. The horizontal turntable driving mechanism comprises a third synchronizing wheel 30, a fourth synchronizing wheel 31, a second synchronous belt 32 and a horizontal driving motor 33, the third synchronizing wheel 30 is fixed on the outer side of the horizontal turntable 28, the fourth synchronizing wheel 31 is arranged on an output shaft of the horizontal driving motor 33, the second synchronous belt 32 is arranged on the third synchronizing wheel 30 and the fourth synchronizing wheel 31, and the horizontal driving motor 33 is fixed on the second body 8. The vertical support driving mechanism comprises a fifth synchronizing wheel 34, a sixth synchronizing wheel 35, a third synchronizing belt 36 and a vertical driving motor, the fifth synchronizing wheel 34 is fixed at the end part of a side rotating shaft of the camera 5, the sixth synchronizing wheel 35 is arranged on an output shaft of the vertical driving motor, the third synchronizing belt 36 is arranged on the fifth synchronizing wheel 34 and the sixth synchronizing wheel 35, and the vertical driving motor is fixed in the turntable.
The intelligent monitoring robot for the ship LNG fuel room adopts the rail robot to automatically inspect the dangerous area, is convenient to arrange and low in overall cost, occupies small space with the rail, and can be arranged in a narrow area, so that the comprehensive coverage of the dangerous area is convenient to realize; the robot through automatic walking realizes that the efficient is automatic to patrol and examine, and the check-up efficiency is high, and the interval is short to replace the manual work to patrol and examine completely, the security is high.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides an intelligent supervisory-controlled robot for between boats and ships LNG fuel which characterized in that: contain the guide rail, the robot, the walking guide pulley, walking actuating mechanism, sensor module, camera and platform of making a video recording, the guide rail is fixed on cabin monitoring area's hull structure, the walking guide pulley sets up at the robot upside and the robot passes through the walking guide pulley setting on the guide rail, the walking guide pulley is connected with walking actuating mechanism and is driven by walking actuating mechanism, the camera passes through the platform of making a video recording setting at the robot downside and it is rotatory along horizontal plane and vertical face under the drive of platform of making a video recording, sensor module sets up on the robot, sensor module contains temperature sensor, fuel gas sensor and distance sensor.
2. The intelligent monitoring robot for the LNG fuel room of the ship according to claim 1, characterized in that: the temperature sensor collects temperature information of a cabin monitoring area in real time, the fuel gas sensor collects fuel gas concentration information of the cabin monitoring area in real time, the distance sensor collects the distance between the robot body and a monitoring target object in real time, the temperature sensor, the fuel gas sensor and the distance sensor upload collected information to an intelligent management platform of a ship control center through the wireless communication module, and the intelligent management platform analyzes the collected information and generates corresponding alarm content.
3. The intelligent monitoring robot for the LNG fuel room of the ship according to claim 2, characterized in that: the robot body comprises a first body and a second body, one end of the first body is hinged to one end of the second body, and a group of walking guide wheels are arranged at the upper ends of the first body and the second body respectively.
4. The intelligent monitoring robot for the LNG fuel room of the ship according to claim 3, characterized in that: the walking guide wheel comprises a first vertical guide wheel, a second vertical guide wheel, a first side plate and a second side plate, wherein the first side plate is vertically fixed at one side edge of a first body or a second body, the second side plate is vertically fixed at the other side edge of the first body or the second body, the first vertical guide wheel is arranged along the vertical direction and can walk on the bottom surface of the guide rail along the length direction of the guide rail, the first vertical guide wheel is rotatably arranged on the first side plate through a rotating shaft, the second vertical guide wheel is arranged along the vertical direction and can walk on the bottom surface of the guide rail along the length direction of the guide rail, the second vertical guide wheel is rotatably arranged on the second side plate through a rotating shaft, and the walking guide wheel of the first body is connected with a walking driving mechanism.
5. The intelligent monitoring robot for the LNG fuel room of the ship according to claim 4, characterized in that: the walking driving mechanism comprises a walking driving motor, a first synchronizing wheel, a second synchronizing wheel and a first synchronizing belt, the walking driving motor is fixed on the lower side of the first body, the first synchronizing wheel is arranged on an output shaft of the walking driving motor, the second synchronizing wheel is arranged at the end part of a rotating shaft of a first vertical guide wheel of a walking guide wheel of the first body, and the first synchronizing belt is arranged on the first synchronizing wheel and the second synchronizing wheel.
6. The intelligent monitoring robot for the LNG fuel room of the ship according to claim 4, characterized in that: a group of horizontal guide wheel mechanisms are arranged at the upper ends of the first side plate and the second side plate respectively, and the horizontal guide wheel mechanisms at the two sides are symmetrically arranged at the two sides of the guide rail.
7. The intelligent monitoring robot for the LNG fuel room of the ship according to claim 6, characterized in that: the horizontal guide wheel mechanism comprises a horizontal guide wheel, a guide wheel bracket, a first slide rod, a first slide block, a first spring, a second slide rod, a second slide block, a second spring and a mounting block, the horizontal guide wheel is arranged along the horizontal direction and is arranged on the side surface of the guide rail, the horizontal guide wheel is rotatably arranged on the guide wheel bracket, the first slide rod and the second slide rod are arranged in parallel, one end of the first slide rod and one end of the second slide rod are respectively fixed at two ends of one side of the guide wheel bracket, the first slide block is fixed at the other end of the first slide rod, the second slide block is fixed at the other end of the second slide rod, the mounting block is fixed at the upper side of the first side plate or the second side plate and is provided with a first blind hole matched with the first slide block and a second blind hole matched with the second slide block, the first slide block is arranged in the first blind hole in a sliding manner, the second slide block is arranged in the second blind hole in a sliding manner, the first spring is sleeved on the first slide rod and is positioned between the mounting block and the guide wheel bracket, the second spring is sleeved on the second slide rod and is positioned between the mounting block and the idler wheel bracket.
8. The intelligent monitoring robot for the LNG fuel room of the ship according to claim 3, characterized in that: the camera shooting platform comprises a horizontal turntable, a horizontal turntable driving mechanism, a vertical support and a vertical support driving mechanism, wherein the horizontal turntable rotates to be arranged at the lower side of the second body, the horizontal turntable is connected with the horizontal turntable driving mechanism and driven by the horizontal turntable driving mechanism to rotate along the horizontal plane, the vertical support is arranged along the vertical direction, the upper end of the vertical support is fixed at the lower side of the horizontal turntable, two sides of the camera are rotatably arranged at the lower end of the vertical support through rotating shafts, and rotating shafts at two sides of the camera are connected with the vertical support driving mechanism and driven by the vertical support driving mechanism to rotate along the vertical plane.
9. The intelligent monitoring robot for the LNG fuel room of the ship according to claim 8, characterized in that: the horizontal turntable driving mechanism comprises a third synchronizing wheel, a fourth synchronizing wheel, a second synchronizing belt and a horizontal driving motor, the third synchronizing wheel is fixed on the outer side of the horizontal turntable, the fourth synchronizing wheel is arranged on an output shaft of the horizontal driving motor, the second synchronizing belt is arranged on the third synchronizing wheel and the fourth synchronizing wheel, and the horizontal driving motor is fixed on the second body.
10. The intelligent monitoring robot for the LNG fuel room of the ship according to claim 8, characterized in that: the vertical support driving mechanism comprises a fifth synchronizing wheel, a sixth synchronizing wheel, a third synchronizing belt and a vertical driving motor, the fifth synchronizing wheel is fixed at the end part of a side rotating shaft of the camera, the sixth synchronizing wheel is arranged on an output shaft of the vertical driving motor, the third synchronizing belt is arranged on the fifth synchronizing wheel and the sixth synchronizing wheel, and the vertical driving motor is fixed in the turntable.
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| CN202111311152.XA CN113799805A (en) | 2021-11-08 | 2021-11-08 | Intelligent monitoring robot used between ship LNG fuels |
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| CN202111311152.XA CN113799805A (en) | 2021-11-08 | 2021-11-08 | Intelligent monitoring robot used between ship LNG fuels |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114644022A (en) * | 2022-05-20 | 2022-06-21 | 徐州江煤科技有限公司 | Intelligent electric traction monorail crane system |
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| CN110640714A (en) * | 2019-09-19 | 2020-01-03 | 重庆大学 | Warehouse fire early warning robot |
| CN110733019A (en) * | 2019-10-30 | 2020-01-31 | 中国煤炭科工集团太原研究院有限公司 | mining rail-mounted gas monitoring robot |
| CN211494063U (en) * | 2019-11-29 | 2020-09-15 | 广西电网有限责任公司南宁供电局 | Running gear of track robot |
| CN111672045A (en) * | 2020-05-21 | 2020-09-18 | 国网湖南省电力有限公司 | Fire-fighting robot, fire-fighting system and fire-fighting control method |
| CN112498374A (en) * | 2020-12-31 | 2021-03-16 | 杭州景上信息技术有限公司 | Intelligent inspection robot walking mechanism |
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| CN114644022B (en) * | 2022-05-20 | 2022-09-02 | 徐州江煤科技有限公司 | Intelligent electric traction monorail crane system |
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