CN109383661A - A kind of sleeper beam inner cavity monitoring robot - Google Patents
A kind of sleeper beam inner cavity monitoring robot Download PDFInfo
- Publication number
- CN109383661A CN109383661A CN201811182162.6A CN201811182162A CN109383661A CN 109383661 A CN109383661 A CN 109383661A CN 201811182162 A CN201811182162 A CN 201811182162A CN 109383661 A CN109383661 A CN 109383661A
- Authority
- CN
- China
- Prior art keywords
- sleeper beam
- inner cavity
- rack
- connecting rod
- camera
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
-
- 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
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/555—Constructional details for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
Abstract
A kind of sleeper beam inner cavity monitoring robot, including rack, controller, camera and walking supporting leg, controller is installed in rack, camera is mounted on front end of rack, imaging monitor is carried out to sleeper beam inner cavity by camera, the image information of camera acquisition is transferred to the monitor terminal outside sleeper beam by controller；Walking supporting leg is mounted on the rack, and adjusts position of the monitoring robot in sleeper beam inner cavity by walking supporting leg；Supporting leg quantity of walking is several and on the rack in circumferentially distributed；Supporting leg of walking includes walking component and support component, and walking component includes driving wheel, driven wheel, crawler belt, travel driving motor, drive bevel gear, driven wheel of differential and wheel carrier；Support component includes the first swing rod, first connecting rod, the second swing rod and second connecting rod, is fitted with torsional spring in the hinged place of swing rod and connecting rod, makes to remain outside support force between swing rod and connecting rod by torsional spring；Several headlamps are installed in the camera lens peripheral side of camera.
Description
Technical field
The invention belongs to high-speed rail train sleeper beam manufacturing technology fields, more particularly to a kind of sleeper beam inner cavity monitoring robot.
Background technique
It casts currently, the sleeper beam of high-speed rail train generallys use aluminium alloy, before sleeper beam factory, needs through work of polishing
Sequence makes the surface roughness of sleeper beam inner cavity meet national standard.
At this stage, the polishing operation of sleeper beam inner cavity is all by manually completing, and polishing operation is generally divided into rough grinding
It polishes two stages with essence.Before rough grinding starts, operative employee is firstly the need of the hair for passing through endoscopic observation sleeper beam surface of internal cavity
Position and quantity are pierced, rough grinding then carried out to spur location using manual manipulation, after the completion of rough grinding, utilizes endoscopic observation again
The smooth degree of sleeper beam surface of internal cavity finally carries out primary essence polishing to sleeper beam surface of internal cavity, until the surface of sleeper beam inner cavity is thick
Until rugosity meets national standard.
But since the bore of sleeper beam inner cavity is smaller, opening size is only 120mm, is observed using endoscope
When, it can not synchronize and carry out polishing operation, after only endoscope is exited completely from the opening of sleeper beam inner cavity, operative employee's ability
Polishing work is carried out, causes the working efficiency of sleeper beam inner cavity polishing operation not high always.Therefore, it is necessary to find a kind of completely new
Means improve the working efficiency of sleeper beam inner cavity polishing operation.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of sleeper beam inner cavity monitoring robot, can substitute tradition
Endoscope imaging monitor is carried out to sleeper beam inner cavity, and allow operative employee to carry out polishing work while imaging monitor, it is real
Imaging monitor and the synchronous of work of polishing are showed, the working efficiency of sleeper beam inner cavity polishing operation are greatly improved.
To achieve the goals above, the present invention adopts the following technical scheme: a kind of sleeper beam inner cavity monitoring robot, including machine
Frame, controller, camera and walking supporting leg, the controller are installed in rack, and the camera is mounted on front end of rack,
Imaging monitor is carried out to sleeper beam inner cavity by camera, the image information of camera acquisition is transferred to outside sleeper beam by controller
Monitor terminal；The walking supporting leg is mounted on the rack, and adjusts monitoring robot in sleeper beam inner cavity by walking supporting leg
In position.
The quantity of the walking supporting leg is several, and several walking supporting legs are in circumferentially distributed on the rack.
The walking supporting leg includes walking component and support component, and the walking component passes through support component and rack phase
Even.
The walking component includes driving wheel, driven wheel, crawler belt, travel driving motor, drive bevel gear, driven wheel of differential
And wheel carrier；The driving wheel and driven wheel are separately mounted to the both ends of wheel carrier, are connected between driving wheel and driven wheel by crawler belt；
The travel driving motor is packed in the middle part of wheel carrier, and the drive bevel gear is fixedly set in the motor shaft of travel driving motor
On, the driven wheel of differential is fixedly set on the wheel shaft of driving wheel, and driven wheel of differential is meshed with drive bevel gear.
The support component includes the first swing rod, first connecting rod, the second swing rod and second connecting rod；First swing rod one end
Hingedly on the rack, the first swing rod other end is hinged with first connecting rod one end, the wheel shaft of the first connecting rod other end and driving wheel
It is hinged；Hingedly on the rack, the second swing rod other end is hinged with second connecting rod one end for second swing rod one end, and second connects
The wheel shaft of the bar other end and driven wheel is hinged.
It is fitted in the hinged place of first swing rod and first connecting rod, in the hinged place of the second swing rod and second connecting rod
Torsional spring is made between the first swing rod and first connecting rod by torsional spring, remains outside between the second swing rod and second connecting rod
Support force.
Several headlamps are installed in the camera lens peripheral side of the camera, the image light and shade journey acquired according to camera
Degree, the ability of the standby adaptive adjustment light intensity of the illuminator.
Beneficial effects of the present invention:
Sleeper beam inner cavity monitoring robot of the invention can substitute traditional endoscope and carry out image prison to sleeper beam inner cavity
It surveys, and allows operative employee to carry out polishing work while imaging monitor, realize imaging monitor and the synchronous of work of polishing,
The working efficiency of sleeper beam inner cavity polishing operation is greatly improved.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of sleeper beam inner cavity monitoring robot of the invention；
Fig. 2 is the structural schematic diagram after rack and controller of the invention are equipped；
Fig. 3 is the structural schematic diagram of walking supporting leg of the invention；
Fig. 4 is the structural schematic diagram of walking component of the invention；
Fig. 5 is the structural schematic diagram of support component of the invention；
Fig. 6 is the structural schematic diagram of camera of the invention；
In figure, 1- rack, 2- controller, 3- camera, 4- walking supporting leg, 5- walking component, 6- support component, 7- master
Driving wheel, 8-driven wheels, 9-crawler belts, 10-travel driving motors, 11-drive bevel gears, 12-driven wheel of differential, 13-wheels
Frame, the 14-the first swing rod, 15-first connecting rods, the 16-the second swing rod, 17-second connecting rods, 18-headlamps.
Specific embodiment
The present invention is described in further detail in the following with reference to the drawings and specific embodiments.
As shown in figs. 1 to 6, a kind of sleeper beam inner cavity monitoring robot, including rack 1, controller 2, camera 3 and walking branch
Support leg 4, the controller 2 are installed in rack 1, and the camera 3 is mounted on 1 front end of rack, by camera 3 in sleeper beam
Chamber carries out imaging monitor, and the image information that camera 3 acquires is transferred to the monitor terminal outside sleeper beam by controller 2；It is described
Walking supporting leg 4 is mounted in rack 1, adjusts position of the monitoring robot in sleeper beam inner cavity by walking supporting leg 4.
The quantity of the walking supporting leg 4 is several, and several walking supporting legs 4 are in rack 1 in circumferentially distributed.The present embodiment
In, two groups of walking supporting legs 4 are mounted in the upper and lower part of rack 1, are mounted on one group in the left end of rack 1 and right end
Walking supporting leg 4.
The walking supporting leg 4 includes walking component 5 and support component 6, the walking component 5 by support component 6 and
Rack 1 is connected.
The walking component 5 include driving wheel 7, driven wheel 8, crawler belt 9, travel driving motor 10, drive bevel gear 11, from
Dynamic bevel gear 12 and wheel carrier 13；The driving wheel 7 is separately mounted to the both ends of wheel carrier 13, driving wheel 7 and driven wheel with driven wheel 8
It is connected between 8 by crawler belt 9；The travel driving motor 10 is packed in 13 middle part of wheel carrier, 11 fixing sleeve of drive bevel gear
On the motor shaft of travel driving motor 10, the driven wheel of differential 12 is fixedly set on the wheel shaft of driving wheel 7, from mantle
Gear 12 is meshed with drive bevel gear 11.
The support component 6 includes the first swing rod 14, first connecting rod 15, the second swing rod 16 and second connecting rod 17；Described
One swing rod, 14 one end is hinged in rack 1, and 14 other end of the first swing rod is hinged with 15 one end of first connecting rod, and first connecting rod 15 is another
One end and the wheel shaft of driving wheel 7 are hinged；Described second swing rod, 16 one end is hinged in rack 1,16 other end of the second swing rod with
17 one end of second connecting rod is hinged, and 17 other end of second connecting rod and the wheel shaft of driven wheel 8 are hinged.
In the hinged place of first swing rod 14 and first connecting rod 15, in the hinged place of the second swing rod 16 and second connecting rod 17
It is fitted with torsional spring, is made between the first swing rod 14 and first connecting rod 15 by torsional spring, between the second swing rod 16 and second connecting rod 17
Remain outside support force.
Several headlamps 18 are installed in the camera lens peripheral side of the camera 3, the image light and shade acquired according to camera 3
Degree, the headlamp 18 have the ability of adaptive adjustment light intensity.
Illustrate first use process of the invention with reference to the accompanying drawing:
Before polishing operation starts in sleeper beam inner cavity, monitoring robot of the invention is open by sleeper beam and is sent into sleeper beam inner cavity
In, by chamber size in the multiple groups walking adaptive sleeper beam of supporting leg 4, monitoring robot is moved to monitoring position, then by taking the photograph
The image for obtaining sleeper beam inner cavity as first 3, when operative employee observes by the monitor terminal outside sleeper beam the hair of sleeper beam surface of internal cavity
Behind the domain of spine area, polishing work can be carried out while observing.Due to realizing imaging monitor and the synchronous of work of polishing,
Also the working efficiency of sleeper beam inner cavity polishing operation is greatly improved.
The scope of patent protection that scheme in embodiment is not intended to limit the invention, it is all without departing from carried out by the present invention etc.
Effect implements or change, is both contained in the scope of the patents of this case.
Claims (7)
1. a kind of sleeper beam inner cavity monitoring robot, it is characterised in that: including rack, controller, camera and walking supporting leg, institute
It states controller to be installed in rack, the camera is mounted on front end of rack, carries out image prison to sleeper beam inner cavity by camera
It surveys, the image information of camera acquisition is transferred to the monitor terminal outside sleeper beam by controller；The walking supporting leg installation
On the rack, position of the monitoring robot in sleeper beam inner cavity is adjusted by walking supporting leg.
2. a kind of sleeper beam inner cavity monitoring robot according to claim 1, it is characterised in that: the number of the walking supporting leg
Measure several, several walking supporting legs are in circumferentially distributed on the rack.
3. a kind of sleeper beam inner cavity monitoring robot according to claim 1, it is characterised in that: the walking supporting leg includes
Walking component and support component, the walking component are connected by support component with rack.
4. a kind of sleeper beam inner cavity monitoring robot according to claim 3, it is characterised in that: the walking component includes master
Driving wheel, driven wheel, crawler belt, travel driving motor, drive bevel gear, driven wheel of differential and wheel carrier；The driving wheel and driven wheel
The both ends of wheel carrier are separately mounted to, are connected between driving wheel and driven wheel by crawler belt；The travel driving motor is packed in wheel
In the middle part of frame, the drive bevel gear is fixedly set on the motor shaft of travel driving motor, the fixed suit of the driven wheel of differential
On the wheel shaft of driving wheel, driven wheel of differential is meshed with drive bevel gear.
5. a kind of sleeper beam inner cavity monitoring robot according to claim 4, it is characterised in that: the support component includes the
One swing rod, first connecting rod, the second swing rod and second connecting rod；Hingedly on the rack, the first swing rod is another for first swing rod one end
End is hinged with first connecting rod one end, and the wheel shaft of the first connecting rod other end and driving wheel is hinged；Second swing rod one end hinge
It connects on the rack, the second swing rod other end is hinged with second connecting rod one end, the wheel shaft phase of the second connecting rod other end and driven wheel
Hingedly.
6. a kind of sleeper beam inner cavity monitoring robot according to claim 5, it is characterised in that: in first swing rod and
The hinged place of one connecting rod is fitted with torsional spring in the hinged place of the second swing rod and second connecting rod, by torsional spring make the first swing rod with
Outside support force is remained between first connecting rod, between the second swing rod and second connecting rod.
7. a kind of sleeper beam inner cavity monitoring robot according to claim 1, it is characterised in that: in the camera lens of the camera
Peripheral side is equipped with several headlamps, according to the image bright-dark degree that camera acquires, the standby adaptive adjustment of the illuminator
The ability of light intensity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811182162.6A CN109383661A (en) | 2018-10-11 | 2018-10-11 | A kind of sleeper beam inner cavity monitoring robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811182162.6A CN109383661A (en) | 2018-10-11 | 2018-10-11 | A kind of sleeper beam inner cavity monitoring robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109383661A true CN109383661A (en) | 2019-02-26 |
Family
ID=65427395
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811182162.6A Pending CN109383661A (en) | 2018-10-11 | 2018-10-11 | A kind of sleeper beam inner cavity monitoring robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109383661A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112706042A (en) * | 2020-12-24 | 2021-04-27 | 庞明光 | Inner wall drive grinding machanism is managed in steel side |
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| KR100775952B1 (en) * | 2006-05-16 | 2007-11-13 | 주식회사 한강개발 | Self-propelled car |
| US20100258365A1 (en) * | 2006-11-13 | 2010-10-14 | Raytheon Sarcos, Llc | Serpentine Robotic Crawler |
| CN104500914A (en) * | 2014-12-11 | 2015-04-08 | 浙江理工大学 | Reservoir culvert detection robot |
| CN104554501A (en) * | 2015-01-07 | 2015-04-29 | 上海大学 | Crawler type drive device for narrow and small space |
| CN104976485A (en) * | 2014-04-10 | 2015-10-14 | 中国科学院沈阳自动化研究所 | Pipeline moving mechanism with self-adaption function |
| CN105730535A (en) * | 2016-02-21 | 2016-07-06 | 上海大学 | Three-surface driven search and rescue robot for ruins |
| CN105834586A (en) * | 2016-05-05 | 2016-08-10 | 湖北三江航天红阳机电有限公司 | Laser root welding robot inside pipeline |
-
2018
- 2018-10-11 CN CN201811182162.6A patent/CN109383661A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100775952B1 (en) * | 2006-05-16 | 2007-11-13 | 주식회사 한강개발 | Self-propelled car |
| US20100258365A1 (en) * | 2006-11-13 | 2010-10-14 | Raytheon Sarcos, Llc | Serpentine Robotic Crawler |
| CN104976485A (en) * | 2014-04-10 | 2015-10-14 | 中国科学院沈阳自动化研究所 | Pipeline moving mechanism with self-adaption function |
| CN104500914A (en) * | 2014-12-11 | 2015-04-08 | 浙江理工大学 | Reservoir culvert detection robot |
| CN104554501A (en) * | 2015-01-07 | 2015-04-29 | 上海大学 | Crawler type drive device for narrow and small space |
| CN105730535A (en) * | 2016-02-21 | 2016-07-06 | 上海大学 | Three-surface driven search and rescue robot for ruins |
| CN105834586A (en) * | 2016-05-05 | 2016-08-10 | 湖北三江航天红阳机电有限公司 | Laser root welding robot inside pipeline |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112706042A (en) * | 2020-12-24 | 2021-04-27 | 庞明光 | Inner wall drive grinding machanism is managed in steel side |
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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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190226 |
|
| RJ01 | Rejection of invention patent application after publication |