CN114047747A - Track type inspection robot - Google Patents
Track type inspection robot Download PDFInfo
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- CN114047747A CN114047747A CN202111209542.6A CN202111209542A CN114047747A CN 114047747 A CN114047747 A CN 114047747A CN 202111209542 A CN202111209542 A CN 202111209542A CN 114047747 A CN114047747 A CN 114047747A
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- 238000007689 inspection Methods 0.000 title claims abstract description 42
- 238000001514 detection method Methods 0.000 claims abstract description 14
- 230000005611 electricity Effects 0.000 claims abstract description 6
- 229910000831 Steel Inorganic materials 0.000 claims description 11
- 239000010959 steel Substances 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 8
- 239000000779 smoke Substances 0.000 claims description 8
- 230000001360 synchronised effect Effects 0.000 claims 1
- 238000009434 installation Methods 0.000 abstract description 5
- 238000012423 maintenance Methods 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000005452 bending Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- Engineering & Computer Science (AREA)
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Manipulator (AREA)
Abstract
The present disclosure relates to a track type inspection robot, including: a track; moving the trolley; the working part is mounted on the frame of the movable trolley and comprises a shell and a mounting frame arranged in the shell, and the mounting frame is at least provided with a storage battery, a servo motor and a binocular camera; the charging unit is fixedly arranged on the track, is connected with three-phase industrial electricity, comprises an AC/DC converter, a battery detection unit and a charging interface, and further comprises a charging connector electrically connected with the storage battery, wherein the battery detection unit is configured to detect the residual electric quantity of the storage battery, and controls the mobile trolley to move to the charging unit for charging when the residual electric quantity is lower than a threshold value. The rail type inspection robot provided by the invention has the beneficial effects that the installation frame for installing each detection mechanism adopts a modularized installation mode, the structure is simple, the maintenance is convenient, and the inspection module can be added or replaced at will.
Description
Technical Field
The invention relates to a service robot, in particular to a rail type inspection robot.
Background
At present, the rail type inspection robot is widely applied in various energy related industries which need inspection operation. Many enterprises also design various rail-mounted robots with different structures according to their own conditions. But generally, the basic structure is similar, and the inspection device comprises a track, a movable trolley arranged on the track and an inspection device carried on the movable trolley. Generally, a rail type robot is divided into a ground rail type and a hanger rail type according to a fixing manner of a rail, and relatively speaking, the hanger rail type robot is more commonly used in inspection work.
For a common hanger rail type track robot at present, the common structure of the common hanger rail type track robot can refer to the scheme disclosed by the Chinese patent CN105397795A, and particularly, the common hanger rail type track inspection robot is disclosed and is characterized by comprising a robot body, a main control unit, an energy module, a detection assembly for detecting equipment and the surrounding environment and a wireless communication module for exchanging data with a remote control center; the main control unit, the energy module, the detection assembly and the wireless communication module are all arranged on the robot body; the main control unit receives a command from a remote control center, controls the robot body to move on the track and executes related commands and actions; the robot body comprises at least two vehicle body units, and each vehicle body unit comprises a motion driving module and a pulley block; the motion driving module drives the pulley block to roll on the track, two adjacent vehicle body units are connected through a flexible joint, and the two adjacent vehicle body units can relatively rotate in the horizontal and/or vertical direction through the flexible joint.
For another example, chinese patent application CN109129404A discloses a rail type inspection robot rail and driving device, which is characterized in that: the double-chain-drive type double-chain transmission mechanism is characterized by comprising a track (1) and a driving device (2), wherein the track (1) consists of an I-shaped steel (1-1) and side bending plate lug transmission chains (1-2) arranged on the side part and the bottom part of the I-shaped steel (1-1), the bending direction of the side bending plate lug transmission chains (1-2) is the same as that of the I-shaped steel (1-1), the side bending plate lug transmission chains (1-2) at the bottom part of the I-shaped steel (1-1) are connected with the side bending plate lug transmission chains (1-2) at the side part of the I-shaped steel (1-1) in the straight section of the I-shaped steel (1-1), an available chain link is overlapped, and the roller center lines of the overlapped chain links are in the same plane.
However, the inventor finds that the current rail type inspection robot has the problems of too complex structure, too high deployment cost and subsequent maintenance cost, or poor use stability, and needs to be improved.
Disclosure of Invention
In view of the above problems in the prior art, an object of the present invention is to provide a rail-type inspection robot with simple structure, easy deployment and high stability in use.
In order to achieve the above object, an aspect of the present invention provides a rail type inspection robot, including:
a rail constructed of I-steel;
the moving trolley is arranged on the track and comprises moving wheels which are oppositely arranged in grooves on two sides of the I-shaped steel track and a frame for fixing the moving wheels;
the working part is mounted on the frame of the moving trolley and comprises a shell and a mounting rack arranged in the shell, the mounting rack is constructed to be at least provided with a storage battery, a servo motor and a binocular camera, a middle mounting plate is arranged in the shell, the mounting rack comprises a first mounting rack and a second mounting rack which are positioned on two sides of the middle mounting plate, and the shell comprises a first shell covering the first mounting rack and a second shell covering the second mounting rack;
the charging unit is fixedly arranged on the track, is connected with three-phase industrial electricity, comprises an AC/DC converter, a battery detection unit and a charging interface, and further comprises a charging connector electrically connected with the storage battery, wherein the battery detection unit is configured to detect the residual electric quantity of the storage battery, and controls the mobile trolley to move to the charging unit for charging when the residual electric quantity is lower than a threshold value.
Preferably, the first mounting frame and the second mounting frame have the same structure and each include an upper side frame and a lower side frame, the servo motor includes a first motor and a second motor respectively disposed at two sides of the middle mounting plate, and the first motor and the second motor are fixedly mounted in a first accommodating space formed by the upper side frames respectively disposed at two sides of the middle mounting plate.
Preferably, the first motor and the second motor are operated synchronously by an encoder provided on the frame.
Preferably, the lower side frames respectively positioned at two sides of the middle mounting plate respectively form second accommodating spaces, and motor forward and reverse rotation modules for controlling forward and reverse rotation of the first motor and the second motor are respectively arranged in the second accommodating spaces.
Preferably, the charging unit is provided with a horizontally arranged limiting rod for limiting the distance between the operation part and the charging unit.
Preferably, the operation part is further provided with a limit switch, the limit switch is configured with a switch contact, the switch contact is configured to be abutted by the limit rod to trigger a switch loop when the distance between the operation part and the charging unit reaches a preset value, and the limit switch is configured to stop the motor forward and reverse rotation module and control the first motor and the second motor to reversely rotate after a preset time.
Preferably, an alarm indicator lamp is further arranged on the first mounting frame or the second mounting frame, and the alarm indicator lamp is configured to send out an alarm signal according to an inspection result.
Preferably, a noise sensor is further arranged on the first mounting frame or the second mounting frame, and the noise sensor is configured to control the indicator light to send out a warning signal when noise in the inspection environment reaches a threshold value.
Preferably, a harmful gas sensor is further arranged on the first mounting frame or the second mounting frame, and the harmful gas sensor is configured to detect whether harmful gas in the inspection environment reaches a threshold value, and if so, a warning signal is sent out through a communication unit.
Preferably, a smoke sensor is further arranged on the first mounting frame or the second mounting frame, and the smoke sensor is configured to detect whether a fire disaster occurs in the inspection environment, and if so, a warning signal is sent through the alarm indicator lamp, and/or a warning signal is sent through the communication unit.
The rail type inspection robot provided by the invention has the beneficial effects that the installation frame for installing each detection mechanism adopts a modularized installation mode, the structure is simple, the maintenance is convenient, and the inspection module can be added or replaced at will. In addition, in the invention, the working part of the inspection robot can be charged through the charging unit, so that the working time is prolonged.
Drawings
Fig. 1 is a schematic diagram of a three-dimensional explosion structure of the rail type inspection robot (including a rail) according to the present invention.
Fig. 2 is a schematic perspective view (partially hidden parts) of the rail type inspection robot according to the present invention.
Fig. 3 is a schematic perspective view of a rail-type inspection robot according to another embodiment of the present invention.
The main reference numbers:
1-a track, 2-an operation part, 3-a charging unit, 4-a motor positive and negative rotation module, 5-a smoke alarm, 6-a harmful gas sensor, 7-a noise sensor, 8-a limit switch, 21-a shell, 22-a mounting rack, 23-a charging connector and 24-a storage battery; 25-alarm indicator light, 26-servo motor, 27-moving trolley; 28-an encoder; 29-binocular camera; 31-a charging interface; 32-a limiting rod; 81-a switch contact; 221-upper side frame; 222-lower frame; 261-a first motor; 262-a second motor.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
Various aspects and features of the present invention are described herein with reference to the drawings.
These and other characteristics of the invention will become apparent from the following description of a preferred form of embodiment, given as a non-limiting example, with reference to the accompanying drawings.
It should also be understood that, although the invention has been described with reference to some specific examples, a person of skill in the art shall certainly be able to achieve many other equivalent forms of the invention, having the characteristics as set forth in the claims and hence all coming within the field of protection defined thereby.
The above and other aspects, features and advantages of the present invention will become more apparent in view of the following detailed description when taken in conjunction with the accompanying drawings.
As shown in fig. 1 to 3, a rail type inspection robot according to an aspect of the present invention includes: a rail 1 constructed of i-steel; the movable trolley 27 is arranged on the track 1 and comprises traveling wheels (not marked in the figure) which are oppositely arranged in grooves (not marked in the figure) on two sides of the I-shaped track 1 and a frame for fixing the traveling wheels; the working part 2 is mounted on the frame of the movable trolley 27 and comprises a shell and a mounting frame 22 arranged in the shell, wherein the mounting frame 22 is configured to be at least provided with a storage battery 24, a servo motor 26 and a binocular camera 29, a middle mounting plate (not shown in the figure) is arranged in the shell, the mounting frame 22 comprises a first mounting frame (not marked in the figure) and a second mounting frame (not marked in the figure) which are positioned at two sides of the middle mounting plate, and the shell comprises a first shell covering the first mounting frame and a second shell covering the second mounting frame; the charging unit 3 is fixedly arranged on the track 1, is electrically connected with the three-phase industrial electricity, and comprises an AC/DC converter (not shown), a battery detection unit (not shown) and a charging interface 31, the working part 2 further comprises a charging connector 23 electrically connected with the storage battery 24, and the battery detection unit is configured to detect the residual electricity of the storage battery 24 and control the movable trolley 27 to move to the charging unit 3 for charging when the residual electricity is lower than a threshold value. In the present invention, each component of the working unit 2 is mounted and fixed by the mounting frame 22, so that the structure is simpler and the maintenance is convenient.
Specifically, as shown in fig. 3, in the above aspect of the present invention, the first mounting rack and the second mounting rack have the same structure, and each of the first mounting rack and the second mounting rack includes an upper side frame 221 and a lower side frame 222, the servo motor 26 includes a first motor 261 and a second motor 262 respectively disposed on two sides of the middle mounting plate, and the first motor 261 and the second motor 262 are fixedly mounted in a first accommodating space formed by the upper side frames 221 respectively disposed on two sides of the middle mounting plate. It can be understood that more stable walking control can be achieved by the first motor 261 and the second motor 262 together providing power to the traveling carriage 27. Again, however, in this arrangement, additional control is required to ensure that the first motor 261 and the second motor 262 are operating synchronously. Specifically, the first motor 261 and the second motor 262 may be operated synchronously by an encoder 28 provided on the frame.
In addition, the remaining inspection function components may be disposed in a space defined by the lower frame below the upper frame 221, with respect to the installation of the servo motor. Specifically, as shown in fig. 3, the lower side frames 222 respectively located at two sides of the middle mounting plate respectively form second accommodating spaces, and the motor forward and reverse rotation modules 4 for controlling forward and reverse rotation of the first motor 261 and the second motor 262 are respectively disposed in the second accommodating spaces. The forward and reverse rotation control of the first motor 261 and the second motor 262 is for controlling the reciprocating movement of the movable trolley 27, but when moving to the charging unit position, in order to prevent collision, in some embodiments, the charging unit 3 is provided with a horizontally arranged limit rod 32 for limiting the distance between the working unit 2 and the charging unit 3. Further, a limit switch 8 is further disposed on the working portion 2, the limit switch 8 is configured with a switch contact 81, the switch contact 81 is configured to be pressed by the limit rod 32 to trigger a switch loop when the distance between the working portion 2 and the charging unit 3 reaches a preset value, and the limit switch 8 is configured to stop the motor forward/reverse rotation module 4 and control the first motor 261 and the second motor 262 to rotate reversely after a preset time.
In addition, as the main parts in the inspection work, for example, there are a warning lamp, a smoke sensor, a noise sensor, a harmful gas sensor, and the like. Specifically, still be provided with alarm indicator 25 on first mounting bracket or the second mounting bracket, alarm indicator 25 configures to according to patrolling and examining the testing result and sending warning signal. First mounting bracket or on the second mounting bracket, the noise sensor 7 that still sets up, noise sensor 7 configures to when patrolling and examining the noise in the environment and reaching the threshold value, control pilot lamp 25 sends warning signal. First mounting bracket or on the second mounting bracket, the harmful gas sensor 6 that still sets up, whether harmful gas sensor 6 configures to the detection and patrols and examines the harmful gas in the environment and reaches the threshold value, if, sends warning signal through a communication unit. The first mounting bracket or on the second mounting bracket, still be provided with smoke transducer 5, smoke transducer 5 is configured to whether detect and patrol and examine whether conflagration breaks out in the environment, if, send alarm signal through warning pilot lamp 25, and/or send alarm signal through the communication unit.
The above embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and the scope of the present invention is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present invention, and such modifications and equivalents should also be considered as falling within the scope of the present invention.
Claims (10)
1. Robot is patrolled and examined to rail mounted includes:
a rail constructed of I-steel;
the moving trolley is arranged on the track and comprises moving wheels which are oppositely arranged in grooves on two sides of the I-shaped steel track and a frame for fixing the moving wheels;
the working part is mounted on the frame of the moving trolley and comprises a shell and a mounting rack arranged in the shell, the mounting rack is constructed to be at least provided with a storage battery, a servo motor and a binocular camera, a middle mounting plate is arranged in the shell, the mounting rack comprises a first mounting rack and a second mounting rack which are positioned on two sides of the middle mounting plate, and the shell comprises a first shell covering the first mounting rack and a second shell covering the second mounting rack;
the charging unit is fixedly arranged on the track, is connected with three-phase industrial electricity, comprises an AC/DC converter, a battery detection unit and a charging interface, and further comprises a charging connector electrically connected with the storage battery, wherein the battery detection unit is configured to detect the residual electric quantity of the storage battery, and controls the mobile trolley to move to the charging unit for charging when the residual electric quantity is lower than a threshold value.
2. The track type inspection robot according to claim 1, wherein the first and second mounting frames have the same structure and each include an upper side frame and a lower side frame, the servo motor includes a first motor and a second motor respectively disposed at two sides of the centrally disposed mounting plate, and the first motor and the second motor are fixedly mounted in a first accommodating space formed by the upper side frames respectively disposed at two sides of the centrally disposed mounting plate.
3. The orbital inspection robot according to claim 2, wherein the first and second motors are synchronized by an encoder disposed on the frame.
4. The track type inspection robot according to claim 2, wherein the lower side frames respectively positioned at two sides of the middle mounting plate form second accommodating spaces, and motor forward and reverse rotation modules for controlling forward and reverse rotation of the first motor and the second motor are respectively arranged in the second accommodating spaces.
5. The orbital inspection robot according to claim 1, wherein the charging unit includes a horizontally disposed stop bar for limiting a distance between the working portion and the charging unit.
6. The orbital inspection robot according to claim 5, wherein the working portion further includes a limit switch, the limit switch is configured with a switch contact, the switch contact is configured to be abutted by the limit rod to trigger a switch loop when a distance between the working portion and the charging unit reaches a predetermined value, and the limit switch is configured to stop the motor forward/reverse rotation module and control the first motor and the second motor to rotate in reverse after a predetermined time.
7. The track type inspection robot according to claim 2, wherein an alarm indicator lamp is further arranged on the first mounting frame or the second mounting frame, and the alarm indicator lamp is configured to send out a warning signal according to an inspection detection result.
8. The orbital inspection robot according to claim 7, further including a noise sensor on the first or second mounting bracket, the noise sensor configured to control the indicator light to emit a warning signal when noise in the inspection environment reaches a threshold level.
9. The orbital inspection robot according to claim 7, wherein a harmful gas sensor is further disposed on the first or second mounting bracket, the harmful gas sensor being configured to detect whether harmful gas in the inspection environment reaches a threshold value, and if so, to send a warning signal via a communication unit.
10. The rail-mounted inspection robot according to claim 7, wherein a smoke sensor is further disposed on the first or second mounting frame, the smoke sensor is configured to detect whether a fire is occurring in the inspection environment, and if so, a warning signal is sent through the alarm indicator and/or a warning signal is sent through the communication unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111209542.6A CN114047747B (en) | 2021-10-18 | 2021-10-18 | Rail type inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111209542.6A CN114047747B (en) | 2021-10-18 | 2021-10-18 | Rail type inspection robot |
Publications (2)
| Publication Number | Publication Date |
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| CN114047747A true CN114047747A (en) | 2022-02-15 |
| CN114047747B CN114047747B (en) | 2023-12-08 |
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| CN202111209542.6A Active CN114047747B (en) | 2021-10-18 | 2021-10-18 | Rail type inspection robot |
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| CN114047747B (en) | 2023-12-08 |
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