CN109048851A - A kind of rail mounted crusing robot - Google Patents
A kind of rail mounted crusing robot Download PDFInfo
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- CN109048851A CN109048851A CN201811236542.3A CN201811236542A CN109048851A CN 109048851 A CN109048851 A CN 109048851A CN 201811236542 A CN201811236542 A CN 201811236542A CN 109048851 A CN109048851 A CN 109048851A
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- turning frame
- fixed
- driving box
- track
- rotation axis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention belongs to robot fields, disclose a kind of rail mounted crusing robot, including traveling track, walking mechanism, power and control mechanism, testing agency；Walking mechanism and traveling track are cooperatively connected；Power and control mechanism are fixed below walking mechanism, and testing agency is fixed below power and control mechanism.The present invention realizes the accurate real-time positioning of robot by sensitive galvanometer, the rotation and movement of detection device are realized by holder, it allows the robot to turn using turning frame mechanism, and holder can load different detection devices, application range is improved, automatic detection under severe conditions can be completed.
Description
Technical field
The invention belongs to robot field more particularly to a kind of rail mounted crusing robots.
Background technique
Industrial robot is multi-joint manipulator or multivariant installations towards industrial circle, it can hold automatically
Row work is a kind of machine that various functions are realized by self power and control ability.It can receive mankind commander, can also
To run according to the program of preparatory layout, modern industrial robot can also be according to the principle program of artificial intelligence technology formulation
Action.
With the fast development of industrial robot, in many fields, it is high-risk, uninteresting to do that people have introduced robot
Work, such as nuclear industry field, weapon production field, industrial welding field.
In industry monitoring robot field, various production occasions such as industrial and mining enterprises, warehouse, shop production line, unattended
Computer room or large-scale classroom, corridor in daily life require to supervise scene in real time using monitoring equipment
Control, especially in some special occasions, conventional fixed-type video monitoring equipment has been unable to satisfy the market demand of diversification, immediately
Moveable industry monitoring robot comes into being；Moveable industry monitoring robot can replace manpower and carry out entirely to target
The inspection in orientation, multi-angle, realizes Unmanned operation, reduces the security risk that personnel pass in and out hazardous environment, improves prison
Inspection quality is controlled, entreprise cost is reduced.
Application No. is 201110091997.2 patents to disclose a kind of transformer station track type crusing robot, robot
It straddles in I shape track.Be arranged in parallel two rows of idler wheels on fuselage in track two sides, every row's idler wheel is distributed up and down, it is each pair of up and down
The idler wheel of distribution is rolled with I-shaped two plates up and down respectively to be cooperated, to realize walking of the robot on definitive orbit.But
Robot walks on the open track is easy interference by external environment, and idler wheel is possible to that barrier, shadow can be collided
Ring idler wheel normal walking；When being stained with sundries on raceway surface, idler wheel sideslip is resulted even in, inspection quality is directly affected, makes
It is poor with effect.But walking friction is larger on working face, is also easy to collide barrier, or even has the wind for scratching idler wheel
Danger.
A kind of rail mounted crusing robot is disclosed application No. is 201620826461.9 patent, including track and is taken the photograph
As device, photographic device is equipped with idler wheel, further includes the driving device for driving idler wheel along track travel, track be opening to
Under C-type steel track, the inner wall of idler wheel and C-type steel track opening two sides, which rolls, to be cooperated.The walking mechanism of use passes through gear
Engagement drive, but cannot walk on bend and can not realize accurate positioning function.
Summary of the invention
It is an object of the invention to open positioning accuracy height, a kind of rail mounted inspection that stability is strong, carrying load ability is strong
Robot.
The object of the present invention is achieved like this:
A kind of rail mounted crusing robot, including traveling track, walking mechanism, power and control mechanism, testing agency；Row
It is cooperatively connected into mechanism and traveling track；Power and control mechanism are fixed below walking mechanism, and testing agency is fixed on power
With control mechanism lower section.
The traveling track includes track pedestal 1, track 2, two-way conductive copper sheet 3, trolley 4, RFID marker and spirit
Quick galvanometer；Track 2 is the hollow shape of internal buckle, and the right and left of the downside of the inner surface of track 2 respectively has a groove；Two-way
Conductive copper sheet 3 is fixed on the side in 2 outside of close track of the groove of track 2, and trolley 4 is fixed on the remote of the groove of track 2
Leave the right or normal track 2 outside side；Track pedestal 1 is fixed on the upper surface of track 2, and RFID is equally spacedly installed in the lower surface of track 2
Label；The initial end of track 2 and intermediate respectively one sensitive galvanometer of installation；The two-way conductive copper sheet 3 of sensitive galvanometer and track 2
Connection.
The walking mechanism includes turning mechanism 6, the first rotation axis 16, locking pin 7, bearing bar 8 and traveling wheel 5；Turn
Bender structure 6 and traveling wheel 5 are fixed in the first rotation axis 16, and bearing bar 8 is connected through a screw thread with the first rotation axis 16, locking pin
7 carry out pin connection with bearing bar 8.
The turning mechanism 6 includes the first turning frame, the second turning frame, third turning frame, base-leg turn frame, conductive copper
Piece and current-collector；
The first turning frame includes turning frame pedestal 9, turn frame cover board 10 and spring 11；The one of turning frame pedestal 9
End is band internal thread annulus, and the other end of turning frame pedestal 9 is rectangular slab；The rectangular slab of the other end of turning frame pedestal 9
On be provided with location hole 12；The first spring base 13 is provided at the geometric center of the rectangular slab of the other end of turning frame pedestal 9；Turning frame
Cover board 10 includes the first turning frame cover board and the second turning frame cover board, and locating rod 14 is fixed on the first turning frame cover board, and first
Second spring seat 15 is provided at the geometric center of turning frame cover board；Third spring is provided at the geometric center of second turning frame cover board
Seat；Spring 11 includes the first spring and second spring；Locating rod 14 on first turning frame cover board passes through on turning frame pedestal 9
Location hole 12 is simultaneously fixed on the second turning frame cover board；First spring is located between second spring seat 15 and the first spring base 13,
Second spring is between second spring seat 15 and third spring base；Second turning frame, the knot of third turning frame and base-leg turn frame
Structure is identical as the first turning structure of frame.
The middle part of first rotation axis 16 is provided with threaded hole, in the first rotation axis 16 about the first rotation axis 16 according to
The first external screw thread, the second external screw thread, third external screw thread, the 4th external screw thread is distributed in sub-symmetry；First external screw thread and the 4th outer spiral shell
Line is located at 16 both ends of the first rotation axis；First turning frame is connect with the first rotation axis 16 by the first external screw thread, the second turning frame
It being connect with the first rotation axis 16 by the second external screw thread, third turning frame is connect with the first rotation axis 16 by third external screw thread,
Base-leg turn frame is connect with the first rotation axis 16 by the 4th external screw thread；
There are a cylindrical protrusions in one end of bearing bar 8, and the other end of bearing bar 8 is external screw thread, the other end of bearing bar 8 it is outer
Radial through-hole is provided on screw thread；Bearing bar 8 is connected through a screw thread with the first rotation axis 16；Locking pin 7 is inserted in the another of bearing bar 8
In the radial through-hole at end；The cylindrical protrusions of one end of bearing bar 8 are bolted to the upper surface of driving box 17；
Traveling wheel 5 includes left traveling wheel and right traveling wheel；There is aperture at the center of left traveling wheel and right traveling wheel；Left traveling wheel
Wheel case is walked in the first rotation axis 16 with right lateral；Left traveling wheel is located between the first turning frame and the second turning frame；Right traveling wheel
It turns between frame and base-leg turn frame positioned at third；
The side of the separate bearing bar 8 of the turning frame cover board of first turning frame and base-leg turn frame is fixed with conductive copper sheet,
The side of the close bearing bar 8 of the turning frame cover board of second turning frame and third turning frame is fixed with current-collector.
The testing agency, including holder driving box 29, cloud platform rotation disk 30, connecting flange 31, belt link slot 32,
Inspection device 33, driven gear 34, planetary reducer 35, third stepping servo-driver 36, control cabinet 37；
Holder driving box 29 has internal partition, and third stepping servo-driver 36 is fixed on the inside of holder driving box 29
On interlayer, the output shaft of third stepping servo-driver 36 is connect with planetary reducer 35, the output shaft of planetary reducer 35 with
Driven gear 34 connects, and the shaft of cloud platform rotation disk 30 protrudes into holder driving box 29 and connect with driven gear 34；Inspection device 33
It is fixed on the lower surface of cloud platform rotation disk 30；Belt link slot 32 is bolted to the upper surface of holder driving box 29.
The power and control mechanism, including driving box 17, RFID reader, the first driving mechanism, the second driving machine
Structure, control cabinet 37 and holder elevating mechanism；RFID reader is arranged in the upper surface of driving box 17；First driving mechanism, second
Driving mechanism, control cabinet 37 and holder elevating mechanism are in the inside of driving box 17, the structure of the second driving mechanism and in driving box
Position in 17 is identical with the first driving mechanism, the first driving mechanism and the second driving mechanism inside driving box 17 about
The plane vertical with track is symmetrical；Inside driving box 17 from top to bottom successively fix first partition, second partition, third every
Plate, the 4th partition and the 5th partition；First partition, second partition, third partition, the 4th partition and the 5th partition are parallel to driving
The upper surface of case 17.
First driving mechanism, including absolute encoder 19, shaft coupling 20, rotation hammer 21,22 He of the first reduction gearbox
First stepping servo-driver 23；Absolute encoder 19 is fixed in the first partition of driving box 17, and the first reduction gearbox 22 is fixed
On third partition；First stepping servo-driver 23 is fixed on the 4th partition；Rotation hammer 21 is across second partition and absolutely
Encoder 19 is connected by shaft coupling 20, and the other end of rotation hammer 21 is connect with the first reduction gearbox 22 by shaft coupling, and first subtracts
Fast case 22 is connected with the first stepping servo-driver 23 by shaft coupling.
The control cabinet 37 includes single-chip microcontroller, the controller of stepping servo driver, the power supply mould of driving motor rotation
Block handles the rectification module of current-collector electrical power, standby lithium pond and wireless WIFI module；Control cabinet 37 is fixed on driving box 17
Bottom surface and driving box 17 the 5th partition between.
The holder elevating mechanism, including the second stepping servo-driver 26, the second reduction gearbox 25, belt pulley is small by 24,
Belt pulley is big by 28, belt, the belt of disconnection, connecting flange 31, abutment sleeve 18 and the second rotation axis 27；
Second stepping servo-driver 26 is fixed in the inside bottom surface of driving box 17, positioned at the 5th partition of driving box 17
Between the bottom surface of driving box 17；Second reduction gearbox 25 is connect with the second stepping servo-driver 26 by shaft coupling；Belt pulley
Small 24 are fixed on the output shaft of the second reduction gearbox 25；
Belt pulley big 28 is fixed in the second rotation axis 27, and the both ends of the second rotation axis 27 are fixed on the side wall of driving box 17
On；
Second rotation axis 27 is provided with belt through-hole at the orthographic projection of the bottom surface of driving box 17；
Abutment sleeve 18 includes four telescopic sleeves, and one end of four telescopic sleeves is fixed on driving box 17 with flange
Bottom；The other end of four telescopic sleeves is fixed on the upper surface of holder driving box 29 using connecting flange 31；
Belt pulley small 24 is connected with belt pulley big 28 with belt；
One end of the belt of disconnection is fixed in the second rotation axis 27, the other end of the belt of disconnection pass through belt through-hole with
Belt link slot 32 connects.
The invention has the benefit that
The present invention realizes the accurate real-time positioning of robot by sensitive galvanometer, and the rotation of detection device is realized by holder
Turn and mobile, allows the robot to turn using turning frame mechanism, and holder can load different detection devices, improve
Application range can complete automatic detection under severe conditions.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram in addition to holder of rail mounted crusing robot；
Fig. 2 is a kind of traveling track schematic diagram of rail mounted crusing robot；
Fig. 3 is a kind of travel wheel scheme of installation of rail mounted crusing robot；
Fig. 4 is a kind of turning frame base schematic diagram of rail mounted crusing robot；
Fig. 5 is a kind of location hole schematic diagram of the turning frame pedestal of rail mounted crusing robot；
Fig. 6 is a kind of turning frame cover plate schematic diagram of rail mounted crusing robot；
Fig. 7 is a kind of the first rotation axis schematic diagram of rail mounted crusing robot；
Fig. 8 is a kind of abutment sleeve schematic diagram of rail mounted crusing robot；
Fig. 9 is a kind of the first driving mechanism schematic diagram of rail mounted crusing robot；
Figure 10 is a kind of holder elevating mechanism schematic diagram of rail mounted crusing robot；
Figure 11 is a kind of belt link slot position view of rail mounted crusing robot；
Figure 12 is a kind of testing agency's schematic diagram of rail mounted crusing robot；
Figure 13 is a kind of planetary reducer schematic diagram of rail mounted crusing robot；
Figure 14 is the power and control mechanism schematic elevation view of a kind of rail mounted crusing robot；
Figure 15 is the power and control mechanism schematic side view of a kind of rail mounted crusing robot；
Figure 16 is a kind of testing agency's diagrammatic cross-section of rail mounted crusing robot；
Figure 17 is a kind of traveling track overall schematic of rail mounted crusing robot；
Figure 18 is a kind of inspection device suspension schematic diagram of rail mounted crusing robot.
Specific embodiment
Further describe the present invention with reference to the accompanying drawing:
Such as Fig. 1, a kind of rail mounted crusing robot, including traveling track, walking mechanism, power and control mechanism, detection
Mechanism；Walking mechanism and traveling track are cooperatively connected；Power and control mechanism are fixed below walking mechanism, and testing agency is fixed
Below power and control mechanism.
Such as Fig. 2 and Figure 17, traveling track includes track pedestal 1, track 2, two-way conductive copper sheet 3, trolley 4, RFID mark
Note and sensitive galvanometer；Track 2 is the hollow shape of internal buckle, the right and left of the downside of the inner surface of track 2 respectively have one it is recessed
Slot；Two-way conductive copper sheet 3 is fixed on the side in 2 outside of close track of the groove of track 2, and trolley 4 is fixed on the recessed of track 2
The side in 2 outside of separate track of slot；Track pedestal 1 is fixed on the upper surface of track 2, and the lower surface of track 2 is equally spacedly pacified
Fill RFID marker；The initial end of track 2 and intermediate respectively one sensitive galvanometer of installation；The two-way of sensitive galvanometer and track 2 is led
Electrolytic copper piece 3 connects.
Further, walking mechanism includes turning mechanism 6, the first rotation axis 16, locking pin 7, bearing bar 8 and traveling wheel 5；
Turning mechanism 6 and traveling wheel 5 are fixed in the first rotation axis 16, and bearing bar 8 is connected through a screw thread with the first rotation axis 16, locking
Pin 7 and bearing bar 8 carry out pin connection.
Further, turning mechanism 6 includes the first turning frame, the second turning frame, and third is turned frame, and base-leg turn frame leads
Electrolytic copper piece and current-collector；
Such as Fig. 4 and Fig. 5, the first turning frame includes turning frame pedestal 9, turn frame cover board 10 and spring 11；Turning frame pedestal 9
One end be band internal thread annulus, turning frame pedestal 9 the other end be rectangular slab；The square of the other end of turning frame pedestal 9
Location hole 12 is provided on shape plate；The first spring base 13 is provided at the geometric center of the rectangular slab of the other end of turning frame pedestal 9；Such as
Fig. 6, turning frame cover board 10 include the first turning frame cover board and the second turning frame cover board, and locating rod 14 is fixed on the first turning frame lid
On plate, second spring seat 15 is provided at the geometric center of the first turning frame cover board；It is opened at the geometric center of second turning frame cover board
There is third spring base；Spring 11 includes the first spring and second spring；Locating rod 14 on first turning frame cover board passes through turning
Location hole 12 on frame pedestal 9 is simultaneously fixed on the second turning frame cover board；First spring is located at second spring seat 15 and the first bullet
Between spring abutment 13, second spring is between second spring seat 15 and third spring base；Second turning frame, third turning frame and the 4th
The structure of turning frame is identical as the first turning structure of frame.
If the middle part of Fig. 7, the first rotation axis 16 are provided with threaded hole, in the first rotation axis 16 about the first rotation axis 16 according to
The first external screw thread, the second external screw thread, third external screw thread, the 4th external screw thread is distributed in sub-symmetry；First external screw thread and the 4th outer spiral shell
Line is located at 16 both ends of the first rotation axis；First turning frame is connect with the first rotation axis 16 by the first external screw thread, the second turning frame
It being connect with the first rotation axis 16 by the second external screw thread, third turning frame is connect with the first rotation axis 16 by third external screw thread,
Base-leg turn frame is connect with the first rotation axis 16 by the 4th external screw thread；
There are a cylindrical protrusions in one end of bearing bar 8, and the other end of bearing bar 8 is external screw thread, the other end of bearing bar 8 it is outer
Radial through-hole is provided on screw thread；Bearing bar 8 is connected through a screw thread with the first rotation axis 16；Locking pin 7 is inserted in the another of bearing bar 8
In the radial through-hole at end；The cylindrical protrusions of one end of bearing bar 8 are bolted to the upper surface of driving box 17；
Such as Fig. 3, traveling wheel 5 includes left traveling wheel and right traveling wheel；There is aperture at the center of left traveling wheel and right traveling wheel；It is left
Traveling wheel and right lateral walk wheel case in the first rotation axis 16；Left traveling wheel is located between the first turning frame and the second turning frame；It is right
Traveling wheel is located between third turning frame and base-leg turn frame；
The side of the separate bearing bar 8 of the turning frame cover board of first turning frame and base-leg turn frame is fixed with conductive copper sheet,
The side of the close bearing bar 8 of the turning frame cover board of second turning frame and third turning frame is fixed with current-collector.
Such as Figure 12 and Figure 16, testing agency, including holder driving box 29, cloud platform rotation disk 30, connecting flange 31, belt company
Access slot 32, inspection device 33, driven gear 34, planetary reducer 35, third stepping servo-driver 36, control cabinet 37；
Holder driving box 29 has internal partition, and third stepping servo-driver 36 is fixed on the inside of holder driving box 29
On interlayer, the output shaft of third stepping servo-driver 36 is connect with planetary reducer 35, such as Figure 13, planetary reducer 35 it is defeated
Shaft is connect with driven gear 34, and the shaft of cloud platform rotation disk 30 protrudes into holder driving box 29 and connect with driven gear 34；Such as figure
18, inspection device 33 is fixed on the lower surface of cloud platform rotation disk 30；Belt link slot 32 is bolted to holder driving box 29
Upper surface.
Such as Figure 14 and Figure 15, power and control mechanism, including driving box 17, RFID reader, the first driving mechanism, second
Driving mechanism, control cabinet 37 and holder elevating mechanism；RFID reader is arranged in the upper surface of driving box 17；First driving machine
Structure, the second driving mechanism, control cabinet 37 and holder elevating mechanism the inside of driving box 17, the structure of the second driving mechanism and
Position in driving box 17 is identical with the first driving mechanism, and the first driving mechanism and the second driving mechanism are in driving box 17
Portion is symmetrical about the plane vertical with track；Inside driving box 17 from top to bottom successively fix first partition, second partition,
Third partition, the 4th partition and the 5th partition；First partition, second partition, third partition, the 4th partition and the 5th partition are parallel
In the upper surface of driving box 17.
Such as Fig. 9, the first driving mechanism, including absolute encoder 19, shaft coupling 20, rotation hammer 21,22 He of the first reduction gearbox
First stepping servo-driver 23；Absolute encoder 19 is fixed in the first partition of driving box 17, and the first reduction gearbox 22 is fixed
On third partition；First stepping servo-driver 23 is fixed on the 4th partition；Rotation hammer 21 is across second partition and absolutely
Encoder 19 is connected by shaft coupling 20, and the other end of rotation hammer 21 is connect with the first reduction gearbox 22 by shaft coupling, and first subtracts
Fast case 22 is connected with the first stepping servo-driver 23 by shaft coupling.
Further, control cabinet 37 includes single-chip microcontroller, the controller of stepping servo driver, the power supply of driving motor rotation
Module handles the rectification module of current-collector electrical power, standby lithium pond and wireless WIFI module；Control cabinet 37 is fixed on driving box
Between 17 bottom surface and the 5th partition of driving box 17.
Such as Figure 10, holder elevating mechanism, including the second stepping servo-driver 26, the second reduction gearbox 25, belt pulley is small by 24,
Belt pulley is big by 28, belt, the belt of disconnection, connecting flange 31, abutment sleeve 18 and the second rotation axis 27；
Second stepping servo-driver 26 is fixed in the inside bottom surface of driving box 17, positioned at the 5th partition of driving box 17
Between the bottom surface of driving box 17；Second reduction gearbox 25 is connect with the second stepping servo-driver 26 by shaft coupling；Belt pulley
Small 24 are fixed on the output shaft of the second reduction gearbox 25；
Belt pulley big 28 is fixed in the second rotation axis 27, and the both ends of the second rotation axis 27 are fixed on the side wall of driving box 17
On；
Second rotation axis 27 is provided with belt through-hole at the orthographic projection of the bottom surface of driving box 17；
Such as Fig. 8, abutment sleeve 18 includes four telescopic sleeves, and one end of four telescopic sleeves is fixed on drive with flange
The bottom of dynamic case 17；The other end of four telescopic sleeves is fixed on the upper surface of holder driving box 29 using connecting flange 31；
Belt pulley small 24 is connected with belt pulley big 28 with belt；
Such as Figure 11, one end of the belt of disconnection is fixed in the second rotation axis 27, and the other end of the belt of disconnection passes through skin
Band through-hole is connect with belt link slot 32.
When work, two stepping servo drivers are adjusted to starting turning after pulse to the frequency of pulse and accounting for for PWM
Empty ratio so that rotation hammer the revolving speed of direction of advance become larger so that centrifugal force be greater than centrifugal force in the opposite direction, then
Traveling wheel starts to walk, and two stepping servo drivers can be made in the both direction that moves forward and backward by pid algorithm
Centrifugal force constitutes driving coupling, enables traveling wheel stabilized walking, and absolute encoder provides the rotation of rotation hammer to control cabinet
Location information, the relative encoder in reduction gearbox then give control cabinet to provide rotary speed information, single-chip microcontroller are enabled to pass through two phases
To the velocity information that encoder provides, two stepping servo drivers are driven, give it with corresponding pulse.In walking process, turn
Two-way conductive copper sheet joint on copper sheet and track on frame cover board, so that circuit constitutes adjustable slide rheostat circuit,
Then with the operation of trolley, the length of two-way conductive copper sheet in circuit changes, so that the sensitive galvanometer of terminal
It changes, arranges that a sensitive galvanometer circuit, two circuits are located at left and right two in the starting point of track and midpoint
Track then can accurately measure walking mechanism position by the variation of the show value of two track sensitive galvanometers, thus
Realize precise positioning, be then disposed with current-collector on the bogie cover board of the other side of bogie, current-collector have trolley due to
The uninterrupted contact of pressure effect of spring, two tracks in left and right arrange current-collector and trolley, walking mechanism are existed
Uninterrupted power supply when turning.When turning, the spring in two bogie units play the role of it is flexible, so that trolley is smoothly turned.
RFID reader, and the RFID identification label that track lower surface arrangement has interval equal are disposed with above driving box, by
The fixed point location function of walking mechanism may be implemented in this.There are control cabinet, elevating mechanism inside driving box, stepping servo driver turns
Drive belt pulley small when dynamic and the big rotation of belt pulley, to drive belt to extend or roll, so that the belt link slot on holder
As belt moves up and down, the lifting of holder is realized.Stepping servo driver in holder driving box by planetary reducer come
The rotation of cloud platform rotation disk is controlled, so that the laser camera on cloud platform rotation disk acquires image information, entire mechanism, by driving
Control cabinet in case is controlled, and has single-chip microcontroller, the controller of stepping servo driver, the electricity of driving motor rotation in control cabinet
Source module handles the rectification module of the electrical power from current-collector.Standby lithium pond, wireless WIFI module.Wireless WIFI can be with
It is connected to artificial console, the image information of acquisition is sent to artificial monitoring center, repeats aforesaid operations.Entire robot
Movement is divided into five steps: the first step, and the starting of stepping servo driver drives rotation hammer rotation, so that traveling wheel gentle start and front and back
Even running.Second step, the stepper motor starting of holder elevating mechanism, so that holder is elevated to desired position.Third buyun
The stepper motor of platform rotating mechanism rotates immediately, checks the scene of surrounding.4th step, control cabinet will be collected by wireless WIFI
Information be sent to control and monitor console.Final step, the operator of control and monitor console pass through the information received and handle immediately and issue control
The instruction that walking mechanism is advanced and fallen back.
In actual installation manufacturing process, the conductive copper sheet on conductive copper sheet and track on bogie contacts with each other, and turns
Conductive copper sheet on frame plays the role of two column conductive copper sheets on a connection track, and with the walking of traveling wheel, rises
To the effect of slide rheostat, so that the variation of the sensitive galvanometer generation reading of two column conductive copper sheet ends on track, two
Rail road is disposed with galvanometer in initial position and midpoint respectively, and the size read by two galvanometer and comparison can essences
Determine the position where walking mechanism.Bogie, when walking rotated bend, the spring in bogie generates elasticity and becomes
Shape so that traveling wheel can pass through bend, can by bend radius by spring itself rigidity and servo
The torque of motor and the quality of rotation hammer determine.It is not limited to installation laser camera above holder rotating mechanism, can also pacify
Fill noise transducer, infrared thermoviewer, project needed for the inspections such as humidity sensor.The cabling mode of conductive copper sheet and current-collector
It in figure and is not drawn into, but the line of in-house punching setting can be walked, cabling and galvanometer etc. can also be arranged in outside.
Compared with prior art, the present invention realizes the accurate real-time positioning of robot by sensitive galvanometer, passes through holder
The rotation and movement for realizing detection device allow the robot to turn using turning frame mechanism, and holder can load difference
Detection device, improve application range, automatic detection under severe conditions can be completed.
The above is not intended to restrict the invention, and for those skilled in the art, the present invention can have various
Change and variation.All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of rail mounted crusing robot, it is characterised in that: including traveling track, walking mechanism, power and control mechanism, inspection
Survey mechanism；Walking mechanism and traveling track are cooperatively connected；Power and control mechanism are fixed below walking mechanism, and testing agency is solid
It is scheduled below power and control mechanism.
2. a kind of rail mounted crusing robot according to claim 1, it is characterised in that: the traveling track includes rail
Road pedestal (1), track (2), two-way conductive copper sheet (3), trolley (4), RFID marker and sensitive galvanometer；Track (2) is interior
Hollow shape is detained, the right and left of the downside of the inner surface of track (2) respectively has a groove；Two-way conductive copper sheet (3) is fixed
Side on the outside of the close track (2) of the groove of track (2), trolley (4) are fixed on the separate track of the groove of track (2)
(2) side on the outside of；Track pedestal (1) is fixed on the upper surface of track (2), and the lower surface of track (2) is equally spacedly installed
RFID marker；The initial end of track (2) and intermediate respectively one sensitive galvanometer of installation；The two-way of sensitive galvanometer and track (2)
Conductive copper sheet (3) connection.
3. a kind of rail mounted crusing robot according to claim 1, it is characterised in that: the walking mechanism includes turning
Bender structure (6), the first rotation axis (16), locking pin (7), bearing bar (8) and traveling wheel (5)；Turning mechanism (6) and traveling wheel
(5) be fixed on the first rotation axis (16), bearing bar (8) is connected through a screw thread with the first rotation axis (16), locking pin (7) with hold
Weight bar (8) carries out pin connection.
4. a kind of rail mounted crusing robot according to claim 3, it is characterised in that: turning mechanism (6) packet
Include the first turning frame, the second turning frame, third turning frame, base-leg turn frame, conductive copper sheet and current-collector；
First turning frame includes turning frame pedestal (9), turn frame cover board (10) and spring (11)；One end of turning frame pedestal (9)
For band internal thread annulus, the other end of turning frame pedestal (9) is rectangular slab；The rectangle of the other end of turning frame pedestal (9)
Location hole (12) are provided on plate；The first spring base is provided at the geometric center of the rectangular slab of the other end of turning frame pedestal (9)
(13)；Turning frame cover board (10) includes the first turning frame cover board and the second turning frame cover board, and locating rod (14) is fixed on first turn
On curved frame cover board, second spring seat (15) are provided at the geometric center of the first turning frame cover board；The geometry of second turning frame cover board
Third spring base is provided at center；Spring (11) includes the first spring and second spring；Locating rod on first turning frame cover board
(14) it passes through the location hole (12) in turning frame pedestal (9) and is fixed on the second turning frame cover board；First spring is located at second
Between spring base (15) and the first spring base (13), second spring is located between second spring seat (15) and third spring base；Second
Turning frame, the structure of third turning frame and base-leg turn frame are identical as the first turning structure of frame.
5. a kind of rail mounted crusing robot according to claim 3, it is characterised in that: first rotation axis (16)
Middle part be provided with threaded hole, be successively symmetrically distributed with the first outer spiral shell about the first rotation axis (16) on the first rotation axis (16)
Line, the second external screw thread, third external screw thread, the 4th external screw thread；First external screw thread and the 4th external screw thread are located at the first rotation axis (16)
Both ends；First turning frame is connect with the first rotation axis (16) by the first external screw thread, the second turning frame and the first rotation axis (16)
By the second external screw thread connect, third turning frame connect with the first rotation axis (16) by third external screw thread, base-leg turn frame and
First rotation axis (16) is connected by the 4th external screw thread；
There are cylindrical protrusions in one end of bearing bar (8), and the other end of bearing bar (8) is external screw thread, the other end of bearing bar (8)
Radial through-hole is provided on external screw thread；Bearing bar (8) is connected through a screw thread with the first rotation axis (16)；Locking pin (7) is inserted in load-bearing
In the radial through-hole of the other end of bar (8)；The cylindrical protrusions of one end of bearing bar (8) are bolted to driving box (17)
Upper surface；
Traveling wheel (5) includes left traveling wheel and right traveling wheel；There is aperture at the center of left traveling wheel and right traveling wheel；Left traveling wheel and
Right lateral walks wheel case on the first rotation axis (16)；Left traveling wheel is located between the first turning frame and the second turning frame；Right traveling wheel
It turns between frame and base-leg turn frame positioned at third；
The side of the separate bearing bar (8) of the turning frame cover board of first turning frame and base-leg turn frame is fixed with conductive copper sheet, the
The side of the close bearing bar (8) of the turning frame cover board of two turning framves and third turning frame is fixed with current-collector.
6. a kind of rail mounted crusing robot according to claim 1, it is characterised in that: the testing agency, including
Holder driving box (29), cloud platform rotation disk (30), connecting flange (31), belt link slot (32), inspection device (33), driven tooth
It takes turns (34), planetary reducer (35), third stepping servo-driver (36), control cabinet (37)；
Holder driving box (29) has internal partition, and third stepping servo-driver (36) is fixed on the interior of holder driving box (29)
On portion's interlayer, the output shaft of third stepping servo-driver (36) is connect with planetary reducer (35), planetary reducer (35)
Output shaft is connect with driven gear (34), and the shaft of cloud platform rotation disk (30) protrudes into holder driving box (29) and driven gear (34)
Connection；Inspection device (33) is fixed on the lower surface of cloud platform rotation disk (30)；Belt link slot (32) is bolted to holder
The upper surface of driving box (29).
7. a kind of rail mounted crusing robot according to claim 1, it is characterised in that: the power and control machine
Structure, including driving box (17), RFID reader, the first driving mechanism, the second driving mechanism, control cabinet (37) and holder elevator
Structure；RFID reader is arranged in the upper surface of driving box (17)；First driving mechanism, the second driving mechanism, control cabinet (37) and
Holder elevating mechanism is in the inside of driving box (17), the structure of the second driving mechanism and the position and first in driving box (17)
Driving mechanism is identical, and the first driving mechanism and the second driving mechanism are put down in driving box (17) inside about vertical with track
Face is symmetrical；Driving box (17) is internal successively to fix first partition, second partition, third partition, the 4th partition from top to bottom
With the 5th partition；First partition, second partition, third partition, the 4th partition and the 5th partition are parallel to the upper of driving box (17)
Surface.
8. a kind of rail mounted crusing robot according to claim 7, it is characterised in that: first driving mechanism,
Including absolute encoder (19), shaft coupling (20), rotation hammer (21), the first reduction gearbox (22) and the first stepping servo-driver
(23)；Absolute encoder (19) is fixed in the first partition of driving box (17), and the first reduction gearbox (22) is fixed on third partition
On；First stepping servo-driver (23) is fixed on the 4th partition；Rotation hammer (21) passes through second partition and absolute encoder
(19) it being connected by shaft coupling (20), the other end of rotation hammer (21) is connect with the first reduction gearbox (22) by shaft coupling, and first
Reduction gearbox (22) is connected with the first stepping servo-driver (23) by shaft coupling.
9. a kind of rail mounted crusing robot according to claim 7, it is characterised in that: the control cabinet (37) includes
Single-chip microcontroller, the controller of stepping servo driver, the power module of driving motor rotation handle the rectification mould of current-collector electrical power
Block, standby lithium pond and wireless WIFI module；Control cabinet (37) be fixed on driving box (17) bottom surface and driving box (17) the
Between five partitions.
10. a kind of rail mounted crusing robot according to claim 7, it is characterised in that: the holder elevating mechanism,
Including the second stepping servo-driver (26), the second reduction gearbox (25), belt pulley is small (24), and belt pulley is big (28), belt, disconnects
Belt, connecting flange (31), abutment sleeve (18) and the second rotation axis (27)；
Second stepping servo-driver (26) is fixed in the inside bottom surface of driving box (17), be located at driving box (17) the 5th every
Between plate and the bottom surface of driving box (17)；Second reduction gearbox (25) and the second stepping servo-driver (26) are connected by shaft coupling
It connects；Belt pulley small (24) is fixed on the output shaft of the second reduction gearbox (25)；
Belt pulley big (28) is fixed on the second rotation axis (27), and the both ends of the second rotation axis (27) are fixed on driving box (17)
On side wall；
Second rotation axis (27) is provided with belt through-hole at the orthographic projection of the bottom surface of driving box (17)；
Abutment sleeve (18) includes four telescopic sleeves, and one end of four telescopic sleeves is fixed on driving box (17) with flange
Bottom；The other end of four telescopic sleeves is fixed on the upper surface of holder driving box (29) using connecting flange (31)；
Belt pulley small (24) is connected with belt pulley big (28) with belt；
One end of the belt of disconnection is fixed on the second rotation axis (27), and the other end of the belt of disconnection passes through belt through-hole and skin
Band connection slot (32) connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811236542.3A CN109048851B (en) | 2018-10-23 | 2018-10-23 | Track type inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811236542.3A CN109048851B (en) | 2018-10-23 | 2018-10-23 | Track type inspection robot |
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| Publication Number | Publication Date |
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| CN109048851A true CN109048851A (en) | 2018-12-21 |
| CN109048851B CN109048851B (en) | 2021-09-10 |
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ID=64765402
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811236542.3A Active CN109048851B (en) | 2018-10-23 | 2018-10-23 | Track type inspection robot |
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| CN110177253A (en) * | 2019-05-27 | 2019-08-27 | 广东电网有限责任公司 | A kind of movable video monitoring device and system for electric energy meter detection assembly line |
| CN111731130A (en) * | 2020-06-30 | 2020-10-02 | 重庆建工建筑产业技术研究院有限公司 | Suspension type intelligent mobile robot control system and method |
| CN113910233A (en) * | 2021-10-27 | 2022-01-11 | 北京华能新锐控制技术有限公司 | Control method of track robot |
| CN114012697A (en) * | 2021-10-18 | 2022-02-08 | 北京华能新锐控制技术有限公司 | Positioning mechanism of track type inspection robot |
| CN115519561A (en) * | 2022-11-24 | 2022-12-27 | 西安彬林电子科技有限公司 | Multifunctional track type industrial intelligent inspection robot |
| CN116849046A (en) * | 2023-07-27 | 2023-10-10 | 浙江九奇机械有限公司 | Wheel tread adjustable nursery stock trimming machine |
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| CN116849046A (en) * | 2023-07-27 | 2023-10-10 | 浙江九奇机械有限公司 | Wheel tread adjustable nursery stock trimming machine |
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