CN103913243B - Suspending automatic-patrol robot - Google Patents
Suspending automatic-patrol robot Download PDFInfo
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- CN103913243B CN103913243B CN201410146985.9A CN201410146985A CN103913243B CN 103913243 B CN103913243 B CN 103913243B CN 201410146985 A CN201410146985 A CN 201410146985A CN 103913243 B CN103913243 B CN 103913243B
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Abstract
The invention discloses a suspending automatic-patrol robot, and aims to provide a suspending automatic-patrol robot which can replace workers and save labor. The suspending automatic-patrol robot comprises a rail mechanism and a rail machine system and is characterized in that the rail machine system is matched with the rail mechanism, the lower side of the rail machine system is connected with a mechanical arm mechanism, the lower side of the mechanical arm mechanism is connected with a temperature picture monitoring system, and the rail machine system is connected with a wireless transmission system. The suspending automatic-patrol robot is mainly used for power security monitoring and control.
Description
Technical field
The present invention relates to a kind of safety patrol inspection device, more particularly, to lift-on/lift-off type automatic crusing robot.
Background technology
The power grid accident cumulative year after year that electrical equipment faults itself causes, the half accounting for all power grid accidents every year is left
Right.Make a general survey of the world, situation similarly, also indicates that from the analysis result of overseas power networks large area blackout reason, not only electrically
Equipment faults itself always jeopardizes the main cause of electric power netting safe running, and proportion is also suitable in electric network fault
Greatly.
Existing device temperature monitoring is mostly to be based on modes such as thermocouple, thermal resistance, fiber optic conduction, and this thermometric mode is easy
Affected by factors such as transmission range, conductor resistances, and temperature-sensing element need to be close to measured object surface by which, belong to contact
Formula thermometric, the safe operation for most of equipment undoubtedly can cause certain hidden danger.By infrared detector with contactless
Temp measuring method carries out temperature detection to operation equipment and its environment, and by means of visual optical monitor, accident defect part is carried out
Positioning, remotely to be judged to the defect of equipment and environment and to be pointed out；By controlling infrared, visible light monitor head
And lens focus, equipment is carried out uninterrupted, round-the-clock（Have under light and no light conditions）Temperature monitoring and to work condition environment prevent
Invasion, theftproof monitoring and warning.
Therefore, present invention employs a kind of non-contact temperature monitoring technology, it is one and quickly grows and extremely joyous
The technology met, is not only the needs of enterprise safety operation, is also the needs that Enterprises ' Modern operation management level improves.With China
Economic scale is increasing, level of production more and more higher, and the condition monitoring and fault diagnosis technology of equipment is increasingly taken seriously,
Temperature pattern monitoring system robot also has boundless market prospect.
Content of the invention
The invention discloses a kind of lift-on/lift-off type automatic crusing robot, combine ceiling mounted tracks robot manipulating task and image is double
Linear interpolation, improves infrared image identification, realizes autonomous type mobile thermal image routing inspection measurement.Using infrared image and visible ray figure
As integration technology, accurately follow the tracks of target abnormal conditions.Reliable wireless transmission protocol ensure that signal transmission stability and can
By property.
For solving the above problems, the technical solution of the present invention is：
A kind of lift-on/lift-off type automatic crusing robot, including rail mechanism, track machine system it is characterised in that：Described rail
Road machine system is matched with rail mechanism, is connected with and is connected with temperature under mechanical arm mechanism, mechanical arm mechanism under track machine system
Frequency image monitoring system, track machine system is connected with wireless transmitting system.
Further, described rail mechanism includes track, and track is in that " " shape, the vertical edge side of track is provided with slip to work
Mechanism, the left and right both ends of the following upper surface of track are provided with end fixed block, and it is spacing that the following lower surface of track is provided with end
Block and interfix block.
Further, track machine system includes track machine shell, side plate, and track machine inside the shell is fixed with current collector and fixes
Plate, current collector connecting plate, the slotted eye that adjustable plate passes through to arrange thereon is connected on hub connecting plate, and slipper is with adjustable plate even
Connect, slipper passes through the slip mechanism Elastic Contact of adjustable plate and the track vertical edge side of rail mechanism or separates, driving means
It is fixed on track machine inside the shell, and is connected by wire with slipper, under track shell, inner face is provided with two groups of end stroke and opens
Close and one group of middle of stroke switch.
Further, described mechanical arm mechanism is lifted under track machine system by hoisting bracket, arranges under hoisting bracket
There is bearing support, bearing support two ends are provided with end cap, infrared induction, infrared tube are installed in end cap, connecting rod is installed and bearing support
Lower end, connecting rod lower end is elasticly connected with support in succession.
Further, described temperature pattern monitoring system is made up of housing, case cover, and monitoring system is installed in housing,
Housing side is provided with watch window.
Further, described wireless transmitting system includes wireless transmission antenna, wireless bridge composition, wireless transmission antenna
It is connected by wire with wireless bridge, wireless transmission antenna is placed on the hole set by track machine shell, wireless bridge is arranged
In track machine system.
The invention has the beneficial effects as follows：
1st, the present invention alternative manual site operation, improves work efficiency.Particularly with work high above the ground, high pressure, danger etc.
Under harsh environments, need the working condition of monitoring main equipment, surface temperature whether normal, you can to use the invention to reality
Existing automatic monitoring device.
2nd, the present invention passes through ceiling mounted tracks robot manipulating task and image bilinear interpolation, using infrared image and visible ray figure
As integration technology, accurately follow the tracks of target abnormal conditions, improve infrared image identification, realize autonomous and patrol and examine measurement.
3rd, the present invention adopts automatic telescopic mechanical arm, is positioned with corresponding travel switch limited block by travel switch, with number
Under word controller technology combines, accurate lifting can be done below ceiling mounted tracks, stop.Thus can be according to the needs of user, closely
Distance, more accurately embody the temperature rise situation of measured body.
4th, the present invention uses infrared human body to sense, when automatic running under darkness, night, narrow space environment, people
If member need to be below the track machine of lifting, when apart 2-3 rice is remote for personnel and this device, apparatus of the present invention can send redness
Flash of light and chimes of doom, and halt simultaneously.So can remind through personnel's careful attention, it is to avoid collide and cause accident
Injury is it is ensured that the safety of personnel.
5th, service-strong wireless transmission protocol of the present invention is it is ensured that the stability that is wirelessly transferred of video data and reliability
Property；Realize patrolling and examining online.
6th, the balanced structure of robot and automatic changeover design are integrated by the present invention, not only greatly simplify and finish
Structure, reduces cost are moreover it is possible to alternately normally and accurately run in curved straight track.
Brief description
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the front view of the present invention；
Fig. 3 is the left view of the present invention；
Fig. 4 extends the left view of handss for mechanical arm of the present invention；
In figure：1- rail mechanism, 11- slick line device, 12- track, 13- end fixed block, 14- end limited block, in 15-
Between locating piece, 2- track machine system, 21- track machine shell, 211- hole, 22- side plate, 23- current collector fixed plate, 24- current collector
Connecting plate, 25- adjustable plate, 251- slotted eye, 26- slipper, 27- driving means, 28a- end stroke switchs, 28b- middle of stroke
Switch, 3- mechanical arm mechanism, 31- bearing support, 32- end cap, 33- connecting rod, 34- support in succession, 35- infrared induction, 36- is infrared right
Pipe, 37- hoisting bracket, 4- temperature pattern monitoring system, 41- housing, 411- watch window, 42- case cover, 5- is wirelessly transferred and is
System, 51- wireless transmission antenna, 52- wireless bridge.
Specific embodiment
Below in conjunction with the accompanying drawings the specific embodiment of the present invention is described in further detail.
Referring to accompanying drawing, the present invention include rail mechanism 1, track machine system 2 it is characterised in that：Described track machine system 2
Match with rail mechanism 1, be connected with mechanical arm mechanism 3 under track machine system 2, under mechanical arm mechanism 3, be connected with temperature pattern
Monitoring system 4, track machine system 2 is connected with wireless transmitting system 5.
Described rail mechanism 1 includes track 12, and track 12 is in that " " shape, the vertical edge side of track 12 is provided with slip to work
Mechanism 11, the left and right both ends of the following upper surface of track 12 are provided with end fixed block 13, and the following lower surface of track 12 is provided with
End limited block 14 and interfix block 15.
Track machine system 2 includes track machine shell 21, side plate 22, is fixed with current collector fixed plate in track machine shell 21
23rd, current collector connecting plate 24, the slotted eye 251 that adjustable plate 25 passes through to arrange thereon is connected on hub connecting plate 24, slipper
26 are connected with adjustable plate 25, and slipper 26 passes through the slip mechanism 11 of adjustable plate 25 and the track 12 vertical edge side of rail mechanism 1
Elastic Contact or separation, driving means 27 are fixed in track machine shell 21, and are connected by wire with slipper 26, outside track
21 times inner faces of shell are provided with two groups of end stroke and switch 28a and one group of middle of stroke switch 28b.
Described mechanical arm mechanism 3 is lifted under track machine system 2 by hoisting bracket 37, and hoisting bracket is arranged with and props up
Bolster 31, bearing support 31 two ends are provided with end cap 32, and infrared induction 35, infrared tube 36 are installed in end cap 32, and connecting rod 33 is pacified
Dress and bearing support 31 lower end, connecting rod 33 lower end is elasticly connected with support 34 in succession.
Described temperature pattern monitoring system 4 is made up of housing 41, case cover 42, and monitoring system is installed in housing 41,
Housing 41 side is provided with watch window 411.
Described wireless transmitting system 5 includes wireless transmission antenna 51, wireless bridge 52 forms, wireless transmission antenna 51
It is connected by wire with wireless bridge 52, wireless transmission antenna 51 is placed on the hole 211 set by track machine shell 21, wirelessly
Bridge 52 is arranged in track machine system 2.
Use when, according to demand rail mechanism 1 is layed in desired location first, by track machine system 2 and lifting
Mechanical arm mechanism 3, temperature monitoring system 4, wireless transmitting system 5 are installed on rail mechanism 1, and installation and debugging are opened out after finishing
Close, in track machine system 2, the adjustable plate 25 of setting is fixed to the left, slipper 26 and slick line device 11 elastic connection, driving means
27 must be electric, and track machine system 2 starts to slide on the track 12, center row after arrival is previously provided with interfix block 15 position
Cheng Kaiguan 28b connect, the control system in mechanical arm mechanism 3 make connecting rod about 33 telescopic band dynamic temperature frequency image monitoring system 4 stretch
Contracting formulates position temperature to monitor.By wireless transmitting system 5, data is passed back control centre after completing monitoring to analyze.
Described temperature pattern monitoring system 4 uses image bilinear interpolation, using infrared image and visual image fusion
Technology, accurately follows the tracks of target abnormal conditions, improves infrared image identification.Described temperature pattern monitoring system 4 can be installed simultaneously
Two sets, watch window is in that opposite direction is installed respectively, so can monitor the equipment running status on both sides simultaneously, thus double
Monitoring efficiency.
When rail mechanism 1 is folding, the end setting end fixed block 13 of in rail 12 and end limited block 14, end
Fixed block 13 can force restriction track machine system 2 to skid off track 12 thus ensure that track machine system and the peace of staff
Entirely, and arrange end limited block 14 then with end stroke switch 28a cooperation control track machine system 2 reach end when can be anti-
To.
And when rail mechanism 1 is closure it is only necessary in rail 12 lower surface setting interfix block 15, it can make track
Machine system 2 kinematic error resets and can arrange preset position i.e. through rest point.
Setting infrared induction 35 and infrared tube 36 composition human body sensing system, when have personnel through when, can feed back to
Control system, thus being given according to the demand setting, stopping, warning, flashing light or operation etc. are corresponding to be instructed.
Above-mentioned specific embodiment is the preferred embodiments of the present invention, can not limit the invention, other
Change or other equivalent substitute mode that what is made without departing from technical scheme, are included in the protection of the present invention
Within the scope of.
Claims (5)
1. a kind of lift-on/lift-off type automatic crusing robot, including rail mechanism (1), track machine system (2) it is characterised in that：Described
Track machine system (2) match with rail mechanism (1), be connected with mechanical arm mechanism (3), mechanical arm under track machine system (2)
It is connected with temperature pattern monitoring system (4), track machine system (2) is connected with wireless transmitting system (5), described under mechanism (3)
Track machine system (2) includes track machine shell (21), side plate (22), and track machine shell is fixed with current collector fixed plate in (21)
(23), current collector connecting plate (24), the slotted eye (251) that adjustable plate (25) passes through to arrange thereon is connected to hub connecting plate (24)
On, slipper (26) is connected with adjustable plate (25), and slipper (26) passes through the track (12) of adjustable plate (25) and rail mechanism (1)
Slip mechanism (11) Elastic Contact of vertical edge side or separation, driving means (27) are fixed in track machine shell (21), and with
Slipper (26) is connected by wire, and under track shell (21), inner face is provided with two groups of end stroke switch (28a) and one group
Between travel switch (28b).
2. lift-on/lift-off type automatic crusing robot according to claim 1 it is characterised in that：Described rail mechanism (1) bag
Include track (12), track (12) is in that " " shape, the vertical edge side of track (12) is provided with slip mechanism (11), under track (12) to work
The left and right both ends of side upper surface are provided with end fixed block (13), and the following lower surface of track (12) is provided with end limited block
(14) with interfix block (15).
3. lift-on/lift-off type automatic crusing robot according to claim 1 it is characterised in that：Described mechanical arm mechanism (3)
It is lifted under track machine system (2) by hoisting bracket (37), hoisting bracket is arranged with bearing support (31), bearing support (31) two
End is provided with end cap (32), and infrared induction (35), infrared tube (36) are installed in end cap (32), and connecting rod (33) is installed and supporting
Frame (31) lower end, connecting rod (33) lower end is elasticly connected with support (34) in succession.
4. lift-on/lift-off type automatic crusing robot according to claim 1 it is characterised in that：Described temperature pattern monitoring system
System (4) is made up of housing (41), case cover (42), and monitoring system is installed in housing (41), and housing (41) side is provided with sight
Examine window (41) (1).
5. lift-on/lift-off type automatic crusing robot according to claim 1 it is characterised in that：Described wireless transmitting system
(5) wireless transmission antenna (51), wireless bridge (52) composition are included, wireless transmission antenna (51) is passed through with wireless bridge (52)
Wire connects, and wireless transmission antenna (51) is placed on the hole (211) set by track machine shell (21), and wireless bridge (52) sets
It is placed in track machine system (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410146985.9A CN103913243B (en) | 2014-04-13 | 2014-04-13 | Suspending automatic-patrol robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410146985.9A CN103913243B (en) | 2014-04-13 | 2014-04-13 | Suspending automatic-patrol robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103913243A CN103913243A (en) | 2014-07-09 |
| CN103913243B true CN103913243B (en) | 2017-02-08 |
Family
ID=51039101
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410146985.9A Active CN103913243B (en) | 2014-04-13 | 2014-04-13 | Suspending automatic-patrol robot |
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| Country | Link |
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| CN (1) | CN103913243B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108563148A (en) * | 2018-03-29 | 2018-09-21 | 西安科技大学 | A kind of kinematic system and method for single track lifting crusing robot |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104959986A (en) * | 2015-05-29 | 2015-10-07 | 南京理工大学 | Combined track type automatic inspection robot |
| JP6524586B2 (en) * | 2015-08-26 | 2019-06-05 | パナソニックＩｐマネジメント株式会社 | Current collector and power transfer system |
| CN105538342A (en) * | 2016-02-03 | 2016-05-04 | 深圳市施罗德工业测控设备有限公司 | Rail support |
| CN107398888A (en) * | 2016-05-20 | 2017-11-28 | 深圳市朗驰欣创科技股份有限公司 | Rail polling robot running gear |
| CN106239515A (en) * | 2016-09-19 | 2016-12-21 | 上海永乾机电有限公司 | A kind of power distribution station intelligent inspection robot |
| CN106393054B (en) * | 2016-11-21 | 2017-11-24 | 山东大学 | A kind of inspection robot and its method of conduct monitoring at all levels power circuit |
| CN108627196B (en) * | 2017-03-23 | 2024-02-20 | 台湾积体电路制造股份有限公司 | Environment monitoring system |
| CN108247642B (en) * | 2017-11-29 | 2020-11-24 | 白劲实 | Suspension type supporting robot |
| CN108494093B (en) * | 2018-04-21 | 2023-08-11 | 四川理工学院 | Outdoor inspection system based on wireless sensor network |
| CN108919590B (en) * | 2018-09-13 | 2020-12-29 | 襄阳市雄狮光电科技有限公司 | Lens with visual function |
| CN115229761B (en) * | 2022-09-23 | 2022-12-13 | 太原理工大学 | Track type inspection robot |
| CN116760464B (en) * | 2023-05-25 | 2024-05-07 | 江苏泽宇智能电力股份有限公司 | Optical fiber resource management system based on deep learning |
| CN117268551A (en) * | 2023-11-21 | 2023-12-22 | 广州科易光电技术有限公司 | Method and device for detecting vehicles on oil distribution platform, equipment and storage medium |
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| CN102562154A (en) * | 2010-12-29 | 2012-07-11 | 沈阳新松机器人自动化股份有限公司 | Cable tunnel routing inspection robot |
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| Publication number | Publication date |
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| CN103913243A (en) | 2014-07-09 |
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Effective date of registration: 20170510 Address after: 519000 No. 8, No. 9 Road, hi tech Zone, Guangdong, Zhuhai Patentee after: Yado Monitoring Technology Co., Ltd. Address before: 516000 hi tech nine road, Zhuhai, Guangdong Patentee before: Yang Zhiqiang |
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| TR01 | Transfer of patent right |