CN110253535A - A kind of nanofiber production inspection robot - Google Patents
A kind of nanofiber production inspection robot Download PDFInfo
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- CN110253535A CN110253535A CN201910485443.7A CN201910485443A CN110253535A CN 110253535 A CN110253535 A CN 110253535A CN 201910485443 A CN201910485443 A CN 201910485443A CN 110253535 A CN110253535 A CN 110253535A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/002—Balancing devices using counterweights
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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- Computer Networks & Wireless Communication (AREA)
- Manipulator (AREA)
Abstract
A kind of nanofiber production inspection robot proposed by the present invention, including inspection robot and rail system, track unlocking mechanism and slideway bindiny mechanism are set in inspection robot, rail system is made of track and rail changing device, track includes inspection track circuit and functional rail route, pass through glide path between track circuit, rise slideway, in control inspection robot downstairs, functional rail route includes charged rail route and maintenance track circuit, the configuration of the present invention is simple, design is reasonable, orderliness is clear, using inspection track and rail changing device, the inspection region of inspection robot is planned, energy recharge is carried out using wireless mode, and glide path can be connected with track unlocking mechanism by slideway bindiny mechanism or rises slideway, to change inspection floor and region, with the flexibility for increasing substantially inspection robot and fit The characteristics of with property, movement is flexible, easy to control, can significantly promote the inspection efficiency and effect of inspection robot.
Description
Technical field
The present invention relates to nanofiber production technical field, especially a kind of nanofiber production inspection robot.
Background technique
Nanofiber refers to the diameter biggish filamentary material with certain draw ratio of length, production for nanoscale
When, it is mostly to be produced using method of electrostatic spinning.
In the workshop of nanofiber, to guarantee production safety, monitoring device can be usually arranged, general monitoring is set
Standby is mostly fixed point setting, and monitoring range is minimum, and safety guarantee degree is low, such as a wide range of to lay monitoring device, cost meeting
Greatly, therefore, inspection robot generates therewith.
Inspection robot is a kind of moveable inspection monitoring device, because have wide inspection range, laying controllable quantity,
The features such as deployment cost is lower is able to expanded.Patrol robot in use, often exist failure (monitor or
Person's sensor failure) the problem of, since it runs at the top of floor, maintenance difficulty is higher, meanwhile, for the prison of more floors
For control, inspection robot can not be gone up downstairs, therefore in the allotment of inspection robot, have the defects that certain, flexibility ratio is not
Foot.
Meanwhile robot of patrolling generally uses hanger rail as travelling route, movement is uncontrollable, can only be along planned orbit one
On earth, inspection effect is lower on road, moreover, inspection robot needs connecting cable to power, causing single group hanger rail to lay range cannot mistake
Greatly, it is otherwise easy coiling, such as uses storage battery power supply, then timing is needed manually to be charged, it is time-consuming and laborious.
Summary of the invention
The present invention is in view of the above-mentioned problems, disclose a kind of nanofiber production inspection robot.
Specific technical solution is as follows:
A kind of nanofiber production inspection robot, including for inspection inspection robot and with inspection robot
Matching used rail system, which is characterized in that the inspection robot is equipped with notch, track unlocking mechanism is connected with slideway
Mechanism, the notch is interior to be equipped with driver, and the rail system is made of track and rail changing device, and the track includes inspection rail
Road and functional rail；
The notch is slidably matched with track, and inspection robot is moved in orbit by driver, is patrolled, described
Track unlocking mechanism is set on the lower end surface of inspection robot, between notch, the slideway bindiny mechanism fixed setting
In on the upper surface of inspection robot；
The quantity of the inspection track is a plurality of, and is switched between a plurality of inspection track by rail changing device, is controlled
Mobile inspection direction, the region of system inspection robot can also be carried out between inspection track and functional rail by rail changing device
Switching, control inspection robot run to functional rail；
The functional rail includes charged rail and maintenance track, the quantity of the charged rail be it is a plurality of, be spaced apart
In the side of inspection track, and it is configured with wireless charger, the inspection robot internal battery and control mainboard, the storage
Battery is control mainboard power supply, and is powered by being connected in patrol machine device people between control mainboard with electrical component, control mainboard
Upper integrated power receiving coil, the power receiving coil are used cooperatively with wireless charger, to charge the battery, the maintenance orbit connection
Inspection robot overhaul shop；
When robot of patrolling is used for multi storied factory building or building, inspection track can be divided by story height relationship
Upper layer inspection track, lower layer's inspection track, configured with for machine of patrolling between the upper layer inspection track, lower layer's inspection track
The glide path of people downstairs and rising slideway upstairs；
The track unlocking mechanism is made of locking bar and electric pushrod, and the electric pushrod is bidirectional electric push rod, wherein
Portion and the lower end surface of inspection robot are rotatablely connected, and the locking bar is symmetrical set about electric pushrod, middle part and patrol machine
The lower end surface of device people is rotatablely connected, and the telescopic end of one end and electric pushrod is hinged and connected, when the telescopic end at electric pushrod both ends
Elongation, locking bar rotation, and blocks notch, strengthens the connection of notch and track of patrolling, when the telescopic end at electric pushrod both ends is shunk,
Locking bar returns back between notch, does not block notch, at this point, notch can be detached from inspection track；
The quantity of the slideway bindiny mechanism is 2, is symmetrical arranged, slideway bindiny mechanism is stretched by the first telescopic rod, second
Contracting bar, universal connecting base and claw are constituted, and the lower end of first telescopic rod and the upper end of inspection robot rivet and fix, thereon
End is connect with universal connecting base, and the quantity of second telescopic rod is 2, is symmetrically fixedly installed on the telescopic end of the first telescopic rod
On, and be hinged and connected respectively with the two sides of claw, the claw is hingedly set on universal connecting base；First telescopic rod and
Second telescopic rod is electric telescopic rod, and the first telescopic rod is flexible, controls claw height, and the second telescopic rod is flexible, controls claw
It does expansion action and closed action, realizes being connected and disconnected from for inspection robot and glide path and rising slideway.
Above-mentioned a kind of nanofiber production inspection robot, wherein in the control mainboard of the inspection robot
Wireless communication module is set, and the information exchange with control centre of patrolling, realization sensor and prison are realized by wireless communication module
Visual organ acquires the control of the transmission and inspection control centre of information to inspection robot.
Above-mentioned a kind of nanofiber production inspection robot, wherein when robot of patrolling downstairs is acted, patrol
Robot is looked into run to the lower section of push section, at this point, the second telescopic rod is shunk, claw does expansion action, and the first telescopic rod extends,
Until claw is contacted with push section, then, the second telescopic rod elongation, claw does closed action, makes catch jacket in push section, with
Afterwards, electric pushrod is shunk, and locking bar returns back between notch, and the first telescopic rod is shunk, and notch and upper layer inspection track are detached from, inspection
Robot is suspended in push section, and then, the first electronic push slide block movement pushes inspection robot to enter downslide section, patrols
Robot downslide section slide downward stops on lower Butt Section under the helical buffer effect of breeze way into breeze way；
When robot of patrolling stops on lower Butt Section, the first telescopic rod extends, notch and lower layer's inspection orbital docking,
Electric pushrod elongation, locking bar rotation, and notch is blocked, the second telescopic rod is shunk, and claw does expansion action, and the first telescopic rod is received
Contracting, claw and breeze way are detached from, at this point, inspection man-machine complete of machine downstairs acts, can continue to carry out along lower layer's inspection track
Inspection.
Above-mentioned a kind of nanofiber production inspection robot, wherein when robot of patrolling is acted upstairs, patrol
It looks into robot to run to waiting below section, at this point, the second telescopic rod is shunk, claw does expansion action, and the first telescopic rod extends, directly
It is contacted to claw with section is waited, then, the second telescopic rod elongation, claw does closed action, and make catch jacket on waiting section, with
Afterwards, electric pushrod is shunk, and locking bar returns back between notch, and the first telescopic rod is shunk, and notch and lower layer's inspection track are detached from, inspection
Robot, which is suspended in, to be waited in section, and then, the second electronic push slide block movement pushes inspection robot to enter waiting section, and edge
Ascent stage pushes to Butt Section all the way；
When robot of patrolling stops on upper Butt Section, the first telescopic rod extends, notch and upper layer inspection orbital docking,
Electric pushrod elongation, locking bar rotation, and notch is blocked, the second telescopic rod is shunk, and claw does expansion action, and the first telescopic rod is received
Contracting, claw and upper Butt Section are detached from, at this point, inspection man-machine complete of machine acts upstairs, can continue to patrol along upper layer track into
Row inspection.
Above-mentioned a kind of nanofiber production inspection robot, wherein the driver is motor idler wheel, servo-drive
The combination of one or more of device, stepper motor.
A kind of above-mentioned nanofiber production inspection robot, wherein the inspection robot be equipped with monitor with
Multiple sensors.
Above-mentioned a kind of nanofiber production inspection robot, wherein the sensor is environmental sensor, including sky
Gas temperature sensor, air humidity sensor, air pressure probe, flame sensor, infrared sensor, dust sensor and
The combination of one or more of hazardous gas sensor.
Above-mentioned a kind of nanofiber production inspection robot, wherein the monitor is camera, cradle head camera
One of.
The invention has the benefit that
A kind of nanofiber production inspection robot proposed by the present invention, including inspection robot and rail system, are patrolled
It looks into robot and sets track unlocking mechanism and slideway bindiny mechanism, rail system is made of track and rail changing device, and track includes
Patrol track circuit and functional rail route, between track circuit by glide path, rise slideway, above and below control inspection robot
Building, functional rail route include charged rail route and maintenance track circuit, and the configuration of the present invention is simple, rationally, item is cleared for design
It is clear, using inspection track and rail changing device, the inspection region of inspection robot is planned, the energy is carried out using wireless mode
Supply, and glide path can be connected with track unlocking mechanism by slideway bindiny mechanism or rise slideway, to change inspection layer
Building and region have the characteristics that increase substantially the flexibility and applicability of inspection robot, move it is flexible, easy to control,
The inspection efficiency and effect of inspection robot can significantly be promoted.
Detailed description of the invention
Fig. 1 is the brief relational view of patrol robot and rail system in the present invention.
Fig. 2 is inspection robot and rail system schematic diagram in the present invention.
Fig. 3 is upper layer inspection track, lower layer's inspection track and glide path, the schematic diagram for rising slideway in the present invention.
Fig. 4 is inspection robot top view.
Fig. 5 is inspection robot bottom view.
Fig. 6 is slideway bindiny mechanism schematic diagram.
Drawing reference numeral is described as follows:
A: rail system；B, track；C, rail changing device；B1, inspection track；B2, functional rail；B2-1, charged rail；
B2-2, maintenance track；D, wireless charger；E, inspection robot overhaul shop；
1, upper layer inspection track；2, lower layer's inspection track；3, inspection robot；4, glide path；5, rise slideway；25；Prison
Visual organ；26, sensor；
Wherein, 3, inspection robot includes: 6, track unlocking mechanism；7, slideway bindiny mechanism；8, notch；9, driver；
6, track unlocking mechanism includes: 10, locking bar；11, electric pushrod；
7, slideway bindiny mechanism includes: the 12, first telescopic rod；13, the second telescopic rod；14, universal connecting base；15, claw；
Wherein, 4, glide path includes: 16, push section；17, downslide section；18, breeze way；19, lower Butt Section；20, the first electricity
Dynamic push sliding block；
5, rise slideway to include: 21, wait section；22, the ascent stage；23, upper Butt Section；24, the second electronic push sliding block.
Specific embodiment
It is clear to be more clear technical solution of the present invention, the present invention is further retouched below with reference to embodiment
It states, the technical characteristic of any pair of technical solution of the present invention carries out the scheme that equivalencing is obtained with conventional reasoning and each falls within the present invention
Protection scope.
A kind of nanofiber production inspection robot as shown in the figure, including for inspection inspection robot and with
The inspection matching used rail system of robot, which is characterized in that the inspection robot is equipped with notch, track unlocking mechanism
With slideway bindiny mechanism, the notch is interior to be equipped with driver, and the rail system is made of track and rail changing device, the track
Including inspection track and functional rail；
The notch is slidably matched with track, and inspection robot is moved in orbit by driver, is patrolled, described
Track unlocking mechanism is set on the lower end surface of inspection robot, between notch, the slideway bindiny mechanism fixed setting
In on the upper surface of inspection robot；
The quantity of the inspection track is a plurality of, and is switched between a plurality of inspection track by rail changing device, is controlled
Mobile inspection direction, the region of system inspection robot can also be carried out between inspection track and functional rail by rail changing device
Switching, control inspection robot run to functional rail；
The functional rail includes charged rail and maintenance track, the quantity of the charged rail be it is a plurality of, be spaced apart
In the side of inspection track, and it is configured with wireless charger, the inspection robot internal battery and control mainboard, the storage
Battery is control mainboard power supply, and is powered by being connected in patrol machine device people between control mainboard with electrical component, control mainboard
Upper integrated power receiving coil, the power receiving coil are used cooperatively with wireless charger, to charge the battery, the maintenance orbit connection
Inspection robot overhaul shop；
When robot of patrolling is used for multi storied factory building or building, inspection track can be divided by story height relationship
Upper layer inspection track, lower layer's inspection track, configured with for machine of patrolling between the upper layer inspection track, lower layer's inspection track
The glide path of people downstairs and rising slideway upstairs；
The track unlocking mechanism is made of locking bar and electric pushrod, and the electric pushrod is bidirectional electric push rod, wherein
Portion and the lower end surface of inspection robot are rotatablely connected, and the locking bar is symmetrical set about electric pushrod, middle part and patrol machine
The lower end surface of device people is rotatablely connected, and the telescopic end of one end and electric pushrod is hinged and connected, when the telescopic end at electric pushrod both ends
Elongation, locking bar rotation, and blocks notch, strengthens the connection of notch and track of patrolling, when the telescopic end at electric pushrod both ends is shunk,
Locking bar returns back between notch, does not block notch, at this point, notch can be detached from inspection track；
The quantity of the slideway bindiny mechanism is 2, is symmetrical arranged, slideway bindiny mechanism is stretched by the first telescopic rod, second
Contracting bar, universal connecting base and claw are constituted, and the lower end of first telescopic rod and the upper end of inspection robot rivet and fix, thereon
End is connect with universal connecting base, and the quantity of second telescopic rod is 2, is symmetrically fixedly installed on the telescopic end of the first telescopic rod
On, and be hinged and connected respectively with the two sides of claw, the claw is hingedly set on universal connecting base；First telescopic rod and
Second telescopic rod is electric telescopic rod, and the first telescopic rod is flexible, controls claw height, and the second telescopic rod is flexible, controls claw
It does expansion action and closed action, realizes being connected and disconnected from for inspection robot and glide path and rising slideway；
Wherein, built-in wireless communication module in the control mainboard of the inspection robot, and pass through wireless communication module reality
Now with the information exchange of inspection control centre, transmission and the inspection control centre pair of sensor and monitor acquisition information are realized
The control of inspection robot.
When robot of patrolling downstairs is acted, inspection robot is run to the lower section of push section, at this point, second is flexible
Bar is shunk, and claw does expansion action, and the elongation of the first telescopic rod, until claw is contacted with push section, then, the second telescopic rod is stretched
Long, claw does closed action, makes catch jacket in push section, and then, electric pushrod is shunk, and locking bar returns back between notch, the
One telescopic rod is shunk, and notch and upper layer inspection track are detached from, and inspection robot is suspended in push section, and then, first electronic pushes away
It send slide block movement, inspection robot is pushed to enter downslide section, Robot downslide section slide downward of patrolling, into breeze way,
Under the helical buffer effect of breeze way, stop on lower Butt Section；
When robot of patrolling stops on lower Butt Section, the first telescopic rod extends, notch and lower layer's inspection orbital docking,
Electric pushrod elongation, locking bar rotation, and notch is blocked, the second telescopic rod is shunk, and claw does expansion action, and the first telescopic rod is received
Contracting, claw and breeze way are detached from, at this point, inspection man-machine complete of machine downstairs acts, can continue to carry out along lower layer's inspection track
Inspection.
When robot of patrolling is acted upstairs, inspection robot is run to waiting below section, at this point, the second telescopic rod
It shrinking, claw does expansion action, the elongation of the first telescopic rod, until claw is contacted with section is waited, and then, the elongation of the second telescopic rod,
Claw does closed action, makes catch jacket on waiting section, and then, electric pushrod is shunk, and locking bar returns back between notch, and first stretches
Contracting bar is shunk, and notch and lower layer's inspection track are detached from, and inspection robot, which is suspended in, to be waited in section, and then, the second electronic push is sliding
Block movement pushes inspection robot to enter waiting section, and pushes to upper Butt Section all the way along the ascent stage；
When robot of patrolling stops on upper Butt Section, the first telescopic rod extends, notch and upper layer inspection orbital docking,
Electric pushrod elongation, locking bar rotation, and notch is blocked, the second telescopic rod is shunk, and claw does expansion action, and the first telescopic rod is received
Contracting, claw and upper Butt Section are detached from, at this point, inspection man-machine complete of machine acts upstairs, can continue to patrol along upper layer track into
Row inspection.
Wherein, the driver is the combination of one or more of motor idler wheel, servo-driver, stepper motor.
Wherein, the inspection robot is equipped with monitor and multiple sensors, and the sensor is environmental sensor, packet
Include air temperature sensor, air humidity sensor, air pressure probe, flame sensor, infrared sensor, dust sensing
The combination of one or more of device and hazardous gas sensor, wherein the monitor is camera, in cradle head camera
One kind.
As shown in Figure 1, moving on rails of the inspection robot in rail system, carries out under the control of inspection control centre
Inspection, during track movement, rail changing device works under the control of inspection control centre, the movement of control inspection robot
Route switches between inspection track and functional rail, is charged and is overhauled；
Simultaneously as shown in figure 3, slideway bindiny mechanism and track unlocking mechanism are in the control of inspection control centre, achievable inspection
Robot and glide path, rise slideway dock and releasing, to control floor where the transformation of inspection robot；
When robot of patrolling carries out inspection, in inspection moving on rails, and by rail changing device in a plurality of inspection track
Between switch over, adjust mobile inspection direction and region, when patrol robot not enough power supply when, can be in control centre of patrolling
Under control, entered in charged rail by rail changing device, standby charging；
When the sensor or monitor failure of inspection robot, maintenance track can be entered by rail changing device, it is lower to inspection
Robot overhaul shop carries out maintenance and repair.
The present embodiment is based on workshop or the building number of plies and inspection track is set as upper layer inspection track and lower layer's inspection track,
That is the inspection track in n-th layer building is lower layer's inspection track of N+1 floor, is the upper layer inspection track of N-1 floor, for convenience
Embodiment is described, as shown in figure 3, being illustrated using 2 layers of workshop or building, i.e. inspection track in the first floor is
Lower layer's inspection track, the inspection track of the second floor are upper layer inspection track, are offered between floor for downslide section and ascent stage
By channel；
During patrolling robot inspection, when the inspection robot failure that certain region occurs, need to transfer other regions
Or spare inspection robot is replaced it, when carrying out region inspection instead of it, inspection robot can be gone downstairs by upper
Device carries out the replacement between the variation and running track of inspection floor, in use, inspection robot connects machine by slideway
Structure connects glide path or rises slideway, and passes through the connection of the releasing of track unlocking mechanism and current orbit, passes through electronic push
Sliding block push changes locating floor, and connects the track of current floor；
In conclusion the present embodiment structure is simple, rationally, orderliness is clear for design, right using inspection track and rail changing device
The inspection region of inspection robot planned, carries out energy recharge using wireless mode, and can by slideway bindiny mechanism and
Track unlocking mechanism connects glide path or rises slideway, to change inspection floor and region, has and increases substantially inspection
The characteristics of flexibility and applicability of robot, movement is flexible, easy to control, can significantly promote the inspection of inspection robot
Efficiency and effect.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the scope of protection of the present invention.Therefore, protection scope of the present invention should be with the protection scope of claims
Subject to.
Claims (8)
1. a kind of nanofiber production inspection robot matches including the inspection robot for inspection and with inspection robot
Cover the rail system used, which is characterized in that the inspection robot is equipped with notch, track unlocking mechanism and connects machine with slideway
Structure, the notch is interior to be equipped with driver, and the rail system is made of track and rail changing device, and the track includes inspection track
And functional rail；
The notch is slidably matched with track, and inspection robot is moved in orbit by driver, patrols, the track
Unlocking mechanism is set on the lower end surface of inspection robot, and between notch, the slideway bindiny mechanism, which is fixedly installed on, to be patrolled
It looks on the upper surface of robot；
The quantity of the inspection track is a plurality of, and is switched between a plurality of inspection track by rail changing device, and control is patrolled
Mobile inspection direction, the region of robot are looked into, can also be switched between inspection track and functional rail by rail changing device,
Control inspection robot runs to functional rail；
The functional rail includes charged rail and maintenance track, the quantity of the charged rail be it is a plurality of, be spaced apart in patrolling
The side of track is looked into, and is configured with wireless charger, the inspection robot internal battery and control mainboard, the battery
It powers for control mainboard, and is powered by being connected between control mainboard in patrol machine device people with electrical component, collected in control mainboard
At power receiving coil, the power receiving coil is used cooperatively with wireless charger, to charge the battery, the maintenance orbit connection inspection
Robot overhaul shop；
When robot of patrolling is used for multi storied factory building or building, inspection track can be carried out being divided into upper layer by story height relationship
Inspection track, lower layer's inspection track, configured with for patrolling under robot between the upper layer inspection track, lower layer's inspection track
The glide path in building and rising slideway upstairs；
The track unlocking mechanism is made of locking bar and electric pushrod, the electric pushrod be bidirectional electric push rod, middle part with
The lower end surface rotation connection of inspection robot, the locking bar are symmetrical set about electric pushrod, middle part and inspection robot
Lower end surface rotation connection, the telescopic end of one end and electric pushrod is hinged and connected, when the telescopic end at electric pushrod both ends extends,
Locking bar rotation, and notch is blocked, strengthen the connection of notch and track of patrolling, when the telescopic end contraction at electric pushrod both ends, locking bar
It returns back between notch, does not block notch, at this point, notch can be detached from inspection track；
The quantity of the slideway bindiny mechanism be 2, be symmetrical arranged, slideway bindiny mechanism by the first telescopic rod, the second telescopic rod,
Universal connecting base and claw are constituted, and the lower end of first telescopic rod and the upper end of inspection robot rivet and fix, the upper end with
Universal connecting base connection, the quantity of second telescopic rod are 2, are symmetrically fixedly installed on the telescopic end of the first telescopic rod,
And be hinged and connected respectively with the two sides of claw, the claw is hingedly set on universal connecting base；
First telescopic rod and the second telescopic rod are electric telescopic rod, and the first telescopic rod is flexible, control claw height, and second
Telescopic rod is flexible, and control claw does expansion action and closed action, realizes inspection robot and glide path and rises the company of slideway
It connects and is detached from.
2. a kind of nanofiber production inspection robot as described in claim 1, which is characterized in that the inspection robot
Control mainboard on built-in wireless communication module, and by wireless communication module realize with patrol control centre information exchange,
Realize the transmission of sensor and monitor acquisition information and control of the control centre to inspection robot of patrolling.
3. a kind of nanofiber production inspection robot as claimed in claim 2, which is characterized in that when inspection robot into
When row downstairs acts, inspection robot is run to the lower section of push section, at this point, the second telescopic rod is shunk, claw does expansion action,
The elongation of first telescopic rod, until claw is contacted with push section, then, the second telescopic rod elongation, claw does closed action, makes claw
It covers in push section, then, electric pushrod is shunk, and locking bar returns back between notch, and the first telescopic rod is shunk, and notch is patrolled with upper layer
Track disengaging is looked into, inspection robot is suspended in push section, and then, the first electronic push slide block movement pushes inspection robot
Into downslide section, Robot downslide section slide downward of patrolling is stopped under the helical buffer effect of breeze way into breeze way
It terminates on lower Butt Section；
When robot of patrolling stops on lower Butt Section, the first telescopic rod extends, notch and lower layer's inspection orbital docking, electronic
Push rod elongation, locking bar rotation, and notch is blocked, the second telescopic rod is shunk, and claw does expansion action, and the first telescopic rod is shunk, card
Pawl and breeze way are detached from, at this point, inspection man-machine complete of machine downstairs acts, can continue track progress inspection of patrolling along lower layer.
4. a kind of nanofiber production inspection robot as claimed in claim 2 or claim 3, which is characterized in that when inspection machine
When people is acted upstairs, inspection robot is run to waiting below section, at this point, the second telescopic rod is shunk, it is dynamic that claw does opening
Make, the elongation of the first telescopic rod, until claw is contacted with section is waited, then, the second telescopic rod elongation, claw does closed action, makes
Catch jacket is on waiting section, and then, electric pushrod is shunk, and locking bar returns back between notch, and the first telescopic rod is shunk, and notch is under
Layer inspection track is detached from, and inspection robot, which is suspended in, to be waited in section, and then, the second electronic push slide block movement pushes patrol machine
Device people enters waiting section, and pushes to upper Butt Section all the way along the ascent stage；
When robot of patrolling stops on upper Butt Section, the first telescopic rod extends, notch and upper layer inspection orbital docking, electronic
Push rod elongation, locking bar rotation, and notch is blocked, the second telescopic rod is shunk, and claw does expansion action, and the first telescopic rod is shunk, card
Pawl and upper Butt Section are detached from, at this point, inspection man-machine complete of machine acts upstairs, can continue to be patrolled along upper layer inspection track
Inspection.
5. a kind of nanofiber production inspection robot as claimed in claim 4, which is characterized in that the driver is electricity
The combination of one or more of machine idler wheel, servo-driver, stepper motor.
6. a kind of nanofiber production inspection robot as claimed in claim 5, which is characterized in that the inspection robot
It is equipped with monitor and multiple sensors.
7. a kind of nanofiber production inspection robot as claimed in claim 6, which is characterized in that the sensor is ring
Border sensor, including air temperature sensor, air humidity sensor, air pressure probe, flame sensor, infrared sensing
The combination of one or more of device, dust sensor and hazardous gas sensor.
8. a kind of nanofiber production inspection robot as claimed in claims 6 or 7, which is characterized in that the monitor
For one of camera, cradle head camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN114474086A (en) * | 2022-01-17 | 2022-05-13 | 北京小龙潜行科技有限公司 | Wireless charging distance positioning device based on rail robot |
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| CN114474086B (en) * | 2022-01-17 | 2024-04-30 | 北京小龙潜行科技有限公司 | Wireless charging distance positioning device based on track robot |
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