CN108594833A - A kind of novel light and handy track-type multi-function crusing robot system - Google Patents
A kind of novel light and handy track-type multi-function crusing robot system Download PDFInfo
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- CN108594833A CN108594833A CN201810930354.4A CN201810930354A CN108594833A CN 108594833 A CN108594833 A CN 108594833A CN 201810930354 A CN201810930354 A CN 201810930354A CN 108594833 A CN108594833 A CN 108594833A
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- steel wire
- wheel
- wire rope
- handy
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- 238000001514 detection method Methods 0.000 claims abstract description 54
- 230000003028 elevating effect Effects 0.000 claims abstract description 26
- 238000007689 inspection Methods 0.000 claims abstract description 17
- 229910000831 Steel Inorganic materials 0.000 claims description 70
- 239000010959 steel Substances 0.000 claims description 70
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 10
- 230000001360 synchronised effect Effects 0.000 claims description 10
- 230000005570 vertical transmission Effects 0.000 claims description 9
- 230000003139 buffering effect Effects 0.000 claims description 8
- CBENFWSGALASAD-UHFFFAOYSA-N Ozone Chemical compound [O-][O+]=O CBENFWSGALASAD-UHFFFAOYSA-N 0.000 claims description 5
- 229910002092 carbon dioxide Inorganic materials 0.000 claims description 5
- 239000001569 carbon dioxide Substances 0.000 claims description 5
- 230000008450 motivation Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 6
- 238000005452 bending Methods 0.000 description 3
- 229910003460 diamond Inorganic materials 0.000 description 2
- 239000010432 diamond Substances 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008014 freezing Effects 0.000 description 2
- 238000007710 freezing Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 229920002635 polyurethane Polymers 0.000 description 2
- 239000004814 polyurethane Substances 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000010259 detection of temperature stimulus Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000004209 hair Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000013139 quantization Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
Abstract
The invention discloses a kind of novel light and handy track-type multi-function crusing robot systems, including：Elevating mechanism and carry in the lower surface on chassis is arranged in the detection ball storehouse mechanism of elevating mechanism lower end in the chassis of track and track slidable connection.The reduction of robot system of the present invention volume itself and height dimension can travel in more narrow space and carry out inspection operation, can adapt to the site environment of more complexity；While robot system volume weight reduces, the robot system is also being improved in the design aspect of other performances, and travel speed can most reach 1.2m/s soon, and the speed of other degree of freedom is also than faster, the time of inspection can be shortened, improve the efficiency of inspection work.
Description
Technical field
The present invention relates to the technical fields of rail mounted robot, more particularly to a kind of novel light and handy track-type multi-function inspection
Robot system.
Background technology
With the rapid development of robot industry, the industry area of covering is increasing, and the performance requirement of robot is also got over
Come it is harsher, using wanting relatively reliable, weight will more lightweight, face the ever-increasing robot industry of the market demand, it is right
The working efficiency of robot itself is just put forward higher requirements, such as in specified workload, and the time of work needs
Greatly reduce, while within the same working time, the intensity of the work of robot will greatly increase, from the angle of robot itself
From the point of view of degree, robot need to can adapt to the external environment of more complexity, and the reliability requirement of the work of robot wants higher and higher,
The accurate precision of the work of robot is also required to improve.Presently, from the point of view of the working efficiency of robot itself, in the market
Robot cannot meet the trend of this development.
Invention content
In view of this, the purpose of the present invention is to provide a kind of novel light and handy track-type multi-function crusing robot systems.
To achieve the goals above, the technical solution that the present invention takes is：
A kind of novel light and handy track-type multi-function crusing robot system, wherein including：Track can be slided with the track
Elevating mechanism and carry in the lower surface on the chassis is arranged in the inspection of the elevating mechanism lower end in the chassis of dynamic connection
Survey ball storehouse mechanism；Wherein,
The chassis includes：
The middle part of chassis main frame, the chassis main frame is equipped with driving wheel；
The both sides of directive wheel support arm, the chassis main frame are respectively equipped with a directive wheel support arm, the directive wheel
Support arm is rotatably connected with the chassis main frame；
Upper directive wheel and lower directive wheel are equipped with described in a upper directive wheel and one on each directive wheel support arm
Lower directive wheel, the upper directive wheel and the lower directive wheel are vertically arranged, the upper directive wheel and the lower guiding
Wheel faces, and the upper directive wheel is set to the upper end of the track, and the lower directive wheel is set to the lower end of the track；
The side of barcode scanning sensor, the chassis main frame is equipped with the barcode scanning sensor；
Electric wiping arm, the other side of the chassis main frame is taken to take electric wiping arm equipped with described；
The elevating mechanism includes：
Elevator platform, the elevator platform are fixedly connected with the lower face of the chassis main frame；
Steel wire rope elevator wheel, the steel wire rope elevator wheel are arranged on the elevator platform, the steel wire rope elevator wheel
Both sides are respectively equipped with two steel wire ropes；
The rotatable last item of steel wire rope, several rotatable last items of steel wire rope are arranged on the elevator platform, several
The rotatable last item of steel wire rope is uniformly arranged around the steel wire rope elevator wheel.
The lower end of multistage loop bar, the elevator platform is parallelly equipped with the two multistage loop bars, and the two multistage loop bars are equal
It is vertically arranged, each multistage loop bar is connected with a steel wire rope respectively；
Motor, the motor are fixedly connected with the elevator platform, and the motor drives the steel wire by transmission mechanism
Rope elevator wheel；
The detection ball storehouse mechanism includes：
Ball storehouse is rotated, the rotation ball storehouse is hung in the lower end of the multistage loop bar, the both sides difference of the rotation ball storehouse
Equipped with a detection arm；
Horizontal rotary gear, the horizontal rotary gear are set to the lower end of the rotation ball storehouse；
Horizontal rotation shaft, the horizontal rotation shaft are vertically provided at the lower end of the rotation ball storehouse, the horizontal rotation
The upper end of axis is connected with the horizontal rotary gear, and the lower end of the horizontal rotation shaft is connected with carry object；
Driving motor is rotated horizontally, the horizontal rotation driving motor drives the horizontal rotary gear；
Vertical rotation gear, the two vertical rotation gears are respectively arranged at the both sides of the rotation ball storehouse；
Vertical rotary shaft, two vertical rotary shafts horizontally are arranged at the both sides of the rotation ball storehouse respectively, described in two
One end of vertical rotary shaft is connected with a vertical rotation gear respectively, the other ends of two vertical rotary shafts respectively with
The two detection arms are connected；
Vertical rotary drive motor, the vertical rotary drive motor drive the two vertical rotation gears.
Above-mentioned novel light and handy track-type multi-function crusing robot system, wherein further include：
Bar code is positioned, the side of the track is equipped with the positioning bar code, and the barcode scanning sensor identification is described fixed
Position bar code；
Electric trolley is taken, the side of the track takes electric trolley equipped with described in, described that electric trolley is taken to take electricity with described
Wiping arm matches.
Above-mentioned novel light and handy track-type multi-function crusing robot system, wherein the driving wheel and the chassis machine
Spring is equipped between frame.
Above-mentioned novel light and handy track-type multi-function crusing robot system, wherein on each directive wheel support arm
It is additionally provided with the two auxiliary buffering wheels faced.
Above-mentioned novel light and handy track-type multi-function crusing robot system, wherein the transmission mechanism includes：
Driving wheel, the driving wheel are fixedly connected with the motor shaft of the motor；
Synchronizing wheel, the synchronizing wheel are fixedly connected with the steel wire rope elevator wheel；
Synchronous belt, driving wheel and the synchronizing wheel described in the synchronous band connection.
Above-mentioned novel light and handy track-type multi-function crusing robot system, wherein further include：
Steel wire rope guide limiting stopper, the elevator platform are equipped with the two steel wire rope guide limiting stoppers, two steel
Cord guide limiting stopper is right against the steel wire rope elevator wheel.
The lower part of fixed pulley, each steel wire rope guide limiting stopper is equipped with a fixed pulley.
Above-mentioned novel light and handy track-type multi-function crusing robot system, wherein the detection ball storehouse mechanism further includes：
Vertical Transmission gear shaft assembly, the two vertical rotation gears are sequentially connected with the vertical Transmission gear shaft assembly respectively, institute
It states vertical rotary drive motor and drives the vertical Transmission gear shaft assembly.
Above-mentioned novel light and handy track-type multi-function crusing robot system, wherein the detection arm is equipped with flexible
Mechanism, the telescoping mechanism are the screw mechanism of toothed belt transmission.
Above-mentioned novel light and handy track-type multi-function crusing robot system, wherein set on the wherein one detection arm
There are noise transducer, humidity sensor and infrared sensor, another detection arm to be equipped with visible lamp, light compensating lamp drawn game
It puts.
Above-mentioned novel light and handy track-type multi-function crusing robot system, wherein the upper end of the rotation ball storehouse is equipped with
One end of carbon dioxide gas sensor and ozone gas sensor, the rotation ball storehouse is equipped with display screen.
As a result of above-mentioned technology, the good effect for being allowed to have compared with prior art is the present invention：
(1) reduction of robot system of the present invention volume itself and height dimension, can be travelled in more narrow space into
Row inspection operation can adapt to the site environment of more complexity；While robot system volume weight reduces, the robot
System is also being improved in the design aspect of other performances, and travel speed can most reach 1.2m/s, the speed of other degree of freedom soon
It is also than that faster, the time of inspection can be shortened, improve the efficiency of inspection work.
(2) track of the invention is designed into 1.73kg/m, and weight is lighter, while reducing cost, also reduce existing
The difficulty of field construction；It can be positioned accurate using technical grade bar code+barcode scanning sensor with round-the-clock progress inspection work in 24 hours
Positioning, positioning accuracy can reach 2mm, in this way can accurate continuous operation, the efficiency of work can be improved.
(3) detection ball storehouse mechanism of the invention can be mounted under elevating mechanism, upper and lower inspection, meanwhile, detection ball storehouse mechanism
Itself have horizontal, vertical 2 rotary freedoms, along with elevating mechanism moves up and down, the present invention by visible light, infrared patrol
The range of inspection can greatly increase, while not only improving working efficiency, to patrolling for live many complicated inspection target objects
Inspection validity also greatly improves, and is further able to adapt to more live inspection demands.
(4) detection of infrared sensor of the invention increases retractable, can be to target detection thing closer to distance
Detection, it is experimentally confirmed that this method can greatly improve accuracy and the validity of infrared sensor detection；Visible light sensor
Around increase light filling lamp ring, in the space weaker to visual intensity, can compensate for accurately being detected, effectively improve machine
Adaptability of the device people system to ambient enviroment
(5) present invention has external environment project that can be detected：Visible detection, infrared temperature detection, carbon dioxide
Gas detection, ozone detection, partial discharge sensor detection (detection of shelf depreciation), the detection of Temperature and Humidity, noise, increase simultaneously
Add state display, automatic obstacle avoiding function.
Description of the drawings
Fig. 1 is the stereogram of the side of the novel light and handy track-type multi-function crusing robot system of the present invention.
Fig. 2 is the stereogram of the other side of the novel light and handy track-type multi-function crusing robot system of the present invention.
Fig. 3 a are the side views on the chassis of the novel light and handy track-type multi-function crusing robot system of the present invention.
Fig. 3 b be the novel light and handy track-type multi-function crusing robot system of the present invention Fig. 3 a in main view direction cut open
View.
Fig. 3 c are the stereograms on the chassis of the novel light and handy track-type multi-function crusing robot system of the present invention.
Fig. 3 d are the rectilinear orbit schematic diagrames of the novel light and handy track-type multi-function crusing robot system of the present invention.
Fig. 3 e are the warp rail schematic diagrames of the novel light and handy track-type multi-function crusing robot system of the present invention.
Fig. 3 f are the rail section schematic diagrames of the novel light and handy track-type multi-function crusing robot system of the present invention.
Fig. 4 a are the stereograms of the elevating mechanism of the novel light and handy track-type multi-function crusing robot system of the present invention.
Fig. 4 b are the other sides of the elevating mechanism of the novel light and handy track-type multi-function crusing robot system of the present invention
Stereogram.
Fig. 5 a are the sides of the detection ball storehouse mechanism of the novel light and handy track-type multi-function crusing robot system of the present invention
Stereogram.
Fig. 5 b are the another of the detection ball storehouse mechanism of the novel light and handy track-type multi-function crusing robot system of the present invention
The stereogram of side.
Fig. 5 c are looking up for the detection ball storehouse mechanism of the novel light and handy track-type multi-function crusing robot system of the present invention
Direction stereogram.
In attached drawing：1, chassis；2, elevating mechanism；3, detection ball storehouse mechanism；11, chassis main frame；12, driving wheel；121, bullet
Spring；13, directive wheel support arm；131, buffering wheel is assisted；14, upper directive wheel；15, lower directive wheel；16, barcode scanning sensor；17, it takes
Electric wiping arm；181, track；182, bar code is positioned；183, electric trolley is taken；21, elevator platform；22, steel wire rope elevator wheel；
23, the rotatable last item of steel wire rope；24, multistage loop bar；241, mounting plate is loaded；25, motor；261, driving wheel；262, synchronizing wheel；
263, synchronous belt；27, steel wire rope guide limiting stopper；28, fixed pulley；31, ball storehouse is rotated；32, arm is detected；331, it rotates horizontally
Gear；332, horizontal rotation shaft；341, gear is rotated vertically；342, vertical rotary shaft；311, noise transducer；312, humidity passes
Sensor；313, infrared sensor；314, visible lamp；315, light compensating lamp；316, partial discharge；317, carbon dioxide gas sensor；
318, ozone gas sensor；319, display screen.
Specific implementation mode
The invention will be further described in the following with reference to the drawings and specific embodiments, but not as limiting to the invention.
Fig. 1 is the stereogram of the side of the novel light and handy track-type multi-function crusing robot system of the present invention, and Fig. 2 is this
The stereogram of the other side of the novel light and handy track-type multi-function crusing robot system of invention, refers to shown in Fig. 1, Fig. 2, shows
Go out a kind of novel light and handy track-type multi-function crusing robot system of preferred embodiment, including：Track 181 and the rail
Elevating mechanism 2 and carry in the lower surface on the chassis 1 is arranged in the lifting in the chassis 1 of 181 slidable connection of road
The detection ball storehouse mechanism 3 of 2 lower end of mechanism.
The following detailed description of each mechanism of the present invention：
Chassis 1：
Fig. 3 a are the side views on the chassis of the novel light and handy track-type multi-function crusing robot system of the present invention, and Fig. 3 b are
The sectional view in main view direction in Fig. 3 a of the novel light and handy track-type multi-function crusing robot system of the present invention, Fig. 3 c are this hairs
The stereogram on the chassis of bright novel light and handy track-type multi-function crusing robot system, Fig. 3 d are the novel light and handy rails of the present invention
The rectilinear orbit schematic diagram of road formula Multifunctional inspecting robot system, Fig. 3 e are that the novel light and handy track-type multi-function of the present invention patrols
The warp rail schematic diagram of robot system is examined, Fig. 3 f are the novel light and handy track-type multi-function crusing robot systems of the present invention
Rail section schematic diagram, refer to the structure that a kind of chassis 1 of preferred embodiment is shown shown in Fig. 3 a to Fig. 3 f, including：
The middle part of chassis main frame 11 and directive wheel support arm 13, chassis main frame 11 is equipped with driving wheel 12；Distinguish the both sides of chassis main frame 11
Equipped with a directive wheel support arm 13, directive wheel support arm 13 is rotatably connected with chassis main frame 11.Directive wheel support arm 13 can
It rotates in an axial direction, the track 181 of bending as shown in Figure 3 e can be passed through.
In addition, as a kind of preferred embodiment, chassis 1 includes：Upper directive wheel 14 and lower directive wheel 15, each directive wheel
Directive wheel 14 and once directive wheel 15 are equipped on one on support arm 13, upper directive wheel 14 and lower directive wheel 15 are vertically
Setting, upper directive wheel 14 and lower directive wheel 15 face.Upper directive wheel 14 and lower directive wheel 15 and track 181 assume diamond in shape octagon
Contact.Upper directive wheel 14 and lower directive wheel 15 is angled is adjacent to track 181, it is ensured that position will not be with rail during the motion on chassis
Road 181 dislocation even de-orbit 181 unreliable phenomenon.
In addition, as a kind of preferred embodiment, chassis 1 includes：Barcode scanning sensor 16 and take electric wiping arm 17, chassis machine
The side of frame 11 is equipped with barcode scanning sensor 16；The other side of chassis main frame 11 is equipped with and takes electric wiping arm 17.Pass through barcode scanning sensor
16 are accurately positioned.Electricity is taken at any time by taking electric wiping arm 17 to realize 24 hours.
On the other hand, as a kind of preferred embodiment, chassis 1 includes：Track 181, upper directive wheel 14 are set to track 181
Upper end, lower directive wheel 15 be set to track 181 lower end.The cross section very little (1.75kg/m) of track 181 is light due to track
Quantization and miniaturization, it is lighter than existing chassis smaller to may be implemented chassis.
Further, as a kind of preferred embodiment, chassis 1 includes：Further include：Bar code 182 is positioned, track 181
Side is equipped with positioning bar code 182, the identification positioning bar code 182 of barcode scanning sensor 16.
Further, as a kind of preferred embodiment, rail mounted be accurately positioned in real time can fast and stable walking it is light and handy
Chassis further includes：Electric trolley 183 is taken, the side of track 181, which is equipped with, takes electric trolley 183, takes electric trolley 183 and takes electric cunning
Contact arm 17 matches.
The foregoing is merely preferred embodiments of the present invention, are not intended to limit embodiments of the present invention and protection model
It encloses.
The present invention also has on the basis of the above is implemented as follows mode：
In further embodiment of the present invention, continuing with referring to shown in Fig. 3 a to Fig. 3 f, track 181 include rectilinear orbit and
The turning radius of bending track, bending track is 300mm.
In further embodiment of the present invention, spring 121 is equipped between driving wheel 12 and chassis main frame 11.Driving wheel 12 is logical
It crosses spring 121 and compresses the lower end for being closely attached on track 181.
In further embodiment of the present invention, the two auxiliary buffering wheels faced are additionally provided on each directive wheel support arm 13
131.Assisting buffering wheel 131, direction along ng a path travels with can ensure that chassis fast and stable.
In further embodiment of the present invention, auxiliary buffering wheel 131 is horizontally disposed.
In further embodiment of the present invention, assist being equipped with freezing polyurethane rubber-covered on buffering wheel 131.Driving process is non-
Chang Pinghuan, the noise sent out are smaller.
In further embodiment of the present invention, freezing polyurethane rubber-covered is equipped on upper directive wheel 14 and lower directive wheel 15.
In further embodiment of the present invention, upper directive wheel 14 and lower directive wheel 15 rub relative to the pure rolling of track 181
Wiping contact, the synergy for contacting and assisting buffering wheel 131 with the diamond shape octagon of track 181, chassis is than existing chassis
It can faster more stably be moved on track 181, prestissimo is not in hold up to 1.2m/s, and during Fast marching
The upper directive wheel 14 of weight and lower directive wheel 15 swing back and forth the phenomenon that resistance being subject to driving wheel 12 is excessive and stall.
Elevating mechanism 2：
Fig. 4 a are the stereogram of the elevating mechanism of the novel light and handy track-type multi-function crusing robot system of the present invention, figure
4b is the stereogram of the other side of the elevating mechanism of the novel light and handy track-type multi-function crusing robot system of the present invention, please be joined
See and shows a kind of elevating mechanism 2 of preferred embodiment shown in Fig. 4 a, Fig. 4 b, including：Elevator platform 21 and steel wire rope elevator wheel
22, elevator platform 21 is fixedly connected with the lower end of chassis main frame 11, and steel wire rope elevator wheel 22 is arranged on elevator platform 21, steel wire
The both sides of rope elevator wheel 22 are respectively equipped with two steel wire ropes.Steel wire rope elevator wheel 22 carries out the winding of steel wire rope by way of winding displacement
With over.
In addition, as a kind of preferred embodiment, elevating mechanism 2 includes：The rotatable last item 23 of steel wire rope, several steel wire ropes
Rotatable last item 23 is arranged on elevator platform 21, and several rotatable last items 23 of steel wire rope are uniform around steel wire rope elevator wheel 22
Setting.The rotatable last item of steel wire rope 23 is rotated with the rotation of steel wire rope elevator wheel 22, passes through the rotatable last item of steel wire rope 23
Steel wire rope is limited.
In addition, as a kind of preferred embodiment, elevating mechanism 2 includes：Multistage loop bar 24 is held level with both hands under elevator platform 21
It is equipped with two multistage loop bars 24 capablely, two multistage loop bars 24 are vertically arranged, and each multistage loop bar 24 is connected with a steel wire rope respectively
It connects, passes through independent wire rope transfers pulling force.Realization folding and unfolding campaign up and down is moved synchronously by two multistage loop bars 24.
In addition, as a kind of preferred embodiment, elevating mechanism 2 includes：Motor 25, motor 25 are fixed with elevator platform 21
Connection, motor 25 drive steel wire rope elevator wheel 22 by transmission mechanism.
On the other hand, as a kind of preferred embodiment, transmission mechanism includes：Driving wheel 261, driving wheel 261 and motor
25 motor shaft is fixedly connected.
Further, as a kind of preferred embodiment, transmission mechanism includes：Synchronizing wheel 262, synchronizing wheel 262 and steel wire rope
Elevator wheel 22 is fixedly connected.The diameter of synchronizing wheel 262 is more than the diameter of driving wheel 261.
Further, as a kind of preferred embodiment, transmission mechanism includes：Synchronous belt 263, the connection master of synchronous belt 263
Driving wheel 261 and synchronizing wheel 262.25 output torque of motor is transferred to by the deceleration of synchronous belt 263 on steel wire rope elevator wheel 22.
The foregoing is merely preferred embodiments of the present invention, are not intended to limit embodiments of the present invention and protection model
It encloses.
The present invention also has on the basis of the above is implemented as follows mode：
In further embodiment of the present invention, continuing with referring to shown in Fig. 4 a, Fig. 4 b, elevating mechanism 2 further includes：Steel wire rope
Guide limiting stopper 27, elevator platform 21 are equipped with two steel wire rope guide limiting stoppers 27, and two steel wire rope guide limiting stoppers 27 of institute are just
For steel wire rope elevator wheel 22.
In further embodiment of the present invention, elevating mechanism 2 further includes：Fixed pulley 28, each steel wire rope guide limiting stopper
27 lower part is equipped with a fixed pulley 28.It is exported by the limit of steel wire rope guide limiting stopper 27 and fixed pulley 28 and stablizes pulling force
Ground passes to the detection ball storehouse mechanism 3 for needing to be promoted, to realize the oscilaltion campaign of detection ball storehouse mechanism 3, while externally
Boundary has very strong anti-interference ability, does not interfere with the normal work of entire elevating mechanism.
In further embodiment of the present invention, steel wire rope guide limiting stopper 27 is right against the side shape of steel wire rope elevator wheel 22
At cancave cambered surface, the shape and the shape of the outer wall of steel wire rope elevator wheel 22 of cancave cambered surface match.
In further embodiment of the present invention, including the rotatable last item 23 of three steel wire ropes, the rotatable last item of three steel wire ropes 23
It is located at the both sides at the top and lower part of steel wire rope elevator wheel 22.
In further embodiment of the present invention, it is encapsulated that the surface of the rotatable last item of steel wire rope 23 is equipped with silica gel.It can subtract
The abrasion generated when few steel wire rope contact, meanwhile, steel wire rope on external environment when having improper interference and influencing, Neng Goubao
It demonstrate,proves steel wire rope and stablizes not random elevator on steel wire rope elevator wheel 22.
In further embodiment of the present invention, the lower end of two multistage loop bars 24 is equipped with load mounting plate 241.Pacified by loading
The installation detection ball storehouse of loading board 241 mechanism 3.
In further embodiment of the present invention, entire elevating mechanism 2 is set by multistage protection to steel wire rope and effectively
Meter can make the external world of the elevating mechanism 2 in normal work that interference reliability, that is, robustness be leaned on greatly to be promoted, right
Effective steady operation of integrated model has very big promotion.
Detect ball storehouse mechanism 3：
Fig. 5 a are the sides of the detection ball storehouse mechanism of the novel light and handy track-type multi-function crusing robot system of the present invention
Stereogram, Fig. 5 b be the present invention novel light and handy track-type multi-function crusing robot system detection ball storehouse mechanism it is another
The stereogram of side, Fig. 5 c are facing upward for the detection ball storehouse mechanism of the novel light and handy track-type multi-function crusing robot system of the present invention
Apparent direction stereogram refers to and shows a kind of detection ball storehouse mechanism of preferred embodiment shown in Fig. 5 a to 5c, including：Rotation
The both sides of ball storehouse 31, rotation ball storehouse 31 are respectively equipped with a detection arm 32.
In addition, as a kind of preferred embodiment, detection ball storehouse mechanism 3 includes：Horizontal rotary gear 331 rotates horizontally
Gear 331 is set to the lower end of rotation ball storehouse 31.
Further, as a kind of preferred embodiment, detection ball storehouse mechanism 3 includes：Horizontal rotation shaft 332 rotates horizontally
Axis 332 is vertically provided at the lower end of rotation ball storehouse 31, and the upper end of horizontal rotation shaft 332 is connected with horizontal rotary gear 331,
The lower end of horizontal rotation shaft 332 is connected with carry object.Rotation ball storehouse 31 is driven simultaneously by the rotation of horizontal rotation shaft 332
32 synchronous rotary of detection arm of both sides.
Further, as a kind of preferred embodiment, detection ball storehouse mechanism 3 includes：Driving motor is rotated horizontally, it is horizontal
Rotary drive motor drives horizontal rotary gear 331.
In addition, further, as a kind of preferred embodiment, detection ball storehouse mechanism 3 includes：Vertical rotation gear 341, two
Vertical rotation gear 341 is respectively arranged at the both sides of rotation ball storehouse 31.
Further, as a kind of preferred embodiment, detection ball storehouse mechanism 3 includes：Vertical rotary shaft 342, two vertical rotations
Shaft 342 horizontally is arranged at the both sides of rotation ball storehouse 31 respectively, and one end of two vertical rotary shafts 342 is rotated with one vertically respectively
Gear 341 is connected, and the other end of two vertical rotary shafts 342 is connected with two detection arms 32 respectively.Pass through vertical rotary teeth
341 driving vertical rotary shaft 342 of wheel is to drive 32 synchronous rotary of detection arm of 31 both sides of rotation ball storehouse.
Further, as a kind of preferred embodiment, detection ball storehouse mechanism 3 includes：Vertical rotary drive motor, vertically
Rotary drive motor driving two rotates gear 341 vertically.
The foregoing is merely preferred embodiments of the present invention, are not intended to limit embodiments of the present invention and protection model
It encloses.
The present invention also has on the basis of the above is implemented as follows mode：
In further embodiment of the present invention, continuing with referring to shown in Fig. 5 a to Fig. 5 c, the inside of rotation ball storehouse 31 is formed
One cavity so that rotation ball storehouse 31 can be fixed on load mounting plate 241 and avoid and load mounting plate while rotating
241 interference.
In further embodiment of the present invention, detection ball storehouse mechanism 3 further includes：Vertical Transmission gear shaft assembly, two is vertical
It rotates gear 341 to be sequentially connected with vertical Transmission gear shaft assembly respectively, vertical rotary drive motor drives vertical Transmission gear
Shaft assembly.
In further embodiment of the present invention, detection arm 32 is equipped with telescoping mechanism, and telescoping mechanism is toothed belt transmission
Screw mechanism, by screw mechanism enable every detection device close to detection target, realize multiple degrees of freedom inspection
It surveys.
In further embodiment of the present invention, wherein a detection arm 32 is equipped with noise transducer 311, humidity sensor
312 and infrared sensor 313.
In further embodiment of the present invention, another detection arm 32 is equipped with visible lamp 314,315 drawn game of light compensating lamp
Put 316.
In further embodiment of the present invention, the upper end of rotation ball storehouse 1 is equipped with carbon dioxide gas sensor 317 and ozone
Gas sensor 318.
In further embodiment of the present invention, one end of rotation ball storehouse 31 is equipped with display screen 319.
In further embodiment of the present invention, overall structure of the invention is more small and exquisite, compact relative to existing holder.
The foregoing is merely preferred embodiments of the present invention, are not intended to limit embodiments of the present invention and protection model
It encloses, to those skilled in the art, should can appreciate that all with made by description of the invention and diagramatic content
Equivalent replacement and obviously change obtained scheme, should all be included within the scope of the present invention.
Claims (10)
1. a kind of novel light and handy track-type multi-function crusing robot system, which is characterized in that including：Track and the track
Elevating mechanism and carry in the lower surface on the chassis is arranged in the elevating mechanism lower end in the chassis of slidable connection
Detection ball storehouse mechanism；Wherein,
The chassis includes：
The middle part of chassis main frame, the chassis main frame is equipped with driving wheel；
The both sides of directive wheel support arm, the chassis main frame are respectively equipped with a directive wheel support arm, the directive wheel support
Arm is rotatably connected with the chassis main frame；
Upper directive wheel and lower directive wheel, be equipped on each directive wheel support arm a upper directive wheel and one it is described under lead
To wheel, the upper directive wheel and the lower directive wheel are vertically arranged, the upper directive wheel and the lower directive wheel phase
Face, the upper directive wheel are set to the upper end of the track, and the lower directive wheel is set to the lower end of the track；
The side of barcode scanning sensor, the chassis main frame is equipped with the barcode scanning sensor；
Electric wiping arm, the other side of the chassis main frame is taken to take electric wiping arm equipped with described；
The elevating mechanism includes：
Elevator platform, the elevator platform are fixedly connected with the lower face of the chassis main frame；
Steel wire rope elevator wheel, the steel wire rope elevator wheel are arranged on the elevator platform, the both sides of the steel wire rope elevator wheel
It is respectively equipped with two steel wire ropes；
The rotatable last item of steel wire rope, several rotatable last items of steel wire rope are arranged on the elevator platform, several described
The rotatable last item of steel wire rope is uniformly arranged around the steel wire rope elevator wheel.
The lower end of multistage loop bar, the elevator platform is parallelly equipped with the two multistage loop bars, and the two multistage loop bars are vertical
Setting, each multistage loop bar are connected with a steel wire rope respectively；
Motor, the motor are fixedly connected with the elevator platform, and the motor drives the wire rope roll by transmission mechanism
Raise wheel；
The detection ball storehouse mechanism includes：
Ball storehouse is rotated, the rotation ball storehouse is hung in the lower end of the multistage loop bar, and the both sides of the rotation ball storehouse are respectively equipped with
One detection arm；
Horizontal rotary gear, the horizontal rotary gear are set to the lower end of the rotation ball storehouse；
Horizontal rotation shaft, the horizontal rotation shaft are vertically provided at the lower end of the rotation ball storehouse, the horizontal rotation shaft
Upper end is connected with the horizontal rotary gear, and the lower end of the horizontal rotation shaft is connected with carry object；
Driving motor is rotated horizontally, the horizontal rotation driving motor drives the horizontal rotary gear；
Vertical rotation gear, the two vertical rotation gears are respectively arranged at the both sides of the rotation ball storehouse；
Vertical rotary shaft, two vertical rotary shafts horizontally are arranged at the both sides of the rotation ball storehouse respectively, and two is described vertical
One end of rotary shaft is connected with a vertical rotation gear respectively, the other ends of two vertical rotary shafts respectively with two institutes
Detection arm is stated to be connected；
Vertical rotary drive motor, the vertical rotary drive motor drive the two vertical rotation gears.
2. novel light and handy track-type multi-function crusing robot system according to claim 1, which is characterized in that also wrap
It includes：
Bar code is positioned, the side of the track is equipped with the positioning bar code, and the barcode scanning sensor identifies the positioning strip
Shape code；
Electric trolley is taken, the side of the track takes electric trolley equipped with described in, described that electric trolley is taken to take electric wiping with described
Arm matches.
3. novel light and handy track-type multi-function crusing robot system according to claim 2, which is characterized in that the drive
Spring is equipped between driving wheel and the chassis main frame.
4. novel light and handy track-type multi-function crusing robot system according to claim 3, which is characterized in that Mei Yisuo
It states and is additionally provided with the two auxiliary buffering wheels faced on directive wheel support arm.
5. novel light and handy track-type multi-function crusing robot system according to claim 1, which is characterized in that the biography
Motivation structure includes：
Driving wheel, the driving wheel are fixedly connected with the motor shaft of the motor；
Synchronizing wheel, the synchronizing wheel are fixedly connected with the steel wire rope elevator wheel；
Synchronous belt, driving wheel and the synchronizing wheel described in the synchronous band connection.
6. novel light and handy track-type multi-function crusing robot system according to claim 5, which is characterized in that also wrap
It includes：
Steel wire rope guide limiting stopper, the elevator platform are equipped with the two steel wire rope guide limiting stoppers, two steel wire ropes
Guide limiting stopper is right against the steel wire rope elevator wheel.
The lower part of fixed pulley, each steel wire rope guide limiting stopper is equipped with a fixed pulley.
7. novel light and handy track-type multi-function crusing robot system according to claim 1, which is characterized in that the inspection
Surveying ball storehouse mechanism further includes：Vertical Transmission gear shaft assembly, the two vertical rotation gears respectively with the vertical Transmission gear
Shaft assembly is sequentially connected, and the vertical rotary drive motor drives the vertical Transmission gear shaft assembly.
8. novel light and handy track-type multi-function crusing robot system according to claim 7, which is characterized in that the inspection
It surveys arm and is equipped with telescoping mechanism, the telescoping mechanism is the screw mechanism of toothed belt transmission.
9. novel light and handy track-type multi-function crusing robot system according to claim 8, which is characterized in that wherein one
The detection arm is equipped with noise transducer, humidity sensor and infrared sensor, and another detection arm is equipped with can
Light-exposed lamp, light compensating lamp and partial discharge.
10. novel light and handy track-type multi-function crusing robot system according to claim 9, which is characterized in that described
The upper end for rotating ball storehouse is equipped with carbon dioxide gas sensor and ozone gas sensor, and one end of the rotation ball storehouse, which is equipped with, to be shown
Display screen.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810930354.4A CN108594833B (en) | 2018-08-15 | 2018-08-15 | Novel light track type multifunctional inspection robot system |
| PCT/CN2019/076204 WO2020034618A1 (en) | 2018-08-15 | 2019-02-26 | Novel and lightweight track-type multifunctional inspection robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810930354.4A CN108594833B (en) | 2018-08-15 | 2018-08-15 | Novel light track type multifunctional inspection robot system |
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| CN108594833A true CN108594833A (en) | 2018-09-28 |
| CN108594833B CN108594833B (en) | 2024-04-09 |
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|---|---|---|---|
| CN201810930354.4A Active CN108594833B (en) | 2018-08-15 | 2018-08-15 | Novel light track type multifunctional inspection robot system |
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| CN109079748A (en) * | 2018-10-12 | 2018-12-25 | 广州国机智能电力科技有限公司 | A kind of rail polling robot |
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| CN109079748A (en) * | 2018-10-12 | 2018-12-25 | 广州国机智能电力科技有限公司 | A kind of rail polling robot |
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| CN109500797A (en) * | 2018-12-06 | 2019-03-22 | 合肥瑞堡科技发展有限公司 | Mobile robot including moving horizontally portion |
| CN109500797B (en) * | 2018-12-06 | 2024-04-16 | 合肥瑞堡科技发展有限公司 | Mobile robot including horizontal moving part |
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