CN111561651A - Inspection robot and working method thereof - Google Patents
Inspection robot and working method thereof Download PDFInfo
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- CN111561651A CN111561651A CN202010484282.2A CN202010484282A CN111561651A CN 111561651 A CN111561651 A CN 111561651A CN 202010484282 A CN202010484282 A CN 202010484282A CN 111561651 A CN111561651 A CN 111561651A
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- 238000007689 inspection Methods 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims description 36
- 230000035939 shock Effects 0.000 claims description 24
- 230000003287 optical effect Effects 0.000 claims description 18
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 238000012423 maintenance Methods 0.000 abstract description 2
- 238000009434 installation Methods 0.000 abstract 2
- 239000006096 absorbing agent Substances 0.000 description 6
- 230000003993 interaction Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 239000011521 glass Substances 0.000 description 3
- 238000002955 isolation Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
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- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/046—Allowing translations adapted to upward-downward translation movement
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an inspection robot and a working method thereof, the inspection robot comprises a double-optical tripod head, a tripod head lifting structure and an AGV trolley, wherein the tripod head lifting structure comprises a slide rail, a slide block, a driving assembly and a screw rod, the slide rail is connected above the AGV trolley, the screw rod is connected with the driving assembly, the driving assembly is connected with the AGV trolley, the slide block is respectively connected with the slide rail and the screw rod, the outer end of the slide block is also connected with an installation plate, and the double-optical tripod head is connected with the installation plate through a rotating assembly. According to the invention, the double-optical tripod head, the tripod head lifting structure and the AGV trolley are arranged, the tripod head lifting structure carries out the lifting operation of the double-optical tripod head by the slide rail, the slide block and the lead screw, the lifting structure is simple, the maintenance is simple, the double-optical tripod head realizes the shooting with two degrees of freedom by the rotating component, and the double-optical tripod head is suitable for expanding the shooting range of the tripod head camera in a narrow data machine room space.
Description
Technical Field
The invention relates to a robot, in particular to an inspection robot and a working method thereof.
Background
With the development of the smart grid system, the coverage range of the transformer substation and the power line is wider and wider. In order to ensure the safe and stable operation of the power equipment and timely discover the defects or hidden dangers of the equipment, for a long time, field operators are required to perform patrol inspection on the field equipment regularly or irregularly, manual recording is performed on the instruments and meters, a temperature measuring instrument is adopted to perform field measurement on the equipment, the workload is large, the patrol inspection is easy to be out of place due to the influence of factors such as environmental factors and personnel quality, the detection data is inaccurate, and the patrol efficiency and quality often fail to achieve the expected effect. Aiming at the problems of low efficiency and low quality of manual inspection, the inspection robot for the power equipment is used for carrying out automatic inspection on the power transmission line, and can replace manual work, and complete tasks with high reliability and high efficiency.
However, the tripod head lifting mechanism adopted by the existing robot adopts a mechanical arm mode, the mechanical arm mode is high in cost, complex in technology and difficult to maintain, and the other lifting mechanism vertical to a trolley walking route is adopted, so that the mechanism is not beneficial to expanding the photographing range of the tripod head camera in a narrow data machine room space.
Therefore, it is necessary to design a new robot, which has a simple lifting structure and is easy to maintain and suitable for extending the shooting range of the pan-tilt camera in a narrow data machine room space.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an inspection robot and a working method thereof.
In order to achieve the purpose, the invention adopts the following technical scheme: patrol and examine robot, including two optical cloud platforms, cloud platform elevation structure and AGV dolly, cloud platform elevation structure includes slide rail, slider, drive assembly and lead screw, sliding rail connection in the top of AGV dolly, just the lead screw with drive assembly connects, drive assembly with the AGV dolly is connected, the slider respectively with slide rail and screw connection, the outer end of slider still is connected with the mounting panel, two optical cloud platforms pass through rotating assembly with the mounting panel is connected.
The further technical scheme is as follows: and an infrared distance measuring sensor is connected below the mounting plate.
The further technical scheme is as follows: the AGV dolly includes automobile body, navigation subassembly, keeps away barrier subassembly and industrial computer, be equipped with the link in the automobile body, the below of automobile body is equipped with the opening, the navigation subassembly with the link is connected, just the navigation subassembly is arranged in the below of automobile body, keep away the barrier subassembly connect in the top of automobile body, the slide rail with body coupling, drive assembly the navigation subassembly and keep away the barrier subassembly respectively with the industrial computer is connected.
The further technical scheme is as follows: the lower part of the connecting frame is connected with a plurality of wheels, and the wheels are positioned below the vehicle body.
The further technical scheme is as follows: the AGV dolly still includes a plurality of drive wheel subassembly, a plurality of drive wheel subassembly connect respectively in the below of link.
The further technical scheme is as follows: the driving wheel subassembly includes drive wheel, transmission assembly, drive power supply, rocking arm and seismic isolation assembly, the drive power supply with the industrial computer is connected, the drive power supply passes through transmission assembly with the drive wheel is connected, seismic isolation assembly's one end with transmission assembly connects, seismic isolation assembly's the other end with the link is connected, and adjacent two the rocking arm of drive wheel subassembly passes through hinged joint, the hinge with the link is connected, the one end of rocking arm with transmission assembly connects.
The further technical scheme is as follows: the shock-absorbing assembly comprises two shock-absorbing rods, shock-absorbing springs are arranged on the shock-absorbing rods, one ends of the shock-absorbing rods are connected with the transmission assembly, and the other ends of the shock-absorbing rods are connected with the connecting frame.
The further technical scheme is as follows: the drive assembly includes driving shell, tensioning axle, input pulley, drive belt and output pulley connect respectively in the driving shell, output pulley still is connected with the output shaft, the one end of output shaft with the drive wheel is connected, shock absorber subassembly with the outer end of driving shell is connected, the tensioning axle is located the both sides of drive belt.
The further technical scheme is as follows: the hinge is further connected with a connecting plate, the connecting plate is located below the hinge, and a radio frequency card reader is connected below the connecting plate.
The invention also provides a working method of the inspection robot, which comprises the following steps:
starting the AGV trolley so that the AGV trolley runs to a first inspection point;
the double optical holders shoot corresponding instrument information and upload the instrument information to an industrial personal computer in the AGV;
when not acquireing all instrument information, drive assembly drives the lead screw and rotates to make the slider remove, drive two optical cloud platforms and remove to next instrument position, and carry out two optical cloud platforms shoot corresponding instrument information, and upload to the industrial computer in the AGV dolly.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the double-optical tripod head, the tripod head lifting structure and the AGV trolley are arranged, the tripod head lifting structure carries out the lifting operation of the double-optical tripod head by the slide rail, the slide block and the lead screw, the lifting structure is simple, the maintenance is simple, the double-optical tripod head realizes the shooting with two degrees of freedom by the rotating component, and the double-optical tripod head is suitable for expanding the shooting range of the tripod head camera in a narrow data machine room space.
The invention is further described below with reference to the accompanying drawings and specific embodiments.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic perspective view of an inspection robot according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a local explosion structure of the inspection robot according to the embodiment of the present invention;
fig. 3 is a schematic perspective view of a pan/tilt head lifting structure according to an embodiment of the present invention;
FIG. 4 is a schematic perspective view of an AGV according to an embodiment of the present invention;
FIG. 5 is a schematic perspective view of an AGV according to an embodiment of the present invention (with the body removed);
FIG. 6 is a schematic perspective view of a driving wheel assembly and a connecting frame according to an embodiment of the present invention;
FIG. 7 is a perspective view of a drive wheel assembly according to an embodiment of the present invention;
fig. 8 is a schematic perspective view of a transmission assembly according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and the detailed description.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be connected or detachably connected or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above should not be understood to necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by one skilled in the art.
As shown in fig. 1 to 8, in the inspection robot provided in this embodiment, the lead screw 24 and the slider 21 are used in cooperation to realize the lifting of the pan/tilt head, and the inspection robot is applicable to a narrow data machine room space to expand the photographing range of the pan/tilt head camera.
Please refer to fig. 1 to 3, the inspection robot includes a double optical pan-tilt, a pan-tilt lifting structure and an AGV trolley, the pan-tilt lifting structure includes a slide rail 20, a slide block 21, a driving component and a screw rod 24, the slide rail 20 is connected above the AGV trolley, the screw rod 24 is connected with the driving component, the driving component is connected with the AGV trolley, the slide block 21 is respectively connected with the slide rail 20 and the screw rod 24, the outer end of the slide block 21 is further connected with a mounting plate 13, and the double optical pan-tilt is connected with the mounting plate 13 through a rotating component 12.
In the present embodiment, the above-mentioned screw shaft 24 is, but not limited to, a ball screw shaft 24; the driving assembly comprises a stepping motor 25 and an encoder 28, rolling bearings are arranged at two ends of a lead screw 24, the lead screw 24 can freely rotate along the axis of the lead screw on the rolling bearings, the lead screw 24 rotates by the energy provided by the stepping motor 25, the motion control of the stepping motor 25 is completed by a driver 22 of the stepping motor 25, the stepping motor 25 and the encoder 28 are driven by a gear 27, the number of rotation turns of the stepping motor 25 can be known through the encoder 28, and the pitch of the lead screw 24 is converted into the stroke of a nut on the lead screw 24, so that the height position of the tripod head is known. Adopt lead screw 24 and slider 21, slide rail 20 complex mode, realize the lift of cloud platform, elevation structure is simple, maintains simply, and two cloud platforms can not be perpendicular with the walking mode of dolly, and two cloud platforms can realize the shooting of different angles through rotating assembly 12, are applicable to the scope of shooing at narrow and small data computer lab space inside extension cloud platform camera.
In one embodiment, the linkage between the stepper motor 25 and the lead screw 24 of the drive assembly described above uses a clutch 26 connection.
In an embodiment, an infrared distance measuring sensor is connected below the mounting plate 13.
So that the position feedback of cloud platform is more accurate, through the infrared light that AGV dolly body 90 is continuous reflection infrared sensor launches, calculates the height of mounting panel 13 to calculate the position height of two optical cloud platforms.
In this embodiment, please refer to fig. 1, the above-mentioned dual-optical pan/tilt includes a visible light pan/tilt 10 and an infrared light pan/tilt 11, the rotation component 12 has two degrees of freedom, one is capable of rotating around the base perpendicular to the horizontal direction of itself, and the other is capable of doing pitching motion, wherein the rotation component 12 includes a horizontal rotation member and a pitching rotation member, the horizontal rotation member is connected to the mounting plate 13, the dual-optical pan/tilt is connected to the pitching rotation member, the pitching rotation member is connected to the horizontal rotation member, the two degrees of freedom of the dual-optical pan/tilt are realized through the horizontal rotation member and the pitching rotation member, and the photographing range of the pan/tilt camera can be extended inside the narrow data room space.
In one embodiment, the slide rails 20 are attached to the AGV cart via mounting brackets 23.
In an embodiment, please refer to fig. 4 to 5, the AGV includes a car body 90, a navigation assembly, an obstacle avoidance assembly and an industrial personal computer 62, wherein a connecting frame 60 is disposed in the car body 90, an opening is disposed below the car body 90, the navigation assembly is connected to the connecting frame 60, the navigation assembly is disposed below the car body 90, the obstacle avoidance assembly is connected to the top of the car body 90, a slide rail 20 is connected to the car body 90, a driving assembly is connected to the car body 90, and the driving assembly, the navigation assembly and the obstacle avoidance assembly are respectively connected to the industrial personal computer 62.
The industrial personal computer 62 is used for processing signals of the AGV sensor, and processing signals of sensors such as magnetic navigation sensors, the encoder 28, the laser radar sensors and the ultrasonic sensors.
In this embodiment, the obstacle avoidance component includes an ultrasonic sensor 70 and a laser radar sensor 50, and the ultrasonic sensor 70 and the laser radar sensor 50 are respectively connected to the upper side of the vehicle body 90; the navigation assembly described above includes magnetic navigation sensors 80.
The AGV trolley adopts two modes of ultrasonic obstacle avoidance and laser obstacle avoidance to realize the obstacle avoidance function in the operation process, and simultaneously adopts two navigation modes of magnetic stripe navigation and laser navigation to realize the navigation of the AGV in the data machine room. Laser radar navigation combines magnetic navigation and laser navigation integration, and the navigation precision is high, and after the inside equipment position of data computer lab changes, laser navigation can not lose the navigation precision. The industrial personal computer 62 is also used for calculating and planning a navigation path according to data signals of the sensors, so as to realize obstacle avoidance movement. The industrial personal computer 62 also controls the movement of the stepping motor 25, i.e., the power source, to realize the lifting function of the cradle head, and the visible light information and the infrared light information collected by the cradle head are processed by the industrial personal computer 62 and then sent to the background through the wireless network bridge 65.
The AGV is equipped with magnetic navigation sensor 80 and ultrasonic sensor 70 and laser radar sensor 50, and the AGV can use magnetic navigation sensor 80 and ground magnetic stripe to navigate simultaneously, also can use ultrasonic sensor 70 and laser radar sensor 50 to navigate simultaneously. Simultaneously, the AGV has been equipped with ultrasonic sensor 70 and laser radar sensor 50 for there are a lot of glass doors in the data computer lab, and laser radar sensor 50 can be invalid under the condition of glass door, adopts ultrasonic sensor 70 and laser radar sensor 50 can be fine avoid the glass door to see through the problem of laser. And the safe obstacle avoidance of the AGV is realized.
In one embodiment, referring to fig. 4, a plurality of wheels (not shown) are connected to the lower portion of the connecting frame 60, and the wheels are located below the vehicle body 90. The design of wheel can drive the removal of AGV dolly.
In one embodiment, referring to FIGS. 5-6, the AGV further includes a plurality of drive wheel assemblies, each of which is connected to the underside of the connecting frame 60.
The driving wheel assembly is used for driving the AGV to steer so as to achieve steering, obstacle avoidance operation and the like of the AGV.
In an embodiment, referring to fig. 6 and 7, the driving wheel assembly includes a driving wheel 30, a transmission assembly, a driving power source 36, a rocker arm 34 and a shock absorbing assembly, the driving power source 36 is connected to an industrial personal computer 62, the driving power source 36 is connected to the driving wheel 30 through the transmission assembly, one end of the shock absorbing assembly is connected to the transmission assembly, the other end of the shock absorbing assembly is connected to a connecting frame 60, the rocker arms 34 of two adjacent driving wheel assemblies are connected through a hinge 35, the hinge 35 is connected to the connecting frame 60, and one end of the rocker arm 34 is connected to the transmission assembly. A drive power source 36 is connected above the rocker arm 34.
The driving power source 36 is controlled by the industrial personal computer 62 to act, so that the driving power source 36 works through the driving wheel 30 after passing through the transmission assembly, and the steering of the AGV trolley is realized.
In one embodiment, referring to fig. 5 to 7, the shock absorbing assembly includes two shock absorbing rods 32, a shock absorbing spring 33 is disposed on the shock absorbing rod 32, one end of the shock absorbing rod 32 is connected to the transmission assembly, and the other end of the shock absorbing rod 32 is connected to the connecting frame 60.
Specifically, link 60 with the one end of wheel is articulated with the one end of shock rod 32, through shock absorber spring 33 on the shock rod 32 with the AGV dolly will meet the produced vibrational force in uneven place at the in-process that traveles and shift, independently hang rocking arm 34 and independently hang hinge 35 and provide every drive wheel 30 independent shock absorber performance for the AGV dolly, guarantee at the uneven or turn on-process in ground because the circumstances of the contact force of controlling wheel and ground is inhomogeneous, independent shock absorber can strengthen the power of grabbing of AGV dolly drive wheel 30.
The power of the AGV trolley is output by a driving motor and is transmitted to the driving wheel 30 through a transmission component. Two shock absorbers are disposed in front and rear of each driving wheel 30.
In one embodiment, referring to fig. 8, the transmission assembly includes a transmission housing 31, a tension shaft 391, an input pulley 37, a transmission belt 38 and an output pulley 39, the tension shaft 391, the input pulley 37, the transmission belt 38 and the output pulley 39 are respectively connected to the transmission housing 31, the output pulley 39 is further connected to an output shaft 392, one end of the output shaft 392 is connected to the driving wheel 30, the suspension assembly is connected to an outer end of the transmission housing 31, and the tension shaft 391 is located at two sides of the transmission belt 38.
Of course, in other embodiments, the tensioning shaft 391 is located on one side of the belt 38.
The input pulley 37 receives input power from the drive power source 36, and transmits the input power to the output pulley 39 via a timing belt, and the output shaft 392 on the output pulley 39 transmits the power to the drive pulley 30.
The tensioning shaft 391 is used for realizing the tensioning of hold-in range, and the tensioning shaft 391 comprises outer lane, hold-down spindle, bearing, screw hole, and wherein, the outer lane passes through the bearing to be installed on the hold-down spindle, and the hold-down spindle is installed on drive assembly, uses the bolt to compress tightly the direction of hold-in range towards the hold-in range through the screw hole, realizes the tensioning function of hold-in range.
After power is output from the driving power source 36, energy transmission from the motor output shaft 392 to the driving wheel 30 is transmitted through the synchronous belt wheel of the transmission component, the transmission can well inhibit vibration transmitted to the driving wheel 30 from the ground to be transmitted to the upper part of the car body 90 of the AGV trolley, stability of the AGV trolley during operation is improved, and shooting stability of a cradle head of the AGV trolley is improved.
In an embodiment, the hinge 35 is further connected to a connection board, the connection board is located below the hinge 35, and a radio frequency card reader is connected below the connection board. And an RFID radio frequency card reader is arranged at the bottom of the AGV and is used for identifying landmark information in the data machine room and realizing management of important equipment such as assets and equipment of the data machine room.
In an embodiment, a battery compartment 92 is disposed in the vehicle body 90, a compartment cover 91 is connected to an outer end of the battery compartment 92, a battery slide rail, a battery mounting plate and the battery 63 are mounted on the battery compartment 92, the battery slide rail is connected to the battery compartment 92, and the battery mounting plate is connected to the battery slide rail through a battery slider, so that the battery 63 can be replaced. The battery 63 of AGV dolly is arranged on the battery mounting panel of AGV dolly, and the battery mounting panel of AGV dolly is installed on the battery slide rail of AGV dolly, and the one end of the battery slide rail of AGV dolly is fixed on the automobile body 90 of AGV dolly. The battery 63 can slide out along the slide rails 20 under the condition that the battery hatch 91 is opened, so that the battery 63 of the AGV trolley is convenient to detach and replace.
In an embodiment, the connecting frame 60 is provided with a wireless charging receiving coil 67 and a wireless charging controller 61 on the side, a wireless network bridge 65 is arranged below the industrial personal computer 62, and the AGV is provided with a wireless charging function module which mainly comprises the wireless charging receiving coil 67 and the wireless charging controller 61 and is used for receiving energy transmitted by a ground transmitting terminal and storing the energy in the AGV battery 63.
In one embodiment, a human-computer interaction interface 40 is arranged above the vehicle body 90, the industrial personal computer 62 transmits the information of the AGVs to the human-computer interaction interface 40 at the same time, the running state and the fault reason of the AGVs can be displayed on the human-computer interaction interface 40, and meanwhile, partial functions of the AGVs can be adjusted and modified on the human-computer interaction interface 40.
In an embodiment, the car body 90 is further provided with a wired charging interface 64, and the wired charging interface 64 is used for rapidly charging the AGV.
Foretell robot of patrolling and examining, through setting up two optical cloud platforms, cloud platform elevation structure and AGV dolly, cloud platform elevation structure carries out the lift operation of two optical cloud platforms with slide rail 20, slider 21 and lead screw 24, realizes elevation structure simple, maintains simply, and two optical cloud platforms pass through rotating assembly 12 and realize the shooting of two degrees of freedom, are applicable to the scope of shooing at the inside extension cloud platform camera in narrow and small data computer lab space.
In an embodiment, a working method of the inspection robot is further provided, which includes:
starting the AGV trolley so that the AGV trolley runs to a first inspection point;
the double optical holders shoot corresponding instrument information and upload the instrument information to an industrial personal computer 62 in the AGV;
when not acquiring all instrument information, the driving component drives the screw rod 24 to rotate, so that the sliding block 21 moves to drive the double-optical-platform to move to the position of the next instrument, and the double-optical-platform is executed to shoot corresponding instrument information and upload the instrument information to the industrial personal computer 62 in the AGV.
Specifically, the AGV trolley is started, the AGV trolley runs to a first inspection point, the double-optical-platform starts to move according to a set program, the double-optical-platform is aligned to an instrument of the first inspection point, long-distance shooting is carried out, the type of the instrument is confirmed, a related instrument type function library is called inside the AGV robot, after the double-optical-platform is drawn close, the corresponding instrument is shot in a short distance, the information of the instrument is processed by using the function library called in the previous step, and the information is uploaded to a background cloud computer system, namely an industrial personal computer 62; the step motor 25 of drive assembly drives two optical cloud platforms and goes up and down to next instrument position near highly, shoots, repeats foretell two steps, when patrolling and examining the robot electric quantity not enough, patrols and examines the robot and walk to the charging area of regulation according to the procedure, patrols and examines the robot and use RFID to communicate with wireless electric pile of filling, confirms respective state after, ground fills electric pile and gives and patrols and examines the robot and charge.
It should be noted that, as will be clearly understood by those skilled in the art, the specific implementation process of the working method of the inspection robot may refer to the corresponding description in the foregoing embodiment of the inspection robot, and for convenience and conciseness of description, no further description is provided herein.
The technical contents of the present invention are further illustrated by the examples only for the convenience of the reader, but the embodiments of the present invention are not limited thereto, and any technical extension or re-creation based on the present invention is protected by the present invention. The protection scope of the invention is subject to the claims.
Claims (10)
1. Patrol and examine robot, its characterized in that, including two optical cloud platforms, cloud platform elevation structure and AGV dolly, cloud platform elevation structure includes slide rail, slider, drive assembly and lead screw, sliding rail connection in the top of AGV dolly, just the lead screw with drive assembly connects, drive assembly with the AGV dolly is connected, the slider respectively with slide rail and screw connection, the outer end of slider still is connected with the mounting panel, two optical cloud platforms pass through rotating assembly with the mounting panel is connected.
2. The inspection robot according to claim 1, wherein an infrared ranging sensor is connected below the mounting plate.
3. The inspection robot according to claim 1, wherein the AGV comprises a vehicle body, a navigation assembly, an obstacle avoidance assembly and an industrial personal computer, a connecting frame is arranged in the vehicle body, an opening is arranged below the vehicle body, the navigation assembly is connected with the connecting frame, the navigation assembly is arranged below the vehicle body, the obstacle avoidance assembly is connected with the top of the vehicle body, a slide rail is connected with the vehicle body, a driving assembly is connected with the vehicle body, the navigation assembly and the obstacle avoidance assembly are respectively connected with the industrial personal computer.
4. The inspection robot according to claim 3, wherein a plurality of wheels are connected below the connecting frame and are located below the body.
5. The inspection robot according to claim 4, wherein the AGV further includes a plurality of drive wheel assemblies, the drive wheel assemblies being respectively connected to the underside of the attachment frame.
6. The inspection robot according to claim 5, wherein the driving wheel assembly comprises a driving wheel, a transmission assembly, a driving power source, a rocker arm and a shock-absorbing assembly, the driving power source is connected with the industrial personal computer, the driving power source passes through the transmission assembly and the driving wheel are connected, one end of the shock-absorbing assembly is connected with the transmission assembly, the other end of the shock-absorbing assembly is connected with the connecting frame, the rocker arm of the driving wheel assembly is connected with the connecting frame through a hinge, the hinge is connected with the connecting frame, and one end of the rocker arm is connected with the transmission assembly.
7. The inspection robot according to claim 6, wherein the shock absorbing assembly comprises two shock absorbing rods, shock absorbing springs are arranged on the shock absorbing rods, one ends of the shock absorbing rods are connected with the transmission assembly, and the other ends of the shock absorbing rods are connected with the connecting frame.
8. The inspection robot according to claim 7, wherein the transmission assembly comprises a transmission shell, a tensioning shaft, an input belt wheel, a transmission belt and an output belt wheel, the tensioning shaft, the input belt wheel, the transmission belt and the output belt wheel are respectively connected in the transmission shell, the output belt wheel is further connected with an output shaft, one end of the output shaft is connected with the driving wheel, the shock absorbing assembly is connected with the outer end of the transmission shell, and the tensioning shaft is located on two sides of the transmission belt.
9. The inspection robot according to claim 8, wherein a connection plate is further connected to the hinge and located below the hinge, and a radio frequency card reader is connected below the connection plate.
10. The working method of the inspection robot is characterized by comprising the following steps:
starting the AGV trolley so that the AGV trolley runs to a first inspection point;
the double optical holders shoot corresponding instrument information and upload the instrument information to an industrial personal computer in the AGV;
when not acquireing all instrument information, drive assembly drives the lead screw and rotates to make the slider remove, drive two optical cloud platforms and remove to next instrument position, and carry out two optical cloud platforms shoot corresponding instrument information, and upload to the industrial computer in the AGV dolly.
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| CN202010484282.2A CN111561651A (en) | 2020-06-01 | 2020-06-01 | Inspection robot and working method thereof |
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| CN202010484282.2A CN111561651A (en) | 2020-06-01 | 2020-06-01 | Inspection robot and working method thereof |
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