CN103904585A - Line patrol robot for railway line monitoring - Google Patents
Line patrol robot for railway line monitoring Download PDFInfo
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- CN103904585A CN103904585A CN201410107348.0A CN201410107348A CN103904585A CN 103904585 A CN103904585 A CN 103904585A CN 201410107348 A CN201410107348 A CN 201410107348A CN 103904585 A CN103904585 A CN 103904585A
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- mechanical arm
- motor
- robot body
- robot
- line walking
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Abstract
The invention discloses a line patrol robot for railway line monitoring. The robot comprises a robot body, line patrol moving devices, mechanical arm guide devices, a weight balancing device, a control system and a power supply. The line patrol devices are connected with the robot body through the mechanical arm guide devices, and the side, in the power supply line direction, of the robot body is provided with three sets of the line patrol moving devices and the mechanical arm guide devices identical in structure. The weight balancing device, the control system and the power supply are arranged in the robot body. The line patrol robot for railway line monitoring assisting in manual patrol, improves the automation degree of patrol, improves efficiency, and meanwhile saves cost.
Description
Technical field
The present invention relates to a kind of inspection robot for rail track monitoring, application and rail track monitoring and line walking technical field.
Background technology
In order to guarantee the normal operation of power circuit, need to be to railway electric power supply line periodic maintenance.And be mainly at present the mode that adopts artificial visually examine to check, greatly increase the input of manpower and materials, waste a large amount of labours and financial resources, patrol and examine inefficiency simultaneously, of low quality.Therefore, carry out indirect labor patrol and examine in the urgent need to the inspection robot based on Robotics, this has not only guaranteed to patrol and examine efficiency, patrol and examine quality, has also reduced routing inspection cost.
Summary of the invention
In order to solve prior art problem, the object of the invention is to overcome the deficiency that prior art exists, a kind of inspection robot for rail track monitoring is provided, utilizes the method for mechanical arm rotation with avoiding obstacles, make robot avoiding obstacles well.
For achieving the above object, the present invention adopts following technical proposals:
For an inspection robot for rail track monitoring, formed by robot body, line walking telecontrol equipment, mechanical arm guider, counterweight balancing device, control system and power supply; Described line walking telecontrol equipment connects robot body by described mechanical arm guider, along a side of supply lines direction, three groups of described line walking telecontrol equipment and described mechanical arm guiders that structure is identical are set at described robot body, described counterweight balancing device, control system and power supply are arranged in described robot body.
Further, described line walking telecontrol equipment comprises framework, electromagnet, spring, the little wheel carrier of irony, steamboat, bull wheel and the second motor; Described electromagnet and described framework are fixedly linked, described spring one end and described electromagnet are fixedly linked, the other end and the little wheel carrier of described irony are fixedly linked, described steamboat is connected by axle with the little wheel carrier of described irony, described bull wheel is connected by axle with described the second motor, and described the second motor and described framework are fixedly linked.
Further, described mechanical arm guider comprises the first mechanical arm, the second mechanical arm, the first motor; Described the first mechanical arm connects described robot body, driven by the motor that is fixedly installed on described robot body inside, described the second mechanical arm and described framework are rotationally connected, described the second mechanical arm is connected by described the first electric machine rotation with described the first mechanical arm, described the second mechanical arm drives by described the first motor, the output shaft of described the first motor is perpendicular to supply lines, to control the motion of described the second mechanical arm.
Further, described counterweight balancing device comprises leading screw, balancing weight, shaft coupling and the 3rd motor; Described the 3rd motor is fixed on one end of robot body, and described balancing weight is connected with described leading screw spiral, and described leading screw is connected by described shaft coupling with described the 3rd motor.
Further, transducer is also housed in described robot body, arrives obstacle and surmount obstacles for judging.Described power supply is lithium battery.
The present invention compared with prior art, has following apparent outstanding substantive distinguishing features and remarkable advantage:
The present invention patrols and examines for the inspection robot indirect labor of rail track monitoring, has promoted the automaticity of patrolling and examining to have improved efficiency, meanwhile, has saved cost.
Accompanying drawing explanation
Fig. 1 is general structure schematic diagram of the present invention.
Fig. 2 is vertical view of the present invention.
Fig. 3 is the structural representation of line walking telecontrol equipment of the present invention.
(a ~ p) is the present invention's schematic diagram that clears the jumps to Fig. 4.
Embodiment
Details are as follows by reference to the accompanying drawings for the preferred embodiments of the present invention:
Referring to Fig. 1～Fig. 3, a kind of inspection robot for rail track monitoring, is made up of robot body 1, line walking telecontrol equipment I, mechanical arm guider II, counterweight balancing device III, control system and power supply; Described line walking telecontrol equipment I connects robot body 1 by described mechanical arm guider II, along a side of supply lines direction, three groups of described line walking telecontrol equipment I and described mechanical arm guider II that structure is identical are set at described robot body 1, described counterweight balancing device III, control system and power supply are arranged in described robot body 1.
Described line walking telecontrol equipment I comprises framework 2, electromagnet 3, spring 4, irony steamboat frame 5, steamboat 6, bull wheel 7 and the second motor 11; Described electromagnet 3 is fixedly linked with described framework 2, described spring 4 one end and described electromagnet 3 are fixedly linked, the other end and described irony steamboat frame 5 are fixedly linked, described steamboat 6 is connected by axle with described irony steamboat frame 5, described bull wheel 7 is connected by axle with described the second motor 11, and described the second motor 11 is fixedly linked with described framework 2.
Described mechanical arm guider II comprises the first mechanical arm 8, the second mechanical arm 10, the first motor 9; Described the first mechanical arm 8 connects described robot body 1, driven by the motor that is fixedly installed on described robot body 1 inside, described the second mechanical arm 10 is rotationally connected with described framework 2, described the second mechanical arm 10 is rotationally connected by described the first motor 9 with described the first mechanical arm 8, described the second mechanical arm 10 drives by described the first motor 9, the output shaft of described the first motor 9 is perpendicular to supply lines, to control the motion of described the second mechanical arm 10.
Described counterweight balancing device III comprises leading screw 12, balancing weight 13, shaft coupling 14 and the 3rd motor 15; Described the 3rd motor 15 is fixed on one end of robot body 1, and described balancing weight 13 is connected with described leading screw 12 spirals, and described leading screw 12 is connected by described shaft coupling 14 with described the 3rd motor 15.
In described robot body 1, transducer is also housed, arrives obstacle and surmount obstacles for judging.Described power supply is lithium battery.
Operation principle and the process of the present embodiment are as follows:
As shown in Figure 4, (a) in obstacle detouring process, in the time that inspection robot moves to the front somewhere of barrier, by sensor sensing, to signal, before control system control, the second motor 11 of middle tail line walking telecontrol equipment I stops operating, and inspection robot halts; (b) electromagnet 3 of the anterior line walking telecontrol equipment of control system control I is worked, the irony steamboat frame 5 of anterior line walking telecontrol equipment I is held and compresses the spring 4 of anterior line walking telecontrol equipment I, between the bull wheel 7 of anterior line walking telecontrol equipment I and steamboat 6, vacate the gap that is greater than supply lines diameter; Meanwhile, the 3rd motor 15 starts, and controls balancing weight 13 and moves right along leading screw 12, makes counterweight (make center of gravity be biased to rear portion, guarantee that robot does not deflect in the time that mechanical structure above departs from electric wire) between latter two structure in stopping at; (c) the first motor 9 of anterior mechanical arm guider II is controlled the second mechanical arm 10 and is raised up to the two-wheeled of anterior line walking telecontrol equipment I and can depart from the position of wire; (d) the first mechanical arm 8 of anterior mechanical arm guider II is driven by the motor that is built in robot body 1, goes to certain angle, makes anterior line walking telecontrol equipment I can get around smoothly barrier; (e) the second motor 11 of control system control middle part and afterbody line walking telecontrol equipment I starts, in the time that middle part line walking telecontrol equipment I arrives the front somewhere of barrier, by sensor sensing to signal, the second motor 11 of control system control middle part and afterbody line walking telecontrol equipment I stops operating, and inspection robot halts; (f) anterior line walking telecontrol equipment I and anterior mechanical arm guider II reset, and counterweight balancing device III also resets simultaneously; (g) electromagnet 3 of control system control middle part line walking telecontrol equipment I is worked, the irony steamboat frame 5 of middle part line walking telecontrol equipment I is held to the spring 4 that compresses middle part line walking telecontrol equipment I, between the bull wheel 7 of middle part line walking telecontrol equipment I and steamboat 6, vacate the gap that is greater than supply lines diameter; Because center of gravity is originally just in centre, counterweight balancing device III does not work; (h) the first motor 9 of middle part mechanical arm guider II is controlled the second mechanical arm 10 and is raised up to the two-wheeled of middle part line walking telecontrol equipment I and can depart from the position of wire; (i) the first mechanical arm 8 of middle part mechanical arm guider II is driven by the motor that is built in robot body 1, goes to certain angle, makes middle part line walking telecontrol equipment I can get around smoothly barrier; (j) control system control the second motor 11 anterior and afterbody line walking telecontrol equipment I starts, in the time that afterbody line walking telecontrol equipment I arrives the front somewhere of barrier, by sensor sensing to signal, the second motor 11 of control system control middle part and afterbody line walking telecontrol equipment I stops operating, and inspection robot halts; (k) middle part line walking telecontrol equipment I and middle part mechanical arm guider II reset; (l) electromagnet 3 of control system control afterbody line walking telecontrol equipment I is worked, the irony steamboat frame 5 of afterbody line walking telecontrol equipment I is held to the spring 4 that compresses afterbody line walking telecontrol equipment I, between the bull wheel 7 of afterbody line walking telecontrol equipment I and steamboat 6, vacate the gap that is greater than supply lines diameter; Meanwhile, the 3rd motor 15 starts, and controls balancing weight 13 along leading screw 12 to left movement, make counterweight stop at front between two structures; (m) the first motor 9 of afterbody mechanical arm guider II is controlled the second mechanical arm 10 and is raised up to the two-wheeled of afterbody line walking telecontrol equipment I and can depart from the position of wire; (n) the first mechanical arm 8 of afterbody mechanical arm guider II is driven by the motor that is built in robot body 1, goes to certain angle, makes afterbody line walking telecontrol equipment I can get around smoothly barrier; (o) control system control the second motor 11 anterior and middle part line walking telecontrol equipment I starts, in the time that afterbody line walking telecontrol equipment I leaves barrier certain distance, sensor sensing is to signal, control system control the second motor 11 anterior and middle part line walking telecontrol equipment I stops operating, and inspection robot halts; (p) afterbody line walking telecontrol equipment I and afterbody mechanical arm guider II reset, and counterweight balancing device III also resets simultaneously; In before control system control, the motor 11 of tail line walking telecontrol equipment I starts, and inspection robot moves on.
Claims (6)
1. for an inspection robot for rail track monitoring, it is characterized in that, formed by robot body (1), line walking telecontrol equipment (I), mechanical arm guider (II), counterweight balancing device (III), control system and power supply; Described line walking telecontrol equipment (I) connects robot body (1) by described mechanical arm guider (II), along a side of supply lines direction, three groups of described line walking telecontrol equipments (I) and described mechanical arm guider (II) that structure is identical are set at described robot body (1), described counterweight balancing device (III), control system and power supply are arranged in described robot body (1).
2. the inspection robot for rail track monitoring according to claim 1, it is characterized in that, described line walking telecontrol equipment (I) comprises framework (2), electromagnet (3), spring (4), the little wheel carrier of irony (5), steamboat (6), bull wheel (7) and the second motor (11); Described electromagnet (3) is fixedly linked with described framework (2), described spring (4) one end and described electromagnet (3) are fixedly linked, the other end and the little wheel carrier of described irony (5) are fixedly linked, described steamboat (6) is connected by axle with the little wheel carrier of described irony (5), described bull wheel (7) is connected by axle with described the second motor (11), and described the second motor (11) is fixedly linked with described framework (2).
3. the inspection robot for rail track monitoring according to claim 1, is characterized in that, described mechanical arm guider (II) comprises the first mechanical arm (8), the second mechanical arm (10), the first motor (9); Described the first mechanical arm (8) connects described robot body (1), drive by being fixedly installed on the inner motor of described robot body (1), described the second mechanical arm (10) is rotationally connected with described framework (2), described the second mechanical arm (10) is rotationally connected by described the first motor (9) with described the first mechanical arm (8), described the second mechanical arm (10) drives by described the first motor (9), the output shaft of described the first motor (9) is perpendicular to supply lines, to control the motion of described the second mechanical arm (10).
4. the inspection robot for rail track monitoring according to claim 1, is characterized in that, described counterweight balancing device (III) comprises leading screw (12), balancing weight (13), shaft coupling (14) and the 3rd motor (15); Described the 3rd motor (15) is fixed on one end of robot body (1), and described balancing weight (13) is connected with described leading screw (12) spiral, and described leading screw (12) is connected by described shaft coupling (14) with described the 3rd motor (15).
5. the inspection robot for rail track monitoring according to claim 1, is characterized in that, described robot body is also equipped with transducer in (1), arrives obstacle and surmounts obstacles for judging.
6. the inspection robot for rail track monitoring according to claim 1, is characterized in that, described power supply is lithium battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410107348.0A CN103904585B (en) | 2014-03-21 | 2014-03-21 | A kind of inspection robot for rail track monitoring |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410107348.0A CN103904585B (en) | 2014-03-21 | 2014-03-21 | A kind of inspection robot for rail track monitoring |
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| Publication Number | Publication Date |
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| CN103904585A true CN103904585A (en) | 2014-07-02 |
| CN103904585B CN103904585B (en) | 2016-12-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410107348.0A Expired - Fee Related CN103904585B (en) | 2014-03-21 | 2014-03-21 | A kind of inspection robot for rail track monitoring |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104882839A (en) * | 2015-05-04 | 2015-09-02 | 桂林电子科技大学 | Barrier-crossing mechanism of transmission line deicing robot |
| CN108860212A (en) * | 2017-05-12 | 2018-11-23 | 北京瑞途科技有限公司 | A kind of intelligent inspection robot car body |
| CN109301753A (en) * | 2018-11-15 | 2019-02-01 | 山东科技大学 | It is a kind of along overhead transmission line walk climbing robot |
| CN111431087A (en) * | 2020-04-14 | 2020-07-17 | 郑州噢澳电子科技有限公司 | Supplementary workman's device of marcing under high altitude cable work environment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006119398A (en) * | 2004-10-22 | 2006-05-11 | Furukawa Electric Co Ltd:The | Aerial inspection car |
| CN101104265A (en) * | 2007-07-31 | 2008-01-16 | 北华大学 | Arm hanging type high voltage transmission line detecting robot |
| CN201656341U (en) * | 2010-04-26 | 2010-11-24 | 华南理工大学 | Three-wheel inspection robot mechanism capable of crossing tower suspension line |
| CN101938095A (en) * | 2010-08-18 | 2011-01-05 | 山东科技大学 | Novel structure of deicing robot based on pneumatic type electric transmission line |
| CN102074915B (en) * | 2010-12-09 | 2012-09-05 | 山东电力研究院 | Split line moving platform |
-
2014
- 2014-03-21 CN CN201410107348.0A patent/CN103904585B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006119398A (en) * | 2004-10-22 | 2006-05-11 | Furukawa Electric Co Ltd:The | Aerial inspection car |
| CN101104265A (en) * | 2007-07-31 | 2008-01-16 | 北华大学 | Arm hanging type high voltage transmission line detecting robot |
| CN201656341U (en) * | 2010-04-26 | 2010-11-24 | 华南理工大学 | Three-wheel inspection robot mechanism capable of crossing tower suspension line |
| CN101938095A (en) * | 2010-08-18 | 2011-01-05 | 山东科技大学 | Novel structure of deicing robot based on pneumatic type electric transmission line |
| CN102074915B (en) * | 2010-12-09 | 2012-09-05 | 山东电力研究院 | Split line moving platform |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104882839A (en) * | 2015-05-04 | 2015-09-02 | 桂林电子科技大学 | Barrier-crossing mechanism of transmission line deicing robot |
| CN108860212A (en) * | 2017-05-12 | 2018-11-23 | 北京瑞途科技有限公司 | A kind of intelligent inspection robot car body |
| CN108860212B (en) * | 2017-05-12 | 2024-03-22 | 北京瑞途科技有限公司 | Intelligent inspection robot car body |
| CN109301753A (en) * | 2018-11-15 | 2019-02-01 | 山东科技大学 | It is a kind of along overhead transmission line walk climbing robot |
| CN109301753B (en) * | 2018-11-15 | 2019-07-23 | 山东科技大学 | It is a kind of along overhead transmission line walk climbing robot |
| CN111431087A (en) * | 2020-04-14 | 2020-07-17 | 郑州噢澳电子科技有限公司 | Supplementary workman's device of marcing under high altitude cable work environment |
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| Publication number | Publication date |
|---|---|
| CN103904585B (en) | 2016-12-07 |
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