CN107054384B - 4G inspection robot and inspection system - Google Patents
4G inspection robot and inspection system Download PDFInfo
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- CN107054384B CN107054384B CN201710435717.2A CN201710435717A CN107054384B CN 107054384 B CN107054384 B CN 107054384B CN 201710435717 A CN201710435717 A CN 201710435717A CN 107054384 B CN107054384 B CN 107054384B
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- 238000007689 inspection Methods 0.000 title claims abstract description 60
- 238000005096 rolling process Methods 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 7
- 230000000712 assembly Effects 0.000 claims 2
- 238000000429 assembly Methods 0.000 claims 2
- 238000012423 maintenance Methods 0.000 abstract description 7
- 238000013461 design Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 9
- 239000003245 coal Substances 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B13/00—Other railway systems
- B61B13/04—Monorail systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C13/00—Locomotives or motor railcars characterised by their application to special systems or purposes
- B61C13/04—Locomotives or motor railcars characterised by their application to special systems or purposes for elevated railways with rigid rails
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C17/00—Arrangement or disposition of parts; Details or accessories not otherwise provided for; Use of control gear and control systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C3/00—Electric locomotives or railcars
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T30/00—Transportation of goods or passengers via railways, e.g. energy recovery or reducing air resistance
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention provides a 4G inspection robot and an inspection system, and belongs to the technical field of inspection equipment. This 4G inspection robot includes: the system comprises a monorail track, a vehicle body and a mounting device for acquiring information; the automobile body includes dismantled and assembled car body, 2 at least walking subassemblies, 1 at least direction subassembly and 1 at least steering component, and the walking subassembly includes: a motor and a driving wheel driven by the motor; the steering assembly comprises steering wheels; the driving wheel, the guide wheel and the steering wheel roll along 2 side walls of the monorail track; the mounting device is arranged below the vehicle body. This inspection system includes: above-mentioned 4G inspection robot, installing support and a plurality of non-contact charging seat. The invention is used for the inspection and maintenance of underground operation, and is fixed on the side wall of the inspection site when in use, and has scientific design, compact structure and smaller volume, thus the invention has flexible movement and high inspection efficiency and can reach the appointed position timely and accurately.
Description
Technical Field
The invention relates to the technical field of inspection equipment, in particular to a 4G inspection robot and an inspection system for underground coal mine inspection operation.
Background
Safety production and reliable operation in the fields of underground coal mines and the like are very important, and periodic inspection and maintenance are required. Because the underground coal mine has a large number of internal facilities and is distributed and scattered, the inspection workload is large, the efficiency is low, the cost is high, the inspection is greatly influenced by the subjectivity of people, and the inspection data cannot be recorded truly and accurately, so that the equipment abnormality or potential safety hazard is difficult to find. Moreover, when a safety accident occurs, rescue workers cannot reach the place where the accident occurs due to the limitation of the accident occurrence space or the safety consideration, and the rescue work is seriously affected. In the prior art, the inspection robot is adopted for inspection and rescue, so that the defects of the prior art are overcome. However, the existing inspection robot has a complex structure and a huge volume, so that the movement is inconvenient, the inspection efficiency is low, and the specified position cannot be reached timely and accurately.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a 4G inspection robot and an inspection system.
The technical scheme of the invention is realized as follows:
a 4G inspection robot comprising: the system comprises a monorail track, a vehicle body and a mounting device for acquiring information; the automobile body includes dismantled and assembled car body, 2 at least walking subassemblies, 1 at least direction subassembly and 1 at least steering component, and the walking subassembly includes: the motor and the driving wheel driven by the motor are arranged at the upper part of the vehicle body; the steering assembly comprises steering wheels, and the steering wheels are respectively arranged at the lower part of the vehicle body in parallel; a channel is formed between the driving wheel and the guide wheel as well as between the driving wheel and the steering wheel, the monorail track is positioned at the channel, and the driving wheel, the guide wheel and the steering wheel roll along 2 side walls of the monorail track so as to drive the whole car body to move; the mounting device is arranged below the vehicle body.
As a further improvement of the invention: the walking assembly further comprises: a main drive, comprising: the driving gear is fixedly arranged on an output shaft of the motor; secondary drive, comprising: the driven gear is meshed with the driving gear, the driving wheel and the driven gear are fixedly arranged on the driven gear shaft, and two ends of the driven gear shaft are fixedly arranged on the upper portion of the vehicle body through the bearing seats.
As a further improvement of the invention: the number of the primary drives is 1, the number of the secondary drives is 2, and the 2 driven gears are respectively positioned on two sides of the driving gear and meshed with the driving gear, so that one primary drive drives two secondary drives to rotate.
As a further improvement of the invention: the guide assembly further comprises: the device comprises a guide wheel shaft, a guide wheel shaft bracket, a guide wheel shaft pin, a guide wheel adjusting plate, a guide wheel adjusting bolt, a guide wheel adjusting nut and a guide wheel connecting bolt, wherein the guide wheel is sleeved on the guide wheel shaft, the guide wheel shaft pin is used for fixing the guide wheel shaft on the guide wheel shaft bracket, the guide wheel adjusting plate is fixedly connected with the bottom of the guide wheel shaft bracket through the guide wheel connecting bolt, and the top of the guide wheel adjusting bolt penetrates through a bottom plate of the vehicle body to be fixedly connected with the guide wheel adjusting plate; the guide wheel adjusting nut is matched with the guide wheel adjusting bolt and is positioned between the guide wheel adjusting plate and the bottom plate of the vehicle body.
As a further improvement of the invention: the steering assembly further comprises: the steering wheel comprises a steering wheel shaft, a steering wheel shaft bracket, a steering wheel shaft pin, a steering wheel adjusting plate, a steering wheel adjusting bolt, a steering wheel adjusting nut, a steering wheel connecting bolt, a rolling ball and a steering wheel mounting plate, wherein the steering wheel is sleeved on the steering wheel shaft, the steering wheel shaft pin is used for fixing the steering wheel shaft on the steering wheel shaft bracket, the steering wheel mounting plate is fixedly connected with the bottom of the steering wheel shaft bracket through the steering wheel connecting bolt, and the top of the steering wheel adjusting bolt penetrates through the bottom plate of the vehicle body to be fixedly connected with the steering wheel adjusting plate; the steering wheel adjusting nut is matched with the steering wheel adjusting bolt and is positioned between the bottom plate of the vehicle body and the steering wheel adjusting plate, the steering wheel adjusting plate and the steering wheel mounting plate are oppositely arranged, grooves are respectively arranged on two opposite surfaces, and the rolling ball is clamped between 2 grooves and is in sliding contact with the 2 grooves.
As a further improvement of the invention: the car body comprises a detachable upper shell, a detachable lower shell and a detachable side plate.
As a further improvement of the invention: the mounting device comprises: a mounting device shell, a rechargeable battery, a patrol electronic eye and a circuit board which are arranged in the mounting device shell; the hanging lugs are arranged on the vehicle body, and the mounting device is movably connected with the vehicle body through the hanging hooks.
The invention also relates to a patrol system, comprising: the 4G inspection robot, the mounting bracket and the plurality of non-contact charging seats; 4G inspection robot includes: the system comprises a monorail track, a vehicle body and a mounting device for acquiring information; the vehicle body comprises a detachable vehicle body, at least 2 traveling components, at least 1 guide component and at least 1 steering component, wherein the traveling components comprise driving wheels, and the driving wheels are arranged on the upper part of the vehicle body; the steering assembly comprises steering wheels, and the steering wheels are respectively arranged at the lower part of the vehicle body in parallel; a channel is formed between the driving wheel and the guide wheel as well as between the driving wheel and the steering wheel, the monorail track is positioned at the channel, and the driving wheel, the guide wheel and the steering wheel roll along 2 side walls of the monorail track so as to drive the whole car body to move; the mounting device is arranged below the vehicle body; the monorail track is fixedly connected with the mounting bracket; a non-contact charging seat for being charged for 4G inspection robot, along the route interval setting of 4G inspection robot, with mounting device just right.
As a further improvement of the invention: further comprises: the backing plate, the monorail track are positioned between the backing plate and the I-shaped mounting bracket, and the backing plate, the I-shaped mounting bracket and the monorail track are fixed together through the connecting bolt and the connecting nut.
As a further improvement of the invention: further comprises: and the wireless communication system is arranged on the mounting device and is used for establishing communication with the underground base station.
The invention is used for the inspection and maintenance of underground operation, and is fixed on the side wall of the inspection site when in use, and has the advantages of scientific design, compact structure, small volume, flexible movement, high inspection efficiency, convenient maintenance, low running cost, long continuous working time, no noise pollution during movement, reliable working performance and the like, thereby being beneficial to large-scale popularization and application.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.
FIG. 1 is a schematic diagram of the overall structure of the present invention;
fig. 2 is a schematic view of the structure of a vehicle body in the embodiment;
FIG. 3 is a schematic diagram of a walking assembly according to an embodiment;
FIG. 4 is a schematic view of a guide assembly according to an embodiment;
FIG. 5 is a side view of the view shown in FIG. 4;
FIG. 6 is a schematic structural view of a steering assembly according to an embodiment;
FIG. 7 is a side view of the view shown in FIG. 6;
FIG. 8 is a schematic view of the structure of the vehicle body according to the embodiment;
FIG. 9 is a side view of the view shown in FIG. 8;
FIG. 10 is a schematic structural view of a mounting device according to an embodiment;
FIG. 11 is a schematic illustration of the attachment of a monorail track to a mounting bracket in an embodiment;
FIG. 12 is a second schematic illustration of the attachment of a monorail track to a mounting bracket in an embodiment.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 to 7 are schematic structural diagrams of a 4G inspection robot according to an embodiment.
In an embodiment, the 4G inspection robot includes: the system comprises a monorail track 1, a car body 4 and a mounting device 5 for acquiring information; the vehicle body 4 includes a detachable vehicle body 14, at least 2 running components 15, at least 1 guide component 16, and at least 1 steering component 17, the running components 15 including: a motor 21 and a driving wheel 25 driven by the motor, wherein the driving wheel 25 is arranged at the upper part of the vehicle body 14; the steering assembly 16 comprises steering wheels 28, the steering assembly 17 comprises steering wheels 36, and the steering wheels 28 and the steering wheels 36 are respectively arranged at the lower part of the vehicle body 14 in parallel; a channel is formed between the driving wheel 25, the guide wheel 28 and the steering wheel 36, the monorail track 1 is positioned at the channel, and the driving wheel 25, the guide wheel 28 and the steering wheel 36 roll along 2 side walls of the monorail track 1 so as to drive the whole car body 4 to move and steer; the mounting device 5 is provided below the vehicle body 4.
In the embodiment, the driving of the driving wheel 25 may be performed by using the prior art, as a preferred technical solution, as shown in fig. 3, which is a schematic structural diagram of the walking assembly in the embodiment. In an embodiment, the walking assembly 15 further includes: a primary drive and a secondary drive; wherein,,
the main drive includes: a driving gear 22, wherein the driving gear 22 is fixedly arranged on an output shaft of the motor 21;
the secondary driving includes: the driven gear 23, the driven gear shaft 24 and the bearing seat 26, wherein the driven gear 23 is meshed with the driving gear 22, the driving wheel 25 and the driven gear 23 are fixedly arranged on the driven gear shaft 24, and two ends of the driven gear shaft 24 are fixedly arranged on the upper part of the vehicle body 14 through the bearing seat 26.
Preferably, the motor 21 is an intrinsically safe motor with self-contained deceleration.
As a preferred technical solution, the number of primary drives is 1, the number of secondary drives is 2, and the 2 driven gears 23 are respectively located at two sides of the driving gear 22 and meshed with the driving gear 22, so that one primary drive drives two secondary drives to rotate.
Preferably, the secondary driving further comprises: a sleeve 27 sleeved on the driven gear shaft 24; the structure of the driven gear 23 is provided with an orientation cylinder and is in a boss shape; the drive wheel 25 is located between the sleeve 27 and the orienting cylinder, securing the drive wheel 25 therebetween.
As a preferred technical solution, as shown in fig. 4 and 5, a schematic structural diagram of the guiding assembly in the embodiment is shown. In an embodiment, the guide assembly 16 further comprises: the steering wheel comprises a steering wheel shaft 29, a steering wheel shaft bracket 30, a steering wheel shaft pin 31, a steering wheel adjusting plate 32, a steering wheel adjusting bolt 33, a steering wheel adjusting nut 34 and a steering wheel connecting bolt 35, wherein the steering wheel 28 is sleeved on the steering wheel shaft 29, the steering wheel shaft pin 31 is used for fixing the steering wheel shaft 29 on the steering wheel shaft bracket 30, the steering wheel adjusting plate 32 is fixedly connected with the bottom of the steering wheel shaft bracket 30 through the steering wheel connecting bolt 35, and the top of the steering wheel adjusting bolt 33 penetrates through the bottom plate of the vehicle body 14 to be fixedly connected with the steering wheel adjusting plate 32; the guide wheel adjusting nut 34 is engaged with the guide wheel adjusting bolt 33 and is located between the guide wheel adjusting plate 32 and the bottom plate of the vehicle body 14.
In the above embodiment, the relative movement between the guide wheel adjusting bolt 33 and the guide wheel adjusting nut 34 can flexibly adjust the position of the guide wheel adjusting plate 32, and then adjust the height of the guide wheel 28, so as to achieve that the distance between the guide wheel 28 and the driving wheel 25 is suitable for the size difference of the monorail track 1, and the distance between the guide wheel 28 and the driving wheel 25 is reduced so that the car body 4 contacts with the monorail track 1, thereby achieving that the car body 4 is mounted on the monorail track 1; the distance between the guide wheels 28 and the driving wheels 25 is increased so that the car body 4 is separated from the monorail track 1.
As a preferred technical solution, fig. 6 and 7 show schematic structural diagrams of the steering assembly in the embodiment. In an embodiment, the steering assembly 17 further comprises: the steering wheel comprises a steering wheel shaft 37, a steering wheel shaft bracket 38, a steering wheel shaft pin 39, a steering wheel adjusting plate 40, a steering wheel adjusting bolt 41, a steering wheel adjusting nut 42, a steering wheel connecting bolt 43, a rolling ball 44 and a steering wheel mounting plate 45, wherein the steering wheel 36 is sleeved on the steering wheel shaft 37, the steering wheel shaft pin 39 is used for fixing the steering wheel shaft 37 on the steering wheel shaft bracket 38, the steering wheel mounting plate 45 is fixedly connected with the bottom of the steering wheel shaft bracket 38 through the steering wheel connecting bolt 43, and the top of the steering wheel adjusting bolt 41 penetrates through the bottom plate of the vehicle body 14 to be fixedly connected with the steering wheel adjusting plate 40; the steering wheel adjusting nut 42 is matched with the steering wheel adjusting bolt 41 and is positioned between the bottom plate of the vehicle body 14 and the steering wheel adjusting plate 40, the steering wheel adjusting plate 40 and the steering wheel mounting plate 45 are oppositely arranged, grooves are respectively arranged on two opposite surfaces, the rolling ball 44 is clamped between 2 grooves and is in sliding contact with the 2 grooves, and steering is realized through rolling of the rolling ball 44 in the grooves.
In the above embodiment, the relative movement between the steering wheel adjusting bolt 41 and the steering wheel adjusting nut 42 can flexibly adjust the position of the steering wheel 36, so that the distance between the steering wheel 36 and the driving wheel 25 is suitable for the size difference of the monorail track 1, the distance between the steering wheel 36 and the driving wheel 25 is reduced to mount the vehicle body 4 on the monorail track 1, and the distance between the steering wheel 36 and the driving wheel 25 is increased to separate the vehicle body 4 from the monorail track 1.
As a preferred technical solution, as shown in fig. 8 and 9, a schematic structural diagram of the vehicle body in the embodiment is shown. In one embodiment, the cart body 14 includes a removable upper housing 18, a lower housing 19, and side panels 20. The design of the vehicle body 14 facilitates the installation, inspection and replacement of internal parts, greatly facilitating maintenance work.
As a preferred technical solution, as shown in fig. 10, a schematic structural diagram of the mounting device in the embodiment is shown. In an embodiment, the mounting device 5 includes: a mounting device housing 46, a rechargeable battery 47, a patrol electronic eye 48 and a circuit board 49 which are arranged in the mounting device housing 46; the vehicle body 14 is provided with a hanging lug, and the mounting device 5 is movably connected with the vehicle body 14 through a hanging hook 50.
In the above embodiment, the mounting device 5 can be flexibly connected to or disconnected from the vehicle body 14, so that maintenance and overhaul are convenient; the electronic eye 48 is preferably a mining intrinsically safe camera device with infrared function, which can focus and continuously transmit video, audio, pictures and other signals.
The invention also relates to a patrol system, comprising: the 4G inspection robot, the mounting bracket 2 and the plurality of non-contact charging seats in the embodiment; the monorail track 1 is fixedly connected with the mounting bracket 2; a non-contact charging seat for being charged for 4G inspection robot, along the route interval setting of 4G inspection robot, with mounting device 5 just right.
As a preferred solution, as shown in fig. 11 and 12, a schematic diagram of the connection between the monorail track and the mounting bracket is shown in the embodiment. In an embodiment, the inspection system further comprises: the backing plate 12 and the monorail track 1 are positioned between the backing plate 12 and the I-shaped mounting bracket 2, and the backing plate 12, the I-shaped mounting bracket 2 and the monorail track are fixed together through the connecting bolt 10 and the connecting nut 13.
In the above embodiment, the monorail track 1 is fixed on the side wall 11 through the mounting bracket 2, the non-contact charging seat is fixed on the side wall 11 along the route of the 4G inspection robot at intervals, and a gap is left between the non-contact charging seat and the mounting device 5, and the gap cannot be too large, so that when the 4G inspection robot needs to be charged, the charging is not influenced when the non-contact charging seat is stopped at the corresponding position; the gap cannot be too small so as not to influence the normal passing of the 4G inspection robot. The gap is typically 2-10mm.
As a preferred technical solution, in an embodiment, the inspection system further includes: the wireless communication system arranged on the mounting device 5 is used for establishing communication with the underground base station and transmitting by adopting a 4G and/or wifi communication system.
When designing, firstly, the weight of the invention is calculated, then the required torque is calculated according to the parameters of the weight of the whole machine, the site angle, the radius of the driving wheel 25, the friction coefficient and the like, and then the required torque and the running speed and the like of the invention are calculated, so that the parameters of the power, the rotating speed, the torque and the like of the intrinsic safety motor 21 are determined, and then the type of the intrinsic safety motor 21 with the proper model is selected according to the parameters, so that the invention has the functions of moving and climbing, and the calculation method is as follows:
(1) And (3) traction force calculation: f=mga (F-traction, m-machine weight, a-field angle);
(2) Calculating the torque of the driving wheel: t=frk (r-drive wheel radius, k-coefficient);
(3) Motor speed: n=v/2 r (v-running speed);
(4) Motor power p=tn/9550 (n-motor speed).
In the embodiment, the monorail track 1 adopted by the invention not only can be better suitable for tortuous and changeable underground coal mine tunnels, but also can effectively reduce friction force, save power energy and reduce production cost. The invention has the advantages of compact structure, scientific design, small volume, flexible movement, high inspection efficiency, convenient maintenance, low operation cost, long continuous working time, no noise pollution during movement, reliable working performance and the like, and can timely and accurately reach the designated position.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (10)
1. A4G inspection robot, its characterized in that: comprising the following steps: the system comprises a monorail track (1), a car body (4) and a mounting device (5) for acquiring information;
the vehicle body (4) comprises a detachable vehicle body (14), at least 2 walking components (15), at least 1 guiding component (16) and at least 1 steering component (17), wherein the walking components (15) comprise: a motor (21) and a driving wheel (25) driven by the motor, wherein the driving wheel (25) is arranged at the upper part of the vehicle body (14); the steering assembly (16) comprises a steering wheel (28), the steering assembly (17) comprises a steering wheel (36), and the steering wheel (28) and the steering wheel (36) are respectively arranged at the lower part of the vehicle body (14) in parallel; a channel is formed between the driving wheel (25) and the guide wheels (28) and between the driving wheel and the guide wheels (36), the single track rail (1) is positioned at the channel, and the driving wheel (25), the guide wheels (28) and the guide wheels (36) roll along 2 side walls of the single track rail (1) so as to drive the whole vehicle body (4) to move; the mounting device (5) is arranged below the vehicle body (4).
2. The 4G inspection robot of claim 1, wherein: the walking assembly (15) further comprises:
a main drive, comprising: the driving gear (22) is fixedly arranged on an output shaft of the motor (21);
secondary drive, comprising: the driving wheel (25) and the driven gear (23) are fixedly arranged on the driven gear shaft (24), and two ends of the driven gear shaft (24) are fixedly arranged on the upper portion of the vehicle body (14) through the bearing seat (26).
3. The 4G inspection robot of claim 2, wherein: the number of the main drives is 1, the number of the secondary drives is 2, and the 2 driven gears (23) are respectively positioned on two sides of the driving gear (22) and meshed with the driving gear (22), so that one main drive drives two secondary drives to rotate.
4. The 4G inspection robot of claim 2, wherein: the guide assembly (16) further comprises: the automobile steering wheel comprises a steering wheel shaft (29), a steering wheel shaft bracket (30), a steering wheel shaft pin (31), a steering wheel adjusting plate (32), a steering wheel adjusting bolt (33), a steering wheel adjusting nut (34) and a steering wheel connecting bolt (35), wherein the steering wheel (28) is sleeved on the steering wheel shaft (29), the steering wheel shaft pin (31) is used for fixing the steering wheel shaft (29) on the steering wheel shaft bracket (30), the steering wheel adjusting plate (32) is fixedly connected with the bottom of the steering wheel shaft bracket (30) through the steering wheel connecting bolt (35), and the top of the steering wheel adjusting bolt (33) penetrates through the bottom plate of the automobile body (14) and is fixedly connected with the steering wheel adjusting plate (32); the guide wheel adjusting nut (34) is matched with the guide wheel adjusting bolt (33) and is positioned between the guide wheel adjusting plate (32) and the bottom plate of the vehicle body (14).
5. The 4G inspection robot of claim 1, wherein: the steering assembly (17) further comprises: the steering wheel comprises a steering wheel shaft (37), a steering wheel shaft bracket (38), a steering wheel shaft pin (39), a steering wheel adjusting plate (40), a steering wheel adjusting bolt (41), a steering wheel adjusting nut (42), a steering wheel connecting bolt (43), a rolling ball (44) and a steering wheel mounting plate (45), wherein the steering wheel (36) is sleeved on the steering wheel shaft (37), the steering wheel shaft pin (39) is used for fixing the steering wheel shaft (37) on the steering wheel shaft bracket (38), the steering wheel mounting plate (45) is fixedly connected with the bottom of the steering wheel shaft bracket (38) through the steering wheel connecting bolt (43), and the top of the steering wheel adjusting bolt (41) penetrates through the bottom plate of the vehicle body (14) to be fixedly connected with the steering wheel adjusting plate (40); the steering wheel adjusting nut (42) is matched with the steering wheel adjusting bolt (41) and is positioned between the bottom plate of the vehicle body (14) and the steering wheel adjusting plate (40), the steering wheel adjusting plate (40) and the steering wheel mounting plate (45) are oppositely arranged, grooves are respectively formed in two opposite sides, and the rolling ball (44) is clamped between 2 grooves and is in sliding contact with the 2 grooves.
6. The 4G inspection robot of claim 1, wherein: the vehicle body (14) is composed of a detachable upper shell (18), a detachable lower shell (19) and a side plate (20).
7. The 4G inspection robot of claim 1, wherein: the mounting device (5) comprises: a mounting device housing (46), a rechargeable battery (47), a patrol electronic eye (48) and a circuit board (49) which are arranged in the mounting device housing (46); the hanging lugs are arranged on the vehicle body (14), and the mounting device (5) is movably connected with the vehicle body (14) through the hanging hooks (50).
8. A system of patrolling and examining which characterized in that: comprising the following steps: the 4G inspection robot, mounting bracket (2) and plurality of non-contact charging stations of any one of claims 1-7;
the 4G inspection robot comprises: the system comprises a monorail track (1), a car body (4) and a mounting device (5) for acquiring information; the vehicle body (4) comprises a detachable vehicle body (14), at least 2 traveling assemblies (15), at least 1 guide assembly (16) and at least 1 steering assembly (17), wherein the traveling assemblies (15) comprise driving wheels (25), and the driving wheels (25) are arranged on the upper part of the vehicle body (14); the steering assembly (16) comprises a steering wheel (28), the steering assembly (17) comprises a steering wheel (36), and the steering wheel (28) and the steering wheel (36) are respectively arranged at the lower part of the vehicle body (14) in parallel; a channel is formed between the driving wheel (25) and the guide wheels (28) and between the driving wheel and the guide wheels (36), the single track rail (1) is positioned at the channel, and the driving wheel (25), the guide wheels (28) and the guide wheels (36) roll along 2 side walls of the single track rail (1) so as to drive the whole vehicle body (4) to move; the mounting device (5) is arranged below the vehicle body (4);
the monorail track (1) is fixedly connected with the mounting bracket (2);
the non-contact charging seat is used for charging the 4G inspection robot, is arranged along the route of the 4G inspection robot at intervals and is opposite to the mounting device (5).
9. The inspection system of claim 8, wherein: further comprises: the base plate (12), the monorail track (1) is located between the base plate (12) and the I-shaped mounting bracket (2), and the base plate, the I-shaped mounting bracket and the mounting bracket are fixed together through a connecting bolt (10) and a connecting nut (13).
10. The inspection system of claim 8, wherein: further comprises: and the wireless communication system is arranged on the mounting device (5) and is used for establishing communication with the underground base station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710435717.2A CN107054384B (en) | 2017-06-11 | 2017-06-11 | 4G inspection robot and inspection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710435717.2A CN107054384B (en) | 2017-06-11 | 2017-06-11 | 4G inspection robot and inspection system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107054384A CN107054384A (en) | 2017-08-18 |
| CN107054384B true CN107054384B (en) | 2023-08-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710435717.2A Active CN107054384B (en) | 2017-06-11 | 2017-06-11 | 4G inspection robot and inspection system |
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| CN (1) | CN107054384B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107587393A (en) * | 2017-09-13 | 2018-01-16 | 秦皇岛鸿鼎轻工机械技术有限公司 | Monorail crane hanging rail car |
| CN111152186B (en) * | 2020-02-14 | 2024-08-16 | 深圳金三立视频科技股份有限公司 | Passive steering device with walking power and track robot |
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