CN111716322A

CN111716322A - Track type inspection robot

Info

Publication number: CN111716322A
Application number: CN202010677387.XA
Authority: CN
Inventors: 唐倩; 苏齐光; 刘联超; 李燚; 郭传宇
Original assignee: Chongqing University
Current assignee: Chongqing University
Priority date: 2020-07-14
Filing date: 2020-07-14
Publication date: 2020-09-29

Abstract

The invention discloses a rail type inspection robot which comprises a walking device and a detection assembly, wherein the walking device is used for walking along a rail, and the detection assembly is connected to the walking device and used for sensing an external environment and further judging whether abnormity occurs. The robot is convenient for remotely sensing the external environment of an application scene, so that remote inspection of equipment in closed places such as underground pipe galleries or pipelines is realized, the inspection mode is convenient, the inspection efficiency is high, the robot can be applied to places with narrow space, the inspection difficulty is reduced, and the labor amount of manual inspection is reduced; the robot can sense environmental noise and smoke and is matched with the camera to acquire images in real time, and comprehensive judgment of whether equipment is abnormal or not is facilitated.

Description

Track type inspection robot

Technical Field

The invention relates to the technical field of robots, in particular to a rail type inspection robot.

Background

For the field of electric power, power equipment needs to be regularly inspected, at present, power equipment in closed places such as underground pipe galleries or pipelines is usually manually inspected, the environment in the underground pipe galleries or the pipelines is humid and dark, the space is narrow, the manual inspection difficulty is large, and the efficiency is low;

therefore, there is a need for an inspection robot applied to the above-mentioned closed place, which is used for detecting various factors in the environment and further determining whether the equipment is operating normally.

Disclosure of Invention

In view of this, the present invention provides a rail-type inspection robot, which is used for detecting various factors in an environment to determine whether equipment is operating normally.

The rail type inspection robot comprises a walking device and a detection assembly, wherein the walking device is used for walking along a rail, and the detection assembly is connected to the walking device and used for sensing an external environment and further judging whether abnormity occurs.

Furthermore, the walking device comprises a walking frame, walking wheels arranged on the walking frame, a driving assembly for driving the walking wheels to rotate so that the walking wheels move along the track, and a stabilizing assembly, wherein the stabilizing assembly is connected to the walking frame and used for transversely clamping two sides of the track.

Further, the stabilizing assembly comprises at least one pair of elastic rolling bodies which are transversely clamped at two sides of the track and can roll along the side part of the track along the walking of the robot.

Furthermore, the walking wheel is provided with two sets, and two sets of walking wheels are located the both sides of track web and can be followed orbital pterygoid lamina and roll the walking, and at least a set of walking wheel is driven by drive assembly as the action wheel and rotates.

Further, including two walking wheels in every group walking wheel, drive assembly includes driving piece and drive assembly, the driving piece passes through two walking wheels synchronous rotation in the drive assembly drive driving wheel group.

Further, the stabilizing assembly further comprises a rolling body mounting seat for mounting the elastic rolling body and an elastic member, wherein the rolling body mounting seat can be transversely and slidably mounted on the walking frame to be far away from or close to the side part of the track, and the elastic member has elastic force which enables the rolling body mounting seat to slide towards the side part of the track and enables the elastic rolling body to be pressed against the side part of the track.

Further, the walking wheel includes the wheel body and installs in the spacing dish of wheel body outer end, spacing dish is located the track pterygoid lamina outside and is used for horizontal spacing to the wheel body.

Furthermore, the stabilizing assembly further comprises a pair of guide rods connected to the walking frame, the rolling element mounting seat can be transversely slidably mounted on the pair of guide rods, the pair of guide rods are respectively arranged on the two longitudinal sides of the elastic rolling element, and the elastic element is sleeved on the guide rods.

Further, the detection component comprises a smoke sensor, a sound pickup and a camera.

Furthermore, the walking frame comprises two vertical plates positioned on the two transverse sides of the track, a plurality of connecting beams connected between the vertical plates and side plates connected on the two longitudinal sides of the vertical plates, a avoiding groove used for avoiding the track is formed in each side plate, and two groups of walking wheels are respectively installed on the inner sides of the two vertical plates.

The invention has the beneficial effects that:

the robot is convenient for remotely sensing the external environment of an application scene, so that remote inspection of equipment in closed places such as underground pipe galleries or pipelines is realized, the inspection mode is convenient, the inspection efficiency is high, the robot can be applied to places with narrow space, the inspection difficulty is reduced, and the labor amount of manual inspection is reduced; the robot can sense environmental noise and smoke and acquire images in real time by matching with a camera, so that whether equipment is abnormal or not is comprehensively judged;

the robot provided by the invention has the advantages that the walking wheels are matched with the stabilizing assembly, so that the close fit between the robot and the track is ensured, the shaking caused by the transverse swinging of the robot is prevented, and the stability and the climbing capability of the robot walking along the track are greatly improved.

Drawings

The invention is further described below with reference to the figures and examples.

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic structural diagram of a walking device 1;

FIG. 3 is a schematic structural view of the walking device 2;

FIG. 4 is a schematic view of the internal structure of the walking device;

FIG. 5 is a schematic structural view of a detection assembly;

FIG. 6 is a partially enlarged schematic view of FIG. 3;

FIG. 7 is a control system diagram;

Detailed Description

FIG. 1 is a schematic view of the overall structure of the present invention; FIG. 2 is a schematic structural diagram of a walking device 1; FIG. 3 is a schematic structural view of the walking device 2; FIG. 4 is a schematic view of the internal structure of the walking device; FIG. 5 is a schematic structural view of a detection assembly; FIG. 6 is a partially enlarged schematic view of FIG. 3; FIG. 7 is a control system diagram;

as shown in the figure: the rail mounted inspection robot of this embodiment, including being used for along rail walking's running gear and connecting the determine module on running gear, determine module is used for the perception external environment and then judges whether take place unusually. Sensing the environment comprises sensing various factors, such as external noise, humidity, harmful gas or temperature, and selecting the sensed factors according to different application scenes, for example, when the application scenes have high requirements on dryness, the detection assembly comprises a humidity sensor for sensing the humidity of the external environment and further judging whether the external environment is abnormal; when the application scene requires constant temperature, the detection assembly comprises a temperature sensor for detecting whether the temperature of the external environment exceeds a normal range, if so, the detection assembly is abnormal, and at the moment, manual maintenance or remote further judgment on the reason of the abnormality is needed; naturally, noise can also be detected, and the abnormal operation condition of the equipment can be directly judged through the noise, which is not specifically described; the detection assembly transmits the acquired data to the upper computer controller for manual real-time monitoring; the running mechanism can be adaptively changed according to different track structures; this structure is convenient for through patrolling and examining the long-range external environment perception to using the scene of robot, and then realizes long-range patrolling and examining to the power equipment in the confined places such as underground pipe gallery or pipeline, and it is convenient that the mode of should patrolling and examining is efficient, can use in the narrow and small place in space, reduces and patrols and examines the degree of difficulty, reduces the manual work and patrols and examines the amount of labour.

In this embodiment, the traveling device includes a traveling frame 1, a traveling wheel 2 mounted on the traveling frame, a driving assembly for driving the traveling wheel to rotate so as to enable the traveling wheel to move along the track, and a stabilizing assembly connected to the traveling frame and used for transversely clamping two sides of the track. The transverse direction is the width direction of the track, the longitudinal direction is the length direction of the track, and the vertical direction is the height direction of the track; referring to fig. 1 to 3, in the present embodiment, the rail 11 is of an i-steel structure, the traveling wheels travel along the lower wing plate of the rail, the stabilizing assemblies are transversely clamped at two sides of the lower wing plate of the rail, the stabilizing assemblies may be a pair of clamping blocks clamped at two sides of the lower wing plate, wherein a side insertion groove matched with the wing plate is formed in the inner side of each clamping block, and it is ensured that the clamping force of the clamping block on the lower wing plate of the rail is small to reduce friction loss; certainly, the stabilizing assembly may also be clamped at two sides of the web of the rail, which is not described in detail; the clamping action through stabilizing the subassembly guarantees the robot and orbital inseparable laminating, prevents rocking that the transverse oscillation of robot leads to, has improved the stability of robot along rail walking greatly.

In this embodiment, the stabilizing assembly includes at least one pair of elastic rolling elements 3, which are laterally clamped at both sides of the rail and can roll along the sides of the rail as the robot walks. As shown in fig. 3 and 4, two pairs of elastic rolling bodies are provided in this embodiment, the two pairs of elastic rolling bodies are respectively provided at both longitudinal sides of the traveling wheel, namely, the rubber wheel is positioned at the position of the walking frame 1 close to the machine head and the machine tail, the elastic rolling body is a rubber wheel with a columnar structure, the excircle of the rubber wheel can be arranged in an annular inserting groove matched with a lower wing plate of the track, the rubber wheel can roll along the track in the walking process, the friction loss between the stabilizing component and the track is reduced through the structure, the running resistance of the robot is reduced, and the elastic rolling bodies are elastically matched with the track, so that the rigid collision with the track is reduced, the distance between the two elastic rolling bodies can be slightly changed along with the elastic expansion of the elastic rolling bodies, the track is favorably matched with the irregular shape of the track, even if foreign matters are adhered to the rail, the good clamping effect and the smoothness of the robot operation can be ensured through the elastic performance of the elastic rolling bodies.

In this embodiment, the walking wheel is provided with two sets ofly, and two sets of walking wheels divide and locate the both sides of track web and can follow orbital pterygoid lamina and roll the walking, and at least a set of walking wheel is driven by drive assembly and is rotated as the action wheel. Combine fig. 3 and fig. 4 to show, the walking wheel is provided with two sets ofly along transversely, and two sets of walking wheels roll along lower aerofoil, and the walking wheel adaptation of this structure uses in the track of I-steel or T shaped steel type to can cooperate the hoist and mount track to use, improve the walking stability of robot through two sets of walking wheels, improve the grip ability of robot moreover greatly, improve the climbing ability of robot.

In this embodiment, including two walking wheels in every group walking wheel, drive assembly includes driving piece 4 and transmission assembly 5, the driving piece passes through two walking wheels synchronous rotation in the transmission assembly drive driving wheel group. In this embodiment, one group of traveling wheels serves as a driving wheel, a driving part adopts a motor, the motor synchronously drives two driving traveling wheels to rotate, a transmission component can be a belt pulley and belt transmission, at this time, an output shaft of the motor is in transmission fit with two driving belt pulleys, rotating shafts of the two driving traveling wheels are in transmission fit with driven belt pulleys, and the two driving belt pulleys are in transmission fit with the driven belt pulleys through belt transmission respectively; certainly, the two groups of traveling wheels can be used as driving wheels, and are used for driving the four traveling wheels to synchronously rotate through the two groups of matched motors and transmission assemblies, or one motor is matched with the transmission assembly to synchronously drive the four wheels to synchronously rotate, which is not described in detail;

in this embodiment, the stabilizing assembly further includes a rolling element mounting seat 6 for mounting the elastic rolling element, the rolling element mounting seat being slidably mounted on the traveling frame in a lateral direction so as to be away from or close to the side portion of the rail, and an elastic member 7 having an elastic force for sliding the rolling element mounting seat toward the side portion of the rail and pressing the elastic rolling element against the side portion of the rail. Combine shown in fig. 6, the rolling element mount pad is U type seat structure, the elasticity rolling element is installed in the rolling element mount pad, the elastic component adopts cylindrical coil spring, the elastic component is connected between rolling element mount pad and riser 1a, the elastic component is in compression state and promotes the rolling element mount pad to moving to one side near the track and make the elasticity rolling element press in the track lateral part, make the elasticity rolling element press in the track lateral part through applying elastic force for the rolling element mount pad, make whole rolling element mount pad elasticity transversely flexible, do benefit to the bellied track structure of different specification models of adaptation or local dysmorphism.

In this embodiment, the walking wheel includes wheel body 2a and installs in the spacing dish 2b of wheel body outer end, spacing dish is located the track pterygoid lamina outside and is used for horizontal spacing to the wheel body. As shown in fig. 4, the outer circle of the wheel body is provided with anti-skid lines, the outer diameter of the limiting disc is larger than that of the wheel body, and the walking wheels which are transversely arranged form transverse limiting through the limiting disc, so that the lower wing plate of the track is positioned between the two transverse limiting discs, and the walking wheels are reliably matched with the lower wing plate.

In this embodiment, the stabilizing assembly further includes a pair of guide rods 8 connected to the walking frame, the rolling element mounting seat 6 is transversely slidably mounted on the pair of guide rods, the pair of guide rods are respectively disposed at two longitudinal sides of the elastic rolling element, and the elastic member is sleeved on the guide rods. As shown in fig. 6, a pair of guide rods guides the rolling element mounting seat to improve the sliding accuracy of the rolling element mounting seat, and the guide rods and the vertical plate 1a can be fixedly connected or can be transversely slid to be matched with the vertical plate, and at this time, the distance between the vertical plate and the rolling element mounting seat is maintained through the elastic piece.

In this embodiment, the detection assembly includes a smoke sensor 9, a microphone 10, and a camera 12. Referring to fig. 1 and 6, the testing assembly includes a testing box 13 fixedly connected to the bottom of a bottom plate 1e, wherein a battery 14, a lower computer controller 15, an IMU inertia measuring unit 17, a smoke sensor 9 and a sound pickup 10 are installed in the testing box, a camera is installed outside the testing box and electrically connected to an internal battery, a socket 16 electrically connected to the battery is connected to a side of the testing box, a power source 18 is installed on a track, a charging seat matched with the socket is provided on the power source, when the robot runs near the power source, the socket and the charging seat are matched to form an electrical connection for charging the internal battery, the sound pickup 10 adopts a DS-ZFP1021 type structure for detecting environmental noise and further judging whether abnormal sound exists in the environment, the smoke sensor adopts an euler type structure for detecting whether smoke exists in the environment and for judging whether high temperature combustion occurs in the environment, the camera purchases a 360-degree panoramic camera for collecting images to observe, the IMU inertial measurement unit adopts an MPU6050 model, for detecting the acceleration of the robot and then calculating the walking displacement of the robot for positioning the robot, the lower computer controller 15 adopts an STM32F407 type, for receiving signals of each sensor, as shown in fig. 7, the battery transmits electric quantity information to the lower computer controller, the pickup, the smoke sensor, the IMU inertial measurement unit and the camera transmit collected data to the lower computer controller, the lower computer controller transmits the received signals to the upper computer signal receiver and processes corresponding data through the upper computer controller, data acquired through inertial measurement of the IMU are used for positioning the robot, whether the installation environment of the equipment is abnormal or not is judged through data acquired through a sound pickup, a smoke sensor and a camera, and electric quantity information is judged through data of a battery so as to judge whether charging is needed or not; the robot is intelligentized through the system.

In this embodiment, the walking frame includes two risers 1a that are located the horizontal both sides of track, connect a plurality of tie-beams 1b between the riser and connect in the curb plate 1c of the vertical both sides of two risers, set up on the curb plate and be used for dodging orbital dodging groove 1d, two sets of walking wheels are installed respectively in two risers inboards. As shown in fig. 4, for the convenience of clearly showing the internal structure of the walking frame, the side plates and other structures are hidden; two connecting beams are connected between the two vertical plates, the connecting beam 1b is in a structure that a sleeve is matched with a bolt, two ends of the sleeve are supported on the inner sides of the two vertical plates, the bolt is sleeved in the sleeve and penetrates through threaded holes in the two vertical plates and is fastened with the two vertical plates, so that the connecting beams are transversely clamped by the two vertical plates, the transverse size of the whole robot is controlled by controlling the size of the connecting beams, the matching precision of a travelling wheel and a track is ensured, the connecting beams of the structure are detachable, the transverse size of the robot is adjusted by replacing the sleeve, and the connecting beams are adapted to tracks of different specifications; the two vertical plates and the two side plates form four side surfaces of a cuboid, the bottoms of the two vertical plates and the two side plates are connected with a bottom plate 1e, a driving assembly is installed on the bottom plate, and an outer cover 1f is installed outside the two vertical plates; two sets of walking wheels are initiative wheelset and driven theory group respectively, wherein initiative wheelset and driven wheelset are installed respectively in two riser inboards, wherein the pivot of walking wheel in the initiative wheelset is worn to the riser outside and is installed driven gear 5a in the transmission cooperation, drive assembly's output shaft is worn to the riser outside and the transmission cooperation installs driving gear 5b, the riser outside is still normal running fit installs intermediate gear 5c in addition, wherein driving gear and intermediate gear meshing, intermediate gear and two driven gear meshing, the transmission train that above-mentioned four gears constitute is transmission assembly 5 promptly, do benefit to the speed governing through intermediate gear's setting.

Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.

Claims

1. The utility model provides a robot is patrolled and examined to rail mounted which characterized in that: the device comprises a walking device and a detection assembly, wherein the walking device is used for walking along a track, and the detection assembly is connected to the walking device and used for sensing an external environment and further judging whether abnormity occurs.

2. The orbital inspection robot according to claim 1, wherein: the walking device comprises a walking frame, walking wheels arranged on the walking frame, a driving assembly and a stabilizing assembly, wherein the driving assembly drives the walking wheels to rotate so that the walking wheels move along the track, and the stabilizing assembly is connected to the walking frame and used for transversely clamping two sides of the track.

3. The orbital inspection robot according to claim 2, wherein: the stabilizing assembly comprises at least one pair of elastic rolling bodies, and the pair of elastic rolling bodies are transversely clamped on two sides of the track and can roll along the side part of the track along the walking of the robot.

4. The orbital inspection robot according to claim 2, wherein: the walking wheels are provided with two groups, the two groups of walking wheels are respectively arranged on two sides of the track web plate and can walk along the wing plates of the track in a rolling manner, and at least one group of walking wheels are used as driving wheels and driven to rotate by the driving assembly.

5. The orbital inspection robot according to claim 4, wherein: every group walking wheel includes two walking wheels in, drive assembly includes driving piece and drive assembly, the driving piece passes through two walking wheels synchronous rotation in the drive assembly drive driving wheel group.

6. The orbital inspection robot according to claim 3, wherein: the stabilizing assembly further comprises a rolling body mounting seat for mounting the elastic rolling body and an elastic piece, wherein the rolling body mounting seat can be transversely and slidably mounted on the walking frame to be far away from or close to the side part of the track, and the elastic piece has elastic force which enables the rolling body mounting seat to slide towards the side part of the track and enables the elastic rolling body to be pressed against the side part of the track.

7. The orbital inspection robot according to claim 1, wherein: the walking wheel comprises a wheel body and a limiting disc arranged at the outer end of the wheel body, and the limiting disc is positioned on the outer side of the rail wing plate and used for limiting the wheel body transversely.

8. The orbital inspection robot according to claim 6, wherein: the stabilizing assembly further comprises a pair of guide rods connected to the walking frame, the rolling element mounting seat can be transversely slidably mounted on the pair of guide rods, the pair of guide rods are respectively arranged on the two longitudinal sides of the elastic rolling element, and the elastic element is sleeved on the guide rods.

9. The orbital inspection robot according to claim 1, wherein: the detection assembly comprises a smoke sensor, a sound pickup and a camera.

10. The orbital inspection robot according to claim 4, wherein: the walking frame comprises two vertical plates located on the two transverse sides of the rail, a plurality of connecting beams connected between the vertical plates and side plates connected to the two longitudinal sides of the vertical plates, an avoiding groove used for avoiding the rail is formed in each side plate, and the two groups of walking wheels are installed on the inner sides of the two vertical plates respectively.