CN105252515A - Indoor multidimensional-rail type intelligent patrolling robot based on limited relay-chamber bends - Google Patents
Indoor multidimensional-rail type intelligent patrolling robot based on limited relay-chamber bends Download PDFInfo
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Abstract
The invention discloses an indoor multidimensional-rail type intelligent patrolling robot based on limited relay-chamber bends. The intelligent patrolling robot comprises a patrolling robot body, wherein the patrolling robot body is fixed on a movable platform; the movable platform slides on a rail, and is connected with a driving mechanism; the driving mechanism is connected with an upper computer and a power supply device; a supporting platform is arranged on the patrolling robot body; a detection assembly is arranged on the supporting platform; a multi-connecting-rod grasping device is arranged under the movable platform; a position label recognizing device is arranged on the multi-connecting-rod grasping device. The intelligent patrolling robot disclosed by the invention has the benefical effects that the robot can realize three-dimensional patrol; different transformer substation chambers can be examined by one patrolling robot. The intelligent patrolling robot disclosed by the invention overcomes the defect of running dead corners of a robot, so that the utilization rate of the robot is increased.
Description
Technical field
The invention belongs to field of special robots, particularly based on the indoor multidimensional rail mounted intelligent patrol robot of the limited bend of relay housing.
Background technology
Following technical problem is there is in prior art:
1, (application number is 201310040511.1 to Chinese invention patent, name is called " the track machine people of band turning apparatus ") and Chinese invention patent (application number 201210493890.5, name is called " right-angle turning transport vehicle "), be proposed the solution when orbital path is turned, but above scheme is only confined to the research in two-dimensional space.Two-dimensional space inner machine people can only run in a plane, is difficult to carry out omnibearingly accurately patrolling and examining to equipment.
2, prior art usually the different indoor location of transformer station respectively mounting robot and fixing point checkout gear realize the different little indoor equipment of transformer station patrol and examine work, great in constructing amount, cost is higher.
3, because the interior space is limited, there is certain technical difficulty in some foreign material of indoor and outdoors or the crawl of workpiece faced by prior art, need artificial treatment, and existing grabbing device brings damage easily to when grabbing workpiece shakiness other equipment.
4, existing grabbing device is difficult to realize length apart from mobile and crawl, and most of transmission mechanism structure is more complicated.
5, existing crusing robot all adopts wired monitoring to temperature monitoring, and too much cable laying can disturb the normal operation of robot.
Summary of the invention
The object of the invention is to solve the problem, provide the indoor multidimensional rail mounted intelligent patrol robot based on the limited bend of relay housing, this device is provided with two turning motion unit, can adapt to the operation in 3d orbit path.
To achieve these goals, the present invention adopts following technical scheme:
Based on the indoor multidimensional rail mounted intelligent patrol robot of the limited bend of relay housing, comprise inspection machine human body, described inspection machine human body is fixed on mobile platform, described mobile platform slides on indoor multidimensional track, described mobile platform is connected with kinematic driving unit, described kinematic driving unit is connected with control system, described kinematic driving unit is connected with electric supply installation, described inspection machine human body is provided with The Cloud Terrace, The Cloud Terrace is provided with detection components, multi link grabbing device is provided with below described mobile platform, described control system comprises motion control case, described motion control case is connected with detection components, described detection components comprises radio temperature sensor and warning device, the temperature data detected is uploaded to motion control case by wireless network by described radio temperature sensor, if temperature exceedes setting threshold value, then motion control case controls warning device warning.
Described motion control case respectively with The Cloud Terrace, capture drive unit, switch gate linkage, kinematic driving unit, terminal communication case, movement position label recognizer and switch gate location tags recognition device and be connected; Described terminal communication case is connected with background monitoring case.
Described crawl drive unit is connected with fly-wheel motor, the first expansion link motor, the second expansion link motor, fork drive motors respectively, described fly-wheel motor is connected with flywheel, described first expansion link motor is connected with the first expansion link, described second expansion link motor is connected with the second expansion link, and described fork drive motors is connected with fork.
Described motion control case is connected with terminal communication case by trolley.
Described terminal communication case is connected with background monitoring case by optical fiber.
Described crawl drive unit is connected with multi link grabbing device.
Described background monitoring case is arranged in master-control room, and described terminal control case is arranged on a certain little indoor to be inspected, and described motion control case is arranged on robot body, and described The Cloud Terrace is arranged on motion control case.
Described kinematic driving unit comprises servo-driver, drive motors and encoder, for control orbiting, described servo-driver for controlling the action of drive motors, with encoder on drive motors.
Described track is the composite guide rails that horizontal guide rail, upright guide rail and arc-shaped guide rail are combined into, and is arranged between the different little indoor of transformer station and cell.
Described mobile platform comprises: two groups of orbiting unit and the secondary connecting plate for connecting two groups of orbiting unit; Described two groups of orbiting unit independently rotate;
Each group orbiting unit described comprises: turning motion unit, secondary turning motion unit, crane span structure and a connecting plate;
Fix a turning motion unit respectively at the two ends of described crane span structure, at described crane span structure arranged outside connecting plate, the biside plate of a described connecting plate is connected respectively by a secondary shaft with crane span structure two ends; Described secondary turning motion unit is arranged on the centre position of a described connecting plate; A connecting plate of each group orbiting unit described is connected with secondary connecting plate respectively by secondary turning motion unit.
A described turning motion unit comprises: roller axis, roller, a bearing and a secondary shaft;
Described roller is connected with crane span structure by roller axis, and a described bearing coordinates with a secondary shaft and crane span structure respectively, and the end of a described bearing is provided with hole back-up ring one for spacing; A described secondary shaft upper end and connecting plate are fixed, middle part is provided with the face of cylinder and a bearing fit.
In described roller, to be provided with step by the end of the spacing described roller axis of hole back-up ring one spacing for roller for shaft end, and middle part is provided with the face of cylinder and coordinates with bearing inner race, and it is chimeric with bridge joint that end is provided with face of cylinder step, and core is provided with through hole for fixing with crane span structure.Wherein the end face of cylinder is coaxial with core through hole, and the face of cylinder, middle part and both axis being parallel disalignment above, the eccentric distance of two axial lines is for regulating the spacing of two cover rollers.
Described bearing adopts taper roll bearing, and to be suitable for the axial force and radial load that operation platform applies, the inner ring of a described bearing coordinates with a secondary shaft, and outer ring coordinates with crane span structure, and end is spacing by hole back-up ring one.
The cross section of a described secondary shaft is T-shaped, and the upper end of a secondary shaft adopts securing member and a connecting plate to fix, and middle part is provided with the face of cylinder and a bearing fit.
Described crane span structure inner face is provided with two face of cylinder, place counterbores, for coordinating with a secondary shaft; Crane span structure two ends are respectively equipped with bearing mounting hole, for assembling a bearing; Described crane span structure is respectively fitted with bearing, hole back-up ring one, roller axis and a roller, described crane span structure rotates around the axis of a secondary shaft, completes roller steering action.
The two ends of a described connecting plate are provided with stepped hole, for coordinating with a secondary shaft; The middle part of a described connecting plate is provided with and the stepped hole coordinated in secondary turning motion unit.
Described secondary turning motion unit comprises two secondary shafts, secondary bearing and hole back-up ring two;
Described two secondary shafts run through a connecting plate and secondary connecting plate, and the inner ring of secondary bearing coordinates with two secondary shafts, and outer ring coordinates with secondary connecting plate, and secondary bearing end is spacing by hole back-up ring two.
The cross section of described two secondary shafts is set to T-shaped, and upper end is provided with screw thread, and for connecting securing member, middle part is provided with the face of cylinder and is provided with step with secondary bearing fit, bottom and coordinates with a connecting plate.
The turning implementation method of mobile platform, comprising:
When mobile platform runs on straight line path I, a connecting plate of two groups of orbiting unit is parallel, the crane span structure of two groups of orbiting unit is parallel respectively with secondary connecting plate, reconcile the center distance H of roller by roller axis, what make mobile platform and 3d orbit is combined with enough pretightning forces;
When mobile platform runs in circular arc path II, a connecting plate keeping parallelism of two groups of orbiting unit, the crane span structure of two groups of orbiting unit rotates around the axis of a secondary shaft respectively, and the axis extended line of the roller of two groups of orbiting unit intersects at center of circle O
2, the angle of two axial lines delay line is 2x β, and described angle is symmetrical about the median plane of secondary connecting plate; Mobile platform is around center of circle O
2rotate, realize walking along circular arc path;
When mobile platform runs on turning path IV, a connecting plate and crane span structure keeping parallelism, two groups of orbiting unit rotate around the axis of two secondary shafts respectively, and the line of centres of roller intersects at center of circle O
1, the angle of two lines of centres is 2x α, and described angle is symmetrical about the median plane of secondary connecting plate; Mobile platform is around center of circle O
1rotate, realize walking along turning path.
Described multi link grabbing device, comprise flywheel, described flywheel is connected with fly-wheel motor, the hinged tripod in edge of described flywheel, first end points of described tripod and the edge conjunction of flywheel, the 3rd end points of described tripod is connected with grasping mechanism by syndeton.
When fly-wheel motor flywheel driven rotates, tripod and then drive grabbing device carry out the position coarse regulation of 360 °.
The output shaft of described fly-wheel motor and flywheel by shaft with key way to being fixedly connected with.
Described bindiny mechanism comprises the first expansion link, fork and the pull bar that connect successively, and one end of described first expansion link is connected with the 3rd end points of tripod, and described pull bar is also connected with grasping mechanism.The other end and the fork of the first expansion link are hinged, and this pin joint is provided with the fork drive motors driving fork to rotate, and this motor is used for the coarse regulation to mechanical arm orientation.
Described grabbing device comprises bracing frame, support frame as described above is connected with pull bar by two support bars, in center vertical gathering sill on support frame as described above, the second expansion link is installed, described second expansion link and the first push rod affixed, the both sides of described first push rod are connected with the 3rd push rod respectively by some second push rods, described 3rd push rod and mechanical arm affixed.
Described first push rod, some second push rods and the 3rd push rod form parallelogram sturcutre jointly.
Second expansion link can promote the first push rod and vertically move, and then drive the 3rd push rod to horizontally slip in the horizontal concrete chute of bracing frame by parallelogram sturcutre, thus the 3rd push rod driving mechanical arm moves left and right, and carries out accurate adjustment to capture to the pose of object.
Described mechanical arm lower end is plate shaped, and for capturing the object that side is plane, top is v-shaped structure, for snatching cylindrical object.
Described mechanical arm can be replaced with difform mechanical arm according to crawled object.
Described detection components comprises thermal infrared imager, visible light camera, smog alarm sensor, field intensity detector and Ultraviolet Detector.
The course of work of described multi link grabbing device is as follows:
When fly-wheel motor drives flywheel motion, flywheel drives grabbing device 360 ° rotation by tripod and bindiny mechanism, and the approximate location waiting to capture object is found in first time coarse regulation;
The position waiting to capture object is found in the second time coarse regulation under the driving of motor of described fork;
After above-mentioned action completes, the second expansion link drives the first push rod to drive parallel-crank mechanism to move along horizontal guide slot, and then drives the manipulator be arranged on the second push rod to carry out opening and closing movement in the horizontal direction.After action completes, rotate by the first expansion link contraction, fork and then object is raised up, completing the carrying work of object.When capturing object, the second expansion link and fork can carry out exact position adjustment by driving mechanical arm in space.The accurate crawl to object can be realized by twice coarse regulation above and accurate adjustment.
Described first expansion link is provided with location tags recognition device, for reading the location tags that the doorframe of the cell of the different protection room to be inspected of transformer station is installed.
Door is provided with the switch gate linkage automatically opening door, when robot move to a certain cell in front of the door time, drive the first expansion link to carry out the adjustment of pose to sense the location tags on outdoor doorframe by fly-wheel motor, flywheel and tripod.After sensing the location tags on outdoor doorframe, send control command by host computer, the action of gauge tap door linkage, opens door, and robot drive grabbing device enters little indoor to carry out patrolling and examining work; After entering, in robot running, when sensing the location tags of indoor setting, feed back an information to host computer, the door of cell is closed by PC control switch gate linkage.
The doorframe of the present invention both sides inside and outside different cell door is separately installed with location tags, cell door can be opened and closed from both direction, certainly, also carry out the induction of cell door by other locate mode.
The invention has the beneficial effects as follows:
1, the present invention's track between the little indoor of difference and cell, orbital path achieves space three-dimensional and arranges, path multi-directionally, various dimensions extend, and place adaptability improves, and overcomes robot running space dead angle, improves robot utilization rate.
2, turning mechanism structure is simple, tender employing rate large, overcomes that turning equipment manufacturing cost is high, construction precision requirement, is conducive to safeguarding and promoting.
3, multi link grabbing device of the present invention adopts parallel-crank mechanism to control the folding of manipulator, smooth operation, can carry out multi-faceted pose adjustment, accurately can capture object, its manipulator can become different shapes according to crawled object design, meets and captures needs;
4, by attachment rail between the different little indoor of transformer station and cell, robot orbits, and can complete patrolling and examining of different little indoor equipment;
5, indoor at each, trade shape requires to arrange according to patrolling and examining, the multi link grabbing device by carrying during Robot orbital motion can complete indoor and little outdoor foreign material, workpiece etc. crawl, the work such as to move;
6, robot of the present invention can carry thermal infrared imager, visible light camera, the multiple inspection device of smog alarm sensor, accurately can patrol and examine transformer station's indoor equipment, and it is high to patrol and examine result reliability.
7, robot of the present invention can realize wireless temperature measurement, avoids and lay too many cable near robot.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Structural representation when Fig. 2 is the expansion link elongation of the present invention's machinery grabbing device first;
Fig. 3 is turning device assembly figure of the present invention;
Fig. 4 is turning device assembly A direction view of the present invention;
Fig. 5 is the sectional view of turning device of the present invention along roller axis;
To be turning device assembly C of the present invention run view to-circular arc path II to Fig. 6;
To be turning device assembly C of the present invention run view to-straight line path III to Fig. 7;
To be turning device assembly B of the present invention run view to-turning path IV to Fig. 8;
To be turning device assembly B of the present invention run view to-straight line path V to Fig. 9;
Figure 10 is the structural representation of multi link grabbing device of the present invention;
Figure 11 is control system frame diagram of the present invention;
Figure 12 is crawl drive unit electrical connection diagram of the present invention;
1. 3d orbit, 2. mobile platform, 3. two connecting plates, 4. No. two bearings, 5. hole back-up ring two, 6. clamp nut, 7. packing ring, 8. two secondary shafts, 9. a connecting plate, 10. crane span structure, 11. 1 secondary shafts, 12. holes back-up ring one, No. 13. bearings, 14. rollers, 15. roller axis, 16. inspection machine human bodies, 17. multi link grabbing devices;
18. detection components, 19. The Cloud Terraces, 20. capture drive unit, 21. switch gate linkages, 22. kinematic driving unit, 23. motion control casees, 24. background monitoring casees, 25. terminal communication casees, 26. movement position label recognizers, 27. optical fiber, 28. trolleys;
301. fly-wheel motor; 302. flywheel; 303. tripod; 304. first expansion links; 305. fork; 306. pull bar; 307 second expansion links; 308 first push rods; 309 second push rods; 310 bracing frames, 311 the 3rd push rods; 312 mechanical arms; 313 switch gate location tags recognition devices; 314 first expansion link motors; 315 second expansion link motors; 316 fork drive motors.
Detailed description of the invention:
Below in conjunction with accompanying drawing and embodiment, the present invention will be further described:
As shown in Figure 1-2, crawl process schematic of the present invention.
Based on the indoor multidimensional rail mounted intelligent patrol robot of the limited bend of relay housing, comprise inspection machine human body 16, described inspection machine human body 16 is fixed on mobile platform 2, described mobile platform 2 slides on indoor sidewall multidimensional track, described mobile platform 2 is connected with kinematic driving unit 22, described kinematic driving unit 22 is connected with control system, described kinematic driving unit is connected with electric supply installation, described inspection machine human body is provided with The Cloud Terrace 19, The Cloud Terrace 19 is provided with detection components 18, is provided with multi link grabbing device 17 below described mobile platform.
As shown in figure 11, described control system comprises motion control case 23, described motion control case 23 respectively with detection components 18, The Cloud Terrace 19, capture drive unit 20, switch gate linkage 21, kinematic driving unit 22, terminal communication case 25, movement position label recognizer 26 and switch gate location tags recognition device 313 and be connected; Described terminal communication case 25 is connected with background monitoring case 24.
As shown in figure 12, described crawl drive unit 20 is connected with fly-wheel motor 301, first expansion link motor 314, second expansion link motor 315, fork drive motors 316 respectively, described fly-wheel motor 301 is connected with flywheel 302, described first expansion link motor 314 is connected with the first expansion link 304, described second expansion link motor 315 is connected with the second expansion link 307, and described fork drive motors 316 is connected with fork 305.
Described motion control case 23 is connected with terminal communication case 25 by trolley 28.
Described terminal communication case 25 is connected with background monitoring case 24 by optical fiber 27.
Described crawl drive unit 20 is connected with multi link grabbing device 17.
Described background monitoring case is arranged in master-control room, and described terminal control case is arranged on indoor to be inspected, and described motion control case is arranged on robot body, and described The Cloud Terrace is arranged on motion control case.
Described kinematic driving unit comprises servo-driver, drive motors and encoder, for control orbiting, described servo-driver for controlling the action of drive motors, with encoder on drive motors.
The identification of location point to be inspected when described movement position label recognizer 26 is mainly used in Robot orbital motion, switch gate position detecting device is mainly used in responding to the position of opening the door, and can adopt location tags or other localization method.
Described switch gate linkage is for opening and closing transformer station's cell door.
The present invention both sides inside and outside different cell door are provided with location tags and switch gate linkage respectively, and can open and close cell door from both direction, described door opening and closing mechanism is linkage; Described inspection machine human body reads indoor label by label recognizer, when robot move to cell in front of the door time, automatically cell door can be opened, after robot carries out cell, automatically cell door be closed; Orbiting is patrolled and examined indoor equipment.After having patrolled and examined, enter next cell along track and proceed to patrol and examine.
The lower end of described arm is plate shaped, and for capturing planar end surface type objects, top is v-shaped structure, for snatching cylindrical object, also can be replaced with difform mechanical arm according to crawled object.
As shown in Figure 3, comprise 3d orbit 1 and mobile platform 2, wherein mobile platform 2 comprises two groups of orbiting unit and the secondary connecting plate 3 for connecting two groups of orbiting unit; Two groups of orbiting unit independently rotate;
As shown in Figure 4 and Figure 5, each group orbiting unit comprises: turning motion unit, secondary turning motion unit, crane span structure 10 and a connecting plate 9;
One time turning motion unit comprises: roller axis 15, roller 14, bearing 13 and a secondary shaft 11; Secondary turning motion unit comprises two secondary shafts 8, secondary bearing 4 and hole back-up ring 25.
The inner ring of roller 14 coordinates with the face of cylinder at the middle part of roller axis 15, and roller axis 15 end step is chimeric with crane span structure 10 locates, and securing member connects crane span structure 10 through roller axis 15 core through hole; The axis disalignment of the face of cylinder and core through hole in the middle part of roller axis 15, i.e. the core through hole disalignment of roller 14 central axis and roller axis 15, there is an eccentric distance, this eccentric throw numerical value is determined according to the guide rail width of 3d orbit 1; By the relative rotation position of adjustment roller axis 15 with crane span structure 10, the centre distance of two cover rollers 14 can be regulated, to adapt to 3d orbit 1 guide rail width, both ensured the pretightning force that mobile platform 2 coordinates with 3d orbit 1 to ensure smooth and easy operation again.
Crane span structure 10 two ends are provided with bearing mounting hole, and coordinate with face of cylinder cylindrical in the middle part of a secondary shaft 11 for pilot hole back-up ring one 12, bearing 13, bearing inner race 13, secondary shaft 11 upper end coordinates with a connecting plate 9 and utilizes securing member to fix;
Step through-hole is provided with in the middle part of a connecting plate 9, coordinate with two secondary shaft 8 bottom stage, in the middle part of two secondary shafts 8, face of cylinder cylindrical coordinates with secondary bearing 4, secondary bearing 4 outer ring coordinates with secondary connecting plate 3 bearing mounting hole, the axial restraint assembling porose back-up ring 25, two secondary shaft 8 connecting plates 9 at secondary connecting plate 3 adopts clamp nut 6 and packing ring 7 to fix.
The straightway path of 3d orbit 1 and the combination of circular arc path can be determined according to scene, this concrete case study on implementation have employed three sections of straight line paths, two sections of circular arc path, as shown in Figure 1, straight line path I, circular arc path II, straight line path III, turning path IV, straight line path V is comprised.
As shown in Figure 3, when mobile platform 2 runs on straight line path I, a connecting plate 9 of a two covers turning motion unit is parallel, crane span structure 10 parallel side is parallel with secondary connecting plate 3, roller axis 15 rotates to appropriate location and fastening by use instrument, to adjust the center distance H of roller 14 to optimum value, what realize mobile platform 2 and 3d orbit 1 is combined with enough pretightning forces, can ensure smooth and easy operation again.
As shown in Figure 6, when mobile platform 2 advances, run time behaviour in circular arc path II, a two covers connecting plate 9 state keeping parallelism, crane span structure 10 rotates around the axis of a secondary shaft 11 respectively, and the axis extended line of roller 14 intersects at center of circle O
2, the angle of two delay lines is 2x β, and angle is symmetrical about secondary connecting plate 3 median plane; After the independent rotation of crane span structure 10, the respective realization of roller 14 closely cooperates with 3d orbit 1, and mobile platform 2 is around center of circle O
2rotate, realize walking along circular arc path.
As shown in Figure 7, when mobile platform 2 arrives on straight line path III, crane span structure 10 is around the axis of a secondary shaft 11 to counter-rotation, and crane span structure 10, connecting plate 9 side is parallel with secondary connecting plate 3, and mobile platform 2 is linearly walked.
As shown in Figure 8, when mobile platform 2 arrives circular arc path IV, a connecting plate 9 and crane span structure 10 keeping parallelism, one time moving cell rotates around the axis of two secondary shafts 8, and the line of centres of roller 14 intersects at center of circle O
1, the angle of two lines of centres is 2x α, and angle is symmetrical about secondary connecting plate 3 median plane; After a two covers moving cell independently rotates, the respective realization of roller 14 closely cooperates with 3d orbit 1, and mobile platform 2 is around center of circle O
1rotate, realize walking along circular arc path.
As shown in Figure 9, when mobile platform 2 arrives on straight line path V, one time moving cell reversely rotates around the axis of two secondary shafts 8, and crane span structure 10, connecting plate 9 side is parallel with secondary connecting plate 3, and mobile platform 2 is linearly walked.
So far, mobile platform 2 completes linearly path I, circular arc path II, straight line path III, circular arc path IV, straight line path V operation.
As shown in Figure 10, described multi link grabbing device, comprise flywheel 302, described flywheel 302 is connected with fly-wheel motor 301, the hinged tripod 303 in edge of described flywheel 302, first end points of described tripod 303 and the edge conjunction of flywheel 302, the 3rd end points of described tripod 303 is connected with grasping mechanism by bindiny mechanism.
When reducing motor flywheel driven rotates, tripod and then drive grasping mechanism carry out the position coarse regulation of 360 °.
The output shaft of described fly-wheel motor and flywheel by shaft with key way to being fixedly connected with.
Described bindiny mechanism comprises the first expansion link 304, fork 305 and the pull bar 306 that connect successively, and one end of described first expansion link 304 is connected with the 3rd end points of tripod 303, and described pull bar 306 is also connected with grabbing device.
Described first expansion link 304 and the tie point of fork 305 are provided with the motor driving fork to rotate, and this motor is used for the coarse regulation to mechanical arm orientation.Described grabbing device comprises bracing frame 310, support frame as described above 310 is connected with pull bar 306 by two support bars, second expansion link 307 is installed in the center vertical gathering sill on support frame as described above 310, described second expansion link 307 and the first push rod 308 affixed, the both sides of described first push rod 308 are connected with the 3rd push rod 311 respectively by some second push rods 309, and described 3rd push rod 311 is affixed with mechanical arm 312.
Described first push rod, some second push rods and the 3rd push rod form parallelogram sturcutre jointly.
Second expansion link can promote the first push rod and vertically move, and then drive the 3rd push rod to horizontally slip in the horizontal concrete chute of bracing frame by parallelogram sturcutre, thus the 3rd push rod driving mechanical arm moves left and right, and carries out accurate adjustment to capture to the pose of object.
Described mechanical arm lower end is plate shaped, and for capturing the object that side is plane, top is v-shaped structure, for snatching cylindrical object.
Described mechanical arm can be replaced with difform manipulator according to crawled object.
Described detection components comprises thermal infrared imager, visible light camera, smog alarm sensor, field intensity detector and Ultraviolet Detector.
The course of work of described multi link grabbing device is as follows:
When fly-wheel motor drives flywheel motion, flywheel drives grasping mechanism 360 ° rotation by tripod and bindiny mechanism, and the position waiting to capture material is found in first time coarse regulation;
The position waiting to capture material is found in the second time coarse regulation under the driving of motor of described fork;
And then second expansion link drive first push rod drive parallel-crank mechanism move along horizontal guide slot, and then drive the manipulator be arranged on the second push rod carry out opening and closing movement in the horizontal direction.After action completes, driven by motor flywheel antiport, and then object is raised up, complete the carrying work of object.When capturing object, the 3rd push rod can carry out position adjustments by driving mechanical arm in space.The accurate crawl to object can be realized by twice coarse regulation above and accurate adjustment.
Described first expansion link is provided with location tags recognition device 301, for reading the location tags that the doorframe of the cell of the different protection room to be inspected of transformer station is installed.
Door is provided with the switch gate linkage automatically opening door, when robot move to a certain cell in front of the door time, drive the first expansion link to carry out the adjustment of pose to sense the location tags on outdoor doorframe by fly-wheel motor, flywheel and tripod.After sensing the location tags on outdoor doorframe, send control command by host computer, the action of gauge tap door linkage, opens door, and robot drive grabbing device enters little indoor to carry out patrolling and examining work;
After entering, in robot running, when sensing the location tags of indoor setting, feed back an information to host computer, the door of cell is closed by PC control switch gate linkage.
The doorframe of the present invention both sides inside and outside different cell door is separately installed with location tags, cell door can be opened and closed from both direction, certainly, also carry out the induction of cell door by other locate mode.
By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection scope of the present invention.
Claims (10)
1. based on the indoor multidimensional rail mounted intelligent patrol robot of the limited bend of relay housing, it is characterized in that, comprise inspection machine human body, described inspection machine human body is fixed on mobile platform, described mobile platform slides on indoor multidimensional track, described mobile platform is connected with kinematic driving unit, described kinematic driving unit is connected with control system, described kinematic driving unit is connected with electric supply installation, described inspection machine human body is provided with The Cloud Terrace, The Cloud Terrace is provided with detection components, multi link grabbing device is provided with below described mobile platform, described control system comprises motion control case, described motion control case is connected with detection components, described detection components comprises radio temperature sensor and warning device, the temperature data detected is uploaded to motion control case by wireless network by described radio temperature sensor, if temperature exceedes setting threshold value, then motion control case controls warning device warning.
2. as claimed in claim 1 based on the indoor multidimensional rail mounted intelligent patrol robot of the limited bend of relay housing, it is characterized in that, described motion control case respectively with The Cloud Terrace, capture drive unit, switch gate linkage, kinematic driving unit, terminal communication case, movement position label recognizer and switch gate location tags recognition device and be connected; Described terminal communication case is connected with background monitoring case.
3. as claimed in claim 2 based on the indoor multidimensional rail mounted intelligent patrol robot of the limited bend of relay housing, it is characterized in that, described crawl drive unit is connected with fly-wheel motor, the first expansion link motor, the second expansion link motor, fork drive motors respectively, described fly-wheel motor is connected with flywheel, described first expansion link motor is connected with the first expansion link, described second expansion link motor is connected with the second expansion link, and described fork drive motors is connected with fork.
4., as claimed in claim 2 based on the indoor multidimensional rail mounted intelligent patrol robot of the limited bend of relay housing, it is characterized in that,
Described motion control case is connected with terminal communication case by trolley;
Described terminal communication case is connected with background monitoring case by optical fiber;
Described crawl drive unit is connected with multi link grabbing device.
5., as claimed in claim 2 based on the indoor multidimensional rail mounted intelligent patrol robot of the limited bend of relay housing, it is characterized in that,
Described background monitoring case is arranged in master-control room, and described terminal control case is arranged on a certain little indoor to be inspected, and described motion control case is arranged on robot body, and described The Cloud Terrace is arranged on motion control case.
6., as claimed in claim 1 based on the indoor multidimensional rail mounted intelligent patrol robot of the limited bend of relay housing, it is characterized in that,
Described kinematic driving unit comprises servo-driver, drive motors and encoder, for control orbiting, described servo-driver for controlling the action of drive motors, with encoder on drive motors.
7., as claimed in claim 1 based on the indoor multidimensional rail mounted intelligent patrol robot of the limited bend of relay housing, it is characterized in that,
Described track is the composite guide rails that horizontal guide rail, upright guide rail and arc-shaped guide rail are combined into, and is arranged between the different little indoor of transformer station and cell.
8., as claimed in claim 1 based on the indoor multidimensional rail mounted intelligent patrol robot of the limited bend of relay housing, it is characterized in that,
Described mobile platform comprises: two groups of orbiting unit and the secondary connecting plate for connecting two groups of orbiting unit; Described two groups of orbiting unit independently rotate;
Each group orbiting unit described comprises: turning motion unit, secondary turning motion unit, crane span structure and a connecting plate;
Fix a turning motion unit respectively at the two ends of described crane span structure, at described crane span structure arranged outside connecting plate, the biside plate of a described connecting plate is connected respectively by a secondary shaft with crane span structure two ends; Described secondary turning motion unit is arranged on the centre position of a described connecting plate; A connecting plate of each group orbiting unit described is connected with secondary connecting plate respectively by secondary turning motion unit.
9., as claimed in claim 8 based on the indoor multidimensional rail mounted intelligent patrol robot of the limited bend of relay housing, it is characterized in that,
A described turning motion unit comprises: roller axis, roller, a bearing and a secondary shaft;
Described roller is connected with crane span structure by roller axis, and a described bearing coordinates with a secondary shaft and crane span structure respectively, and the end of a described bearing is provided with hole back-up ring one for spacing; A described secondary shaft upper end and connecting plate are fixed, middle part is provided with the face of cylinder and a bearing fit.
10., as claimed in claim 9 based on the indoor multidimensional rail mounted intelligent patrol robot of the limited bend of relay housing, it is characterized in that,
In described roller, to be provided with step by the end of the spacing described roller axis of hole back-up ring one spacing for roller for shaft end, and middle part is provided with the face of cylinder and coordinates with bearing inner race, and it is chimeric with bridge joint that end is provided with face of cylinder step, and core is provided with through hole for fixing with crane span structure; Wherein the end face of cylinder is coaxial with core through hole, and the face of cylinder, middle part and both axis being parallel disalignment above, the eccentric distance of two axial lines is for regulating the spacing of two cover rollers.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510807378.7A CN105252515A (en) | 2015-11-19 | 2015-11-19 | Indoor multidimensional-rail type intelligent patrolling robot based on limited relay-chamber bends |
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| CN201510807378.7A CN105252515A (en) | 2015-11-19 | 2015-11-19 | Indoor multidimensional-rail type intelligent patrolling robot based on limited relay-chamber bends |
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| CN105945900A (en) * | 2016-06-03 | 2016-09-21 | 国网宁夏电力公司检修公司 | Indoor inspection robot for transformer substation |
| CN107181454A (en) * | 2017-05-26 | 2017-09-19 | 重庆科技学院 | Track is connected between path advancing the track and its solar panels |
| CN108927794A (en) * | 2018-06-27 | 2018-12-04 | 国网山东省电力公司菏泽供电公司 | Robot and method are detected in a kind of Cartesian coordinate type substation room |
| CN108927811A (en) * | 2018-06-27 | 2018-12-04 | 国网山东省电力公司菏泽供电公司 | Robot and method are detected in a kind of linear motor type substation room |
| CN109050540A (en) * | 2018-09-13 | 2018-12-21 | 中信重工开诚智能装备有限公司 | A kind of crusing robot swing Self-resetting mechanism |
| CN109500800A (en) * | 2019-01-05 | 2019-03-22 | 上海擎刚智能科技有限公司 | A kind of rail system |
| CN110253535A (en) * | 2019-06-05 | 2019-09-20 | 大连沃隆峰英鸿纳米科技有限公司 | A kind of nanofiber production inspection robot |
| CN110356569A (en) * | 2019-07-05 | 2019-10-22 | 广东工业大学 | A kind of unmanned plane replaces battery system in the air |
| CN110545964A (en) * | 2018-04-25 | 2019-12-06 | 深圳市大疆创新科技有限公司 | Installation mechanism and robot suit |
| CN110614624A (en) * | 2019-05-05 | 2019-12-27 | 无锡沃德科自控技术有限公司 | Filter-pressing intelligence inspection robot |
| CN110722538A (en) * | 2019-11-08 | 2020-01-24 | 杭州泓晟智能科技有限公司 | Intelligent service robot |
| CN113548482A (en) * | 2021-08-12 | 2021-10-26 | 广东顺力智能物流装备股份有限公司 | Turning guide device of upper beam of intelligent logistics stacker and use method thereof |
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| CN105945900A (en) * | 2016-06-03 | 2016-09-21 | 国网宁夏电力公司检修公司 | Indoor inspection robot for transformer substation |
| CN107181454A (en) * | 2017-05-26 | 2017-09-19 | 重庆科技学院 | Track is connected between path advancing the track and its solar panels |
| CN107181454B (en) * | 2017-05-26 | 2023-03-21 | 重庆科技学院 | Path extension track and solar panel connecting track thereof |
| CN110545964A (en) * | 2018-04-25 | 2019-12-06 | 深圳市大疆创新科技有限公司 | Installation mechanism and robot suit |
| CN108927794A (en) * | 2018-06-27 | 2018-12-04 | 国网山东省电力公司菏泽供电公司 | Robot and method are detected in a kind of Cartesian coordinate type substation room |
| CN108927811A (en) * | 2018-06-27 | 2018-12-04 | 国网山东省电力公司菏泽供电公司 | Robot and method are detected in a kind of linear motor type substation room |
| CN109050540A (en) * | 2018-09-13 | 2018-12-21 | 中信重工开诚智能装备有限公司 | A kind of crusing robot swing Self-resetting mechanism |
| CN109500800A (en) * | 2019-01-05 | 2019-03-22 | 上海擎刚智能科技有限公司 | A kind of rail system |
| CN110614624A (en) * | 2019-05-05 | 2019-12-27 | 无锡沃德科自控技术有限公司 | Filter-pressing intelligence inspection robot |
| CN110253535A (en) * | 2019-06-05 | 2019-09-20 | 大连沃隆峰英鸿纳米科技有限公司 | A kind of nanofiber production inspection robot |
| CN110356569A (en) * | 2019-07-05 | 2019-10-22 | 广东工业大学 | A kind of unmanned plane replaces battery system in the air |
| CN110356569B (en) * | 2019-07-05 | 2024-05-28 | 广东工业大学 | Unmanned aerial vehicle air battery replacement system |
| CN110722538A (en) * | 2019-11-08 | 2020-01-24 | 杭州泓晟智能科技有限公司 | Intelligent service robot |
| CN110722538B (en) * | 2019-11-08 | 2023-12-15 | 深圳市途林科技有限公司 | Intelligent service robot |
| CN113548482A (en) * | 2021-08-12 | 2021-10-26 | 广东顺力智能物流装备股份有限公司 | Turning guide device of upper beam of intelligent logistics stacker and use method thereof |
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Application publication date: 20160120 |