CN108594833B - Novel light track type multifunctional inspection robot system - Google Patents
Novel light track type multifunctional inspection robot system Download PDFInfo
- Publication number
- CN108594833B CN108594833B CN201810930354.4A CN201810930354A CN108594833B CN 108594833 B CN108594833 B CN 108594833B CN 201810930354 A CN201810930354 A CN 201810930354A CN 108594833 B CN108594833 B CN 108594833B
- Authority
- CN
- China
- Prior art keywords
- robot system
- wire rope
- steel wire
- wheel
- inspection robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 59
- 230000007246 mechanism Effects 0.000 claims abstract description 81
- 238000001514 detection method Methods 0.000 claims abstract description 47
- 229910000831 Steel Inorganic materials 0.000 claims description 42
- 239000010959 steel Substances 0.000 claims description 42
- 230000001360 synchronised effect Effects 0.000 claims description 14
- 238000004804 winding Methods 0.000 claims description 14
- 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 9
- 230000005570 vertical transmission Effects 0.000 claims description 6
- 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
- 230000001502 supplementing effect Effects 0.000 claims description 4
- 238000013461 design Methods 0.000 abstract description 3
- 230000005611 electricity Effects 0.000 description 5
- 230000003028 elevating effect Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000005538 encapsulation Methods 0.000 description 2
- 229920002635 polyurethane Polymers 0.000 description 2
- 239000004814 polyurethane Substances 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000008092 positive effect Effects 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
- 238000006467 substitution reaction Methods 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a novel light track type multifunctional inspection robot system, which comprises: the device comprises a track, a chassis which is slidably connected with the track, a lifting mechanism arranged on the lower surface of the chassis, and a detection ball bin mechanism which is hung at the lower end of the lifting mechanism. The robot system has the advantages that the body volume and the height size of the robot system are reduced, the robot system can run in a narrower space to carry out inspection operation, and the robot system can adapt to more complex field environments; the robot system is improved in the aspect of design of other performances while the volume and the weight of the robot system are reduced, the running speed can reach 1.2m/s at the highest speed, the speed of other degrees of freedom is also relatively high, the inspection time can be shortened, and the inspection work efficiency is improved.
Description
Technical Field
The invention relates to the technical field of track robots, in particular to a novel light track type multifunctional inspection robot system.
Background
With the rapid development of the robot industry, the covered industry area is larger and larger, the performance requirement of the robot is more and more severe, the robot is more reliable to use, the weight is more light, the robot industry with continuously increased market demands is faced, higher requirements are put forward on the working efficiency of the robot, for example, under the condition of specified workload, the working time is required to be greatly reduced, meanwhile, the working strength of the robot is required to be greatly increased in the same working time, from the perspective of the robot, the robot is required to adapt to more complex external environments, the working reliability requirement of the robot is higher and higher, and the working accuracy of the robot is required to be improved. Currently, from the viewpoint of the working efficiency of the robot itself, the robots on the market have failed to meet such a trend of development.
Disclosure of Invention
In view of the above, the present invention aims to provide a novel light track type multifunctional inspection robot system.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
novel multi-functional robot system that patrols and examines of light and handy track formula, wherein includes: the device comprises a track, a chassis, a lifting mechanism and a detection ball bin mechanism, wherein the chassis is slidably connected with the track, the lifting mechanism is arranged on the lower surface of the chassis, and the detection ball bin mechanism is hung at the lower end of the lifting mechanism; wherein,
the chassis includes:
the chassis frame is provided with a driving wheel in the middle part;
the guide wheel supporting arms are respectively arranged on two sides of the chassis frame and are rotatably connected with the chassis frame;
the upper guide wheels and the lower guide wheels are arranged on the support arms of each guide wheel, the upper guide wheels and the lower guide wheels are arranged in the vertical direction, the upper guide wheels are opposite to the lower guide wheels, the upper guide wheels are arranged at the upper ends of the tracks, and the lower guide wheels are arranged at the lower ends of the tracks;
the code scanning sensor is arranged on one side of the chassis frame;
the power taking sliding contact arm is arranged on the other side of the chassis frame;
the lifting mechanism comprises:
the lifting frame is fixedly connected with the lower end face of the chassis frame;
the steel wire rope hoisting wheel is arranged on the lifting frame, and two steel wire ropes are respectively arranged on two sides of the steel wire rope hoisting wheel;
the steel wire rope rotatable pressing shafts are arranged on the lifting frame, and the steel wire rope rotatable pressing shafts are uniformly arranged around the steel wire rope winding wheels.
The lower end of the lifting frame is provided with two multi-stage loop bars in parallel, the two multi-stage loop bars are vertically arranged, and each multi-stage loop bar is connected with one steel wire rope;
the motor is fixedly connected with the lifting frame and drives the steel wire rope winch wheel through a transmission mechanism;
the detection ball bin mechanism comprises:
the rotary ball bin is hung at the lower end of the multi-stage loop bar, and two sides of the rotary ball bin are respectively provided with a detection arm;
the horizontal rotating gear is arranged at the lower end of the rotary ball bin;
the horizontal rotating shaft is vertically arranged at the lower end of the rotary ball bin, the upper end of the horizontal rotating shaft is connected with the horizontal rotating gear, and the lower end of the horizontal rotating shaft is connected with a mounting object;
a horizontal rotation driving motor that drives the horizontal rotation gear;
the two vertical rotating gears are respectively arranged at two sides of the rotating ball bin;
the two vertical rotating shafts are respectively and horizontally arranged at two sides of the rotary ball bin, one end of each of the two vertical rotating shafts is respectively connected with one vertical rotating gear, and the other end of each of the two vertical rotating shafts is respectively connected with two detection arms;
and the vertical rotation driving motor drives the two vertical rotation gears.
The novel multi-functional robot system that patrols and examines of light and handy track formula, wherein still includes:
the positioning bar code is arranged on the side face of the track, and the code scanning sensor identifies the positioning bar code;
get electric wiping line, the side of track is equipped with get electric wiping line, get electric wiping line with get electric wiping arm phase-match.
The novel light track type multifunctional inspection robot system is characterized in that a spring is arranged between the driving wheel and the chassis frame.
The novel light track type multifunctional inspection robot system is characterized in that each guide wheel supporting arm is further provided with two opposite auxiliary buffer wheels.
Above-mentioned novel multi-functional robot system that patrols and examines of light and handy track formula, wherein, drive mechanism includes:
the driving wheel is fixedly connected with a motor shaft of the motor;
the synchronous wheel is fixedly connected with the steel wire rope winding wheel;
and the synchronous belt is connected with the driving wheel and the synchronous wheel.
The novel multi-functional robot system that patrols and examines of light and handy track formula, wherein still includes:
the steel wire rope guiding limiting block is arranged on the lifting frame, and the two steel wire rope guiding limiting blocks are right opposite to the steel wire rope winding wheel.
And the lower part of each steel wire rope guiding limiting block is provided with one fixed pulley.
Above-mentioned novel multi-functional robot system that patrols and examines of light and handy track formula, wherein, detect ball storehouse mechanism still includes: and the vertical transmission gear shaft assembly is in transmission connection with the two vertical rotary gears respectively, and the vertical rotary driving motor drives the vertical transmission gear shaft assembly.
The novel light track type multifunctional inspection robot system is characterized in that the detection arm is provided with a telescopic mechanism, and the telescopic mechanism is a screw mechanism driven by a synchronous belt.
The novel light track type multifunctional inspection robot system is characterized in that one of the detection arms is provided with a noise sensor, a humidity sensor and an infrared sensor, and the other detection arm is provided with a visible light lamp, a light supplementing lamp and partial discharge.
The novel light track type multifunctional inspection robot system is characterized in that a carbon dioxide gas sensor and an ozone gas sensor are arranged at the upper end of the rotary ball bin, and a display screen is arranged at one end of the rotary ball bin.
The invention adopts the technology, so that compared with the prior art, the invention has the positive effects that:
(1) The robot system has the advantages that the body volume and the height size of the robot system are reduced, the robot system can run in a narrower space to carry out inspection operation, and the robot system can adapt to more complex field environments; the robot system is improved in the aspect of design of other performances while the volume and the weight of the robot system are reduced, the running speed can reach 1.2m/s at the highest speed, the speed of other degrees of freedom is also relatively high, the inspection time can be shortened, and the inspection work efficiency is improved.
(2) The track is designed to be 1.73kg/m, the weight is lighter, the cost is reduced, and the difficulty of site construction is also reduced; the inspection work can be carried out for 24 hours in all weather, the industrial-grade bar code and the code scanning sensor are used for accurate positioning, the positioning accuracy can reach 2mm, thus the operation can be accurately continued, and the working efficiency can be improved.
(3) The detection ball bin mechanism can be carried under the lifting mechanism for up-down inspection, meanwhile, the detection ball bin mechanism has 2 horizontal and vertical rotation degrees of freedom, and the lifting mechanism moves up and down.
(4) The detection of the infrared sensor has the telescopic function, so that the target detection object can be detected at a shorter distance, and experiments prove that the accuracy and the effectiveness of the detection of the infrared sensor can be greatly improved; the light supplementing lamp ring is additionally arranged around the visible light sensor, so that accurate detection can be compensated in a space with weak visible light intensity, and the adaptability of the robot system to the surrounding environment is effectively improved.
(5) The invention can detect the items of the external environment: visible light detection, infrared temperature detection, carbon dioxide gas detection, ozone detection, partial discharge sensor detection (partial discharge detection), temperature and humidity detection and noise detection, and a state display screen and an autonomous obstacle avoidance function are added.
Drawings
Fig. 1 is a perspective view of one side of the novel lightweight orbital multifunctional inspection robot system of the present invention.
Fig. 2 is a perspective view of the other side of the novel lightweight orbital multifunctional inspection robot system of the present invention.
Fig. 3a is a side view of the chassis of the novel lightweight orbital multi-functional inspection robot system of the invention.
Fig. 3b is a cross-sectional view of the novel light rail-type multi-functional inspection robot system of the present invention in the front view of fig. 3 a.
Fig. 3c is a perspective view of the chassis of the novel lightweight orbital multi-functional inspection robot system of the invention.
Fig. 3d is a schematic view of a straight line track of the novel light track type multifunctional inspection robot system of the present invention.
Fig. 3e is a curved track schematic of the novel lightweight track-type multi-functional inspection robot system of the present invention.
Fig. 3f is a schematic cross-sectional view of a track of the novel lightweight track-type multi-functional inspection robot system of the present invention.
Fig. 4a is a perspective view of the lifting mechanism of the novel lightweight rail-type multifunctional inspection robot system of the present invention.
Fig. 4b is a perspective view of the other side of the lifting mechanism of the novel lightweight rail-based multi-functional inspection robot system of the present invention.
Fig. 5a is a perspective view of one side of the inspection ball magazine mechanism of the novel lightweight track-type multi-functional inspection robot system of the present invention.
Fig. 5b is a perspective view of the other side of the detection sphere bin mechanism of the novel lightweight rail-based multi-functional inspection robot system of the present invention.
Fig. 5c is a bottom perspective view of the detection ball magazine mechanism of the novel lightweight track-type multifunctional inspection robot system of the present invention.
In the accompanying drawings: 1. a chassis; 2. a lifting mechanism; 3. detecting a ball bin mechanism; 11. a chassis frame; 12. a driving wheel; 121. a spring; 13. a guide wheel support arm; 131. an auxiliary buffer wheel; 14. an upper guide wheel; 15. a lower guide wheel; 16. a code scanning sensor; 17. taking an electric sliding contact arm; 181. a track; 182. positioning the bar code; 183. taking an electric sliding contact wire; 21. a lifting frame; 22. a wire rope winding wheel; 23. the steel wire rope can rotate the pressing shaft; 24. a multi-stage loop bar; 241. a load mounting plate; 25. a motor; 261. a driving wheel; 262. a synchronizing wheel; 263. a synchronous belt; 27. a steel wire rope guiding limited block; 28. a fixed pulley; 31. a rotary ball bin; 32. detecting an arm; 331. a horizontal rotation gear; 332. a horizontal rotation shaft; 341. a vertical rotation gear; 342. a vertical rotation shaft; 311. a noise sensor; 312. a humidity sensor; 313. an infrared sensor; 314. a visible light lamp; 315. a light supplementing lamp; 316. partial discharge; 317. a carbon dioxide gas sensor; 318. an ozone gas sensor; 319. and a display screen.
Detailed Description
The invention is further described below with reference to the drawings and specific examples, which are not intended to be limiting.
Fig. 1 is a perspective view of one side of a novel light rail type multifunctional inspection robot system of the present invention, fig. 2 is a perspective view of the other side of the novel light rail type multifunctional inspection robot system of the present invention, and referring to fig. 1 and 2, a novel light rail type multifunctional inspection robot system of a preferred embodiment is shown, comprising: the device comprises a rail 181, a chassis 1 slidably connected with the rail 181, a lifting mechanism 2 arranged on the lower surface of the chassis 1, and a detection ball bin mechanism 3 mounted on the lower end of the lifting mechanism 2.
The following details the various mechanisms of the invention:
chassis 1:
fig. 3a is a side view of a chassis of the novel light rail type multifunctional inspection robot system of the present invention, fig. 3b is a front view cross-sectional view of fig. 3a of the novel light rail type multifunctional inspection robot system of the present invention, fig. 3c is a perspective view of the chassis of the novel light rail type multifunctional inspection robot system of the present invention, fig. 3d is a linear rail schematic view of the novel light rail type multifunctional inspection robot system of the present invention, fig. 3e is a curved rail schematic view of the novel light rail type multifunctional inspection robot system of the present invention, fig. 3f is a rail cross-sectional schematic view of the novel light rail type multifunctional inspection robot system of the present invention, please refer to fig. 3a to 3f, showing a structure of the chassis 1 of a preferred embodiment, comprising: the chassis frame 11 and the guide wheel support arm 13, the middle part of the chassis frame 11 is provided with a driving wheel 12; two sides of the chassis frame 11 are respectively provided with a guide wheel supporting arm 13, and the guide wheel supporting arms 13 are rotatably connected with the chassis frame 11. The guide wheel support arm 13 is capable of rotating in an axial direction, through a curved track 181 as shown in fig. 3 e.
Furthermore, as a preferred embodiment, the chassis 1 comprises: the upper guide wheels 14 and the lower guide wheels 15 are arranged on each guide wheel supporting arm 13, the upper guide wheels 14 and the lower guide wheels 15 are arranged in the vertical direction, and the upper guide wheels 14 are opposite to the lower guide wheels 15. The upper guide wheel 14 and the lower guide wheel 15 are in diamond-shaped octagonal contact with the rail 181. The upper guide wheel 14 and the lower guide wheel 15 are tightly attached to the rail 181 at an angle, so that the chassis is ensured not to be misplaced with the rail 181 or even to be separated from the rail 181 in the moving process.
In addition, as a preferred embodiment, the chassis 1 includes: the code scanning sensor 16 and the electricity taking sliding contact arm 17 are arranged on one side of the chassis frame 11; the other side of the chassis frame 11 is provided with an electricity taking sliding contact arm 17. Accurate positioning is performed by the code scanning sensor 16. The power is taken at any time in 24 hours through the power taking sliding contact arm 17.
On the other hand, as a preferred embodiment, the chassis 1 includes: the rail 181, the upper guide wheel 14 is provided at the upper end of the rail 181, and the lower guide wheel 15 is provided at the lower end of the rail 181. The rail 181 has a small cross section (1.75 kg/m), and due to the light weight and miniaturization of the rail, it is possible to realize a chassis that is smaller and lighter than the existing chassis.
Further, as a preferred embodiment, the chassis 1 includes: further comprises: positioning bar code 182, the side of track 181 is provided with positioning bar code 182, and code scanning sensor 16 recognizes positioning bar code 182.
Further, as a preferred embodiment, the track type light chassis capable of fast and stable walking with real-time accurate positioning further comprises: the electricity taking trolley line 183 is arranged on the side face of the track 181, and the electricity taking trolley line 183 is matched with the electricity taking trolley arm 17.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the embodiments and the protection scope of the present invention.
The present invention has the following embodiments based on the above description:
in a further embodiment of the present invention, as shown in fig. 3a to 3f, the track 181 comprises a straight track and a curved track, and the radius of the curved track is 300mm.
In a further embodiment of the invention, a spring 121 is arranged between the drive wheel 12 and the chassis frame 11. The driving wheel 12 is compressed against the lower end of the rail 181 by the spring 121.
In a further embodiment of the present invention, each guide wheel supporting arm 13 is further provided with two opposite auxiliary buffer wheels 131. The auxiliary buffer wheel 131 can ensure that the chassis is rapidly and stably driven in the track direction.
In a further embodiment of the present invention, the auxiliary buffer wheels 131 are all disposed in the horizontal direction.
In a further embodiment of the invention, the auxiliary buffer wheels 131 are each provided with a frozen polyurethane encapsulation. The running process is very gentle, and the noise is small.
In a further embodiment of the invention, both the upper 14 and lower 15 guide wheels are provided with a frozen polyurethane encapsulation.
In a further embodiment of the invention, the chassis can move on the rail 181 more quickly and stably than the existing chassis by the combined action of the pure rolling friction contact of the upper guide wheel 14 and the lower guide wheel 15 relative to the rail 181, the diamond-shaped octagonal contact of the rail 181 and the auxiliary buffer wheel 131, the fastest speed can reach 1.2m/s, and the phenomenon that the upper guide wheel 14 and the lower guide wheel 15 of the bearing swing back and forth and the driving wheel 12 is blocked due to overlarge resistance in the fast running process can not occur.
Lifting mechanism 2:
fig. 4a is a perspective view of a lifting mechanism of the novel light rail type multifunctional inspection robot system of the present invention, fig. 4b is a perspective view of the other side of the lifting mechanism of the novel light rail type multifunctional inspection robot system of the present invention, please refer to fig. 4a and 4b, which illustrate a lifting mechanism 2 of a preferred embodiment, comprising: the lifting frame 21 and the wire rope hoist wheel 22, lifting frame 21 and chassis frame 11's lower extreme fixed connection, wire rope hoist wheel 22 set up on lifting frame 21, and wire rope hoist wheel 22's both sides are equipped with two wire ropes respectively. The wire rope winding wheel 22 winds and stretches the wire rope in a wire arrangement mode.
Furthermore, as a preferred embodiment, the elevating mechanism 2 includes: the rotatable press shafts 23 of the steel wire ropes, the rotatable press shafts 23 of the steel wire ropes are arranged on the lifting frame 21, and the rotatable press shafts 23 of the steel wire ropes are uniformly arranged around the steel wire rope winding wheels 22. The rotatable wire rope pressing shaft 23 rotates along with the rotation of the wire rope winding wheel 22, and the wire rope is limited by the rotatable wire rope pressing shaft 23.
In addition, as a preferred embodiment, the elevating mechanism 2 includes: the lower end of the lifting frame 21 is provided with two multi-stage loop bars 24 in parallel, the two multi-stage loop bars 24 are vertically arranged, each multi-stage loop bar 24 is respectively connected with a steel wire rope, and the tension is transmitted through the independent steel wire rope. The up and down retracting movement is achieved by the synchronized movement of the two multi-stage loop bars 24.
Also, as a preferred embodiment, the elevating mechanism 2 includes: the motor 25, motor 25 and lift frame 21 fixed connection, motor 25 passes through drive mechanism drive wire rope hoist wheel 22.
In another aspect, as a preferred embodiment, the transmission mechanism includes: the driving wheel 261, the driving wheel 261 is fixedly connected with a motor shaft of the motor 25.
Further, as a preferred embodiment, the transmission mechanism includes: the synchronizing wheel 262, the synchronizing wheel 262 is fixedly connected with the wire rope winding wheel 22. The synchronizing wheel 262 has a diameter larger than that of the driving wheel 261.
Further, as a preferred embodiment, the transmission mechanism includes: the synchronous belt 263, the synchronous belt 263 connects the driving wheel 261 and the synchronous wheel 262. The torque output from the motor 25 is transmitted to the rope sheave 22 by the deceleration of the timing belt 263.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the embodiments and the protection scope of the present invention.
The present invention has the following embodiments based on the above description:
in a further embodiment of the present invention, please continue to refer to fig. 4a and 4b, the lifting mechanism 2 further comprises: the two wire rope guide limiting blocks 27 are arranged on the lifting frame 21, and the two wire rope guide limiting blocks 27 are opposite to the wire rope winding wheel 22.
In a further embodiment of the invention, the lifting mechanism 2 further comprises: and fixed pulleys 28, wherein the lower part of each steel wire rope guiding limiting block 27 is provided with a fixed pulley 28. The tensile force is stably transmitted to the detection ball bin mechanism 3 to be lifted through the limit output of the steel wire rope guide limit block 27 and the fixed pulley 28, so that the up-and-down lifting motion of the detection ball bin mechanism 3 is realized, and meanwhile, the detection ball bin mechanism has strong anti-interference capability to the outside and can not influence the normal work of the whole lifting mechanism.
In a further embodiment of the present invention, a concave arc surface is formed on the side of the wire rope guiding limiting block 27 opposite to the wire rope winding wheel 22, and the shape of the concave arc surface is matched with the shape of the outer wall of the wire rope winding wheel 22.
In a further embodiment of the present invention, three wire rope rotatable press shafts 23 are included, the three wire rope rotatable press shafts 23 being located at both sides of the top and lower portions of the wire rope hoist wheel 22, respectively.
In a further embodiment of the invention, the surface of the rotatable press shaft 23 of the steel wire rope is provided with a silica gel coating. Wear generated when the steel wire rope contacts can be reduced, and meanwhile, when the steel wire rope has abnormal interference and influence on the external environment, the steel wire rope can be ensured to be stably and indiscriminately hoisted on the steel wire rope hoisting wheel 22.
In a further embodiment of the invention, the lower ends of the two multi-stage loop bars 24 are provided with load mounting plates 241. The detection ball magazine mechanism 3 is mounted by a load mounting plate 241.
In a further embodiment of the invention, the whole lifting mechanism 2 can ensure that the outside interference reliability, namely the robustness, of the lifting mechanism 2 in normal operation can be greatly improved by the multistage protection and effective design of the steel wire rope, and the effective and stable operation of the whole mechanism is greatly improved.
Detecting a ball bin mechanism 3:
fig. 5a is a perspective view of one side of a detection ball bin mechanism of the novel light rail type multifunctional inspection robot system of the present invention, fig. 5b is a perspective view of the other side of the detection ball bin mechanism of the novel light rail type multifunctional inspection robot system of the present invention, fig. 5c is a bottom perspective view of the detection ball bin mechanism of the novel light rail type multifunctional inspection robot system of the present invention, and referring to fig. 5a to 5c, a detection ball bin mechanism of a preferred embodiment is shown, comprising: the rotary ball bin 31, two sides of the rotary ball bin 31 are respectively provided with a detection arm 32.
Furthermore, as a preferred embodiment, the detecting ball magazine mechanism 3 includes: the horizontal rotation gear 331, the horizontal rotation gear 331 is disposed at the lower end of the rotary ball magazine 31.
Further, as a preferred embodiment, the detecting ball magazine mechanism 3 includes: the horizontal rotation shaft 332, the horizontal rotation shaft 332 is vertically disposed at the lower end of the rotary ball magazine 31, the upper end of the horizontal rotation shaft 332 is connected with the horizontal rotation gear 331, and the lower end of the horizontal rotation shaft 332 is connected with the mounting object. The detection arms 32 at both sides of the rotary ball magazine 31 are simultaneously driven to rotate in synchronization by the rotation of the horizontal rotary shaft 332.
Still further, as a preferred embodiment, the detecting ball magazine mechanism 3 includes: and a horizontal rotation driving motor driving the horizontal rotation gear 331.
Further, as a preferred embodiment, the detecting ball magazine mechanism 3 includes: the vertical rotation gears 341 are respectively disposed on both sides of the rotary ball magazine 31.
Further, as a preferred embodiment, the detecting ball magazine mechanism 3 includes: the vertical rotating shafts 342, the two vertical rotating shafts 342 are respectively and horizontally arranged at two sides of the rotary ball bin 31, one ends of the two vertical rotating shafts 342 are respectively connected with a vertical rotating gear 341, and the other ends of the two vertical rotating shafts 342 are respectively connected with two detecting arms 32. The vertical rotation shaft 342 is driven by the vertical rotation gear 341 so as to drive the detection arms 32 at both sides of the rotary ball magazine 31 to rotate synchronously.
Still further, as a preferred embodiment, the detecting ball magazine mechanism 3 includes: a vertical rotation driving motor that drives the two vertical rotation gears 341.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the embodiments and the protection scope of the present invention.
The present invention has the following embodiments based on the above description:
in a further embodiment of the present invention, as shown in fig. 5a to 5c, a cavity is formed in the rotary ball magazine 31, so that the rotary ball magazine 31 can be fixed on the load mounting plate 241 while rotating and avoid interference with the load mounting plate 241.
In a further embodiment of the present invention, the detecting ball magazine mechanism 3 further includes: and the two vertical rotary gears 341 are respectively in transmission connection with the vertical transmission gear shaft assembly, and the vertical rotary driving motor drives the vertical transmission gear shaft assembly.
In a further embodiment of the present invention, the detection arm 32 is provided with a telescopic mechanism, and the telescopic mechanism is a screw mechanism driven by a synchronous belt, so that each detection device can approach to a detection target as much as possible through the screw mechanism, and multi-degree-of-freedom detection is realized.
In a further embodiment of the present invention, a noise sensor 311, a humidity sensor 312 and an infrared sensor 313 are provided on one of the detecting arms 32.
In a further embodiment of the present invention, the other detecting arm 32 is provided with a visible light lamp 314, a light compensating lamp 315 and a partial discharge 316.
In a further embodiment of the invention, the upper end of the rotary sphere bin 1 is provided with a carbon dioxide gas sensor 317 and an ozone gas sensor 318.
In a further embodiment of the invention, one end of the rotary ball magazine 31 is provided with a display screen 319.
In a further embodiment of the present invention, the overall structure of the present invention is smaller and more compact than existing holders.
The foregoing description is only illustrative of the preferred embodiments of the present invention and is not to be construed as limiting the scope of the invention, and it will be appreciated by those skilled in the art that equivalent substitutions and obvious variations may be made using the description and illustrations of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. Novel multi-functional inspection robot system of light and handy track formula, its characterized in that includes: the device comprises a track, a chassis, a lifting mechanism and a detection ball bin mechanism, wherein the chassis is slidably connected with the track, the lifting mechanism is arranged on the lower surface of the chassis, and the detection ball bin mechanism is hung at the lower end of the lifting mechanism; wherein,
the chassis includes:
the chassis frame is provided with a driving wheel in the middle part;
the guide wheel supporting arms are respectively arranged on two sides of the chassis frame and are rotatably connected with the chassis frame;
the upper guide wheels and the lower guide wheels are arranged on the support arms of each guide wheel, the upper guide wheels and the lower guide wheels are arranged in the vertical direction, the upper guide wheels are opposite to the lower guide wheels, the upper guide wheels are arranged at the upper ends of the tracks, and the lower guide wheels are arranged at the lower ends of the tracks;
the code scanning sensor is arranged on one side of the chassis frame;
the power taking sliding contact arm is arranged on the other side of the chassis frame;
the lifting mechanism comprises:
the lifting frame is fixedly connected with the lower end face of the chassis frame;
the steel wire rope hoisting wheel is arranged on the lifting frame, and two steel wire ropes are respectively arranged on two sides of the steel wire rope hoisting wheel;
the steel wire rope rotatable pressing shafts are arranged on the lifting frame, and the steel wire rope rotatable pressing shafts are uniformly arranged around the steel wire rope winding wheels;
the lower end of the lifting frame is provided with two multi-stage loop bars in parallel, the two multi-stage loop bars are vertically arranged, and each multi-stage loop bar is connected with one steel wire rope;
the motor is fixedly connected with the lifting frame and drives the steel wire rope winch wheel through a transmission mechanism;
the detection ball bin mechanism comprises:
the rotary ball bin is hung at the lower end of the multi-stage loop bar, and two sides of the rotary ball bin are respectively provided with a detection arm;
the horizontal rotating gear is arranged at the lower end of the rotary ball bin;
the horizontal rotating shaft is vertically arranged at the lower end of the rotary ball bin, the upper end of the horizontal rotating shaft is connected with the horizontal rotating gear, and the lower end of the horizontal rotating shaft is connected with a mounting object;
a horizontal rotation driving motor that drives the horizontal rotation gear;
the two vertical rotating gears are respectively arranged at two sides of the rotating ball bin;
the two vertical rotating shafts are respectively and horizontally arranged at two sides of the rotary ball bin, one end of each of the two vertical rotating shafts is respectively connected with one vertical rotating gear, and the other end of each of the two vertical rotating shafts is respectively connected with two detection arms;
and the vertical rotation driving motor drives the two vertical rotation gears.
2. The novel lightweight orbital multi-functional inspection robot system of claim 1, further comprising:
the positioning bar code is arranged on the side face of the track, and the code scanning sensor identifies the positioning bar code;
get electric wiping line, the side of track is equipped with get electric wiping line, get electric wiping line with get electric wiping arm phase-match.
3. The novel lightweight rail-based multi-functional inspection robot system of claim 2, wherein a spring is disposed between the drive wheel and the chassis frame.
4. The novel lightweight rail-based multi-functional inspection robot system according to claim 3, wherein each of the guide wheel support arms is further provided with two opposite auxiliary buffer wheels.
5. The novel lightweight orbital multi-functional inspection robot system of claim 1, wherein the transmission mechanism comprises:
the driving wheel is fixedly connected with a motor shaft of the motor;
the synchronous wheel is fixedly connected with the steel wire rope winding wheel;
and the synchronous belt is connected with the driving wheel and the synchronous wheel.
6. The novel lightweight orbital multi-functional inspection robot system according to claim 5, further comprising:
the lifting frame is provided with two steel wire rope guide limiting blocks, and the two steel wire rope guide limiting blocks are opposite to the steel wire rope winding wheel;
and the lower part of each steel wire rope guiding limiting block is provided with one fixed pulley.
7. The novel lightweight orbital multi-functional inspection robot system of claim 1, wherein the inspection ball magazine mechanism further comprises: and the vertical transmission gear shaft assembly is in transmission connection with the two vertical rotary gears respectively, and the vertical rotary driving motor drives the vertical transmission gear shaft assembly.
8. The novel light and handy track type multifunctional inspection robot system according to claim 7, wherein the detection arm is provided with a telescopic mechanism, and the telescopic mechanism is a screw mechanism driven by a synchronous belt.
9. The novel and lightweight rail-based multifunctional inspection robot system according to claim 8, wherein one of the inspection arms is provided with a noise sensor, a humidity sensor and an infrared sensor, and the other inspection arm is provided with a visible light lamp, a light supplementing lamp and partial discharge.
10. The novel light and handy track type multifunctional inspection robot system according to claim 9, wherein a carbon dioxide gas sensor and an ozone gas sensor are arranged at the upper end of the rotary ball bin, and a display screen is arranged at one end of the rotary ball bin.
Priority Applications (2)
| 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 |
| 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108594833A CN108594833A (en) | 2018-09-28 |
| CN108594833B true CN108594833B (en) | 2024-04-09 |
Family
ID=63619045
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810930354.4A Active CN108594833B (en) | 2018-08-15 | 2018-08-15 | Novel light track type multifunctional inspection robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108594833B (en) |
Families Citing this family (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020034618A1 (en) * | 2018-08-15 | 2020-02-20 | 科大智能电气技术有限公司 | Novel and lightweight track-type multifunctional inspection robot system |
| 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 |
| CN109079798A (en) * | 2018-10-19 | 2018-12-25 | 北京市政建设集团有限责任公司 | A kind of intelligent O&M extension rail crusing robot and its method for inspecting for underground pipe gallery |
| 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 |
| CN109760018B (en) * | 2019-01-03 | 2021-04-13 | 中建地下空间有限公司 | Power cabin device |
| CN109483513A (en) * | 2019-01-05 | 2019-03-19 | 上海擎刚智能科技有限公司 | A kind of track and robot system |
| CN110091306A (en) * | 2019-04-29 | 2019-08-06 | 合肥瑞堡科技发展有限公司 | A kind of mobile robot of multidirectional adjusting |
| CN110091307A (en) * | 2019-04-29 | 2019-08-06 | 合肥瑞堡科技发展有限公司 | A kind of robot including moving horizontally portion |
| CN111086963B (en) * | 2019-08-09 | 2021-03-30 | 中国矿业大学 | Synchronous track moving device of shaft inspection system and control method thereof |
| CN110977928A (en) * | 2019-12-16 | 2020-04-10 | 北京海益同展信息科技有限公司 | Rail-mounted robot and inspection system |
| CN110977929B (en) * | 2019-12-23 | 2022-04-12 | 京东科技信息技术有限公司 | Movement device, positioning method, rail device and movement system |
| CN111409057A (en) * | 2020-05-07 | 2020-07-14 | 中自机器人技术(安庆)有限公司 | Inspection robot for mining belt conveyor |
| CN111945489B (en) * | 2020-08-21 | 2022-05-13 | 陈家昆 | Unmanned traffic system |
| CN112297021B (en) * | 2020-10-14 | 2021-05-18 | 杭州环研科技有限公司 | Environment-friendly housekeeper inspection robot based on cloud computing |
| CN113752235A (en) * | 2021-10-20 | 2021-12-07 | 和美（深圳）信息技术股份有限公司 | Walking and positioning device of rail-hanging robot |
| CN114474006A (en) * | 2022-01-24 | 2022-05-13 | 龙滩水电开发有限公司龙滩水力发电厂 | Intelligent inspection robot |
| CN114803337A (en) * | 2022-03-30 | 2022-07-29 | 浙江工业大学台州研究院 | Track inspection robot |
| CN115519561B (en) * | 2022-11-24 | 2023-04-07 | 西安彬林电子科技有限公司 | Multifunctional rail type industrial intelligent inspection robot |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR19990086484A (en) * | 1998-05-28 | 1999-12-15 | 유무성 | Apparatus for supply and recovery of yarn bobbin |
| WO2016000443A1 (en) * | 2014-07-03 | 2016-01-07 | 深圳市博铭维智能科技有限公司 | Pipeline channel detection robot and system thereof |
| WO2016062246A1 (en) * | 2014-10-21 | 2016-04-28 | 山东鲁能智能技术有限公司 | Indoor track style intelligent inspection robot system |
| CN106239515A (en) * | 2016-09-19 | 2016-12-21 | 上海永乾机电有限公司 | A kind of power distribution station intelligent inspection robot |
| CN106540390A (en) * | 2016-10-27 | 2017-03-29 | 中国矿业大学 | Hanger rail type fire protection patrol robot system |
| CN107065868A (en) * | 2017-03-29 | 2017-08-18 | 科大智能电气技术有限公司 | A kind of cruising inspection system based on crusing robot |
| CN207037460U (en) * | 2017-03-29 | 2018-02-23 | 科大智能电气技术有限公司 | A kind of cruising inspection system based on crusing robot |
| CN207155778U (en) * | 2017-09-15 | 2018-03-30 | 深圳市朗驰欣创科技股份有限公司 | Rail polling robot running gear |
| CN107959254A (en) * | 2018-01-04 | 2018-04-24 | 杭州申昊科技股份有限公司 | One kind hangs rail intelligent inspection robot |
| CN108381564A (en) * | 2017-12-20 | 2018-08-10 | 南京理工大学 | A kind of modular crusing robot of multiple degrees of freedom |
| CN208477379U (en) * | 2018-08-15 | 2019-02-05 | 科大智能电气技术有限公司 | A kind of novel light and handy track-type multi-function crusing robot system |
-
2018
- 2018-08-15 CN CN201810930354.4A patent/CN108594833B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR19990086484A (en) * | 1998-05-28 | 1999-12-15 | 유무성 | Apparatus for supply and recovery of yarn bobbin |
| WO2016000443A1 (en) * | 2014-07-03 | 2016-01-07 | 深圳市博铭维智能科技有限公司 | Pipeline channel detection robot and system thereof |
| WO2016062246A1 (en) * | 2014-10-21 | 2016-04-28 | 山东鲁能智能技术有限公司 | Indoor track style intelligent inspection robot system |
| CN106239515A (en) * | 2016-09-19 | 2016-12-21 | 上海永乾机电有限公司 | A kind of power distribution station intelligent inspection robot |
| CN106540390A (en) * | 2016-10-27 | 2017-03-29 | 中国矿业大学 | Hanger rail type fire protection patrol robot system |
| CN107065868A (en) * | 2017-03-29 | 2017-08-18 | 科大智能电气技术有限公司 | A kind of cruising inspection system based on crusing robot |
| CN207037460U (en) * | 2017-03-29 | 2018-02-23 | 科大智能电气技术有限公司 | A kind of cruising inspection system based on crusing robot |
| CN207155778U (en) * | 2017-09-15 | 2018-03-30 | 深圳市朗驰欣创科技股份有限公司 | Rail polling robot running gear |
| CN108381564A (en) * | 2017-12-20 | 2018-08-10 | 南京理工大学 | A kind of modular crusing robot of multiple degrees of freedom |
| CN107959254A (en) * | 2018-01-04 | 2018-04-24 | 杭州申昊科技股份有限公司 | One kind hangs rail intelligent inspection robot |
| CN208477379U (en) * | 2018-08-15 | 2019-02-05 | 科大智能电气技术有限公司 | A kind of novel light and handy track-type multi-function crusing robot system |
Non-Patent Citations (1)
| Title |
|---|
| 阀厅轨道式巡检机器人系统研究与开发;蒋克强;张燕秉;黄勇;王明瑞;信息技术与信息化(第001期);188-192 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108594833A (en) | 2018-09-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108594833B (en) | Novel light track type multifunctional inspection robot system | |
| CN106585750B (en) | A kind of climbing robot being adsorbed on steel wall surface | |
| US11919358B2 (en) | Suspension system and a carrying mobile robot | |
| CN114275716B (en) | Lifting device and plastering equipment | |
| CN104674655B (en) | A kind of cable climbing robot | |
| WO2020034618A1 (en) | Novel and lightweight track-type multifunctional inspection robot system | |
| WO2008058463A1 (en) | An annular gear rack pumping unit | |
| CN109719697A (en) | Track intelligent measurement robot in a kind of multiple degrees of freedom room | |
| CN108639646A (en) | Rotary lifting-type AGV trolleies | |
| CN208477379U (en) | A kind of novel light and handy track-type multi-function crusing robot system | |
| CN110146875B (en) | Tunnel lining radar detection device | |
| CN204530473U (en) | Cable climbing robot | |
| CN210710564U (en) | Construction machinery material lift | |
| CN111646085A (en) | Annular shuttle with three-wheel structure | |
| CN217597112U (en) | Coal mine inspection robot | |
| CN109263738A (en) | A kind of substation inspection vehicle | |
| CN212244833U (en) | Annular shuttle of tricycle structure | |
| CN108748163A (en) | A kind of polypody micro robot | |
| CN115535884B (en) | Special tower crane conveying operation device | |
| CN208084325U (en) | A kind of multistation SCARA industrial robots | |
| CN221026283U (en) | Truss robot of low-order version | |
| CN219929482U (en) | A portable hoist and mount base for installing electric block | |
| CN220811720U (en) | Civil engineering material lifting equipment with dust raising prevention function | |
| CN112938518A (en) | Discharging device of Z-shaped elevator | |
| CN215378258U (en) | Overhead line inspection robot clamping mechanism adopting rope transmission |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |