CN107433959A - A kind of intelligent inspection robot - Google Patents
A kind of intelligent inspection robot Download PDFInfo
- Publication number
- CN107433959A CN107433959A CN201710333954.8A CN201710333954A CN107433959A CN 107433959 A CN107433959 A CN 107433959A CN 201710333954 A CN201710333954 A CN 201710333954A CN 107433959 A CN107433959 A CN 107433959A
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- China
- Prior art keywords
- car body
- guide rail
- swing rod
- intelligent inspection
- guider
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of intelligent inspection robot, including robot car body and it is used for acquisition trajectory traffic system infrastructure real-time status data laser scanning device (110), scanning camera (120), camera (130), infrared thermoviewer (140) and the embeded processor (150) for handling real-time status data on robot car body.A kind of intelligent inspection robot disclosed by the invention can monitor the state of track traffic infrastructure in real time during track traffic circulation, find failure or potential faults in time, save the time of safety inspection, improve the efficiency of safety inspection.
Description
Technical field
The present invention relates to track traffic field in intelligent robotics, and in particular to one kind is used for Rail Transit System and examined safely
The intelligent inspection robot of survey.
Background technology
As metropolitan population is increasing, on road traffic can not increasingly meet that the traffic that people sharply increase uses
Amount, the alleviation urban traffic blocking that develops into of City Rail Transit System play an important role.
Urban track traffic, in process of production except worker's personal safety, is also wrapped as a special service industry
Include passenger personal safety and various installations and facilities it is safe for operation, while there is many uncertain potential safety hazards,
The security feature of City Rail Transit System includes：(1) communal facility characteristic；(2) big flow high density；(3) closure；(4)
Influenceed by orientation air flow；(5) take precautions against difficult.
The failure of Rail Transit System is varied, can be divided into equipment attrition, fracture, crackle according to the failure form of expression；
It can be divided into electric fault, signal fault, mechanical breakdown and electronic failure according to the physical type of failure inducement.
Existing method for diagnosing faults is mainly following four classes：(1) empirical method：Fortune inspection teacher empirically, estimate and patrol
Collect and judge to diagnose failure；(2) part replacement method：The part of failure is there may be using new part replacement, then passes through fortune
Row is verified；(3) equipment detection method：Tested by special instrument, equipment and carry out fault point；(4) log is looked into
Look for method：By contrast, with reference to log trouble-shooting problem.It is each that existing diagnostic method requires that fortune inspection teacher is familiar with track traffic
The operation principle of part, various fault messages, working strength is big, efficiency is low, the accuracy of fault diagnosis easily by personnel because
The interference of element.
In order to which hidden danger of fixing a breakdown in time to the infrastructure of Rail Transit System, it is necessary to periodically carry out safety inspection, mesh
Before, based on such inspection task is checked with manual static, method is although simple and easy, but it exists and checks that speed is slow, takes
The problems such as wire time is long, operating efficiency is low, it is necessary to reserve the corresponding skylight phase for track traffic operation, influence track traffic
The efficiency of operation.Certainly, just let alone infrastructure real-time detection and run failure real-time monitoring.
The content of the invention
The present invention is to check that speed is slow, the busy line time when manually carrying out safety inspection in the prior art to overcome
It is long, operating efficiency is low, while need to reserve the skylight phase for safety inspection the problem of influenceing rail transportation operation efficiency, there is provided one
Kind intelligent robot, the state of track traffic infrastructure can be monitored in real time during track traffic circulation, in time hair
Existing failure or potential faults, the time of safety inspection is saved, improve the efficiency of safety inspection.
The present invention provides a kind of intelligent inspection robot, including：
Robot car body：For delivering laser scanning device, scanning camera, camera, infrared thermoviewer and embedded place
Manage device；
Laser scanning device：It is fixedly mounted on robot car body, for carrying out three-dimensional modeling to tunnel, for detecting tunnel
Road gauge and deformation, for detecting foreign matter in tunnel, for detecting track deformation；
Scanning camera：It is fixedly mounted on robot car body, for detecting tunnel crackle and wet stain, for detecting in tunnel
Foreign matter；
Camera：It is fixedly mounted on robot car body, for being monitored to environment in tunnel；
Infrared thermoviewer：It is fixedly mounted on robot car body, for detecting tunnel inner cable heating, for detecting tunnel
Interior personnel and the intrusion of animal；
Embeded processor：It is fixedly mounted on robot car body, for receiving laser scanning device, scanning camera, taking the photograph
As the real-time status data that head, infrared thermoviewer transmit, for data in real-time status data and database to be contrasted simultaneously
Comparing result is generated, for comparing result to be sent into platform control centre or CCC, for receiving platform control
What center, CCC transmitted updates the data, instructs.
A kind of intelligent inspection robot of the present invention, it is preferred that, robot car body includes：
Car body body：For delivering laser scanning device, scanning camera, camera, infrared thermoviewer and embedded processing
Device；
Drive device：It is fixedly connected by drive device fixed support with car body body, for driving car body body to carry out
Motion；
Guider：It is fixedly connected by guider fixed support with the both sides of car body body, both ends are filled by clamping
Put and be connected with the both wings of shape of chinese word Ji guide rail, for when drive device driving car body body moves along the bearing of trend of guide rail, making
Car body body carries out steering horizontally and vertically with shape of chinese word Ji guide rail；
Current collecting equipment：It is fixedly connected by carbon brush supports with guider fixed support, the other end and carbon of carbon brush supports
Brush be connected, the other end of carbon brush is connected with the trolley on guide rail, be drive device and be car body body deliver electrical equipment
Mains power is provided.
A kind of intelligent inspection robot of the present invention, it is preferred that, guider fixed support includes and car
The guider fixed support first panel that body body is fixedly connected, is vertically set on guider fixed support first panel one
The guider fixed support second panel at end, in guider fixed support first panel and guider fixed support second
Reinforcement is provided between panel, boss is provided with the other end of guider fixed support second panel, is set in the middle part of boss
There is guider fixed support through hole.
A kind of intelligent inspection robot of the present invention, it is preferred that, centre revolving device is included through guiding
The horizontal rotating shaft of device fixed support through hole, horizontal rotating shaft is covered by horizontal rotating shaft to be connected with guider fixed support, in water
The both sides of flat turn axle sleeve are provided with gland set, and horizontal rotating shaft passes through gland set, and gland set passes through rolling bearing and center steering seat phase
Even, vertical rotation axis is connected by slide thrust bearing with center steering seat, and vertical rotation axis one end passes through spiral shell through center steering seat
It is female to be connected with gland set.
A kind of intelligent inspection robot of the present invention, it is preferred that, rolling bearing and center steering seat it
Between be provided with rubber blanket, nut and gland set between be provided with thrust washer.Rubber blanket can increase center steering seat and the axis of rolling
Area of bearing between holding, it can be stability of rotation and reduce the transmission vibrated in running；Thrust washer can be effective
Prevent nut from loosening or coming off caused by pitch in the process of running.
A kind of intelligent inspection robot of the present invention, it is preferred that, clamping device includes and center steering seat
Connected bent plate, the contact roller swing rod that one end is fixedly connected by bearing pin with bent plate, the other end of contact roller swing rod pass through spring
Adjustment bolt is connected with bent plate, is provided with the second disc spring between bent plate and contact roller swing rod in spring adjustment bolt, is oriented to pinch roller
It is fixedly connected by nut with contact roller swing rod, flange pulley is fixedly connected by nut with bent plate, is oriented to pinch roller and flange pulley point
Do not contacted with guide rail interior outside.Second disc spring is made up of the disc spring superposition of some monolithics, and regulation is provided with spring adjustment bolt
Nut, it is oriented to by increasing or decreasing the position of the quantity and adjustment adjusting nut of disc spring in spring adjustment bolt to adjust
Thrust size caused by pinch roller, make guiding pinch roller and flange pulley clamping guide-rail.Compared with common spring, disc spring is in very little
Bigger elastic force can be produced under deflection, can ensure to be oriented to pinch roller and flange pulley clamping guide-rail, while reduce vehicle body and running
Rocking in journey.
A kind of intelligent inspection robot of the present invention, it is preferred that, bent plate includes being connected with center steering seat
Bent plate first panel, with bent plate first panel one end bent plate second panel connected vertically；It is provided with bent plate second panel
One is used for the groove of contact roller swing rod positioning, the bent plate first through hole passed through for contact roller swing rod, is passed through for bearing pin curved
The through hole of plate second, the bent plate third through-hole passed through for being oriented to pinch roller, the bent plate fourth hole passed through for flange pulley；Bent plate
Three panels are vertically set on the other end of bent plate second panel, are provided with the panel of bent plate the 3rd and are passed through for spring adjustment bolt
Bent plate fifth hole.
A kind of intelligent inspection robot of the present invention, it is preferred that, contact roller swing rod includes contact roller swing rod
First panel, the contact roller swing rod first through hole for being used for bearing pin and passing through is provided with one end of contact roller swing rod first panel, is being pressed
The middle part of bearing up pulley swing rod first panel, which is provided with, to be used to be oriented to the through hole of contact roller swing rod second that pinch roller passes through, in contact roller swing rod the
The other end of one panel is vertically provided with contact roller swing rod second panel, is provided with contact roller swing rod second panel and is used for spring tune
The contact roller swing rod third through-hole that whole bolt passes through.
A kind of intelligent inspection robot of the present invention, it is preferred that, elongated hole is provided with bent plate first panel
And positioning hole, bolt are fixed on center steering seat through elongated hole so that bent plate first panel can be along the vertical side of elongated hole
Slip is produced to center steering seat.When needing to install guider, bolt is passed through into elongated hole and center steering seat
On screwed hole connection, now bent plate first panel can slide up and down along the vertical direction of elongated hole, when sliding into bent plate the
Positioning hole on one panel and the screwed hole on center steering seat to it is corresponding when with bolt by bent plate first panel and center steering seat
It is fixedly connected, you can complete installation；When needing to dismantle guider, the bolt on positioning hole and elongated hole is unclamped, this
When bent plate first panel can be slided up and down along the vertical direction of elongated hole, you can bent plate first panel is dismantled.
A kind of intelligent inspection robot of the present invention, it is preferred that, drive device includes：
Main drive：It is fixedly mounted on car body body, including a driving wheel, for driving car body body in guide rail
Interior motion；
Elastic stretching device：It is fixedly mounted on car body body, for driving wheel to be pressed in guide rail, increases driving wheel
Frictional force between guide rail, while be the effect that car body provides damping in the process of running；
Slave unit：It is fixedly mounted on car body body, the power of guide rail vertical direction is acted on for bearing body body,
Keep even running of the car body body in guide rail.
A kind of intelligent inspection robot of the present invention, it is preferred that, main drive includes：
Main drive fixed support：For motor and decelerator to be fixed on into car body body；
Motor：Be fixedly connected with main drive fixed support, one end is connected by electric wire with current collecting equipment, the other end with
Decelerator is connected, for providing power for drive device；
Decelerator：It is fixedly connected with main drive fixed support, one end is connected with motor, and the other end is connected with driving shaft
For adjusting the rotating speed of driving shaft；
Driving shaft：Through car body body, one end is connected with decelerator, and the other end is fixedly linked with driving wheel, for driving
Driving wheel moves；
Driving wheel：For cylinder, one end is fixedly connected with driving shaft, side and guide rail contact, for band motor vehicles bodies body
In the motion of guide rail interior edge guide rail radial direction.
A kind of intelligent inspection robot of the present invention, it is preferred that, main drive also includes：
First bearing seat：It is fixedly mounted on car body body, is passed through for driving shaft and limit the radial motion of driving shaft；
Bearing cap：It is arranged in first bearing seat, is passed through for driving shaft and limit the axial movement of driving shaft.
A kind of intelligent inspection robot of the present invention, it is preferred that, elastic stretching device includes：
Elastic stretching device fixed support：It is fixedly mounted on car body body, for elastic stretching device to be fixed on into car
On body body；
Spring adjustment bolt：One end is fixed on elastic stretching device fixed support, and the other end is connected with tensioning wheel swing rod,
An adjusting nut is provided with the middle part of spring adjustment bolt, for limiting the motion of the first disc spring；
First disc spring：It is enclosed in spring adjustment bolt, both ends are in close contact with adjusting nut and tensioning wheel swing rod respectively, are used
In the motion amplitude of limitation tensioning wheel swing rod；
Tensioning wheel swing rod：Middle part is connected by bearing pin with robot body, and one end is provided with tensioning wheel swing rod through hole, tensioning wheel
Swing rod through hole is enclosed in spring adjustment bolt to be in close contact with the first disc spring, and the other end is fixedly connected with tensioning shaft, for finely tuning
The position of tensioning wheel makes drive device be in close contact with guide rail；
Tensioning shaft：Both ends are connected with tensioning wheel swing rod and tensioning wheel respectively；
Tensioning wheel：For cylinder, one end is fixedly connected by bearing pin with tensioning wheel swing rod, and side is in close contact with guide rail.
Elastic stretching device can enter according to the deformation size or driving wheel of guide rail inner chamber and the abrasion condition of driven pulley
Row swings up and down adjustment, while drives tensioning wheel swing rod to swing, and tensioning wheel swing rod is realized by disc spring compress again, can ensure to lead
Driving wheel compresses guide rail, while avoids producing excessive shake.
A kind of intelligent inspection robot of the present invention, it is preferred that, tensioning wheel swing rod includes tensioning wheel swing rod
First panel, tensioning wheel swing rod second panel, the panel of tensioning wheel swing rod the 3rd and tensioning wheel swing rod fourth face plate, put in tensioning wheel
Bar first panel is provided with tensioning wheel swing rod through hole, one end and the tensioning wheel swing rod first panel one of tensioning wheel swing rod second panel
The side at end is vertically fixedly connected, and the other end of tensioning wheel swing rod second panel is fixedly connected with the panel of tensioning wheel swing rod the 3rd,
The second through hole is provided with the panel of tensioning wheel swing rod the 3rd, is passed through for bearing pin and is connected with robot body and makes tensioning wheel swing rod
It can be rotated around bearing pin, in the side of the panel of tensioning wheel swing rod the 3rd, the direction vertical with tensioning wheel swing rod second panel is provided with
Tensioning wheel swing rod fourth face plate, third through-hole is provided with tensioning wheel swing rod fourth face plate, is passed through for tensioning shaft.
A kind of intelligent inspection robot of the present invention, it is preferred that, slave unit includes：
Driven shaft：One end is arranged on car body body by second bearing seat, and the other end is fixedly connected with driven pulley；
Driven pulley：One end is fixedly connected with driven shaft, side and guide rail contact, and guide rail is acted on for bearing body body
The power of vertical direction, keep even running of the car body body in guide rail.
A kind of intelligent inspection robot of the present invention, it is preferred that, slave unit is also driven including being arranged on
Wheel one end is used for the encoder for detecting secondary speed.Encoder can detect the distance of driven pulley in the process of running, and handle
Detection signal is sent to host computer, judges that driven pulley whether there is translation.
A kind of intelligent inspection robot of the present invention, it is preferred that, car body body includes rectangular bottom plate,
It is located at the dismountable L-type left side plate and L-type right side plate of bottom plate both sides respectively.The design for disassembly of car body body can conveniently pair
The detection device being arranged on car body body is mounted and dismounted.
A kind of intelligent inspection robot of the present invention, it is preferred that, current collecting equipment also includes being fixedly mounted on
Battery on car body body, for providing power under unexpected powering-off state for intelligent inspection robot.Work as Intelligent inspection machine
Device people run into fortuitous event cause power-off when, battery can to drive device provide power so that intelligent inspection robot energy
Guide rail operation is enough continued on, platform side is returned to and is overhauled.
In use, intelligent inspection robot supplies motor to the present invention by current collecting equipment power taking, and motor is actively
Wheel provides power, drives intelligent inspection robot to be moved along guide rail direction, laser scanning device, scanning camera, camera, red
Outer imager collects the real-time status data of Rail Transit System infrastructure and is sent to embeded processor, embedded
The data that processor first sends data acquisition module are divided into normal data, fault data and warning data, wherein just
Regular data is directly preserved to database, and fault data and warning data are classified, positioned and graded and feeds back to user, is
User can have found failure or potential faults in time, save the time of safety inspection, improve the efficiency of safety inspection.
The database on embedded primary processor can be according to platform control centre, CCC's transmission renewal simultaneously
Data are realized and automatically updated, and are judged using the result after renewal as fault message next time or warning information, the foundation of grading,
Realize the intelligent growth of intelligent inspection robot.
In intelligent inspection robot in motion process, when guide rail turns in vertical direction, guiding edge crush ribs
The flange of wheel, makes vertical rotation axis be rotated in centre revolving device, and then drives intelligent inspection robot along guide rail vertical
Directional steering；When guide rail turns in the horizontal direction, in the presence of disc spring, pinch roller and flange pulley clamping guide-rail are oriented to, makes water
Flat turn axle rotates, and then drives intelligent inspection robot to be turned in the horizontal direction along guide rail；When needs dismantle intelligence from guide rail
Can crusing robot when, unclamp the bolt on positioning hole and elongated hole, make up and down two clamping devices along elongated hole axially away from leading
Rail moves, you can disassembles whole intelligent inspection robot from guide rail.
The present invention due to being provided with transfer in intelligent inspection robot both sides, enable to intelligent inspection robot along
Guide rail traffic direction carries out horizontal and vertical directions and turned to.
The present invention further sets elastic stretching device in the drive device of intelligent inspection robot, is being run for car body
During the effect of damping is provided so that intelligent inspection robot even running in operation or steering procedure, while rolling
Rubber blanket is provided between dynamic bearing and center steering seat, thrust washer is provided between nut and gland set and is replaced using disc spring
Common spring, it can further improve damping effect.
Brief description of the drawings
Fig. 1 is a kind of stereogram of intelligent inspection robot；
Fig. 2 is a kind of sectional view of intelligent inspection robot；
Fig. 3 is a kind of composition figure of intelligent inspection robot car body body；
Fig. 4 is a kind of composition figure of intelligent inspection robot main drive；
Fig. 5 is a kind of front view of intelligent inspection robot elastic stretching device；
Fig. 6 is a kind of support bracket fastened stereogram of intelligent inspection robot elastic stretching device；
Fig. 7 is a kind of stereogram of intelligent inspection robot tensioning wheel swing rod；
Fig. 8 is a kind of front view of intelligent inspection robot slave unit；
Fig. 9 is a kind of composition figure of intelligent inspection robot guider；
Figure 10 is a kind of right view of intelligent inspection robot guider；
Figure 11 is a kind of support bracket fastened stereogram of intelligent inspection robot guider；
Figure 12 is a kind of stereogram of intelligent inspection robot center steering seat；
Figure 13 is a kind of composition figure of intelligent inspection robot clamping device；
Figure 14 is a kind of stereogram of intelligent inspection robot bent plate；
Figure 15 is a kind of stereogram of intelligent inspection robot contact roller swing rod；
Figure 16 is a kind of left view for the guide rail that intelligent inspection robot coordinates；
Figure 17 is a kind of dismounting schematic diagram of intelligent inspection robot guider；
Figure 18 is a kind of intelligent inspection robot scheme of installation.
Brief description of the drawings：
1st, car body body；11st, bottom plate；12nd, left side plate；13rd, right side plate；2nd, drive device；21st, main drive；211、
Main drive fixed support；212nd, motor；213rd, decelerator；214th, driving shaft；215th, driving wheel；216th, first bearing seat；
217th, bearing cap；22nd, elastic stretching device；221st, elastic stretching device fixed support；222nd, spring adjustment bolt；223rd, first
Disc spring；224th, tensioning wheel swing rod；2241st, tensioning wheel swing rod first panel；2242nd, tensioning wheel swing rod second panel；2243rd, it is tensioned
Take turns the panel of swing rod the 3rd；2244th, tensioning wheel swing rod fourth face plate；2245th, tensioning wheel swing rod first through hole；2246th, tensioning wheel is put
The through hole of bar second；2247th, tensioning wheel swing rod third through-hole；225th, tensioning shaft；226th, tensioning wheel；23rd, slave unit；231st, it is driven
Axle；232nd, driven pulley；233rd, second bearing seat；3rd, guider；31st, guider fixed support；311st, guider is fixed
Support first panel；312nd, guider fixed support second panel；313rd, reinforcement；314th, boss；315th, guider is solid
Fixed rack through hole；32nd, centre revolving device；321st, horizontal rotating shaft；322nd, horizontal rotating shaft set；323rd, gland set；324th, the axis of rolling
Hold；325th, center steering seat；326th, vertical rotation axis；327th, thrust rotating shaft；33rd, clamping device；331st, bent plate；3311st, bent plate
One panel；33111st, elongated hole；33112nd, positioning hole；33113rd, bolt；3312nd, bent plate second panel；3313rd, groove；3314th, it is curved
Plate first through hole；3315th, the through hole of bent plate second；3316th, bent plate third through-hole；3317th, bent plate fourth hole；3318th, bent plate
Three panels；3319th, bent plate fifth hole；332nd, contact roller swing rod；3321st, contact roller swing rod first panel；3322nd, contact roller is put
Bar first through hole；3323rd, the through hole of contact roller swing rod second；3324th, contact roller swing rod second panel；3325th, contact roller swing rod
Three through holes；333rd, spring adjustment bolt；334th, the second disc spring；335th, it is oriented to pinch roller；336th, flange pulley；4th, current collecting equipment；41st, it is electric
Brush support；42nd, carbon brush；5th, guide rail；51st, trolley；6th, bearing pin；7th, nut；110th, laser scanning device；120th, scanning camera；
130th, camera；140th, infrared thermoviewer；150th, embeded processor.
Embodiment
The present invention provides a kind of intelligent inspection robot, includes as shown in Fig. 1~2：
Robot car body：For delivering laser scanning device, scanning camera, camera, infrared thermoviewer and embedded place
Manage device；Including：
Car body body 1：For fixed delivery laser scanning device, camera, temperature sensor, infrared thermoviewer, radio frequency
The detection means such as scanning means, toxic gas detector, smoke detector, by dismountable rectangle bottom plate, L-shaped three parts group
Into as shown in Figure 3；
Drive device 2：It is fixedly connected by drive device fixed support 21 with car body body 1, for driving car body body 1
Moved；Including：
Main drive 21：It is fixedly mounted on car body body 1, as shown in figure 4, including：
Main drive fixed support 211：For motor 212 and decelerator 213 to be fixed on into car body body 1；
Motor 212：It is fixedly connected with main drive fixed support 211, one end is connected by electric wire with current collecting equipment 4,
The other end is connected with decelerator 213, for providing power for drive device 2；
Decelerator 213：Be fixedly connected with main drive fixed support 211, one end is connected with motor 212, the other end with
Driving shaft 214 is connected for the rotating speed for adjusting the driving shaft 214；
Driving shaft 214：Through car body body 1, one end is connected with decelerator 213, the other end and the stationary phase of driving wheel 215
Even, for driving driving wheel 215 to move；
Driving wheel 215：For cylinder, one end is fixedly connected with the driving shaft 214, and side contacts with guide rail 5, for band
Move motion of the car body body 1 in the radial direction of guide rail 5 described in the interior edge of guide rail 5；
First bearing seat 216：It is fixedly mounted on car body body 1, is passed through for driving shaft 214 and limit driving shaft 214
Radial motion；
Bearing cap 217：It is arranged in first bearing seat 216, is passed through for driving shaft 214 and limit the axle of driving shaft 214
To motion；
Elastic stretching device 22：It is fixedly mounted on car body body 1, for driving wheel 215 to be pressed in guide rail 5, increases
Add the frictional force between driving wheel 215 and guide rail 5；As shown in figure 5, including：
Elastic stretching device fixed support 221：It is fixedly mounted on car body body 1, for elastic stretching device 22 to be consolidated
It is scheduled on car body body 1, as shown in Figure 6；
Spring adjustment bolt 222：One end is fixed on elastic stretching device fixed support 221, and the other end is put with tensioning wheel
Bar 224 is connected, and an adjusting nut 2221 is provided with the middle part of spring adjustment bolt 222, for limiting the fortune of the first disc spring 223
It is dynamic；
First disc spring 223：Be enclosed in spring adjustment bolt 222, both ends respectively with adjusting nut 2221 and tensioning wheel swing rod
224 are in close contact, for limiting the motion amplitude of tensioning wheel swing rod 224；
Tensioning wheel swing rod 224：Middle part is connected by bearing pin 6 with robot body 1, and one end is logical provided with tensioning wheel swing rod first
Hole 2245, tensioning wheel swing rod first through hole 2245 is enclosed in spring adjustment bolt 222 to be in close contact with the first disc spring 223, another
End is fixedly connected with tensioning shaft 225, and the position for finely tuning tensioning wheel 226 makes drive device 2 be in close contact with guide rail 6；Such as Fig. 7
It is shown, including tensioning wheel swing rod first panel 2241, tensioning wheel swing rod second panel 2242, the panel 2243 of tensioning wheel swing rod the 3rd
With tensioning wheel swing rod fourth face plate 2244, tensioning wheel swing rod first through hole is provided with tensioning wheel swing rod first panel 2241
2245, one end of the tensioning wheel swing rod second panel 2242 is vertical with the side of the one end of tensioning wheel swing rod first panel 2241 solid
Fixed connection, the other end of tensioning wheel swing rod second panel 2242 are fixedly connected with the panel 2243 of tensioning wheel swing rod the 3rd, are being tensioned
The wheel panel 2243 of swing rod the 3rd is provided with the second through hole 2246, is passed through for bearing pin 6 and is connected with robot body 1 and makes tensioning wheel
Swing rod 224 can rotate around bearing pin 6, in the side of the panel 2243 of tensioning wheel swing rod the 3rd and tensioning wheel swing rod second panel
2242 vertical directions are provided with tensioning wheel swing rod fourth face plate 2244, and threeway is provided with tensioning wheel swing rod fourth face plate 2244
Hole 2247, passed through for tensioning shaft 225.
Tensioning shaft 225：Both ends are connected with tensioning wheel swing rod 224 and tensioning wheel 226 respectively；
Tensioning wheel 226：For cylinder, one end is fixedly connected by bearing pin 6 with tensioning wheel swing rod 224, and side and guide rail 5 are tight
Contiguity is touched；
Slave unit 23：It is fixedly mounted on car body body 1, the vertical direction of guide rail 5 is acted on for bearing body body 1
Power, keep car body 1 even running in guide rail 5 of body；As shown in figure 8, including：
Driven shaft 231：One end is arranged on car body body 1 by second bearing seat 233, and the other end is solid with driven pulley 232
Fixed connection；
Driven pulley 232：One end is fixedly connected with driven shaft 231, and side contacts with guide rail 5, is made for bearing body body 1
For the power of the vertical direction of guide rail 5, even running of the car body body 1 in guide rail is kept；
Encoder 234：It is arranged on the displacement that the one end of driven pulley 232 is used to detect driven pulley 232；
Guider 3：Middle part is fixedly connected by guider fixed support 31 with the both sides of car body body 1, and both ends lead to
The both wings that clamping device 33 is crossed with shape of chinese word Ji guide rail 5 are connected, for enterprising in the bearing of trend along guide rail 5 with motor vehicles bodies body 1
The steering of row horizontally and vertically；As shown in Fig. 9~10, including：
Guider fixed support 31：It is fixedly connected with car body body 1, car body body 1 is fixed on for being directed to device 3
On；As shown in figure 11, including with car body body 1 the guider fixed support first panel 311 being fixedly connected, is vertically set on
The guider fixed support second panel 312 of the one end of guider fixed support first panel 311, branch is fixed in guider
Reinforcement 313 is provided between frame first panel 311 and guider fixed support second panel 312, branch is fixed in guider
The other end of frame second panel 312 is provided with boss 314, and guider fixed support through hole 315 is provided with the middle part of boss 314.
Centre revolving device 32：It is fixedly connected with guider fixed support 31, for providing level side for car body body 1
To the steering with vertical direction；It is logical including the horizontal rotating shaft 321 through guider fixed support through hole 315, horizontal rotating shaft 321
Cross horizontal rotating shaft set 322 with guider fixed support 31 to be connected, gland set 323, water are provided with the both sides of horizontal rotating shaft set 322
Flat turn axle 321 is connected through gland set 323, gland set 323 by rolling bearing 324 with center steering seat 325, center steering seat
325 structure is as shown in figure 12, and vertical rotation axis 326 is connected by slide thrust bearing 327 with center steering seat 325, vertical to turn
The one end of axle 326 is connected through center steering seat 325 by nut 7 with gland set 323, in rolling bearing 324 and center steering seat
Rubber blanket is provided between 325, thrust washer is provided between nut 7 and gland set 323；
Clamping device 33：Side is connected with centre revolving device 32, and opposite side is in close contact with guide rail 5, for by with
The active force of guide rail 5 causes centre revolving device 32 to be rotated along the direction of guide rail 5.As shown in figure 13, including：
Bent plate 331：It is connected with center steering seat 325；As shown in figure 14, including with center steering seat 325 bent plate being connected
First panel 3311, is provided with elongated hole 33111 and positioning hole 33112 in bent plate first panel 3311, and bolt 33113 passes through elongated hole
33111 are fixed on center steering seat 325 so that bent plate first panel 3311 can along elongated hole 33111 vertical direction with
Center steering seat 325 produces slip, with the one end of bent plate first panel 3311 bent plate second panel 3312 connected vertically；In bent plate
Second panel 3312 is provided with one and is used for the groove 3313 that contact roller swing rod 332 positions, and is passed through for contact roller swing rod 332 curved
Plate first through hole 3314, the second through hole of bent plate 3315 passed through for bearing pin 6, the bent plate the 3rd passed through for being oriented to pinch roller 335
Through hole 3316, the bent plate fourth hole 3317 passed through for flange pulley 336；The panel 3318 of bent plate the 3rd is vertically set on bent plate
The other end of two panels 3312, it is provided with the panel 3318 of bent plate the 3rd and is used for the bent plate the 5th that spring adjustment bolt 333 passes through
Through hole 339；
Contact roller swing rod 332：One end is fixedly connected by bearing pin 6 with bent plate 331；As shown in figure 15, including contact roller is put
Bar first panel 3321, it is provided with one end of contact roller swing rod first panel 3321 and is used for the contact roller swing rod that bearing pin 6 passes through
One through hole 3322, it is provided with the middle part of contact roller swing rod first panel 3321 and is used to be oriented to the contact roller swing rod that pinch roller 335 passes through
Second through hole 3323, contact roller swing rod second panel 3324 is vertically provided with the other end of contact roller swing rod first panel 3321,
It is provided with contact roller swing rod second panel 3324 and is used for the contact roller swing rod third through-hole that spring adjustment bolt 333 passes through
3325；
Spring adjustment bolt 333：Connect the other end and bent plate 331 of contact roller swing rod 332；
Second disc spring 334：It is located in spring adjustment bolt 333 between bent plate 331 and contact roller swing rod 332；
It is oriented to pinch roller 335：It is fixedly connected with contact roller swing rod 332 by nut 7, is contacted with the interior outside of guide rail 6；
Flange pulley 336：It is fixedly connected with bent plate 331 by nut 7, is contacted with the interior outside of guide rail 6.
Current collecting equipment 4：Be fixedly connected by carbon brush supports 41 with guider fixed support 31, carbon brush supports 41 it is another
End is connected with carbon brush 42, and the other end of carbon brush 42 is connected with the trolley 51 in the groove of guide rail 5, for being provided for drive device 2
Power.
Guide rail 5：For shape of chinese word Ji structure, as shown in figure 16, trolley 51 is arranged on the inside grooves of guide rail 5, the both sides of guide rail 5
Wing side be arranged on the same side, positioned at being oriented between pinch roller 335 and flange pulley 336.
Laser scanning device 110：For carrying out three-dimensional modeling to tunnel, for detecting tunnel clearance and deformation, for examining
Foreign matter in tunnel is surveyed, for detecting track deformation；
Scanning camera 120：For detecting tunnel crackle and wet stain, for detecting foreign matter in tunnel；
Camera 130：For being monitored to environment in tunnel；
Infrared thermoviewer 140：For detecting tunnel inner cable heating, for detecting the intrusion of staff in tunnel and animal；
Embeded processor 150：It is fixedly mounted on robot car body, for receiving laser scanning device 110, scanning phase
The real-time status data that machine 120, camera 130, infrared thermoviewer 140 transmit, for by real-time status data and database
Data are contrasted and generate comparing result, for comparing result to be sent into platform control centre, CCC.
Intelligent inspection robot supplies motor 212 by the power taking of current collecting equipment 4, and motor 212 is that the offer of driving wheel 215 is dynamic
Power, drive intelligent inspection robot moved along the direction of guide rail 5, laser scanning device 110, scanning camera 120, camera 130,
The real-time status data of the real-time collecting Rail Transit System infrastructure of infrared thermoviewer 140 is simultaneously sent to embedded processing
The real-time status data of reception is divided into normal data, fault data and warning data by device 150, embeded processor 150 first,
Wherein normal data is directly preserved to the database of inside, and fault data and warning data are classified, positioned and graded simultaneously
By failure modes information, failure rating information and fault location information transmission to platform control centre, CCC, use
Family can find failure or potential faults in time, save the time of safety inspection, improve the efficiency of safety inspection.
The database inside embeded processor 150 can transmit according to platform control centre, CCC simultaneously
The realization that updates the data automatically update, and judge using the result after renewal as fault message next time or warning information, grading
Foundation, realize the intelligent growth of intelligent inspection robot.
Intelligent inspection robot in the process of running, when guide rail 5 turns in vertical direction, the edge crush ribs of guide rail 5
The flange of wheel 336, makes vertical rotation axis 326 be rotated in centre revolving device 32, and then drives intelligent inspection robot along leading
Rail 5 turns in vertical direction；When guide rail 5 turns in the horizontal direction, in the presence of disc spring, pinch roller 335 and flange pulley are oriented to
336 clamping guide-rails 5, rotate horizontal rotating shaft 321, and then drive intelligent inspection robot to be turned in the horizontal direction along guide rail 5.
When needing to dismantle intelligent inspection robot from guide rail 5, as shown in Figure 17~18, the He of positioning hole 33112 is unclamped
Bolt 33113 on elongated hole 33111, upper and lower two clamping devices 33 are made to be moved along elongated hole 33111 axially away from guide rail 5, i.e.,
Whole intelligent inspection robot can be disassembled from guide rail 5.
It is described above to be merely exemplary for the purpose of the present invention, and it is nonrestrictive, and those of ordinary skill in the art understand,
In the case where not departing from the spirit and scope that claim is limited, any modification, the change or equivalent that can make, will all fall
Enter within protection scope of the present invention.
Claims (5)
- A kind of 1. intelligent inspection robot, it is characterised in that：Including：Robot car body：For delivering laser scanning device (110), scanning camera (120), camera (130), infrared thermoviewer And embeded processor (150) (140)；Laser scanning device (110)：It is fixedly mounted on robot car body, for carrying out three-dimensional modeling to tunnel, for detecting Tunnel clearance and deformation, for detecting foreign matter in tunnel, for detecting track deformation；Scanning camera (120)：It is fixedly mounted on robot car body, for detecting tunnel crackle and wet stain, for detecting tunnel Interior foreign matter；Camera (130)：It is fixedly mounted on robot car body, for being monitored to environment in tunnel；Infrared thermoviewer (140)：It is fixedly mounted on robot car body, for detecting tunnel inner cable heating, for detecting tunnel The intrusion of personnel and animal in road；Embeded processor (150)：It is fixedly mounted on the robot car body, for receiving the laser scanning device (110), scanning camera (120), camera (130), the real-time status data of infrared thermoviewer (140) transmission, for by described in Real-time status data is contrasted with data in database and generates comparing result, for the comparing result to be sent into platform Control centre, CCC, for receiving the platform control centre, CCC transmission is updated the data, referred to Order.
- A kind of 2. intelligent inspection robot according to claim 1, it is characterised in that：The robot car body includes：Car body body (1)：For be fixedly mounted the laser scanning device (110), scanning camera (120), camera (130), Infrared thermoviewer (140) and embeded processor (150)；Drive device (2)：It is fixedly connected by drive device fixed support (21) with the car body body (1), for driving Car body body (1) is stated to be moved；Guider (3)：It is fixedly connected by guider fixed support (31) with the both sides of the car body body (1), both ends It is connected by clamping device (33) with the both wings of shape of chinese word Ji guide rail (5), for driving the car body sheet in the drive device (2) When bearing of trend of the body (1) along the guide rail (5) moves, the car body body (1) is set to carry out level side with shape of chinese word Ji guide rail (5) To the steering with vertical direction；Current collecting equipment (4)：It is fixedly connected by carbon brush supports (41) with the guider fixed support (31), the carbon brush branch The other end of frame (41) is connected with carbon brush (42), the other end and the trolley (51) on the guide rail (5) of the carbon brush (42) It is connected, for the drive device (2) and delivers electrical equipment for car body body (1) and mains power is provided；
- A kind of 3. intelligent inspection robot according to claim 2, it is characterised in that：The guider (3) includes：Guider fixed support (31)：It is fixedly connected with the car body body (1), for the guider (3) is fixed On the car body body (1)；Centre revolving device (32)：It is fixedly connected with the guider fixed support (31), for for the car body body (1) Steering horizontally and vertically is provided；Clamping device (33)：Side is connected with the centre revolving device (32), and opposite side and the both wings of the guide rail (5) are close Contact, for by driving the car body body (1) with the active force centre revolving device (32) of the guide rail (5) Rotated along the bearing of trend of the guide rail (5).
- A kind of 4. intelligent inspection robot according to claim 3, it is characterised in that：Centre revolving device (32) bag The horizontal rotating shaft (321) through the guider fixed support through hole (315) is included, the horizontal rotating shaft (321) passes through level Rotating shaft set (322) is connected with the guider fixed support (31), and gland is provided with the both sides of the horizontal rotating shaft set (322) Cover (323), the horizontal rotating shaft (321) passes through the gland set (323), and the gland set (323) passes through rolling bearing (324) It is connected with center steering seat (325), vertical rotation axis (326) passes through slide thrust bearing (327) and the center steering seat (325) It is connected, described vertical rotation axis (326) one end passes through nut (7) and the gland set (323) through the center steering seat (325) It is connected.
- A kind of 5. intelligent inspection robot according to claim 3, it is characterised in that：The clamping device (33) include with The connected bent plate (331) of the center steering seat (325), the pressure that one end is fixedly connected by bearing pin (6) with the bent plate (331) Bearing up pulley swing rod (332), the other end of the contact roller swing rod (332) pass through spring adjustment bolt (333) and the bent plate (331) Connection, second is provided between the bent plate (331) and the contact roller swing rod (332) on the spring adjustment bolt (333) Disc spring (334), it is oriented to pinch roller (335) and is fixedly connected by nut (7) with the contact roller swing rod (332), flange pulley (336) is logical Nut (7) is crossed to be fixedly connected with the bent plate (331), it is described guiding pinch roller (335) and the flange pulley (336) respectively with it is described Guide rail (6) interior outside contacts.
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| CN201710333954.8A CN107433959B (en) | 2017-05-12 | 2017-05-12 | Intelligent inspection robot |
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| CN201710333954.8A CN107433959B (en) | 2017-05-12 | 2017-05-12 | Intelligent inspection robot |
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| CN108248635A (en) * | 2018-02-05 | 2018-07-06 | 刘春梅 | A kind of intelligent checking system for rail tunnel |
| CN109281711A (en) * | 2018-09-30 | 2019-01-29 | 中国安全生产科学研究院 | A kind of subterranean tunnel safety patrol inspection robot |
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| CN110517462A (en) * | 2019-09-24 | 2019-11-29 | 苏州南师大科技园投资管理有限公司 | A kind of shop safety monitoring system |
| CN113108711A (en) * | 2021-04-16 | 2021-07-13 | 南京金创有色金属科技发展有限公司 | High-temperature pipeline compensation section deformation measurement method |
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| CN107433959B (en) | 2023-06-23 |
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