CN207824904U - A kind of positioning device for hanging rail intelligent inspection robot - Google Patents

Abstract

The utility model discloses a kind of positioning devices for hanging rail intelligent inspection robot, including robot body and guide rail, robot body to hang on guide rail and move along the rail；The guide rail posts several bar codes towards robot body side, and robot body is equipped with bar code reader, and bar code reader is opposite with barcode position；The bar code information of reading is sent to control module by the translation motor for being additionally provided with control module in the robot body and robot body being driven to be moved along guide rail, bar code reader, and control module controls translation motor work.3~4 bar codes of light beam while scanning that the bar code reader of the utility model is sent out, have high measurement accuracy；Securely and reliably, 3 bar codes can be read every time, calculate actual distance value.

Description

A kind of positioning device for hanging rail intelligent inspection robot

Technical field

The utility model belongs to substation detection robot field, more particularly to a kind of extension rail intelligent inspection robot Positioning device.

Background technology

It is the monitoring robot system for being specifically applied to the indoor each room of substation to hang rail intelligent inspection robot, alternative It is accomplished manually a variety of inspections, detection, monitoring, fault diagnosis, early warning and alarming function.By the motor platform of an autonomous operation and It carries one group of high-performance detecting instrument and round-the-clock monitoring is carried out to station equipment, consolidating needed for " intelligent substation " can be greatly reduced The installation number of fixed pattern sensor and instrument is being dropped without largely connecting up, it is not necessary that existing switch gear room, the rooms GIS and relay protection room is transformed While low comprehensive operation cost, advanced operation level is improved.

It hangs rail intelligent inspection robot and integrates newest electromechanical integration and informationization technology, using autonomous or remote control side Formula, partial alternative people carries out the detections such as visible light, infrared, shelf depreciation, sound to switch gear room, the rooms GIS and relay protection room, to inspection Data carry out comparison and trend analysis, find accident potential and the failure tendency of switchgear operation in time, improve switch gear room, GIS The automatization level of the digitized degree and conduct monitoring at all levels of room and relay protection room, it is ensured that equipment safety reliability service promotes high pressure Intelligent patrol detection management level improves the controllability of inspection process, to promote the development of whole society's intelligent testing technology to lay the foundation.

And the precision positioned is to hang rail intelligent inspection robot to improve the important means of inspection discrimination and indoor extension Matter of utmost importance that rail intelligent inspection robot to be solved, critical issue.

Invention content

The purpose of this utility model be to provide one kind can precise positioning crusing robot position, complete detection work Extension rail intelligent inspection robot positioning device.

For this purpose, the technical solution of the utility model is：A kind of positioning device for hanging rail intelligent inspection robot, including machine Device human body and guide rail, robot body hang on guide rail and move along the rail；It is characterized in that：The guide rail is towards robot Several bar codes are posted in ontology side, and robot body is equipped with bar code reader, and bar code reader is opposite with barcode position； The translation motor for being additionally provided with control module in the robot body and robot body being driven to be moved along guide rail, bar code are read The bar code information of reading is sent to control module by device, and control module controls translation motor work.

Robot body is moved along guide rail in the utility model, and the bar code being arranged on guide rail plays the role of positioning, thing First by the bar code information input control module corresponding to all measurement points, the bar code reading in moving process on robot body It takes device to read the location information on bar code, and the location information of reading is compared with the measurement point position being previously entered, To control translation motor forward or reverse, left and right adjustment robot body is allowed to reach measurement point.

Light beam that the bar code reader of the utility model is sent out while 3~4 bar codes are scanned, it is exhausted between each bar code It is 3cm to spacing distance, relative to rotary encoder there is high measurement accuracy, the reachable ± 1mm of positioning accuracy can be applied to Curve and the positioning of the absolute value on slope；Barcode strip can be separated, barcode strip only is installed in the position for needing to measure；Securely and reliably, often 3 bar codes of secondary reading, calculate actual distance value；Maximum speed measuring speed reaches 4m/s, and maximum measurement distance reaches ten thousand metres, And special material barcode strip, carry very firm and elastomeric single-coated foam and with extremely strong corrosion resistance, and can be with Uvioresistant, chemical solvent and industrial cleaning agent.

Description of the drawings

It is described in further detail below in conjunction with the embodiment of attached drawing and the utility model

Fig. 1,2,3 are the overall structure diagram of the utility model；

Fig. 4 is the overall work schematic diagram of the utility model；

Fig. 5 is the positioning schematic diagram of the utility model（Remove the cover board of translation mechanism）；

Fig. 6 is the elevating mechanism schematic diagram of the utility model（Remove the cover board of control platform）；

Fig. 7 is the elevating mechanism sectional view of the utility model.

In figure label for：Guide rail 1, bar code 11, trolley 12, translation mechanism 2, idler wheel 21, auxiliary wheel 22, bar code are read Device 23, electrical contact 24, control platform 3, elevating mechanism 4, halliard 41, roller 42, synchronous pulley 43, ball spline shaft 44, rolling Spline set 45, trapezoidal screw 46, trapezoidal nut 47, flexible ring 48, detection platform 5, intelligent console 6, infrared photography module 61, infrared camera 611, sound pick-up 612, visible image capturing module 62, Visible Light Camera 621, light compensating lamp 622, insulation measurement mould Block 63, insulation measurement probe 631.

Specific implementation mode

Referring to attached drawing.Extension rail intelligent inspection robot described in the present embodiment, including robot body and guide rail 1, machine Device human body hangs on guide rail and moves along the rail；The robot body is equipped with translation mechanism 2, control platform 3, elevator Structure 4, detection platform 5 and intelligent console 6.

The shell of 2 specific semi-surrounding structure of the translation mechanism, is mounted on guide rail 1, and the inside top surface of shell is equipped with two A idler wheel 21, driving roller and driven roller, both sides are equipped with auxiliary wheel 22, and two idler wheels 21 are against the upper surface of guide rail 1, assist Wheel 22 is against 1 side of guide rail, is equivalent to and guide rail is wrapped in shell, and the driving roller is co-axially mounted a belt wheel, belt wheel by Translation motor drives；Guide rail 1 posts several bar codes 11 towards robot body side, and translation mechanism is equipped with bar code reader 23, bar code reader is opposite with barcode position；The guide rail is equipped with trolley 12, and trolley is located at the lower section of bar code, Trolley connects power supply, is provided with electrical contact 24 in translation mechanism, is electrically connected with trolley, and hanging rail robot can continuous inspection Operation can meet non-stop run in 7*24 hours by slide wire power supply.

The control platform 3 is mounted on 2 lower section of translation mechanism, and control module and driving robot are equipped in control platform The translation motor that ontology is moved along guide rail, the bar code information that the control module is read according to bar code reader 23 are flat to control Move motor work；In advance by the bar code information input control module corresponding to all measurement points, robot in moving process Bar code reader on ontology reads the location information on bar code, and by the location information of reading and the measurement point being previously entered Position is compared, and to control translation motor forward or reverse, left and right adjustment robot body is allowed to reach measurement point.

The elevating mechanism 4 connects control platform 3 and detection platform 5, and elevating mechanism 4 includes drive component and halliard 41, drive component is located in control platform, including the lifting motor of roller 42, driving drum rotation, is connected with lifting motor Synchronous pulley 43, mating ball spline shaft 44 and ball spline sleeve 45, trapezoidal screw 46 and trapezoidal nut 47, the halliard 41 have two, and one end is wound in respectively on roller 42, other end connecting detection platform 5, and flexible ring is cased on the outside of halliard 48, for protecting halliard, and ensure not shake when halliard operation；Synchronous pulley 43 is by transmitting band connection lifting electricity Machine, the synchronous pulley are mounted on ball spline shaft 44, and idler wheel 42 is mounted on the ball spline to match with ball spline shaft 45 outside of set；46 one end of the trapezoidal screw is fixedly mounted on idler wheel, and the other end is rotatably assorted with trapezoidal nut 47；The control Control module control lifting motor work in platform processed.

When lifting assembly is installed, first halliard 41 is fixed in the hole on 42 surface of roller；Ball spline sleeve 45 is pacified again It is attached in roller, ensures to rotate simultaneously by flat key；Grease appropriate is inserted in inside, is sealed with oil seal cover；The trapezoidal silk on right side Bar 46 is installed to 42 side of roller with bolt, it is ensured that the two can rotate simultaneously；Trapezoidal nut 47 and bearing are installed on rightmost support, Leftmost support installs bearing；Ball spline shaft 44 is installed on the bearing of holder；The left side of ball spline shaft is installed by synchronous belt Wheel 43, is connected with the synchronous pulley on lifting motor；Lifting motor rotates forward rope and is wound on roller, and motor reversal rope is then put It opens.A diameter of 3mm of rope, diameter of cylinder 70mm, trapezoidal screw and nut are Tr36x3, the distance and rope of roller translation Line footpath it is equal.

Intelligent console 6 is installed in 5 lower section of the detection platform, and intelligent console 6 can carry out horizontal 360-degree with respect to detection platform 5 Rotation；The intelligent console 6 includes main body, is set to the infrared photography module 61 and visible image capturing module 62 of main body both sides, And the insulation measurement module 63 of bottom part body, the photographing module of both sides can rotate upwardly and downwardly 90 degree with respect to main body；It is described infrared Photographing module be equipped with infrared camera 611 and sound pick-up 612, it is seen that light photographing module be equipped with Visible Light Camera 621 and Light compensating lamp 622；The insulation measurement module includes insulation measurement probe 631, and probe is equipped with ground radio wave sensor and ultrasonic wave Sensor.

Put reasonable Arrangement guide rail 1 according to the landform of substation and equipment, arranged on guide rail 1 bar code 11 and Trolley 12；In advance by corresponding to all measurement points bar code information and the measurement point intelligent console need the distance that declines In information input control module.The location information read on bar code is sent to control by machine man-hour, bar code reader 23 The location information of reading is compared by molding block, control module with the measurement point position to prestore, when the positional value of reading is less than When measurement point positional value, control translation motor rotates forward, and robot body, which moves to right, to be allowed to reach measurement point；When the positional value of reading is big When measurement point positional value, control translation motor reversion, robot body, which moves to left, to be allowed to reach measurement point.

After robot body reaches measurement point, control module declines according to the measurement point intelligent console needs to prestore Range information controls lifting motor rotation, the number of turns of the distance controlling lifting motor rotation declined as needed, so that intelligence It can holder arrival meter location.And intelligent console is controlled the rotational angle of entire intelligent console level by external computer, with And the angle that two photographing modules rotate upwardly and downwardly, instrument finally is shot using infrared camera 611 or Visible Light Camera 621, and Picture is transmitted to progress digital independent analysis in computer, and recording apparatus numerical value, simultaneously radio wave sensor and ultrasonic wave Sensor can be used for measuring apparatus insulation ageing problem, and former subsequently to carry out come the noise in recording equipment using sound pick-up The analyses such as barrier, aging.After the completion of measurement point instrument shooting, control module drives lifting motor, and intelligent console is returned to In situ, then translation motor drives entire robot to move to next measurement point, and continues to detect work.

Claims (1)

1. a kind of positioning device for hanging rail intelligent inspection robot, including robot body and guide rail, robot body are hung over On guide rail and move along the rail；It is characterized in that：The guide rail posts several bar codes, robot towards robot body side Ontology is equipped with bar code reader, and bar code reader is opposite with barcode position；Control mould is additionally provided in the robot body The bar code information of reading is sent to control by the translation motor that block and driving robot body are moved along guide rail, bar code reader Molding block, control module control translation motor work.