CN106816959A - A kind of combined type super-pressure variable flow valve monitoring and dedusting robot - Google Patents
A kind of combined type super-pressure variable flow valve monitoring and dedusting robot Download PDFInfo
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- CN106816959A CN106816959A CN201710084803.3A CN201710084803A CN106816959A CN 106816959 A CN106816959 A CN 106816959A CN 201710084803 A CN201710084803 A CN 201710084803A CN 106816959 A CN106816959 A CN 106816959A
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- outer framework
- disc
- handset
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 46
- 239000000428 dust Substances 0.000 claims abstract description 39
- 238000004140 cleaning Methods 0.000 claims abstract description 28
- 230000009194 climbing Effects 0.000 claims abstract description 28
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 18
- 238000001514 detection method Methods 0.000 claims description 18
- 238000001179 sorption measurement Methods 0.000 claims description 17
- 230000006835 compression Effects 0.000 claims description 14
- 238000007906 compression Methods 0.000 claims description 14
- 230000003287 optical effect Effects 0.000 claims description 11
- 230000002146 bilateral effect Effects 0.000 claims description 9
- 229910052742 iron Inorganic materials 0.000 claims description 9
- 238000010521 absorption reaction Methods 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 4
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 239000002131 composite material Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000000565 sealant Substances 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 241001455273 Tetrapoda Species 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000002238 attenuated effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
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- H02J13/0006—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B15/00—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area
- B08B15/04—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area from a small area, e.g. a tool
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
A kind of combined type super-pressure variable flow valve monitoring and dedusting robot, belong to control and adjusting means technical field, including machine tool all-around mobile carrying platform module, handset climbing monitoring module and cleaning module；The machine tool all-around mobile carrying platform module is connected with industrial computer signal；The machine tool all-around mobile carrying platform module top is provided with rotatable supporting plate；The handset climbing monitoring module is set up in supporting plate；The cleaning module is arranged in handset climbing monitoring module, and cleaning module includes that outer framework, linear electric motors push rod play dirt device and negative pressure dust collect plant.The present apparatus can adapt to more complicated working environment, and goal task is completed as desired, so as to greatly reduce the loss that whole transformer station hinders and brings for some reason, safeguard economic interests.
Description
Technical field
The invention belongs to control and adjusting means technical field, and in particular to for a kind of combined type super-pressure variable flow valve is monitored
With dedusting robot.
Background technology
Converter valve is the nucleus equipment of DC transmission engineering, is obtained by the way that three-phase alternating voltage is connected into DC terminal successively
The control of desired DC voltage and realization to power, its value accounts for the 22%~25% of current conversion station complete set of equipments total price.
The variable flow valve Room after it there is safety failure, directly passes through as the important node of west-to-east power transmission in national 2025 strategy
Ji loss up to 400,000,000, indirect loss crosses 10,000,000,000.Wherein, variable flow valve is variable cross-section profile in the variable flow valve Room, it is difficult to realized comprehensive
Monitor in real time, additionally, superelevation pressure magnetic environment can cause huge injury, interference communications signal to human body, therefore will set up
Extremely difficult with safe early warning network is detected to ultraprecise instrument under unmanned operating mode, and working condition for equipment with it is real-time
Control just seems particularly significant.
For the densely covered environment of super-pressure, Qiang Ci, vertical macrofold fluctuating variable flow valve Room interior wall, ultraprecise instrument, design
A kind of combined type super-pressure variable flow valve monitoring and dedusting robot, machine tool are designed as comprehensive carrying platform, realize in super-pressure
Automatic obstacle avoiding tracking navigation in the strong magnet valve Room, handset are carried and continuation of the journey function；Handset is designed as climbing, monitors, cleaning robot
People, mainly have control system, detection with information acquisition system, adsorption system and drive system, realize monitoring, early warning, maintenance, clearly
The clean handset robot in one；Wherein, handset robot is equipped with cleaning module, and the module is for fold high under strong magnetic environment
Wall carries out high efficiency cleaning, and causes that it realizes full automatic working method.Meanwhile, detection can with information acquisition system
By real time information data and transmission of video to mobile terminal, human-computer interaction mechanism is set up, realize synchronous manipulation.Handset information and date
Acquisition module, operationally automatic collecting device temperature can set up database, so as to as failure with equipment operation condition information
Early warning and the reference data for overhauling.By high frequency wireless communication mode between composite aircraft, data exchange is carried out, set up a set of stabilization
Matching coordinative system.For high-intensity magnetic field particular surroundings, composite aircraft face coat can well reduce extraneous strong magnetic for this
The influence of the body stability of a system so that whole system is more solid and reliable.
This programme is for above work condition environment problem and difficult, a kind of monitoring of combined type variable flow valve and the dedusting machine of proposition
People, can well solve the above difficult, it is ensured that the security and operation stability of whole equipment.
The content of the invention
In order to realize in strong magnetic, high pressure, the function of dedusting, the monitoring of nearly vertical fold wall high, it is to avoid wall dust heap
The problems such as product causes ionization, variable flow valve temperature is too high and causes the variable flow valve Room to be broken down, the present invention devises a kind of combined type
Super-pressure variable flow valve is monitored and dedusting robot.
A kind of combined type super-pressure variable flow valve monitoring and dedusting robot, including machine tool all-around mobile carrying platform mould
Block, handset climbing monitoring module and cleaning module；The machine tool all-around mobile carrying platform module is connected with industrial computer signal；
The machine tool all-around mobile carrying platform module bottom installs omni-directional wheel, and top is provided with rotatable supporting plate；The son
Machine climbing monitoring module is set up in supporting plate, and handset climbing monitoring module bottom mounting industrial absorption chain, and top is provided with
Top carrying platform；The cleaning module is arranged in handset climbing monitoring module, and cleaning module includes that outer framework, linear electric motors are pushed away
Bar plays dirt device and negative pressure dust collect plant；Described linear electric motors push rod one end connects outer framework, other end connection handset climbing prison
Control module.
The machine tool all-around mobile carrying platform module includes upper whole plate, the first motor, supporting plate, support bar, fixation
Bar, top bottom-disc, low bottom-disc and omni-directional wheel；First motor is installed on whole plate, and the output end of the first motor is provided with screw mandrel；
The screw mandrel is arranged in nut；The nut is connected with supporting plate lower rotation, and the support bar top is rotated and is installed on support
Backboard portion top, lower rotation is installed on whole plate；The upper whole plate connects top bottom-disc by fix bar；The top bottom-disc is with
Spring damper is installed between chassis；The omni-directional wheel is installed on the side of low bottom-disc four.
The upper whole plate is provided with slide rail；Supporting plate both sides lower rotation is installed on sliding block；The slide rail symmetrically sets
Screw mandrel both sides are placed in, and sliding block is slidably connected with slide rail；The support bar and the first motor are divided into supporting plate both sides；It is described solid
Fixed pole is erect and is set, and top is fixedly installed in whole plate corner, and bottom is fixedly installed in top bottom-disc corner；The spring damper
Erect and set, and be divided into omni-directional wheel both sides, spring damper top is fixedly installed in top bottom-disc, and spring damper bottom is fixed
It is installed on low bottom-disc.
The omni-directional wheel connects planet wheel decelerator；The planet wheel decelerator is installed on the output end of the second motor；Institute
State bottom tray bottom and optical pickocff, the height≤10mm of optical pickocff are installed.
The handset climbs monitoring module, including top carrying platform and body side；The body side is arranged at
Portion carrying platform both sides, and body side is provided with driving wheel, the first driven pulley, the second driven pulley, the 3rd driven pulley, contact roller
With industrial adsorption chain；The industrial adsorption chain with driving wheel, the first driven pulley, the second driven pulley, the 3rd driven pulley, pressure
Bearing up pulley is touched；The driving wheel and the first driven pulley rotate be installed on body side top both sides respectively；Second driven pulley,
3rd driven pulley rotates be installed on body side bottom both sides respectively；The contact roller is located at the second driven pulley, the 3rd driven pulley
It is middle；The contact roller is rotated and is installed on bottom guide plate；The bottom guide plate and the vertically slidable connection of body side；The bottom
Guide plate is fixedly installed in compression spring bottom；Compression spring top is fixedly installed in upper gib；Upper gib is fixedly installed in
Body side.
The top carrying platform is anterior to install ultrasonic listening module and tube video detecting device, and infrared acquisition is installed at rear portion
Device；The top carrying platform bottom is provided with control system and module carries storehouse；The upper gib bottom is provided with one
To compression spring, and compression spring is arranged in alignment pin；The driving wheel is installed on the output end of drive system；The drivetrain
Stepper motor and decelerator are set in system；Decelerator is installed on the output end of stepper motor；Driving wheel connection reducer.
The industrial adsorption chain is made up of single bilateral monaural chain link plate；The single bilateral monaural chain link plate,
Including square band counter sink permanent magnet, the adsorbable wall of magnet and magnet Hubei Province iron；Described magnet Hubei Province iron is located at the adsorbable wall of magnet
Face upper center；The square band counter sink permanent magnet is located at magnet adsorbable wall top both sides；Square band counter sink permanent magnetism
The adsorbable wall of body, magnet and magnet Hubei Province iron constitute magnetic loop.
The cleaning module, including baffle plate, outer framework and the drilled base plate being coaxially disposed；The outer framework is hollow to be set
Put；The baffle plate is installed on outer framework top；The drilled base plate is installed on outer framework bottom；The drilled base plate is provided with logical
Hole；The drilled base plate is provided with cylindrical sides brush, plane formula disk brush；The cylindrical sides brush, plane formula
Disk brush both passes through the through hole connection motor on drilled base plate；The cylindrical sides brush side is provided with level and sets
The conical bristle put；The plane formula disk brush bottom is provided with the compartment plane bristle erect and set.
The drilled base plate bottom margin is provided with infrared distance sensor；The infrared distance sensor and drilled base plate
It is vertically arranged；Horizontally disposed dust board is installed inside the outer framework；The dust board is coaxially disposed with outer framework, and gear
The center of dirt plate offers circular hole；Top surface is provided with the cylinder type filter net being coaxially disposed on the dust board；The cylinder filter
Circular hole of the guard located at dust board；Horizontally disposed disc filter screen is installed inside the outer framework；The disc filter screen
It is coaxially disposed with outer framework；The disc filter screen is located at dust board and cylinder type filter net top；Install the outer framework inside
There is horizontally disposed motor mounting plate；The motor mounting plate is coaxially disposed with outer framework；The motor mounting plate is located at disk
Shape filter screen top；Through hole is offered at motor mounting plate axis；The motor mounting plate lower section is installed by tandem brushless electric machine；Institute
Tandem brushless electric machine is stated to be coaxially disposed with motor mounting plate, and tandem brushless electric machine is installed on the through hole of motor mounting plate
Place；Horizontally disposed disk screen is installed inside the outer framework；The disk screen is located at motor mounting plate and string
Above connection formula brushless electric machine, and disk screen is coaxially disposed with outer framework.
The outer framework outer wall is circumferentially evenly equipped with least two line slideways；The line slideway is vertically arranged, and straight line is led
Rail top fits with baffle plate bottom surface；The line slideway is arranged in linear slider；The outer framework outer wall is provided with straight line
Motor push rod；The top of the linear electric motors push rod fits with baffle plate bottom surface；The hollow setting of plane formula disk brush,
Plane formula disk brush bottom is provided with shaft flow blade.
For in the superelevation unmanned work condition environment of pressure magnetic, a kind of combined type super-pressure variable flow valve of proposition is monitored and dust removal machine
Device people.Machine tool all-around mobile carrying platform module can provide an extremely strong carrying platform of mobility so that handset is climbed
Monitoring module carries more steady, and the working time is longer.Handset climbing monitoring module, cleaning module can solve the problem that under limiting condition
Equipment detection and information gathering task, while set up real time data information bank for equipment work characteristics, so as to from now on
Safeguard that data, as reference data, promptly and accurately find fault observer, and prevention apparatus failure ahead of time with information among maintenance
Generation.The cooperation of handset and machine tool so that the design has good adaptability and reliability so that robot can
Adapt to more complicated working environment, goal task completed as desired, so as to greatly reduce whole transformer station hinder for some reason and
The loss for bringing, safeguards economic interests.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present invention；
Fig. 2 is the schematic diagram of machine tool all-around mobile carrying platform module；
Fig. 3 is the low bottom-disc structural representation of machine tool all-around mobile carrying platform module；
Fig. 4 is the width schematic diagram that handset climbs monitoring module；
Fig. 5 is another width schematic diagram that handset climbs monitoring module；
Fig. 6 is the single bilateral monaural chain link plate structural representation that handset climbs monitoring module；
Fig. 7 is cleaning module structural representation；
Fig. 8 is the half sectional view of cleaning module knot；
Fig. 9 is the negative pressure dust collect plant of cleaning module knot and the explosive view of a dirt device；
Figure 10 is the polycrystalline substance schematic diagram of the plane formula disk brush of cleaning module knot；
Figure 11 is the workflow diagram of machine tool all-around mobile carrying platform module；
Figure 12 is the workflow diagram that handset climbs monitoring module；
In figure：Machine tool all-around mobile carrying platform module 100, upper whole plate 101, the first motor 102, screw mandrel 103, nut 104,
Supporting plate 105, support bar 106, sliding block 107, slide rail 108, fix bar 109, top bottom-disc 111, spring damper 112, planetary gear
Decelerator 113, the second motor 114, low bottom-disc 115, omni-directional wheel 116, optical pickocff 117,
It is handset climbing monitoring module 200, top carrying platform 201, ultrasonic listening module 202, tube video detecting device 203, red
Outer detection device 204, control system 205, module carry storehouse 206, body side 207, driving wheel 208, drive system 209, the
One driven pulley 210, the second driven pulley 211, the 3rd driven pulley 212, contact roller 213, bottom guide plate 214, compression spring 215, on
Portion's guide plate 216, industrial adsorption chain 217, single bilateral monaural chain link plate 218, square band counter sink permanent magnet 219, magnet
Adsorbable wall 220, magnet Hubei Province iron 221,
Cleaning module 300, baffle plate 301, outer framework 302, line slideway 303, linear slider 304, linear electric motors push rod 305, circle
Disc type filter screen 306, motor mounting plate 307, tandem brushless electric machine 308, disc filter screen 309, cylinder type filter net 310, dust-break
Plate 311, motor 312,
Drilled base plate 313, cylindrical sides brush 314, conical bristle 315, plane formula disk brush 316, compartment plane
Bristle 317, infrared distance sensor 318, shaft flow blade 319,
Industrial computer 400.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
A kind of combined type super-pressure variable flow valve monitoring and dedusting robot, including machine tool all-around mobile carrying platform module
100th, handset climbing monitoring module 200 and cleaning module 300；The machine tool all-around mobile carrying platform module 100 and industry control
The signal of machine 400 is connected；The handset climbing monitoring module 200 is connected with the signal of machine tool all-around mobile carrying platform module 100；
The cleaning module 300 is installed on handset climbing monitoring module 200.
The machine tool all-around mobile carrying platform module 100 include upper whole plate 101, the first motor 102, supporting plate 105,
Support bar 106, fix bar 109, top bottom-disc 111, low bottom-disc 115 and omni-directional wheel 116.
The upper whole plate 101 is provided with the first motor 102 and slide rail 108；The output end of the first motor 102 is provided with screw mandrel
103；The screw mandrel 103 is arranged in nut 104；The nut 104 is connected with the lower rotation of supporting plate 105, for example, be hinged.It is described
The both sides lower rotation of supporting plate 105 is installed on sliding block 107；The slide rail 108 is divided into the both sides of screw mandrel 103, and sliding block 107 and cunning
Rail 108 is slidably connected.The motor 102 of the support bar 106 and first is divided into the both sides of supporting plate 105；The top of support bar 106 rotates
The back top of supporting plate 105 is installed on, lower rotation is installed on whole plate 101.
Supporting plate 105 is used to carry handset climbing monitoring module 200.Under the control of industrial computer 400, the first motor is adjusted
102, drive screw mandrel 103 to rotate by the first motor 102, so that supporting plate 105 is moved with movable slider 107 on slide rail 108.By
Be supported the active force of bar 106 in the top of supporting plate 105, therefore, the bottom of supporting plate 105 while mobile, supporting plate 105
In rotation, so that the gradient of supporting plate 105 is adjusted, for dedusting supervisory-controlled robot provides lift platform.
The tetrapod fixed installation fix bar 109 of the upper whole plate 101；The fix bar 109 is erect and is set, fix bar
109 bottoms are fixedly installed in the corner of top bottom-disc 111.Fix bar 109 is used to for upper whole plate 101 and top bottom-disc 111 to be fixed as one
Body.Spring damper 112 is installed between the top bottom-disc 111 and low bottom-disc 115；Spring damper 112 is erect and is set, and point
Located at the both sides of omni-directional wheel 116, the top of spring damper 112 is fixedly installed in top bottom-disc 111, and the bottom of spring damper 112 is fixed
It is installed on low bottom-disc 115.The omni-directional wheel 116 is installed on four sides of low bottom-disc 115.The connection planetary gear of the omni-directional wheel 116 subtracts
Fast device 113；The planet wheel decelerator 113 is installed on the output end of the second motor 114.The bottom of the low bottom-disc 115 is installed by light
Learn sensor 117.The optical pickocff 117 and ground distance≤10mm.
Second motor 114 passes to 10 omni-directional wheels 116 after planet wheel decelerator 113 slows down, increases torque.Low bottom-disc
During 115 rotation, omni-directional wheel 116 is driven by the second motor 114, and the Neng Yi centers of low bottom-disc 115 are the center of circle, and no-radius rotate, therefore,
The present apparatus can meet the angle rotation demand of optional position.
Optical pickocff 117 passes to industrial computer 400, the electricity of the control of industrial computer 400 second by detecting ground light band signal
Machine 114, to keep the correct of travel route.
Under strong magnetic field circumstance, machine tool all-around mobile carrying platform module 100, its signal input part is divided into infrared sensing letter
Number, light source arrangement is formed into light belt on the ground, when optical pickocff 117 detects light source, the information that will be received is transmitted to work
Control machine 400, the control Transistor-Transistor Logic level output of industrial computer 400, the rotation of omni-directional wheel 116 is controlled by controlling the second motor 114, from
And the track change amendment advanced.
The course of work is：Optical pickocff 117 is arranged on low bottom-disc 115, it is ensured that it is corresponding with ground light band parallel.
Then turn on industrial computer 400, runtime, it is ensured that chassis travels along ground light band.When optical pickocff 117 detects traveling road
When line has error with ground light band paving track, signal transmission is to industrial computer 400, the control pulse of the second motor 114 of industrial computer 400
Number, adjusts whole seat in the plane and puts, and returns to script route.
When machine tool all-around mobile carrying platform module 100 receives docking signal, industrial computer 400 controls the second motor
114 pulses, move to relevant position, then control the first motor 102, and output torque is rotated to screw mandrel 103, drive supporting plate
105 rotate, and form the lifting linking platform of handset climbing monitoring module 200.
The handset climbs monitoring module 200, including top carrying platform 201 and body side 207.The body side
207 are arranged at the both sides of top carrying platform 201, and body side 207 is provided with driving wheel 208, the first driven pulley 210, second
Driven pulley 211, the 3rd driven pulley 212, contact roller 213 and industrial adsorption chain 217.The industrial adsorption chain 217 with master
Driving wheel 208, the first driven pulley 210, the second driven pulley 211, the 3rd driven pulley 212, contact roller 213 are touched.
Top carrying platform 201 and body side 207 are to be detachably connected.Top carrying platform 201 is anterior to install ultrasound
Ripple detecting module 202 and tube video detecting device 203, rear portion are installed by infrared detection device 204.Ultrasonic listening module 202, video
Detection device 203, infrared detection device 204 constitute detection platform.Ultrasonic listening module 202, for the obstacle detouring of barrier
Judge with returning.Infrared detection device 204, can realize that safe early warning judges to equipment operating ambient temperature real-time detection.Depending on
The Real-time Feedback of frequency detection device 203 is based on realtime video transmission, can realize man-machine information interaction function, real-time control machine people
Operation.
The bottom of top carrying platform 201 is provided with control system 205 and module carries storehouse 206.Module carries storehouse 206
It is used to lay Measuring error equipment.Control system 205 is placed in vehicle body, can slow down and prevent external interference.
The driven pulley 210 of the driving wheel 208 and first rotates be installed on the top both sides of body side 207 respectively；Described
Two driven pulleys 211, the 3rd driven pulley 212 rotate be installed on the bottom both sides of body side 207 respectively；The contact roller 213 is located at
In the middle of second driven pulley 211, the 3rd driven pulley 212.The contact roller 213 is rotated and is installed on bottom guide plate 214；The lower guide
Plate 214 and the vertically slidable connection of body side 207；The bottom guide plate 214 is fixedly installed in the bottom of compression spring 215；Pressure
The top of spring 215 is fixedly installed in upper gib 216；Upper gib 216 is fixedly installed in body side 207.Preferably, institute
State the bottom of upper gib 216 and a pair of compression springs 215 are installed, and compression spring 215 is arranged in alignment pin.Compression spring 215
For undertaking pressure, upper gib 216, compression spring 215 and bottom guide plate 214 constitute wheel clamping so that contact roller
213 have certain fluctuating adaptability.
The driving wheel 208 is installed on the output end of drive system 209.Further, stepping electricity is set in drive system 209
Machine and decelerator；Decelerator is installed on the output end of stepper motor；The connection reducer of driving wheel 208.
Industrial adsorption chain 217, arrangement permanent magnet simultaneously provides absorption affinity of creeping.Industrial adsorption chain 217, using industrial chain
Bar and permanent magnet absorption mode, industrial adsorption chain 217 are made up of single bilateral monaural chain link plate 218, single bilateral monaural
Chain link plate 218 is the component units of industrial adsorption chain 217.Single bilateral monaural chain link plate 218, including square band countersunk head
The adsorbable wall 220 of hole permanent magnet 219, magnet and magnet Hubei Province iron 221；Described magnet Hubei Province iron 221 is located at the adsorbable wall of magnet
220 upper centers；The square band counter sink permanent magnet 219 is located at the adsorbable top both sides of wall 220 of magnet.Square band countersunk head
The adsorbable wall 220 of hole permanent magnet 219, magnet and magnet Hubei Province iron 221 constitute magnetic loop, can increase the magnetic of magnet, increase
The stability of industrial adsorption chain 217, while magnet suction size can be as desired adjusted, with certain adaptability.Work
Industry absorption chain 217 is arranged on outside car body, to reduce interior of body system by external magnetic field influence degree.
Handset climbs the course of work of monitoring module 200：After the absorption wall of industrial adsorption chain 217, drive system 209 is driven
Dynamic driving wheel 208 is rotated, and drives three groups of driven pulleys to move, the obstacle detouring of contact roller 213, detection platform automatic detection, information gathering, depending on
Frequency real time information feedback sets up information database；Emergency is run into, automatic early-warning is simultaneously stopped.
Handset climbing monitoring module 200 crosses ability with fold, and three groups of driven pulleys can be protected with one group of contact roller
Steady reliability when card is crossed, has bigger adaptability and mobility in more complicated work wall.Detection platform can build
Vertical information database, very big reference role is served for fault pre-alarming and law study.Tube video detecting device 203 is realized in real time
Manipulation function.
The cleaning module 300, is installed on top carrying platform 201, including the baffle plate 301, outer framework being coaxially disposed
302 and drilled base plate 313；The hollow setting of the outer framework 302；The baffle plate 301 is installed on the top of outer framework 302；The band
Bottom hole plate 313 is installed on the bottom of outer framework 302；The drilled base plate 313 is provided with through hole；The drilled base plate 313 is provided with
Cylindrical sides brush 314, plane formula disk brush 316；The side of cylindrical sides brush 314 is provided with horizontally disposed
Conical bristle 315；The bottom of plane formula disk brush 316 is provided with the compartment plane bristle 317 erect and set.It is described
Cylindrical sides brush 314, plane formula disk brush 316 both pass through the through hole connection motor 312 on drilled base plate 313.
The motor 312 can be stepper motor, brushed DC motor, brshless DC motor etc..Motor 312 drives cylinder
Shape side brush 314, plane formula disk brush 316 rotate, so as to play a part of cleaning.
The bottom margin of the drilled base plate 313 is provided with infrared distance sensor 318；The infrared distance sensor 318
It is vertically arranged with drilled base plate 313.The infrared distance sensor 318 is used to detecting obstacles thing.
Plane formula disk brush 316 produces negative-pressure sucking as negative pressure fan.The plane formula disk brush 316 is hollow
Set, the bottom of plane formula disk brush 316 is provided with shaft flow blade 319, it is ensured that whole device for dust collecting effect,
So that very big suction can also be produced at brush.
Disk screen 306, motor mounting plate 307, disc filter screen 309, dust-break are installed inside the outer framework 302
Plate 311.Preferably, the high-efficiency vacuum environment to ensure device, drilled base plate 313, dust board 311, disc filter screen 309,
Motor mounting plate 307 and disk screen 306 use sealant sealing with the joint of outer framework 302.
The lower section of dust board 311 has been dirt device, and top is negative pressure dust collect plant.
Rise dirt device include motor 312, drilled base plate 313, cylindrical sides brush 314, conical bristle 315,
Plane formula disk brush 316, compartment plane bristle 317.Drilled base plate 313 is mainly used in having installed dirt equipment.
Negative pressure dust collect plant, including disk screen 306, tandem brushless electric machine 308, motor mounting plate 307, disc
Filter screen 309, cylinder type filter net 310.
The disk screen 306 is horizontally disposed with；The disk screen 306 is located at motor mounting plate 307 and tandem
Above brushless electric machine 308, and disk screen 306 is coaxially disposed with outer framework 302.
The motor mounting plate 307 is horizontally disposed with；The motor mounting plate 307 is coaxially disposed with outer framework 302；The electricity
Machine installing plate 307 is located at the top of disc filter screen 309；Through hole is offered at the axis of motor mounting plate 307；The motor mounting plate
307 lower sections are installed by tandem brushless electric machine 308；The tandem brushless electric machine 308 is coaxially disposed with motor mounting plate 307, and
Tandem brushless electric machine 308 is installed on the through hole of motor mounting plate 307.
The disc filter screen 309 is horizontally disposed with；The disc filter screen 309 is coaxially disposed with outer framework 302；The circle
Dish type filter screen 309 is located at dust board 311 and the top of cylinder type filter net 310.
The dust board 311 is horizontally disposed with, and dust board 311 is coaxially disposed with outer framework 302, and in dust board 311
The heart offers circular hole；Top surface is provided with the cylinder type filter net 310 being coaxially disposed on the dust board 311；The cylinder type filter net
310 circular holes for covering at dust board 311.
Disc filter screen 309 is located at the entrance of tandem brushless electric machine 308.Tandem brushless electric machine 308 works, and produces negative
Pressure.Disc filter screen 309 and dust board 311 form a dust cavity.
The outer wall of the outer framework 302 is circumferentially evenly equipped with least two line slideways 303；The line slideway 303 vertically sets
Put, the top of line slideway 303 fits with the bottom surface of baffle plate 301；The line slideway 303 is arranged in linear slider 304；It is described
The outer wall of outer framework 302 is provided with linear electric motors push rod 305；The top of the linear electric motors push rod 305 and the bottom surface phase of baffle plate 301
Laminating.The linear slider 304 and linear electric motors push rod 305 are equipped on external vehicle equipment, and external vehicle equipment is used to drive
The transverse movement of this dedusting mechanism, and according to the concavo-convex situation on ground, drive this dedusting mechanism to hang down by linear electric motors push rod 305
Direct acting.Line slideway 303 and linear electric motors push rod 305 constitute lifting apparatus.Linear electric motors push rod 305 is acted, and lifting is removed
Dirt mechanism, so that it is guaranteed that cleaning device is effectively to contact with wall.
Plane formula disk brush 316 covers the sweep-out pattern of whole concave surface, cylindrical sides brush 314 and wall convex side
Face contacts, and its side dust is cleared away by rotating.Entirely play dirt device to be rotated at a high speed due to needing, so using straight line
Motor drives.Rise dust after dirt to be subject to first order suction produced by brush and toward bristle upper direction.Dust departs from wall
Behind face, the dust board 311 that dirt device top sets filtering is played, center is cylinder type filter net 310, and dust easily enters to be difficult out, dust-break
The top of plate 311 sets tandem brushless electric machine 308 and produces subnormal ambient to produce second level suction.For the filtering for ensuring dust is imitated
Really, the air inlet in tandem brushless electric machine 308 sets cylinder type filter net 310, and secondary filter is carried out to dust.Dust board ()
With brushless electric machine () zone line as dust-storage chamber.To ensure the dust adsorption effect of single unit system, per part body with outside
Sealant sealing is all used between framework.
The course of work of the invention is：The monitoring of combined type super-pressure variable flow valve is positioned over pending work with dedusting robot
Make environment, in advance in work ground laying light belt.Machine tool all-around mobile carrying platform module 100, by optical pickocff 117
Detection and the deviation of ground light band, control bottom omni-directional wheel 116 to rotate, along light Tape movement, it is ensured that movement locus is accurate.
The logging machine all-around mobile carrying platform module real time position of industrial computer 400, by distinguishing that optical-electric module passes letter back
Number real-time adjustment all-around mobile carrying platform position and turning, the robot control terminal when its single motion reaches preset value
Stop sending linking module enabled instruction and handset release signal while its motion.
Coordinate information is passed to machine tool all-around mobile carrying platform module 100, industry control by handset climbing monitoring module 200
The control machine tool all-around mobile carrying platform of machine 400 module 100 is moved, while supporting plate 105 is rotated, it is ensured that carrying platform angle
Degree, position reliability, it is ensured that both are connected smooth.Handset climbing monitoring module 200 fuselage mounting industrial absorption chain 217, to press
Bearing up pulley 213 is compressed, it is ensured that chain tension, stable movement reliability.
Handset climbing monitoring module 200 leaves machine tool all-around mobile carrying platform module 100 and climbs up work wall.When super
Acoustic detection module 202 sends detection signal to robot control terminal after detecting barrier, after terminal is by judging
If small obstacle, then avoidance signal is sent to cleaning module 300, control linear electric motors push rod 305 is laggard by cleaning module lifting
Row barrier-jump.If big obstacle then sends motor reversal signal, control handset climbing monitoring module 200 is returned.Handset climbing monitoring mould
In the running of block 200, infrared detection device 204 and the detectable signal of tube video detecting device 203 are proved to be true after interrogation by wifi channel radios
When be transferred to the external world.When machine tool all-around mobile carrying platform module 100 detects the return letter of handset climbing monitoring module 200
Judge whether its return succeeds after number, if success, industrial computer 400 sends to machine tool all-around mobile carrying platform module 100 and opens
Move signal, send silence signal to cleaning module 300.If failure sends to handset climbing monitoring module 200 and returns signal,
Again docked.
Machine shell scribbles external surface coating material, the electromagnetic interference in attenuated signal transmission.
Content described in this specification embodiment is only that inventive concept institute way of realization is enumerated, protection model of the invention
Enclosing should not be limited only to the concrete form that embodiment is stated, protection scope of the present invention and in those skilled in the art according to
The thinkable equivalent technologies mean of technology design institute of the invention.
Claims (10)
1. a kind of combined type super-pressure variable flow valve is monitored and dedusting robot, it is characterised in that held including machine tool all-around mobile
Carrying platform module（100）, handset climbing monitoring module（200）And cleaning module（300）；The machine tool all-around mobile carries flat
Platform module（100）With industrial computer（400）Signal is connected；The machine tool all-around mobile carrying platform module（100）Install bottom
Omni-directional wheel（116）, top is provided with rotatable supporting plate（105）；The handset climbs monitoring module（200）It is set up in support
Plate（105）, and handset climbing monitoring module（200）Bottom mounting industrial absorption chain（217）, top is provided with top and carries flat
Platform（201）；The cleaning module（300）It is arranged in handset climbing monitoring module（200）, cleaning module（300）Including outer framework
（302）, linear electric motors push rod（305）, rise dirt device and negative pressure dust collect plant；The linear electric motors push rod（305）One end connects
Outer framework（302）, other end connection handset climbing monitoring module（200）.
2. a kind of combined type super-pressure variable flow valve as claimed in claim 1 is monitored and dedusting robot, it is characterised in that described
Machine tool all-around mobile carrying platform module（100）Including upper whole plate（101）, the first motor（102）, supporting plate（105）, support
Bar（106）, fix bar（109）, top bottom-disc（111）, low bottom-disc（115）And omni-directional wheel（116）；First motor（102）Peace
Loaded on upper whole plate（101）, the first motor（102）Output end screw mandrel is installed（103）；The screw mandrel（103）It is arranged in nut
（104）；The nut（104）With supporting plate（105）Lower rotation is connected, the support bar（106）Top rotates and is installed on branch
Fagging（105）Back top, lower rotation is installed on whole plate（101）；The upper whole plate（101）By fix bar（109）Even
Connect chassis（111）；The top bottom-disc（111）And low bottom-disc（115）Between spring damper is installed（112）；The omni-directional wheel
（116）It is installed on low bottom-disc（115）Four sides.
3. a kind of combined type super-pressure variable flow valve as claimed in claim 2 is monitored and dedusting robot, it is characterised in that described
Upper whole plate（101）Slide rail is installed（108）；The supporting plate（105）Both sides lower rotation is installed on sliding block（107）；The cunning
Rail（108）It is symmetricly set in screw mandrel（103）Both sides, and sliding block（107）With slide rail（108）It is slidably connected；The support bar（106）
With the first motor（102）It is divided into supporting plate（105）Both sides；The fix bar（109）Erect and set, top is fixedly installed in
Whole plate（101）Corner, bottom is fixedly installed in top bottom-disc（111）Corner；The spring damper（112）Erect and set, and point
Located at omni-directional wheel（116）Both sides, spring damper（112）Top is fixedly installed in top bottom-disc（111）, spring damper（112）
Bottom is fixedly installed in low bottom-disc（115）.
4. a kind of combined type super-pressure variable flow valve as claimed in claim 2 is monitored and dedusting robot, it is characterised in that described
Omni-directional wheel（116）Connection planet wheel decelerator（113）；The planet wheel decelerator（113）It is installed on the second motor（114）It is defeated
Go out end；The low bottom-disc（115）Bottom is installed by optical pickocff（117）, optical pickocff（117）Height≤10mm.
5. a kind of combined type super-pressure variable flow valve as claimed in claim 1 is monitored and dedusting robot, it is characterised in that described
Handset climbs monitoring module（200）, including top carrying platform（201）And body side（207）；The body side（207）
It is arranged at top carrying platform（201）Both sides, and body side（207）Driving wheel is installed（208）, the first driven pulley（210）、
Second driven pulley（211）, the 3rd driven pulley（212）, contact roller（213）With industrial adsorption chain（217）；The industrial adsorption chain
Bar（217）And driving wheel（208）, the first driven pulley（210）, the second driven pulley（211）, the 3rd driven pulley（212）, contact roller
（213）Touch；The driving wheel（208）With the first driven pulley（210）Rotate respectively and be installed on body side（207）Top two
Side；Second driven pulley（211）, the 3rd driven pulley（212）Rotate respectively and be installed on body side（207）Bottom both sides；Institute
State contact roller（213）Positioned at the second driven pulley（211）, the 3rd driven pulley（212）It is middle；The contact roller（213）Rotate and install
In bottom guide plate（214）；The bottom guide plate（214）With body side（207）Vertically slidable connection；The bottom guide plate
（214）It is fixedly installed in compression spring（215）Bottom；Compression spring（215）Top is fixedly installed in upper gib（216）；On
Portion's guide plate（216）It is fixedly installed in body side（207）.
6. a kind of combined type super-pressure variable flow valve as claimed in claim 6 is monitored and dedusting robot, it is characterised in that described
Top carrying platform（201）Front portion is installed by ultrasonic listening module（202）And tube video detecting device（203）, rear portion is installed infrared
Detection device（204）；The top carrying platform（201）Bottom is provided with control system（205）Storehouse is carried with module（206）；
The upper gib（216）Bottom is provided with a pair of compression springs（215）, and compression spring（215）It is arranged in alignment pin；It is described
Driving wheel（208）It is installed on drive system（209）Output end；The drive system（209）Inside set stepper motor and decelerator；
Decelerator is installed on the output end of stepper motor；Driving wheel（208）Connection reducer.
7. a kind of combined type super-pressure variable flow valve as claimed in claim 6 is monitored and dedusting robot, it is characterised in that described
Industrial adsorption chain（217）By single bilateral monaural chain link plate（218）Composition；The single bilateral monaural chain link plate
（218）, including square band counter sink permanent magnet（219）, the adsorbable wall of magnet（220）With magnet Hubei Province iron（221）；The magnet
E Tie（221）Positioned at the adsorbable wall of magnet（220）Upper center；The square band counter sink permanent magnet（219）Positioned at magnet
Adsorbable wall（220）Top both sides；Square band counter sink permanent magnet（219）, the adsorbable wall of magnet（220）With magnet Hubei Province iron
（221）Constitute magnetic loop.
8. a kind of combined type super-pressure variable flow valve as claimed in claim 1 is monitored and dedusting robot, it is characterised in that described
Cleaning module（300）, including the baffle plate being coaxially disposed（301）, outer framework（302）And drilled base plate（313）；The outer framework
（302）Hollow setting；The baffle plate（301）It is installed on outer framework（302）Top；The drilled base plate（313）It is installed on housing
Frame（302）Bottom；The drilled base plate（313）It is provided with through hole；The drilled base plate（313）Cylindrical sides brush is installed
（314）, plane formula disk brush（316）；The cylindrical sides brush（314）, plane formula disk brush（316）Both pass through band
Bottom hole plate（313）On through hole connection motor（312）；The cylindrical sides brush（314）Side is provided with level and sets
The conical bristle put（315）；The plane formula disk brush（316）Bottom is provided with the compartment plane bristle erect and set
（317）.
9. a kind of combined type super-pressure variable flow valve as claimed in claim 8 is monitored and dedusting robot, it is characterised in that described
Drilled base plate（313）Bottom margin is provided with infrared distance sensor（318）；The infrared distance sensor（318）With it is with holes
Base plate（313）It is vertically arranged；The outer framework（302）Inside is provided with horizontally disposed dust board（311）；The dust board
（311）With outer framework（302）It is coaxially disposed, and dust board（311）Center offer circular hole；The dust board（311）Upper top
Face is provided with the cylinder type filter net being coaxially disposed（310）；The cylinder type filter net（310）Cover at dust board（311）Circular hole；
The outer framework（302）Inside is provided with horizontally disposed disc filter screen（309）；The disc filter screen（309）With housing
Frame（302）It is coaxially disposed；The disc filter screen（309）Positioned at dust board（311）And cylinder type filter net（310）Top；It is described
Outer framework（302）Inside is provided with horizontally disposed motor mounting plate（307）；The motor mounting plate（307）With outer framework
（302）It is coaxially disposed；The motor mounting plate（307）Positioned at disc filter screen（309）Top；Motor mounting plate（307）Axis
Place offers through hole；The motor mounting plate（307）Lower section is installed by tandem brushless electric machine（308）；The brushless electricity of tandem
Machine（308）With motor mounting plate（307）It is coaxially disposed, and tandem brushless electric machine（308）It is installed on motor mounting plate（307）'s
Through hole；The outer framework（302）Inside is provided with horizontally disposed disk screen（306）；The disk screen（306）
Positioned at motor mounting plate（307）With tandem brushless electric machine（308）Top, and disk screen（306）With outer framework（302）Together
Axle is set.
10. a kind of combined type super-pressure variable flow valve as claimed in claim 8 is monitored and dedusting robot, it is characterised in that institute
State outer framework（302）Outer wall is circumferentially evenly equipped with least two line slideways（303）；The line slideway（303）It is vertically arranged, directly
Line guide rail（303）Top and baffle plate（301）Bottom surface fits；The line slideway（303）It is arranged in linear slider（304）；
The outer framework（302）Outer wall is provided with linear electric motors push rod（305）；The linear electric motors push rod（305）Top and baffle plate
（301）Bottom surface fits；The plane formula disk brush（316）Hollow setting, plane formula disk brush（316）Install bottom
There is shaft flow blade（319）.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710084803.3A CN106816959B (en) | 2017-02-16 | 2017-02-16 | Combined type ultrahigh-pressure variable flow valve monitoring and dust removing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710084803.3A CN106816959B (en) | 2017-02-16 | 2017-02-16 | Combined type ultrahigh-pressure variable flow valve monitoring and dust removing robot |
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| CN106816959A true CN106816959A (en) | 2017-06-09 |
| CN106816959B CN106816959B (en) | 2023-09-05 |
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|---|---|---|---|
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| CN106816959B (en) | 2023-09-05 |
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