CN210850242U - Guide rail type inspection robot platform for digital coal yard - Google Patents
Guide rail type inspection robot platform for digital coal yard Download PDFInfo
- Publication number
- CN210850242U CN210850242U CN201921958002.6U CN201921958002U CN210850242U CN 210850242 U CN210850242 U CN 210850242U CN 201921958002 U CN201921958002 U CN 201921958002U CN 210850242 U CN210850242 U CN 210850242U
- Authority
- CN
- China
- Prior art keywords
- guide rail
- control frame
- coal yard
- bracket fixing
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model discloses a guide rail type patrol robot platform for a digital coal yard, which comprises a robot body, wherein the lower part of the robot body is provided with a temperature measurement type infrared thermal imager and a laser scanner equipment box through an equipment box support frame, and the robot body is provided with a control frame; the control frame is movably arranged on the T-shaped guide rail, a guide rail bracket fixing plate is arranged on the side surface of the T-shaped guide rail, the guide rail bracket fixing plate is arranged on the side surface of the coal yard pavement through a guide rail bracket fixing hole on the guide rail bracket fixing plate, and a wireless AP antenna is arranged on the upper part of the robot body; a first guide rail travelling wheel and a second guide rail travelling wheel are mounted at the lower part of the control frame, a speed reducing mechanism is mounted at the lower part of the control frame, a rotating shaft mounted on the speed reducing mechanism is connected to the first guide rail travelling wheel and the second guide rail travelling wheel, and a first automatic charging connector and a second automatic charging connector are mounted at two sides of the control frame; the robot platform saves investment cost, facilitates field system maintenance and improves the intelligent level of a digital coal yard.
Description
Technical Field
The utility model belongs to special type robot processing field, concretely relates to machine people platform is patrolled and examined to digital coal yard guide rail type.
Background
The existing closed coal yard environment monitoring and automatic coal checking system mostly adopts the form of independent operation of a discrete system, namely the environment monitoring system and the automatic coal checking system operate independently. For a closed coal yard environment monitoring system, generally according to the size of a coal yard, infrared thermal imagers are arranged on a closed coal yard pavement according to a certain distance requirement, and the temperature monitoring of the whole closed coal yard is realized through 360-degree rotation of each infrared thermal imager holder. For an automatic coal inventory system, one method is that a plurality of laser scanners are respectively fixed on a pavement according to a certain distance, a tripod head is used for rotary scanning, each laser scanner scans an area, and then data of each scanning area is spliced and synthesized into three-dimensional data under a unified coordinate system; the other method is that the laser scanner is fixed on a bucket wheel machine or a stacker-reclaimer, and the bucket wheel machine or the stacker-reclaimer travels to realize automatic coal inventory in the coal yard; in another method, a guide rail and a travelling mechanism are arranged below the sidewalk, and a laser scanner is carried by the travelling mechanism to realize automatic coal inventory.
The existing system operation mode is low in intelligentization and integration level, and the requirement of a digital coal yard is difficult to achieve. And for the fixed arrangement mode, a plurality of laser scanners and temperature measurement type double-spectrum infrared thermal imagers need to be arranged, and the cost is very high. The mode of realizing the automatic coal of coal yard to bucket wheel machine or stacker-reclaimer walking has the scanning blind area, must rely on bucket wheel machine or stacker-reclaimer walking moreover, need wait bucket wheel machine or stacker-reclaimer can only use when not operating, the operation is inflexible. The existing guide rail type travelling mechanism adopts a mode of arranging guide rails below a sidewalk mostly, so that the construction is difficult, the maintenance is inconvenient, and the influence of a truss structure at the top of a closed coal yard is easily caused.
SUMMERY OF THE UTILITY MODEL
The utility model provides a robot platform is patrolled and examined to digital coal yard guide rail type, the use of this equipment is to the problem that prior art exists, adopts the guide rail type to patrol and examine the robot platform, patrols and examines the robot through the guide rail type and carries on laser scanner and two spectrum infrared thermal imager modes of temperature measurement type and carry out environmental monitoring and automatic coal of driling, realizes sealing coal yard environmental monitoring system and automatic coal system of driling and effectively fuses. The robot guide rail support adopts a riding track side installation mode, and is convenient to install and maintain.
In order to achieve the above object, the utility model provides a following technical scheme: a guide rail type inspection robot platform for a digital coal yard comprises a robot body, wherein a temperature measurement type infrared thermal imager and a laser scanner equipment box are mounted at the lower part of the robot body through an equipment box supporting frame, and a control frame is arranged on the robot body; the control frame is movably arranged on the T-shaped guide rail, a guide rail bracket fixing plate is arranged on the side surface of the T-shaped guide rail, the guide rail bracket fixing plate is arranged on the side surface of the coal yard pavement through a guide rail bracket fixing hole on the guide rail bracket fixing plate, and a wireless AP antenna is arranged on the upper part of the robot body; a first guide rail travelling wheel and a second guide rail travelling wheel are mounted at the lower part of the control frame, a speed reducing mechanism is mounted at the lower part of the control frame, a rotating shaft mounted on the speed reducing mechanism is connected to the first guide rail travelling wheel and the second guide rail travelling wheel, and a first automatic charging connector and a second automatic charging connector are mounted at two sides of the control frame; the wireless AP module is installed on the lower portion, located on the lower portion of the wireless AP antenna, of the control frame, and a control main board, a power panel, a lithium battery pack, a hollow cup direct current motor and a motor driver are further arranged in the control frame.
Preferably, a first supporting wheel and a second supporting wheel are arranged outside the rotating shaft.
Preferably, the upper parts of the first supporting wheel and the second supporting wheel are positioned on the guide rail bracket fixing plate and are provided with robot supporting wheel baffles.
Preferably, a supporting plate is upwards mounted on the guide rail bracket fixing plate part at the lower part of the T-shaped guide rail.
Preferably, the upper part of the control frame is provided with a first hoisting ring fixing hole and a second hoisting ring fixing hole.
Compared with the prior art, the beneficial effects of the utility model are that: the utility model discloses a guide tracked patrols and examines robot platform carries on laser scanner and the technique that the infrared thermal imager mode of two spectra of temperature measurement type carries out environmental monitoring and automatic dish coal. The arrangement quantity of the laser scanners and the temperature measurement type double-spectrum infrared thermal imagers can be reduced, the difficulty of software control algorithm is reduced, the investment cost is saved, the field system maintenance is convenient, and the intelligent level of a digital coal yard is improved.
Other features of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or technical solutions in related arts, the drawings used in the description of the embodiments or related arts will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present disclosure, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a perspective view of the robot platform of the present invention;
fig. 2 is a perspective view of the robot body of the present invention;
FIG. 3 is a side view of the robot body of the present invention;
fig. 4 is a top view of the robot body of the present invention;
in the figure: 1. the robot body, 2, temperature measurement type infrared thermal imager and laser scanner equipment box, 3, T word guide rail, 4, robot supporting wheel baffle, 5, rail brackets fixed plate, 6, rail brackets fixed orifices, 7, wireless AP antenna, 8, control frame, 9, first guide rail walking wheel, 10, equipment box support frame, 11, the fagging, 12, reduction gears, 13, the axis of rotation, 14, the first joint that charges automatically, 15, first supporting wheel, 16, first hoisting ring fixed orifices, 17, the second supporting wheel, 18, second guide rail walking wheel, 19, the joint that charges automatically of second, 20, second hoisting ring fixed orifices, 21, wireless AP module, 22, control mainboard, 23, the power supply board, 24, lithium cell group, 25, hollow cup DC motor, 26, motor drive.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
Unless specifically stated otherwise, the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
Referring to fig. 1-4, the present invention provides a technical solution: a guide rail type inspection robot platform for a digital coal yard comprises a robot body 1, wherein a temperature measurement type infrared thermal imager and a laser scanner equipment box 2 are mounted at the lower part of the robot body through an equipment box supporting frame 10, and a control frame 8 is arranged on the robot body; the control frame 8 is movably arranged on the T-shaped guide rail 3, a guide rail bracket fixing plate 5 is arranged on the side surface of the T-shaped guide rail, the guide rail bracket fixing plate is arranged on the side surface of a coal yard pavement through a guide rail bracket fixing hole 6 on the guide rail bracket fixing plate, and a wireless AP antenna 7 is arranged on the upper part of the robot body 1; a first guide rail travelling wheel 9 and a second guide rail travelling wheel 18 are mounted at the lower part of the control frame 8, a speed reducing mechanism 12 is mounted at the lower part of the control frame, a rotating shaft 13 mounted on the speed reducing mechanism 12 is connected to the first guide rail travelling wheel and the second guide rail travelling wheel, and a first automatic charging connector 14 and a second automatic charging connector 19 are mounted at two sides of the control frame 8; the control frame 8 is internally provided with a wireless AP module 21 positioned at the lower part of the wireless AP antenna 7, and is also internally provided with a control main board 22, a power panel 23, a lithium battery pack 24, a hollow cup direct current motor 25 and a motor driver 26. The first support wheel 15 and the second support wheel 17 are provided outside the rotating shaft 13. The upper parts of the first supporting wheel 15 and the second supporting wheel 17 are positioned on the guide rail bracket fixing plate 5 and are provided with a robot supporting wheel baffle plate 4. The guide rail bracket fixing plate 5 at the lower part of the T-shaped guide rail 3 is upwards provided with a supporting plate 11. The upper part of the control frame 8 is provided with a first hoisting ring fixing hole 16 and a second hoisting ring fixing hole 20.
The robot adopts the 3 structures of T word guide rail, patrols and examines robot body 1 and rides in T type guide rail top through first guide rail walking wheel and second guide rail walking wheel 9, 18, keeps robot body 1 steady walking through first supporting wheel and second supporting wheel 15, 17 and robot supporting wheel baffle 4.
The T-shaped guide rail 3 support is fixed to the side face of the closed coal yard pavement through a series of guide rail support fixing holes 6 on the guide rail support fixing plate 5, the right pavement is fixed to the left side face, and the left pavement is fixed to the right side face.
The first guide rail walking wheel 9 of the robot is driven to walk by a hollow cup direct current motor 25 and a motor reducing mechanism 12, and the second guide rail walking wheel 18 and the first guide rail walking wheel 9 transmit synchronous driving force through a gear and a chain to realize synchronous rotation.
Temperature measurement type infrared thermal imager and laser scanner equipment box 2 are through equipment box support frame 10 fixed connection to the robot on, by the synchronous walking of robot body area load. The robot body respectively arranges an automatic joint that charges around, first automatic joint and the second automatic joint 14,19 that charges that charge, when the robot electric quantity is low excessively, the robot stop work, and autonomic motion is carried out autonomic charging to the automatic charging seat in lane both ends.
The robot transmits the coal pile three-dimensional coordinate data acquired by the laser scanner and the coal pile surface temperature data, the visible light video and the infrared thermal image video acquired by the temperature measurement type double-spectrum infrared thermal imager to a coal yard site main control device through the wireless AP module 21, the coal yard site main control device performs preprocessing and data fusion, and the preprocessed data and the fused data are packaged and transmitted to a centralized control room workstation.
The robot body control system includes:
the wireless AP module 21: the coal pile three-dimensional coordinate data acquisition device is used for transmitting coal pile three-dimensional coordinate data acquired by a laser scanner and coal pile surface temperature data, visible light video and infrared thermal image video acquired by a temperature measurement type double-spectrum infrared thermal imager to a coal yard site main control device in a wireless communication mode.
The control main board 22: realizing the drive control of the robot body; receiving and executing a remote control command sent by a field master control device; processing coal pile three-dimensional coordinate data acquired by a laser scanner and coal pile surface temperature data, a visible light video and an infrared thermal image video acquired by a temperature measurement type double-spectrum infrared thermal imager; and transmitting the acquired data to a field main control device.
The power panel 23: and managing the battery of the manganese-lithium battery pack of the robot, and providing power supplies with various voltage levels for each functional module and a driving motor of a robot control system.
The lithium battery pack 24: and a 24V working power supply is provided for each functional module and the driving motor of the robot control system.
Coreless dc motor 25: and the robot body is combined with the speed reducing mechanism 12 to provide high-torque power to drive the robot body to walk on the guide rail.
The motor driver 26: receiving a driving command of the control main board 22 and driving the coreless DC motor 25 to rotate; the rotation angle and the rotation speed of the encoder integrated with the coreless direct current motor are collected, so that the walking distance of the robot body is converted and uploaded to the control main board 22.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides a robot platform is patrolled and examined to digital coal yard guide rail type which characterized in that: the robot platform comprises a robot body (1), a temperature measurement type infrared thermal imager and a laser scanner equipment box (2) are mounted on the lower portion of the robot body through an equipment box supporting frame (10), and a control frame (8) is arranged on the robot body; the control frame (8) is movably arranged on the T-shaped guide rail (3), a guide rail bracket fixing plate (5) is arranged on the side surface of the T-shaped guide rail, the guide rail bracket fixing plate is arranged on the side surface of a coal yard pavement through a guide rail bracket fixing hole (6) on the guide rail bracket fixing plate, and a wireless AP antenna (7) is arranged on the upper part of the robot body (1); a first guide rail travelling wheel (9) and a second guide rail travelling wheel (18) are mounted on the lower portion of the control frame (8), a speed reducing mechanism (12) is mounted on the lower portion of the control frame, a rotating shaft (13) mounted on the speed reducing mechanism (12) is connected to the first guide rail travelling wheel and the second guide rail travelling wheel, and a first automatic charging connector (14) and a second automatic charging connector (19) are mounted on two sides of the control frame (8); the wireless AP module (21) is installed on the lower portion, located on the wireless AP antenna (7), of the control frame (8), and a control main board (22), a power panel (23), a lithium battery pack (24), a coreless DC motor (25) and a motor driver (26) are further arranged in the control frame.
2. The digital coal yard guide rail type inspection robot platform of claim 1, which is characterized in that: and a first supporting wheel (15) and a second supporting wheel (17) are arranged on the outer side of the rotating shaft (13).
3. The digital coal yard guide rail type inspection robot platform of claim 2, characterized in that: and the upper parts of the first supporting wheel (15) and the second supporting wheel (17) are positioned on the guide rail bracket fixing plate (5) and are provided with robot supporting wheel baffles (4).
4. The digital coal yard guide rail type inspection robot platform of claim 1, which is characterized in that: and a supporting plate (11) is upwards installed on the guide rail bracket fixing plate (5) at the lower part of the T-shaped guide rail (3).
5. The digital coal yard guide rail type inspection robot platform of claim 1, which is characterized in that: and a first hoisting ring fixing hole (16) and a second hoisting ring fixing hole (20) are installed on the upper part of the control frame (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921958002.6U CN210850242U (en) | 2019-11-13 | 2019-11-13 | Guide rail type inspection robot platform for digital coal yard |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921958002.6U CN210850242U (en) | 2019-11-13 | 2019-11-13 | Guide rail type inspection robot platform for digital coal yard |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210850242U true CN210850242U (en) | 2020-06-26 |
Family
ID=71299587
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921958002.6U Active CN210850242U (en) | 2019-11-13 | 2019-11-13 | Guide rail type inspection robot platform for digital coal yard |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210850242U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113554780A (en) * | 2021-08-02 | 2021-10-26 | 深圳市联之有物智能科技有限公司 | Intelligent inspection system for farm |
-
2019
- 2019-11-13 CN CN201921958002.6U patent/CN210850242U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113554780A (en) * | 2021-08-02 | 2021-10-26 | 深圳市联之有物智能科技有限公司 | Intelligent inspection system for farm |
| CN113554780B (en) * | 2021-08-02 | 2023-06-23 | 深圳市联之有物智能科技有限公司 | Intelligent inspection system for farm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202168138U (en) | Intelligent mobile track type image pickup apparatus | |
| CN109703529A (en) | A kind of full-automatic electric charging station in two sides of compatible various and its change method for electrically | |
| CN113285385B (en) | Cable trench inspection detection device and detection method | |
| CN211468604U (en) | Walking mechanism of intelligent service robot of express delivery factory | |
| CN109324649A (en) | A kind of compound cruising inspection system of substation and method | |
| CN210850242U (en) | Guide rail type inspection robot platform for digital coal yard | |
| CN107482529A (en) | Inspection control method, device and the crusing robot of a kind of overhead transmission line | |
| CN113389421A (en) | Unmanned aerial vehicle removes hangar | |
| CN103003638A (en) | Solar installation comprising a transport device | |
| CN107171254B (en) | A kind of automatic laying tunnel cable robot and its application method | |
| CN114434457A (en) | High-risk operation area robot based on 5G communication network | |
| CN114084262B (en) | Data monitoring system based on electric power operation | |
| CN216253006U (en) | Intelligent video monitoring system based on network | |
| CN214123145U (en) | Portable mobile vehicle road cooperative device | |
| CN110994424B (en) | Substation equipment inspection detection device | |
| CN206164131U (en) | Solar panel cleans machine people's wireless charging system | |
| CN212343187U (en) | Electric power inspection robot | |
| CN115134488A (en) | A all-round camera equipment of patrolling and examining for photovoltaic power plant | |
| CN111049215B (en) | Distributed intelligent charging system and method based on power Internet of things | |
| CN104092978A (en) | Crawler-type electrical power monitoring and controlling vehicle | |
| CN212332953U (en) | Railway contact net patrols line unmanned aerial vehicle's obstacle collision structure | |
| CN113391645B (en) | Unmanned aerial vehicle control system and control method | |
| CN114987648B (en) | Farm command vehicle | |
| CN114560024B (en) | Station house narrow and small space detection robot | |
| CN216078944U (en) | Camera rotating device for security patrol robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |