CN112590822B - Modular robot system is patrolled and examined to track - Google Patents
Modular robot system is patrolled and examined to track Download PDFInfo
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- CN112590822B CN112590822B CN202110237900.8A CN202110237900A CN112590822B CN 112590822 B CN112590822 B CN 112590822B CN 202110237900 A CN202110237900 A CN 202110237900A CN 112590822 B CN112590822 B CN 112590822B
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- driving
- driving wheel
- assembly
- wire rope
- robot system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B12/00—Component parts, details or accessories not provided for in groups B61B7/00 - B61B11/00
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B12/00—Component parts, details or accessories not provided for in groups B61B7/00 - B61B11/00
- B61B12/02—Suspension of the load; Guiding means, e.g. wheels; Attaching traction cables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B12/00—Component parts, details or accessories not provided for in groups B61B7/00 - B61B11/00
- B61B12/10—Cable traction drives
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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
Abstract
The application discloses a combined track inspection robot system which comprises a traction guide rail assembly, a driving mechanism and a robot body, wherein the traction guide rail assembly comprises a driving device, a track, a steel wire rope, a roadway cross beam, a tug assembly, a hoisting beam and a tensioning device; drive arrangement comprises driving motor and drive wheel, drive arrangement passes through driving motor with the drive wheel transmission is connected, wire rope cup joints in two between the drive wheel, the tow boat subassembly is located the wire rope bottom, just wire rope by tow boat subassembly supports, spacing, and two of this application robot body can be adjusted from adjusting part, the pressure spring that driving wheel subassembly can be led to from the driving wheel centre-to-centre spacing, and wherein one side drive wheel subassembly can left right control, and the hexagon bolt through twisting the mount promotes the drive wheel subassembly simultaneously and removes to can adjust the elasticity degree of action wheel pressure on the track web.
Description
Technical Field
The application relates to a robot system patrols and examines, specifically is a modular track robot system patrols and examines.
Background
Robots are machine devices that automatically perform work, including all machines that simulate human behavior or thought and other creatures, and there are many taxonomies and disputes that have been narrowly defined for robots, and some computer programs are even called robots; in modern industry, robots refer to man-made machines capable of automatically performing tasks to replace or assist human work, and are typically electromechanical devices, controlled by computer programs or electronic circuits.
The track type inspection robot on the market is various at present, is widely applied in the fields of power stations, coal mines and pipe galleries, is simple in structure, and achieves walking and climbing through the driving wheels arranged on two sides of the track to finish the inspection purpose.
The traditional robot that patrols and examines adopts the battery to regard as the used power of robot drive power supply and interior device alone, because drive power consumption is big, so battery duration is short, need frequent charging just can accomplish the task of patrolling and examining, and is inefficient, and when this kind of robot patrols and examines under the environment abominable, moist of environment, big inclination tunnel, appears skidding easily, bad phenomena such as easy swift current slope when going up the slope and shutting down bring adverse effect for patrolling and examining work. Therefore, a combined track inspection robot system is provided for solving the problems.
Disclosure of Invention
A combined track inspection robot system comprises a traction guide rail assembly, a driving mechanism and a robot body;
the traction guide rail assembly comprises a driving device, a track, a steel wire rope, a roadway cross beam, a tug assembly, a hoisting beam and a tensioning device; the driving device is composed of a driving motor and driving wheels, the driving device is in transmission connection with the driving wheels through the driving motor, the steel wire rope is sleeved between the two driving wheels, the tug wheel assembly is positioned at the bottom end of the steel wire rope, and the steel wire rope is supported and limited by the tug wheel assembly; the tensioning device is clamped on the surface of the steel wire rope, and the track is connected with the roadway cross beam through the hoisting beam;
the driving mechanism comprises a driving wheel assembly, a mounting plate, a bearing wheel assembly, an electric rope clip, a rope clip sliding rail assembly, a sliding rail body and a fixing frame; the bearing wheel assembly is fixedly connected with the surfaces of two ends of the mounting plate, the fixing frames are fixedly connected with the top end of the mounting plate, the slide rail body is positioned between the two fixing frames, and the slide rail body is fixedly connected with the fixing frames; buffer springs are arranged on two sides of the sliding rail body, the buffer springs are sleeved on the surface of the sliding rail body, the electric rope clip is positioned at the bottom end of the sliding rail body, and the top end of the electric rope clip is sleeved on the outer surface of the sliding rail body;
the driving wheel assembly comprises a driving wheel bracket, a driving wheel rotating shaft, a driven wheel assembly adjusting part and a pressure spring; the driving wheel bracket is fixedly connected with the top end of the mounting plate, a driving wheel is arranged in the driving wheel bracket, a driving wheel rotating shaft is arranged in an inner hole of the driving wheel, and the driving wheel rotating shaft is rotatably connected with the inner wall of the top end of the driving wheel bracket; the driven wheel is rotationally connected with the inner side wall of the vertical plate on the mounting plate, a driven wheel assembly adjusting piece is fixedly connected to the rear side face of the driven wheel, and the pressure spring is arranged between the driven wheel assembly adjusting piece and the mounting plate;
the robot body comprises a voice audible and visual alarm, a multi-parameter sensor, a fixed camera, a direct-current stabilized power supply, a control box, a smoke sensor and a binocular head camera; the fixed camera is fixedly connected with the mounting plate, the multi-parameter sensor is positioned at the bottom end of the fixed camera, the voice audible and visual alarm is positioned on one side of the multi-parameter sensor, a direct-current stabilized power supply is arranged on the other side of the voice audible and visual alarm, and a control box is arranged on the front side of the direct-current stabilized power supply; the bottom end of the direct current stabilized power supply is provided with a binocular pan-tilt camera, and the rear side of the control box is provided with a smoke sensor.
Further, the track is the I shape structure, just the robot body with the track roll connection.
Further, the bottom end of the mounting plate is provided with a power generation assembly, and the power generation assembly is in transmission connection with the driving mechanism.
Further, the number of the driving wheel assemblies is two, and the two driving wheel assemblies are symmetrically arranged on two sides of the mounting plate.
Furthermore, the number of the driving wheels is two, one side of the driving wheel rotating shaft output end is connected with the power generation assembly, and the other side of the driving wheel rotating shaft output end is connected with the encoder.
Further, the electric rope grippers are connected with the steel wire rope in a clamping mode, and the number of the electric rope grippers is two.
Further, the voice audible and visual alarm, the multi-parameter sensor, the fixed camera, the smoke sensor and the binocular pan-tilt camera are respectively and electrically connected with the control box.
Further, the control box is electrically connected with the direct current stabilized voltage power supply.
Furthermore, a light emitting diode display screen is arranged on the surface of the direct current stabilized power supply and electrically connected with the direct current stabilized power supply.
Furthermore, the track and the hoisting beams are vertically distributed, and the two hoisting beams are symmetrically distributed on two sides of the track.
The beneficial effect of this application is: the application provides a long and be convenient for adjust robot system that patrols and examines of distance patrols and examines.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
FIG. 1 is an isometric view of an inspection robot system according to one embodiment of the present application;
FIG. 2 is an isometric view of a traction guide assembly according to one embodiment of the present application;
FIG. 3 is an isometric view of a drive mechanism according to an embodiment of the present application;
FIG. 4 is an isometric view of a robot body according to one embodiment of the present application;
FIG. 5 is a schematic view of a track structure according to an embodiment of the present application;
fig. 6 is a schematic perspective view of a driving wheel assembly according to an embodiment of the present application.
In the figure: 1. the device comprises a traction guide rail assembly, 11, a driving device, 111, a driving wheel, 112, a driving motor, 12, a track, 13, a steel wire rope, 14, a roadway cross beam, 15, a tug assembly, 16, a hoisting beam, 17, a tensioning device, 2, a driving mechanism, 21, a driving wheel assembly, 211, a driving wheel support, 212, a driving wheel, 213, a driving wheel rotating shaft, 214, a driven wheel, 215, a driven wheel assembly adjusting piece, 216, a pressure spring, 22, a mounting plate, 23, a bearing wheel assembly, 24, an electric rope clip, 25, a rope clip sliding rail assembly, 251, a fixing frame, 252, a sliding rail body, 253, a buffer spring, 26, a power generation assembly, 3, a robot body, 31, a voice audible and visual alarm, 32, a multi-parameter sensor, 33, a fixed camera, 34, a direct current stabilized voltage power supply, 35, a control box, 36, a smoke sensor, 37 and.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all 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 application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Referring to fig. 1-6, a combined track inspection robot system includes a traction guide rail assembly 1, a driving mechanism 2 and a robot body 3;
the traction guide rail assembly 1 comprises a driving device 11, a track 12, a steel wire rope 13, a roadway cross beam 14, a tug assembly 15, a hoisting beam 16 and a tensioning device 17; the driving device 11 is composed of a driving motor 112 and driving wheels 111, the driving device 11 is in transmission connection with the driving wheels 111 through the driving motor 112, the steel wire rope 13 is sleeved between the two driving wheels 111, the tug wheel assembly 15 is positioned at the bottom end of the steel wire rope 13, and the steel wire rope 13 is supported and limited by the tug wheel assembly 15; the tensioning device 17 is clamped on the surface of the steel wire rope 13, and the rail 12 is connected with the roadway cross beam 14 through the hoisting beam 16;
the driving mechanism 2 comprises a driving wheel component 21, a mounting plate 22, a bearing wheel component 23, an electric rope clip 24, a rope clip sliding rail component 25, a sliding rail body 252 and a fixing frame 251; the bearing wheel assembly 23 is fixedly connected with the two end surfaces of the mounting plate 22, the fixing frames 251 are fixedly connected with the top end of the mounting plate 22, the sliding rail body 252 is positioned between the two fixing frames 251, and the sliding rail body 252 is fixedly connected with the fixing frames 251; buffer springs 253 are arranged on two sides of the sliding rail body 252, the buffer springs 253 are sleeved on the surface of the sliding rail body 252, the electric rope clip 24 is located at the bottom end of the sliding rail body 252, and the top end of the electric rope clip 24 is sleeved on the outer surface of the sliding rail body 252;
the driving wheel assembly 21 comprises a driving wheel bracket 211, a driving wheel 212, a driving wheel rotating shaft 213, a driven wheel 214, a driven wheel assembly adjusting piece 215 and a pressure spring 216; the driving wheel support 211 is fixedly connected with the top end of the mounting plate 22, a driving wheel 212 is arranged inside the driving wheel support 211, a driving wheel rotating shaft 213 is arranged in an inner hole of the driving wheel 212, and the driving wheel rotating shaft 213 is rotatably connected with the inner wall of the top end of the driving wheel support 211; the driven wheel 214 is rotatably connected with the inner side wall of the vertical plate on the mounting plate 22, a driven wheel assembly adjusting piece 215 is fixedly connected to the rear side surface of the driven wheel 214, and the pressure spring 216 is arranged between the driven wheel assembly adjusting piece 215 and the mounting plate 22;
the robot body 3 comprises a voice audible and visual alarm 31, a multi-parameter sensor 32, a fixed camera 33, a direct current stabilized power supply 34, a control box 35, a smoke sensor 36 and a binocular head camera 37; the fixed camera 33 is fixedly connected with the mounting plate 22, the multi-parameter sensor 32 is positioned at the bottom end of the fixed camera 33, the voice audible and visual alarm 31 is positioned at one side of the multi-parameter sensor 32, a direct-current stabilized power supply 34 is arranged at the other side of the voice audible and visual alarm 31, and a control box 35 is arranged at the front side of the direct-current stabilized power supply 34; the bottom end of the direct current stabilized power supply 34 is provided with a binocular holder camera 37, and the rear side of the control box 35 is provided with a smoke sensor 36.
The track 12 is of an I-shaped structure, and the robot body 3 is in rolling connection with the track 12; the bottom end of the mounting plate 22 is provided with a power generation assembly 26, and the power generation assembly 26 is in transmission connection with the driving mechanism 2; the number of the driving wheel assemblies 21 is two, and the two driving wheel assemblies 21 are symmetrically arranged at two sides of the mounting plate 22; the number of the driving wheels 212 is two, the output end of the rotating shaft 213 of one side of the driving wheels is connected with the power generation assembly 26, and the output end of the rotating shaft 213 of the other side of the driving wheels is connected with the encoder; the electric rope grippers 24 are connected with the steel wire rope 13 in a clamping manner, and the number of the electric rope grippers 24 is two; the voice audible and visual alarm 31, the multi-parameter sensor 32, the fixed camera 33, the smoke sensor 36 and the binocular pan-tilt camera 37 are respectively electrically connected with the control box 35; the control box 35 is electrically connected with the dc stabilized voltage power supply 34; a light emitting diode display screen is arranged on the surface of the direct current stabilized power supply 34 and is electrically connected with the direct current stabilized power supply 34; the track 12 and the hoisting beams 16 are vertically distributed, and the two hoisting beams 16 are symmetrically distributed on two sides of the track 12.
When the steel wire rope tensioning device is used, firstly, the driving device 11 drives the wheel 112 to rotate through the driving motor 111, so that the annular steel wire rope 13 is driven to rotate, the middle part of the steel wire rope 13 is supported by the tug wheel assembly 15, and the steel wire rope 13 is tensioned through the tensioning device 17; the electric rope clip 24 realizes that the rope clip gripper grips or releases the traction steel wire rope 13 through the rotation of the motor, so that the driving mechanism 2 and the robot body 3 move or stop, and when the robot moves, the electric rope clip can supply power to the load of the robot body 3 and charge a direct current stabilized power supply battery pack.
Then the controller of the DC stabilized voltage power supply 34 has the functions of collecting the voltage of the generator, the voltage of each single battery, the charging current of the battery pack, the discharging current of the battery pack, the voltage of the battery pack, the electric quantity of the battery and the total output power, the controller can judge the detected output voltage of the generator to make different reactions, and when the output voltage of the generator is detected to be relatively stable or the voltage value is higher than 20V, the battery discharging loop is cut off, and the generator independently supplies power to the load; when the output voltage of the generator is within a range of 15V-20V, the generator and the battery are mixed to output power to the load. When the output voltage of the generator is smaller than a value of 15V, the battery outputs power to the load until the power supply of the generator is recovered, wherein the external power supply and the battery supply are switched without time delay and are represented as an uninterruptible power supply, so that the inspection robot can realize continuous and long-distance inspection.
The application has the advantages that:
1. the center distance between the two driven wheels can be adjusted through the driven wheel component adjusting piece and the pressure spring, the driving wheel component can be adjusted left and right, and meanwhile, the driving wheel component is pushed to move left and right by screwing the hexagon bolts of the fixing frame, so that the tightness degree of the driving wheel pressing on the web plate of the track can be adjusted;
2. the electric rope clip can move left and right along the sliding rail on the rope clip sliding rail assembly, so that the starting or stopping of a driving machine is buffered, the electric rope clip can also rotate along the sliding rail, and the angle error of the installation of a rail and a steel wire rope can be compensated;
3. this application robot can charge to robot load power supply and direct current constant voltage power supply battery pack during motion, and its controller of direct current constant voltage power supply can make the judgement in order to make different power supply modes for the load power supply to the generator output voltage who detects, and wherein external power supply and battery power supply switch do not have the time delay, show for uninterrupted power source to guarantee to patrol and examine that the robot is continuous, long distance is patrolled and examined.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. The utility model provides a modular robot system is patrolled and examined to track which characterized in that: comprises a traction guide rail component (1), a driving mechanism (2) and a robot body (3); the traction guide rail assembly (1) comprises a driving device (11), a track (12), a steel wire rope (13), a roadway cross beam (14), a tug assembly (15), a hoisting beam (16) and a tensioning device (17); the driving device (11) is composed of a driving motor (112) and driving wheels (111), the driving device (11) is in transmission connection with the driving wheels (111) through the driving motor (112), the steel wire rope (13) is sleeved between the two driving wheels (111), the tug wheel assembly (15) is located at the bottom end of the steel wire rope (13), and the steel wire rope (13) is supported and limited by the tug wheel assembly (15); the tensioning device (17) is clamped on the surface of the steel wire rope (13), and the rail (12) is connected with the roadway cross beam (14) through the hoisting beam (16); the driving mechanism (2) comprises a driving wheel assembly (21), a mounting plate (22), a bearing wheel assembly (23), an electric rope clip (24), a rope clip sliding rail assembly (25), a sliding rail body (252) and a fixing frame (251); the bearing wheel assembly (23) is fixedly connected with the surfaces of two ends of the mounting plate (22), the fixing frame (251) is fixedly connected with the top end of the mounting plate (22), the sliding rail body (252) is positioned between the two fixing frames (251), and the sliding rail body (252) is fixedly connected with the fixing frame (251); buffer springs (253) are arranged on two sides of the sliding rail body (252), the buffer springs (253) are sleeved on the surface of the sliding rail body (252), the electric rope clip (24) is located at the bottom end of the sliding rail body (252), and the top end of the electric rope clip (24) is sleeved on the outer surface of the sliding rail body (252); the driving wheel assembly (21) comprises a driving wheel bracket (211), a driving wheel (212), a driving wheel rotating shaft (213), a driven wheel (214), a driven wheel assembly adjusting part (215) and a pressure spring (216); the driving wheel support (211) is fixedly connected with the top end of the mounting plate (22), a driving wheel (212) is arranged inside the driving wheel support (211), a driving wheel rotating shaft (213) is arranged in an inner hole of the driving wheel (212), and the driving wheel rotating shaft (213) is rotatably connected with the inner wall of the top end of the driving wheel support (211); the driven wheel (214) is rotatably connected with the inner side wall of a vertical plate on the mounting plate (22), a driven wheel assembly adjusting piece (215) is fixedly connected to the rear side face of the driven wheel (214), and the pressure spring (216) is arranged between the driven wheel assembly adjusting piece (215) and the mounting plate (22); the robot body (3) comprises a voice audible and visual alarm (31), a multi-parameter sensor (32), a fixed camera (33), a direct-current stabilized power supply (34), a control box (35), a smoke sensor (36) and a binocular tripod head camera (37); the fixed camera (33) is fixedly connected with the mounting plate (22), the multi-parameter sensor (32) is positioned at the bottom end of the fixed camera (33), the voice audible and visual alarm (31) is positioned at one side of the multi-parameter sensor (32), a direct-current stabilized power supply (34) is arranged at the other side of the voice audible and visual alarm (31), and a control box (35) is arranged at the front side of the direct-current stabilized power supply (34); direct current constant voltage power supply (34) bottom is equipped with two mesh cloud platform cameras (37), just control box (35) rear side is equipped with smoke transducer (36).
2. The combined track inspection robot system according to claim 1, wherein: the track (12) is of an I-shaped structure, and the robot body (3) is in rolling connection with the track (12).
3. The combined track inspection robot system according to claim 2, wherein: the bottom end of the mounting plate (22) is provided with a power generation assembly (26), and the power generation assembly (26) is in transmission connection with the driving mechanism (2).
4. The combined track inspection robot system according to claim 3, wherein: the number of the driving wheel assemblies (21) is two, and the two driving wheel assemblies (21) are symmetrically arranged on two sides of the mounting plate (22).
5. The combined track inspection robot system according to claim 4, wherein: the number of the driving wheels (212) is two, one side of the driving wheel rotating shaft (213) is connected with the power generation assembly (26), and the output end of the driving wheel rotating shaft (213) on the other side of the driving wheel is connected with the encoder.
6. The combined track inspection robot system according to claim 5, wherein: the electric rope grippers (24) are connected with the steel wire rope (13) in a clamping mode, and the number of the electric rope grippers (24) is two.
7. The combined track inspection robot system according to claim 6, wherein: pronunciation audible-visual annunciator (31), multi-parameter sensor (32), fixed camera (33), smoke transducer (36) binocular cloud platform camera (37) equally divide respectively with control box (35) electric connection.
8. The combined track inspection robot system according to claim 7, wherein: and the control box (35) is electrically connected with the direct current stabilized power supply (34).
9. The combined track inspection robot system according to claim 8, wherein: and the surface of the direct current stabilized power supply (34) is provided with a light emitting diode display screen, and the light emitting diode display screen is electrically connected with the direct current stabilized power supply (34).
10. The combined track inspection robot system according to claim 9, wherein: the track (12) and the hoisting beams (16) are vertically distributed, and the two hoisting beams (16) are symmetrically distributed on two sides of the track (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110237900.8A CN112590822B (en) | 2021-03-04 | 2021-03-04 | Modular robot system is patrolled and examined to track |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110237900.8A CN112590822B (en) | 2021-03-04 | 2021-03-04 | Modular robot system is patrolled and examined to track |
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| Publication Number | Publication Date |
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| CN112590822A CN112590822A (en) | 2021-04-02 |
| CN112590822B true CN112590822B (en) | 2021-05-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110237900.8A Active CN112590822B (en) | 2021-03-04 | 2021-03-04 | Modular robot system is patrolled and examined to track |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113829389B (en) * | 2021-10-29 | 2023-09-26 | 江苏博一矿业科技有限公司 | Segmented traction power device and method for underground inspection robot |
| CN114029919A (en) * | 2021-11-15 | 2022-02-11 | 北京华能新锐控制技术有限公司 | Hanging rail type inspection robot based on binocular vision |
| CN113895911B (en) * | 2021-11-16 | 2023-12-22 | 平安开诚智能安全装备有限责任公司 | Intelligent coal flow control system, method and storable medium |
| CN114336416B (en) * | 2022-02-15 | 2024-02-27 | 西安华创马科智能控制系统有限公司 | Robot track system and inspection system |
| CN114310841A (en) * | 2022-02-15 | 2022-04-12 | 西安华创马科智能控制系统有限公司 | Inspection robot track unit, track system and inspection method |
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