CN109760106A - A kind of modularization extension rail pipe gallery intelligent inspection robot - Google Patents
A kind of modularization extension rail pipe gallery intelligent inspection robot Download PDFInfo
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- CN109760106A CN109760106A CN201910003912.7A CN201910003912A CN109760106A CN 109760106 A CN109760106 A CN 109760106A CN 201910003912 A CN201910003912 A CN 201910003912A CN 109760106 A CN109760106 A CN 109760106A
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- cabin
- control cabinet
- piggyback pod
- energy
- pedestal
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Abstract
The invention discloses a kind of modularizations to hang rail pipe gallery intelligent inspection robot, including piggyback pod, execution cabin, control cabinet, energy cabin and armful rail arm component being sequentially connected by connector, the bottom that rail arm component is located at piggyback pod, executes cabin, control cabinet and energy cabin is embraced；Piggyback pod provides power as the movement of robot, and piggyback pod dragging executes cabin, control cabinet and energy cabin and moves in piping lane；It executes cabin to be acquired picture in piping lane and video information, control cabinet mainly carries out control and processing environment information to robot, and energy cabin is electrically connected and provides electric power with piggyback pod, execution storehouse, control cabinet respectively, is also arranged with organ cover on connector.A kind of modularization provided by the present invention hangs rail pipe gallery intelligent inspection robot and uses modularized design, robot can be carried out the carry of functional module by work requirements, simultaneously if there is failure, it can report an error by module, and directly module reduce with changing because of the delay that works caused by failure.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of modularization extension rail pipe gallery intelligent inspection machine
People.
Background technique
Traditional pipe gallery crusing robot, the inspection demand being unable to satisfy in piping lane substantially.Under normal conditions, comprehensive
Piping lane crusing robot can be divided into two kinds by driving method: wheeled (crawler type) hangs rail.Wheeled (crawler type) robot, nothing
Method meets the requirement of passability in piping lane, such as: step, fire resistant doorsets etc.；Location navigation precision is low, and after crossing large-scale obstacle,
Positioning and navigation accuracy will receive serious influence；Meanwhile the height of wheeled (crawler type) robot is too low, is unable to satisfy machine
Testing requirements of the people in piping lane；Cruising speed is relatively slow (generally less than 0.8m/s), is not timely completed huge inspection amount and wants
It asks.Existing extension rail crusing robot, mostly the small diameter tube tunnel inspection of electric power piping lane use, and have a single function, observation scope
It is small, and function is confined to video passback more, is equivalent to a kind of mobile monitoring device, is not able to satisfy in pipe gallery patrol task,
The demand that the elements such as corridor body, environment, personnel are checked and analyzed.In the mission requirements of current piping lane inspection, elementary item
Have: the crack detection of key node, corridor internal water accumulation, water percolation of wall, enters corridor personnel supervision, is warm and humid the leak water detdction of key node
Spend monitoring, concentration of hydrogen sulfide detection, oxygen concentration detection, the detection of cable temperature anomaly, fire alarm etc..
Summary of the invention
Present invention aim to address the above problem, it is simple to provide a kind of structure, easy to use, the lower mould of manufacturing cost
Blockization hangs rail pipe gallery intelligent inspection robot.
In order to solve the above technical problems, the technical scheme is that a kind of modularization extension rail pipe gallery intelligently patrols
Robot is examined, including piggyback pod, execution cabin, control cabinet, energy cabin and armful rail arm component being sequentially connected by connector, embraces rail
The bottom that arm component is located at piggyback pod, executes cabin, control cabinet and energy cabin；Piggyback pod provides power as the movement of robot,
Piggyback pod dragging executes cabin, control cabinet and energy cabin and moves in piping lane；Cabin is executed to carry out picture in piping lane and video information
Acquisition, control cabinet mainly to robot carry out control and processing environment information, energy cabin respectively with piggyback pod, execute storehouse, control
Cabin is electrically connected and provides electric power, is also arranged with organ cover on connector.
Preferably, the piggyback pod includes piggyback pod side cover, piggyback pod main shell, laser radar, position sensing component, moves
Power cabin driving assembly interlayer, piggyback pod suspension and rotatable piggyback pod driving assembly, power piggyback pod side cover and piggyback pod master
Shell, which is fixed with one, structure and to be located above piggyback pod suspension, laser radar and position sensing component and piggyback pod main shell phase
Even, piggyback pod driving assembly interlayer and piggyback pod side cover are connected, and piggyback pod driving assembly and piggyback pod suspension are connected.
Preferably, the direction of motion of the laser radar and piggyback pod is at 5 ° of angle.
Preferably, the execution cabin includes executing cabin base shell, execution cabin folding lid, head shell, visible light to take the photograph
As head, infrared thermal imager, mechanical arm, execute cabin pedestal, mechanical arm mounting base, orthogonal encoder, folding lid shaft and direct current
Decelerating motor, the one end and execution cabin base shell for executing cabin folding lid are connected, and execute the other end and camera of cabin folding lid
Shell is connected, it is seen that light video camera head and infrared thermal imager are arranged in inside head shell；It executes cabin pedestal and is located at execution cabin
The bottom of base shell, mechanical arm mounting base and folding lid shaft, which are installed in, to be executed on the pedestal of cabin；Folding lid shaft respectively with
Orthogonal encoder is connected with DC speed-reducing.
Preferably, the mechanical arm is the mechanical arm with six-freedom degree.
Preferably, the control cabinet includes control cabinet main shell, control cabinet side cover and loudspeaker, and control cabinet side cover is located at control
Cabin main shell processed both sides, loudspeaker and control cabinet main shell are connected；Control cabinet equipment frame component, control are equipped in control cabinet main shell
Chamber device frame component processed includes control cabinet pedestal, control cabinet equipment supporter, control cabinet apparatus mounting plate and the support of control cabinet shell
Frame, control cabinet apparatus mounting plate are connected by control cabinet equipment supporter with control cabinet pedestal, and control cabinet shell support frame is located at control
Cabin pedestal processed and be connected.
Preferably, industrial router, industrial personal computer and bottom control plate are additionally provided on the control cabinet apparatus mounting plate.
Preferably, the energy cabin includes energy cabin main shell, energy cabin side cover, charging motive contact module, energy cabin top
Lid and cooling fin, charging motive contact module are located at the bottom of energy cabin main shell, and energy cabin side cover is located at energy cabin main shell
Side, energy cabin top cover are located at the top of charging motive contact module, and cooling fin and energy cabin top cover are connected；In the main shell of energy cabin
Portion be equipped with energy chamber device frame, energy chamber device frame be equipped with battery mounting plate, lithium battery, air switch, battery installing rack and
Energy cabin pedestal, battery mounting plate are connected by energy cabin pedestal with energy chamber device frame, and lithium battery is pacified by battery installing rack
On battery mounting plate, charge relay is also equipped on the inside of cooling fin.
Preferably, the connector includes connector connecting rod and flake bearing, and the quantity of flake bearing is two and is located at company
Connect the both ends of device connecting rod.
Preferably, described armful of rail arm group includes embracing rail arm support, embracing rail arm shaft and wheel group pedestal, embraces rail arm support and wheel
Group pedestal is connected；Wheel group pedestal is equipped with rotatable directive wheel and rotatable thrust wheel, guide wheel shaft are arranged in directive wheel
It is connected with wheel group pedestal, supporting wheel shaft is arranged in thrust wheel and is connected with wheel group pedestal；It embraces rail arm shaft and is located at armful rail arm support
Bottom, embracing rail arm support includes armful rail arm that quantity is two and is arranged in parallel, and reinforces expanding by embracing rail arm between adjacent armful of rail arm
Block is opened up to be connected.
The beneficial effects of the present invention are:
1, a kind of modularization provided by the present invention hangs rail pipe gallery intelligent inspection robot and uses modularized design,
Robot can be carried out the carry of functional module by work requirements, while if there is failure, can be reported an error by module, and directly
Module reduce with changing because of the delay that works caused by failure.
2, cabin is executed because having installed sixdegree-of-freedom simulation additional, the dead angle of robot video monitoring data collected is more
It is small.
3, the modularized design hung can be hung by replacement, directly adapt to different rail sections, and reduction installed it
The construction cost of the piping lane of his track.
Detailed description of the invention
Fig. 1 is the general assembly structural schematic diagram that a kind of modularization of the present invention hangs rail pipe gallery intelligent inspection robot；
Fig. 2 is the right view that the present invention cancels organ Zhao Hou robot；
Fig. 3 is the general assembly schematic diagram of piggyback pod of the present invention；
Fig. 4 is that piggyback pod of the present invention hides the structure chart after shell；
Fig. 5 is piggyback pod rack construction figure of the present invention；
Fig. 6 is piggyback pod driving suspended structure figure of the present invention；
Fig. 7 is the cross-sectional view of piggyback pod driving assembly interlayer of the present invention；
Fig. 8 is the three-dimensional structure diagram under present invention execution cabin closing lid state；
Fig. 9 is the three-dimensional structure diagram under present invention execution cabin uncapped state；
Figure 10 is that the present invention executes cover-opening structure and the structure chart of rack inside cabin；
Figure 11 is control cabinet external perspective structure chart of the present invention；
Figure 12 is control cabinet right view of the present invention；
Figure 13 is control cabinet internal structure chart of the present invention；
Figure 14 is the energy of the present invention portion's three-dimensional structure diagram out of my cabin；
Figure 15 is energy cabin of the present invention right view；
Figure 16 is energy cabin of the present invention internal structure chart；
Figure 17 is each cabin connector construction figure of the present invention；
Figure 18 is that the present invention embraces rail arm configuration figure.
Description of symbols: 1, piggyback pod；2, cabin is executed；3, control cabinet；4, energy cabin；5, rail arm component is embraced；6, organ
Cover；7, connector；11, piggyback pod side cover；12, laser radar；13, piggyback pod main shell；14, position sensing component；15, power
Cabin driving assembly interlayer；16, piggyback pod suspension；17, piggyback pod driving assembly；21, cabin base shell is executed；22, cabin is executed to open
Closing lid；24, head shell；25, visible image capturing head；26, infrared thermal imager；27, mechanical arm；31, control cabinet main shell；
32, control cabinet side cover；33, environmental sensor；34, control cabinet equipment frame component；35, loudspeaker；36, industrial router；37, work
Control machine；38, bottom control plate；41, energy cabin main shell；42, energy cabin side cover；43, charge motive contact module；44, energy cabin
Top cover；45, cooling fin；46, energy chamber device frame；51, guide wheel shaft；52, directive wheel；53, supporting wheel shaft；54, thrust wheel；
55, rail arm support is embraced；56, rail arm shaft is embraced；57, it embraces rail arm and reinforces extension blocks；58, rail arm is embraced；59, wheel group pedestal；71, it connects
Device connecting rod；72, flake bearing；151, ponding guide face；152, ponding diversion trench；153, ponding relief port；160, socket is installed
Seat；161, piggyback pod rack；162, piggyback pod hangs rack；163, piggyback pod hangs pedestal；164, piggyback pod stabilizing base is kept off
Piece；165, piggyback pod stabilizing base；166, motor driver；167, piggyback pod apparatus mounting plate；168, power chamber device is installed
Board mount；171, driving wheel；172, damper；173, suspension cross reel；174, connection frame is hung；175, rocker arm is hung；
176, damper mounting base；177, installation in hub motor；178, it is installed outside hub motor；231, cabin pedestal is executed；232, machine
Tool arm mounting base；233, orthogonal encoder；234, folding lid shaft；235, DC speed-reducing；341, control cabinet pedestal；342,
Control cabinet equipment board mount；343, control cabinet apparatus mounting plate；345, control cabinet shell support frame；461, battery mounting plate；
462, lithium battery；463, air switch；464, battery installing rack；465, energy cabin pedestal；467, charge relay.
Specific embodiment
The present invention is described further in the following with reference to the drawings and specific embodiments:
As shown in Fig. 1 to Figure 18, a kind of modularization extension rail pipe gallery intelligent inspection robot provided by the invention, packet
The piggyback pod 1 being sequentially connected by connector 7 is included, cabin 2, control cabinet 3, energy cabin 4 is executed and embraces rail arm component 5, embraces rail arm group
The bottom that part 5 is located at piggyback pod 1, executes cabin 2, control cabinet 3 and energy cabin 4；Piggyback pod 1 provides dynamic as the movement of robot
Power, the dragging of piggyback pod 1 execute cabin 2, control cabinet 3 and energy cabin 4 and move in piping lane.Cabin 2 is executed to picture in piping lane and video
Information carries out multi-angle acquisition, and control cabinet 3 mainly carries out control and processing environment information to robot, energy cabin 4 respectively with it is dynamic
Power cabin 1 executes storehouse 2, the electrical connection of control cabinet 3 and provides electric power, and energy cabin 4 has the function of recharging.It is also arranged on connector 7
There is organ cover 6, organ cover 6 is that connector 7 plays the role of protection.Piggyback pod 1 executes cabin 2, control cabinet 3, energy cabin 4 and embraces
Rail arm component 5 is modularized design in such a way that connector 7 connects, and can be realized rapid-assembling/disassembling, robot can be according to function
Demand increase hanger and have the devices of other functions.
As shown in Fig. 1 to Fig. 7, piggyback pod 1 includes piggyback pod side cover 11, piggyback pod main shell 13, laser radar 12, position
Sensory package 14, piggyback pod driving assembly interlayer 15, piggyback pod suspension 16 and rotatable piggyback pod driving assembly 17, power is dynamic
Power cabin side cover 11 and piggyback pod main shell 13, which are fixed with one, structure and to be located above piggyback pod suspension 16, laser radar 12 and position
It sets sensory package 14 to be connected with piggyback pod main shell 13, piggyback pod driving assembly interlayer 15 and piggyback pod side cover 11 are connected, power
Cabin driving assembly 17 and piggyback pod suspension 16 are connected.The direction of motion of laser radar 12 and piggyback pod 1 is at 5 ° of angle.Piggyback pod
Side cover 11 and piggyback pod main shell 13 can play the role of protecting internal unit, while external styling is beautiful.Laser radar 12
Surface sweeping mainly is carried out to the range that width in front of robot is 330mm, avoids running model into robot within robot and 5m
The barrier enclosed bumps against.Position sensing component 14 is mounted on the front end of piggyback pod 1, mainly positions to the RFID on rail system
It is identified, to realize positioning and the movement that other robot need to execute.
Piggyback pod driving assembly interlayer 15 includes ponding guide face 151, ponding diversion trench 152 and ponding relief port 153, product
Water relief port 153 is hollow cylindrical shape structure.Ponding diversion trench 152 is located on ponding guide face 151.
Piggyback pod suspension 16 includes socket mounting base 160, piggyback pod rack 161, piggyback pod suspension rack 162, piggyback pod
Hang pedestal 163, piggyback pod stabilizing base baffle 164, piggyback pod stabilizing base 165, motor driver 166, power chamber device
Mounting plate 167 and piggyback pod apparatus mounting plate bracket 168.The quantity of socket mounting base 160 is two, is symmetrically distributed in piggyback pod
The two sides of rack 161.Piggyback pod hangs pedestal 163 and is connected by piggyback pod suspension rack 162 with socket mounting base 160, power
Chamber device mounting plate 167 is connected by piggyback pod apparatus mounting plate bracket 168 with piggyback pod rack 161, piggyback pod stabilizing base
Baffle 164 is connected by piggyback pod stabilizing base 165 with socket mounting base 160.
Piggyback pod driving assembly 17 includes the driving wheel 171, damper 172, suspension cross reel for being equipped with hub motor
173, it hangs and pacifies outside connection frame 174, suspension rocker arm 175, damper mounting base 176, the interior installation 177 of hub motor and hub motor
Fill 178.The quantity for hanging rocker arm 175 is two and is arranged in parallel, and passes through suspension cross reel 173 between adjacent suspension rocker arm 175
It is connected with suspension connection frame 174.Damper mounting base 176 and suspension rocker arm 175 be connected, the both ends of damper 172 respectively with subtract
Device mounting base 176 is shaken to be connected.Driving wheel 171 is located between suspension rocker arm 175 and centre is equipped with transmission shaft, in driving wheel 171
The hub motor in portion during the work time, drives driving wheel 171 to rotate.Piggyback pod 1 is driven to move when driving wheel 171 rotates.
As shown in Fig. 8 to Figure 10, executing cabin 2 includes executing cabin base shell 21, executing cabin folding lid 22, head shell
24, visible image capturing head 25, infrared thermal imager 26, mechanical arm 27, execute cabin pedestal 231, be mechanical arm mounting base 232, orthogonal
Encoder 233, folding lid shaft 234 and DC speed-reducing 235 execute one end of cabin folding lid 22 and execute cabin base shell
21 are connected, and the other end and head shell 24 for executing cabin folding lid 22 are connected, it is seen that light video camera head 25 and infrared thermal imager
26 are arranged in inside head shell 24；It executes cabin pedestal 231 and is located at the bottom for executing cabin base shell 21, mechanical arm mounting base
232 and folding lid shaft 234 be installed in execute cabin pedestal 231 on；Folding lid shaft 234 respectively with orthogonal encoder 233 and
DC speed-reducing 235 is connected.In the present embodiment, mechanical arm 27 is the mechanical arm with six-freedom degree.Orthogonal encoder
233, visible image capturing head 25 and infrared thermal imager 26 are existing mature technology equipment.Visible image capturing head 25 and infrared heat
Imager 26 is acquired the image in piping lane, video data.DC speed-reducing 235 drives folding lid shaft 234 to move,
And the folding lid storage and releasing movement executed when cabin folding lid 22 carries out the stretching of mechanical arm 27 of six degree of freedom and withdraws is driven,
Orthogonal encoder 233 is for the detection in place to folding lid.
As shown in Figure 11 to Figure 13, control cabinet 3 includes control cabinet main shell 31, control cabinet side cover 32 and loudspeaker 35, control
Cabin side cover 32 processed is located at 31 both sides of control cabinet main shell, and loudspeaker 35 and control cabinet main shell 31 are connected；Control cabinet main shell 31
Interior to be equipped with control cabinet equipment frame component 34, control cabinet equipment frame component 34 includes control cabinet pedestal 341, control cabinet equipment supporter
342, control cabinet apparatus mounting plate 343 and control cabinet shell support frame 345, control cabinet apparatus mounting plate 343 is set by control cabinet
Standby bracket 342 is connected with control cabinet pedestal 341, and control cabinet shell support frame 345 is located at control cabinet pedestal 341 and is connected.Control
Environmental sensor 33, industrial router 36, industrial personal computer 37 and bottom control plate 38 are additionally provided on chamber device mounting plate 343.
In the present embodiment, environmental sensor 33, loudspeaker 35, industrial router 36 and industrial personal computer 37 are existing mature skill
Art equipment.Control cabinet apparatus mounting plate 343 is made of the aluminum alloy materials marked as " 6061 ", facilitates the later period to increase control and sets
It is standby.Loudspeaker 35 is mainly used for real-time intercommunication communication and audio alert.
As shown in Figure 14 to Figure 16, energy cabin 4 includes energy cabin main shell 41, energy cabin side cover 42, charging moving contact mould
Block 43, energy cabin top cover 44 and cooling fin 45, charging motive contact module 43 are located at the bottom of energy cabin main shell 41, energy cabin side
Lid 42 is located at the side of energy cabin main shell 41, and energy cabin top cover 44 is located at the top of charging motive contact module 43, cooling fin 45
It is connected with energy cabin top cover 44；Energy chamber device frame 46 is equipped with inside energy cabin main shell 41, energy chamber device frame 46 is equipped with
Battery mounting plate 461, lithium battery 462, air switch 463, battery installing rack 464 and energy cabin pedestal 465, battery mounting plate
461 are connected by energy cabin pedestal 465 with energy chamber device frame 46, and lithium battery 462 is mounted on battery by battery installing rack 464
On mounting plate 461, charge relay 467 is also equipped on the inside of cooling fin 45.
Energy cabin 4 be mainly robot provide electric energy, charge motive contact module 43 direction upward, the touching when needing to charge
Head can stretch out, and charge.Air switch 463 is the general protection switch of robot power supply, action current 60A, when route is total
Electric current is more than action current, it will automatic jump is broken, with protection circuit.Charge relay 467 is mounted on 45 inside of cooling fin, mainly
Charging contacts module 43 is powered off in non-charged state for robot, charge relay when placing short circuit, while charging
Device 467 is closed, and charging circuit is connected, and the aluminum thermal fin 45 of large area can effectively radiate for relay.
As shown in figure 17, connector 7 includes connector connecting rod 71 and flake bearing 72, the quantity of flake bearing 72 be two and
Positioned at the both ends of connector connecting rod 71.All cabin junctions of robot are mounted on connection hook, and connector 7 hangs over connection and hangs
It is locked on hook and by screw, realizes the quick connection in each cabin.The flake bearing 72 at 7 both ends of connector cooperates simultaneously,
It may be implemented between compartment in a certain range, the relative movement of six degree of freedom.
As shown in figure 18, embracing rail arm group 5 includes embracing rail arm support 55, embracing rail arm shaft 56 and wheel group pedestal 59, embraces rail arm
Support 55 and wheel group pedestal 59 are connected；Wheel group pedestal 59 is equipped with rotatable directive wheel 52 and rotatable thrust wheel 54, leads
It is arranged in directive wheel 52 to wheel shaft 51 to be connected with wheel group pedestal 59, supporting wheel shaft 53 is arranged in thrust wheel 54 and 59 phase of wheel group pedestal
Even；The bottom that rail arm shaft 56 is located at armful rail arm support 55 is embraced, embracing rail arm support 55 including quantity is two and armful of parallel arrangement
Rail arm 58 reinforces an extension blocks 57 by embracing rail arm between adjacent armful of rail arm 58 and is connected.
It embraces rail arm shaft 56 and is attached for embracing rail arm pedestal 59 and the tie point in cabin, embrace rail arm shaft 56 and embrace rail
Arm pedestal 59 is standardization part, when robot needs to be mounted on the track in other sections, it is only necessary to replace respective rail
Armful rail arm 58, the wheel group pedestal 59 that section requires can carry out adaptation installation.
Those of ordinary skill in the art will understand that the embodiments described herein, which is to help reader, understands this hair
Bright principle, it should be understood that protection scope of the present invention is not limited to such specific embodiments and embodiments.This field
Those of ordinary skill disclosed the technical disclosures can make according to the present invention and various not depart from the other each of essence of the invention
The specific variations and combinations of kind, these variations and combinations are still within the scope of the present invention.
Claims (10)
1. a kind of modularization hangs rail pipe gallery intelligent inspection robot, it is characterised in that: including passing through connector (7) successively
Connected piggyback pod (1) executes cabin (2), control cabinet (3), energy cabin (4) and embraces rail arm component (5), armful rail arm component (5) position
In piggyback pod (1), execute cabin (2), control cabinet (3) and energy cabin (4) bottom；Piggyback pod (1) is mentioned as the movement of robot
For power, piggyback pod (1) dragging executes cabin (2), control cabinet (3) and energy cabin (4) and moves in piping lane；Cabin (2) are executed to pipe
Picture and video information are acquired in corridor, and control cabinet (3) mainly carries out control and processing environment information, energy cabin to robot
(4) it is electrically connected and provides electric power with piggyback pod (1), execution storehouse (2), control cabinet (3) respectively, connector is also arranged with wind on (7)
Qin cover (6).
2. a kind of modularization according to claim 1 hangs rail pipe gallery intelligent inspection robot, it is characterised in that: institute
State piggyback pod (1) include piggyback pod side cover (11), piggyback pod main shell (13), laser radar (12), position sensing component (14),
Piggyback pod driving assembly interlayer (15), piggyback pod suspension (16) and rotatable piggyback pod driving assembly (17), power piggyback pod
Side cover (11) and piggyback pod main shell (13), which are fixed with one, structure and is located at piggyback pod suspension (16) above, laser radar (12)
It is connected with position sensing component (14) with piggyback pod main shell (13), piggyback pod driving assembly interlayer (15) and piggyback pod side cover
(11) it is connected, piggyback pod driving assembly (17) and piggyback pod suspension (16) are connected.
3. a kind of modularization according to claim 2 hangs rail pipe gallery intelligent inspection robot, it is characterised in that: institute
The direction of motion of laser radar (12) and piggyback pod (1) is stated into 5 ° of angle.
4. a kind of modularization according to claim 1 hangs rail pipe gallery intelligent inspection robot, it is characterised in that: institute
Stating and executing cabin (2) includes executing cabin base shell (21), executing cabin folding lid (22), head shell (24), visible image capturing
Head (25), mechanical arm (27), executes cabin pedestal (231), mechanical arm mounting base (232), orthogonal coding at infrared thermal imager (26)
Device (233), folding lid shaft (234) and DC speed-reducing (235) execute the one end of cabin folding lid (22) and execute cabin pedestal
Shell (21) be connected, execute cabin folding lid (22) the other end and head shell (24) be connected, it is seen that light video camera head (25) and
It is internal that infrared thermal imager (26) is arranged in head shell (24)；It executes cabin pedestal (231) and is located at execution cabin base shell
(21) bottom, mechanical arm mounting base (232) and folding lid shaft (234), which are installed in, to be executed on cabin pedestal (231)；Folding lid
Shaft (234) is connected with orthogonal encoder (233) and DC speed-reducing (235) respectively.
5. a kind of modularization according to claim 4 hangs rail pipe gallery intelligent inspection robot, it is characterised in that: institute
Stating mechanical arm (27) is the mechanical arm with six-freedom degree.
6. a kind of modularization according to claim 1 hangs rail pipe gallery intelligent inspection robot, it is characterised in that: institute
Stating control cabinet (3) includes control cabinet main shell (31), control cabinet side cover (32) and loudspeaker (35), and control cabinet side cover (32) is located at
Control cabinet main shell (31) both sides, loudspeaker (35) and control cabinet main shell (31) are connected；It is equipped in control cabinet main shell (31)
Control cabinet equipment frame component (34), control cabinet equipment frame component (34) include control cabinet pedestal (341), control cabinet equipment supporter
(342), control cabinet apparatus mounting plate (343) and control cabinet shell support frame (345), control cabinet apparatus mounting plate (343) pass through
Control cabinet equipment supporter (342) is connected with control cabinet pedestal (341), and control cabinet shell support frame (345) is located at control cabinet pedestal
(341) it and is connected.
7. a kind of modularization according to claim 6 hangs rail pipe gallery intelligent inspection robot, it is characterised in that: institute
It states and is additionally provided with industrial router (36), industrial personal computer (37) and bottom control plate (38) on control cabinet apparatus mounting plate (343).
8. a kind of modularization according to claim 1 hangs rail pipe gallery intelligent inspection robot, it is characterised in that: institute
Stating energy cabin (4) includes energy cabin main shell (41), energy cabin side cover (42), charging motive contact module (43), energy cabin top cover
(44) and cooling fin (45), charging motive contact module (43) are located at the bottom of energy cabin main shell (41), energy cabin side cover (42)
Positioned at the side of energy cabin main shell (41), energy cabin top cover (44) is located at the top of charging motive contact module (43), cooling fin
(45) it is connected with energy cabin top cover (44)；Energy chamber device frame (46), energy chamber device are equipped with inside energy cabin main shell (41)
Frame (46) is equipped with battery mounting plate (461), lithium battery (462), air switch (463), battery installing rack (464) and energy cabin
Pedestal (465), battery mounting plate (461) are connected by energy cabin pedestal (465) with energy chamber device frame (46), lithium battery
(462) be mounted on battery mounting plate (461) by battery installing rack (464), be also equipped on the inside of cooling fin (45) charging after
Electric appliance (467).
9. a kind of modularization according to claim 1 hangs rail pipe gallery intelligent inspection robot, it is characterised in that: institute
Stating connector (7) includes connector connecting rod (71) and flake bearing (72), and the quantity of flake bearing (72) is two and is located at connection
The both ends of device connecting rod (71).
10. a kind of modularization according to claim 1 hangs rail pipe gallery intelligent inspection robot, it is characterised in that:
Described armful of rail arm group (5) includes embracing rail arm support (55), embracing rail arm shaft (56) and wheel group pedestal (59), embraces rail arm support (55)
It is connected with wheel group pedestal (59)；Wheel group pedestal (59) is equipped with rotatable directive wheel (52) and rotatable thrust wheel (54),
Guide wheel shaft (51) is arranged in directive wheel (52) and is connected with wheel group pedestal (59), supporting wheel shaft (53) be arranged in thrust wheel (54) with
Wheel group pedestal (59) is connected；It embraces rail arm shaft (56) and is located at the bottom for embracing rail arm support (55), embracing rail arm support (55) includes number
Amount is two and armful rail arm (58) of parallel arrangement, reinforces extension blocks (57) by armful rail arm between adjacent armful of rail arm (58) and is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910003912.7A CN109760106B (en) | 2019-01-03 | 2019-01-03 | Modularization rail-hanging type intelligent inspection robot for comprehensive pipe rack |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910003912.7A CN109760106B (en) | 2019-01-03 | 2019-01-03 | Modularization rail-hanging type intelligent inspection robot for comprehensive pipe rack |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109760106A true CN109760106A (en) | 2019-05-17 |
| CN109760106B CN109760106B (en) | 2021-02-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910003912.7A Active CN109760106B (en) | 2019-01-03 | 2019-01-03 | Modularization rail-hanging type intelligent inspection robot for comprehensive pipe rack |
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| CN205310243U (en) * | 2015-12-10 | 2016-06-15 | 深圳市施罗德工业测控设备有限公司 | Robot is patrolled and examined to rail mounted |
| CN205438531U (en) * | 2016-01-05 | 2016-08-10 | 山东康威通信技术股份有限公司 | Light -duty track robot |
| CN205498930U (en) * | 2016-03-16 | 2016-08-24 | 金川集团股份有限公司 | Overhead conveyor car |
| 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 |
| 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 |
| EP3388204A1 (en) * | 2017-04-13 | 2018-10-17 | Petróleo Brasileiro S.A. Petrobras | Robotic inspection device and system |
| CN108972528A (en) * | 2018-09-26 | 2018-12-11 | 重庆西电普华智能机器人技术有限公司 | A kind of multi-joint crusing robot |
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2019
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105397795A (en) * | 2015-12-10 | 2016-03-16 | 深圳市施罗德工业测控设备有限公司 | Rail type polling robot |
| CN205310243U (en) * | 2015-12-10 | 2016-06-15 | 深圳市施罗德工业测控设备有限公司 | Robot is patrolled and examined to rail mounted |
| CN205438531U (en) * | 2016-01-05 | 2016-08-10 | 山东康威通信技术股份有限公司 | Light -duty track robot |
| CN205498930U (en) * | 2016-03-16 | 2016-08-24 | 金川集团股份有限公司 | Overhead conveyor car |
| 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 |
| EP3388204A1 (en) * | 2017-04-13 | 2018-10-17 | Petróleo Brasileiro S.A. Petrobras | Robotic inspection device and system |
| 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 |
| CN108972528A (en) * | 2018-09-26 | 2018-12-11 | 重庆西电普华智能机器人技术有限公司 | A kind of multi-joint crusing robot |
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