CN115978406A

CN115978406A - Hang rail and patrol and examine robot

Info

Publication number: CN115978406A
Application number: CN202211491067.0A
Authority: CN
Inventors: 张晓勇; 杜岩平; 孙建; 王兴越; 马振华; 袁丽; 张金金; 李艳鸣; 周建; 王凯; 宋玉晨
Original assignee: Beijing Lead Electric Equipment Co Ltd
Current assignee: Beijing Lead Electric Equipment Co Ltd
Priority date: 2022-11-25
Filing date: 2022-11-25
Publication date: 2023-04-18

Abstract

The utility model relates to a technical field of equipment of patrolling and examining discloses a hang rail and patrol and examine robot, it includes the robot and installs lifting unit on the robot, lifting unit's one end is fixed on the robot the camera is installed to lifting unit's flexible end. This application has the effect of the scope of patrolling and examining of camera on the robot of patrolling and examining of expansion.

Description

Hang rail and patrol and examine robot

Technical Field

The application relates to the technical field of inspection equipment, in particular to a hanging rail inspection robot.

Background

The rail hanging robot is a robot which is mainly used in machine rooms, transformer substations, pipe galleries and tunnels and is used for timing or real-time inspection through carrying cameras and sensors. Before the rail-mounted robot is used, a rail needs to be installed on the top surface of a building in advance, and the rail-mounted robot can move forwards or backwards along the direction of the rail.

The rail-mounted robot recorded in the related art is usually provided with a plurality of detection instruments, especially, the lower part of the inspection robot is provided with a camera capable of shooting the state of each device in a working area, and the camera can transmit shot pictures and video files to a remote monitoring system.

However, the camera on the inspection robot is usually directly fixed at the lower part of the inspection robot, so that the camera can only perform inspection at a fixed height, the inspection range is small, and the inspection effect is influenced.

Disclosure of Invention

In order to enlarge the scope of patrolling and examining the last camera of robot, this application provides a hang rail and patrol and examine robot.

The application provides a hang rail and patrol and examine robot adopts following technical scheme:

the utility model provides a hang rail and patrol and examine robot, includes the robot and installs lifting unit on the robot, lifting unit's one end is fixed on the robot the camera is installed to lifting unit's flexible end.

Through adopting above-mentioned technical scheme, under lifting unit's effect, can drive to install and go up and down at the flexible camera of end of lifting unit to enlarge the scope of patrolling and examining of camera, make patrolling and examining of patrolling and examining the robot better, can be more comprehensive transmit the monitored control system to the distal end with the situation of equipment.

Optionally, the lifting assembly includes a mounting seat mounted on the robot body and a suspended mounting platform, and the mounting platform is used for mounting a camera;

a first lifting unit and a second lifting unit are arranged between the mounting base and the mounting platform, the first lifting unit comprises a first motor mounted on the mounting base, a first lifting arm with one end fixedly connected with an output shaft of the first motor, and a first swing arm hinged with the other end of the first lifting arm, and the other end of the first swing arm is hinged with the mounting platform;

the second lifting unit comprises a second lifting arm, a second motor and a second swing arm, wherein one end of the second lifting arm is hinged to the mounting base, the second motor is fixedly mounted at the other end of the second lifting arm, one end of the second swing arm is fixedly connected with an output shaft of the second motor, and the other end of the second swing arm is hinged to the mounting table.

Through adopting above-mentioned technical scheme, when the position of needs to the camera is adjusted, start first motor and second motor simultaneously. An output shaft of the first motor drives the first lifting arm to rotate, and the first lifting arm drives the first swing arm to rotate; the second motor drives the second swing arm to rotate, and because the second motor is fixedly installed on the second lifting arm, an included angle between the second lifting arm and the second swing arm is always kept unchanged, so that the mounting table is limited. Under the dual limiting action of the first lifting unit and the second lifting unit, the mounting table can keep lifting in a stable state, and therefore the lifting of the camera in a stable state is achieved.

Optionally, the mounting seat is mounted on the lower portion of the robot body, and the mounting seat is mounted at one end of the robot bottom plate in the length direction.

Through adopting above-mentioned technical scheme, under the combined action of first motor and second motor, first lift unit can fold completely with second lift unit, and folded lifting unit can hide in the lower part of robot body, reduces the occupation to the space, reduces the area who patrols and examines the robot, when needs pass through some narrow spaces, patrols and examines the robot and still can normally pass through.

Optionally, a driving unit and a driving unit for driving the robot body to travel along the track are arranged in the robot body;

the driving unit comprises a driving motor and a driving bevel gear connected with an output shaft of the driving motor;

the driving unit comprises a driven bevel gear matched with the driving bevel gear, a driving gear coaxially arranged with the driven bevel gear, a driven gear meshed with the driving gear, and a driving wheel coaxially arranged with the driven gear, and the driving wheel can move along the track.

Through adopting above-mentioned technical scheme, start driving motor, driving motor drives the rotation of drive bevel gear, and along with drive bevel gear and driven bevel gear's meshing, driven bevel gear also can drive the driving gear and rotate, and driven gear and driving gear meshing, consequently driven gear also can rotate, and driven gear will drive the action wheel and rotate, consequently along with the rotation of action wheel, the robot body can advance or retreat on the track.

Optionally, the machine further comprises a driven wheel mounted on the machine body, the driven wheel is matched with the driving wheel, the size of the driven wheel is consistent with that of the driving wheel, and the driven wheel can travel along the track.

Through adopting above-mentioned technical scheme, can assist the action wheel from the driving wheel for the translation rate of robot, make robot convenient to use more.

Optionally, the driving units are provided in two groups, the two groups of driving units are symmetrically arranged, the two groups of driven wheels are symmetrically arranged, and the driven wheels correspond to the driving units one by one.

Optionally, an infrared thermal imager is further mounted on the mounting table.

By adopting the technical scheme, the infrared thermal imager can image the whole target in real time in a 'surface' manner, so that an operator can preliminarily judge the heating condition and the fault part by tracking and displaying the image color and the hot point displayed on a screen and then perform subsequent analysis, thereby confirming the problem with high efficiency and high accuracy. The camera can be assisted to infrared thermal imaging system, and the effect of patrolling and examining of robot is patrolled and examined in the reinforcing, discovery problem that can be faster.

Optionally, the robot body includes a bottom plate, a front plate, a rear plate, two symmetrically installed side plates, and a top plate, the front plate and the rear plate are both concave, and the top plate is adapted to the front plate and the rear plate.

Through adopting above-mentioned technical scheme, can form one on the robot body with track complex track groove.

Optionally, an ultrasonic radar is mounted on the front plate.

Through adopting above-mentioned technical scheme, ultrasonic radar can the perception patrol and examine the barrier around the robot, prevents to patrol and examine the robot and collide with the barrier, causes to patrol and examine the robot and damages.

Optionally, a gas sensor is further installed at a hinge point of the first lifting arm and the first swing arm.

Through adopting above-mentioned technical scheme, gas sensor can appear damaging when equipment with information transfer to the monitored control system of distal end such as gaseous composition, concentration, produces the peculiar smell, and during the unable perception of camera, gas sensor can transmit information effectively, reminds the staff to overhaul in time.

In summary, the present application includes at least one of the following beneficial technical effects:

1. by arranging the lifting assembly, the camera arranged at the telescopic end of the lifting assembly can be driven to lift under the action of the lifting assembly, so that the inspection range of the camera is expanded, the inspection effect of the inspection robot is better, and the condition of equipment can be more comprehensively transmitted to a remote monitoring system;

2. by arranging the first lifting unit and the second lifting unit, the first lifting unit and the second lifting unit can be completely folded, and the folded lifting assembly can be hidden at the lower part of the robot body, so that the space occupation is reduced, the floor area of the inspection robot is reduced, and the inspection robot can still normally pass through narrow spaces;

3. through setting up from the driving wheel, can assist the action wheel from the driving wheel for the moving speed of robot body makes robot body convenient to use more.

Drawings

Fig. 1 is a schematic structural diagram of a rail-mounted inspection robot.

Fig. 2 is a schematic structural view of the lifting assembly.

Fig. 3 is a sectional view of the robot body.

Fig. 4 is a schematic structural diagram of another perspective of the robot body.

Description of reference numerals: 1. a track; 2. a robot body; 21. a front plate; 22. a back plate; 23. a side plate; 24. a top plate; 25. a drive unit; 251. a drive motor; 252. a drive bevel gear; 26. an active unit; 261. a driven bevel gear; 262. a driving gear; 263. a driven gear; 264. a driving wheel; 27. a driven wheel; 28. a battery; 3. an ultrasonic radar; 4. a lifting assembly; 41. a mounting seat; 42. a first lifting unit; 421. a first motor; 422. a first lifting arm; 423. a first swing arm; 43. a second lifting unit; 431. a second motor; 432. a second lifting arm; 433. a second swing arm; 44. an installation table; 5. a camera; 6. an infrared thermal imager; 7. a gas sensor.

Detailed Description

In the description of the present application, it should be noted that the terms "horizontal", "vertical", "near", "far", "up", "down", "inside", and the like are all relative relationships shown in the drawings, and are only for convenience of description and simplification of the description, but do not indicate or imply that the process or module referred to must have a particular orientation, state, and operation, and therefore, should not be construed as limiting the invention. The present application is described in further detail below with reference to figures 1-4.

The embodiment of the application discloses hang rail and patrol and examine robot.

Referring to fig. 1, a hanging rail inspection robot is used with a rail 1 in a matching manner, and comprises a robot body 2, a lifting component 4 installed at the lower part of the robot body 2, and a camera 5 installed at the telescopic end of the lifting component 4.

Referring to fig. 1 and 2, the one end of lifting unit 4 is fixed in the bottom of robot body 2, and when camera 5 is lifted or dropped, lifting unit 4 is started, and telescopic end of lifting unit 4 drives camera 5 to lift. The camera 5 that can go up and down patrols and examines the scope and also enlarges to some extent, can monitor the situation of equipment more all around to reach and patrol and examine the effect better.

Referring to fig. 3 and 4, the robot body 2 includes a bottom plate, a front plate 21, a rear plate 22, two side plates 23 symmetrically installed, and a top plate 24. The front plate 21 and the rear plate 22 are both in a concave shape, the top plate 24 is matched with the front plate 21 and the rear plate 22, and the top plate 24 is also bent and formed into a concave shape. The robot body 2 is formed with a track groove for receiving the track 1.

Be provided with ultrasonic radar 3 at front bezel 21, ultrasonic radar 3 can the perception patrol and examine the barrier around the robot, and when place ahead or rear had the barrier, patrol and examine the robot and can in time stop, prevent to patrol and examine the robot and collide with the barrier, avoid patrolling and examining the robot and appear damaging.

Referring to fig. 3 and 4, a driving unit 25, a driving unit 26, and a driven wheel 27 are installed in the robot body 2, and the driving unit 25 includes a driving motor 251, and a driving bevel gear 252 connected to an output shaft of the driving motor 251. The driving unit 26 includes a driven bevel gear 261 engaged with the driving bevel gear 252 of the driving unit 25, a driving gear 262 coaxially installed with the driven bevel gear 261, a driven gear 263 engaged with the driving gear 262, and a driving wheel 264 coaxially installed with the driven gear 263.

The axis of the output shaft of the driving motor 251 is horizontal, two sets of driving units 26 are symmetrically arranged, two driven bevel gears 261 of the two sets of driving units 26 are symmetrically arranged, the two driven bevel gears 261 are respectively positioned on two sides of the driving bevel gear 252 and are meshed with the driving bevel gear 252, and when the driving bevel gear 252 rotates, the two driven bevel gears 261 can rotate simultaneously.

Referring to fig. 3 and 4, the driven gear 263 is located at an upper portion of the driving gear 262, and an axis of the driven gear 263 is parallel to an axis of the driving gear 262. An L-shaped fixing plate is disposed above the driving gear 262, and one end of the fixing plate is fixed to the top plate 24 by a bolt. The turning point of the fixed plate departing from the opening abuts against the right angle of the top plate 24 on one side of the track groove, and the rotating shaft for supporting the driven bevel gear 261 is fixed through the fixed plate.

One end of a rotating shaft for supporting the driven bevel gear 261, which is away from the driven bevel gear 261, is extended into the rail groove in the top plate 24, and a driving wheel 264 is installed at the extended end of the rotating shaft.

Referring to fig. 3 and 4, two driven wheels 27 are also provided, two driven wheels 27 are respectively corresponding to two sets of driving units 26 one by one, the driven wheels 27 are also located in the track grooves on the top plate 24, and the driven wheels 27 are used in cooperation with the driving wheels 264.

The cross section of track 1 is the I shape, and one side integrated into one piece that is close to track 1 upper flange board at track 1 lower flange board has the baffle, and the baffle is located one side that web was kept away from to the lower flange board. The driving wheel 264 and the driven wheel 27 can be clamped between the baffle plate and the web plate.

Referring to fig. 3 and 4, the baffle and the web can limit the driving wheel 264 and the driven wheel 27, and prevent the driving wheel 264 and the driven wheel 27 from deviating and affecting use.

Referring to fig. 3 and 4, the robot body 2 further includes a battery 28, the battery 28 is mounted on one side of the robot body 2, and the battery 28 can supply power to the driving motor 251 to ensure the normal operation of the robot body 2.

When the inspection robot needs to perform inspection, the driving motor 251 is started, the driving motor 251 drives the driving bevel gear 252 to rotate, the driven bevel gear 261 drives the driving gear 262 to rotate along with the engagement of the driving bevel gear 252 and the driven bevel gear 261, the driving gear 262 is engaged with the driven gear 263, the driven gear 263 rotates, and the driven gear 263 drives the driving gear 264 to rotate. With the rotation of the driving wheel 264, the robot body 2 can move forward or backward on the track 1.

Referring to fig. 2, the lifting assembly 4 includes a mounting base 41 mounted on a bottom plate of the robot body 2, a first lifting unit 42 having one end mounted on the mounting base 41, a second lifting unit 43 having one end rotatably mounted on the mounting base 41, and a mounting table 44 rotatably connected to one end of the first unit remote from the mounting base 41, and one end of the second lifting unit 43 remote from the mounting base 41 is also rotatably connected to the mounting table 44.

The mounting seat 41 is fixedly mounted on the side of the bottom plate of the robot body 2 close to the front plate 21. The cross section of mount pad 41 is the T type, and the horizontal plate of mount pad 41 is connected with robot body 2, and the pin joint of the first elevating unit 42 and the mount pad 41, second elevating unit 43 and mount pad 41 is located the both sides of the vertical board of mount pad 41 respectively.

Referring to fig. 2, the first lifting unit 42 includes a first motor 421 fixedly mounted on the mounting base 41, a first lifting arm 422 having one end fixedly connected to an output shaft of the first motor 421, and a first swing arm 423 having one end rotatably connected to an end of the first lifting arm 422 far away from the first motor 421, wherein an end of the first swing arm 423 far away from the first lifting arm 422 is rotatably connected to the mounting table 44.

The second lifting unit 43 comprises a second lifting arm 432 with one end rotatably connected with the mounting base 41, a second motor 431 fixedly installed at one end of the second lifting arm 432 far away from the mounting base 41, and a second swing arm 433 with one end fixedly connected with an output shaft of the second motor 431.

Referring to fig. 2, an installation table 44 is suspended, a camera 5 is installed on the installation table 44, when the camera 5 needs to be lifted, a first motor 421 and a second motor 431 are started, an output shaft of the first motor 421 drives a first lifting arm 422 to rotate, and the first lifting arm 422 drives a first swing arm 423 to rotate; the second motor 431 drives the second swing arm 433 to rotate, and because the second motor 431 is fixedly installed on the second lifting arm 432, an included angle between the second lifting arm 432 and the second swing arm 433 is always kept unchanged, so that the mounting table 44 is limited.

Under the dual restriction of the first lifting unit 42 and the second lifting unit 43, the mounting table 44 can keep lifting in a steady state, thereby realizing lifting of the camera 5 in a steady state.

Referring to fig. 1 and 2, when first lifting unit 42 and second lifting unit 43 are completely folded, first lifting arm 422, first swing arm 423, second lifting arm 432, and second swing arm 433 will be located in the same horizontal plane, first lifting arm 422, first swing arm 423, second lifting arm 432, and second swing arm 433 are all located in the same horizontal plane after being completely folded, thereby reducing occupation of space, and being more beneficial to patrolling and examining the robot through some narrow spaces.

Still be provided with gas sensor 7 in the articulated department of first lifing arm 422 and first swing arm 423, gas sensor 7 can be with information transfer to the monitored control system of distal end such as gaseous composition, concentration, when damage appears in equipment, produces the peculiar smell, and when the unable perception of camera 5, gas sensor 7 can transmit information effectively, reminds the staff to overhaul in time.

The infrared thermal imager 6 is further mounted on the mounting table 44, the infrared thermal imager 6 can image the whole target in real time in a 'surface' mode, so that an operator can preliminarily judge the heating condition and the fault position through the image color displayed on a screen and the hotspot tracking display function, and then follow-up analysis is performed, so that the problem is determined with high efficiency and high accuracy. Camera 5 can be assisted to infrared thermal imager 6, and the effect of patrolling and examining of robot is patrolled and examined in the reinforcing, discovery problem that can be faster.

The implementation principle of the rail-hanging inspection robot in the embodiment of the application is as follows: along with the motion of patrolling and examining the robot, start first motor 421 and second motor 431, under the drive of first motor 421 and second motor 431, first lift unit 42 moves up and down with second lift unit 43 constantly, therefore camera 5 shoots the scope and can effectively enlarge, reaches the better effect of patrolling and examining.

The specific embodiments are only for explaining the present application and are not limiting to the present application, and those skilled in the art can make modifications to the embodiments without inventive contribution as required after reading the present specification, but all the embodiments are protected by patent law within the scope of the claims of the present application.

Claims

1. The utility model provides a hang rail inspection robot, moves along track (1), its characterized in that: including robot body (2) with install lifting unit (4) on robot body (2), the one end of lifting unit (4) is fixed on robot body (2) camera (5) are installed to the flexible end of lifting unit (4).

2. The rail-mounted inspection robot according to claim 1, characterized in that: the lifting assembly (4) comprises a mounting seat (41) mounted on the robot body (2) and a suspended mounting platform (44), and the mounting platform (44) is used for mounting a camera (5);

a first lifting unit (42) and a second lifting unit (43) are arranged between the mounting base (41) and the mounting table (44), the first lifting unit (42) comprises a first motor (421) mounted on the mounting base (41), a first lifting arm (422) with one end fixedly connected with an output shaft of the first motor (421), and a first swing arm (423) hinged with the other end of the first lifting arm (422), and the other end of the first swing arm (423) is hinged with the mounting table (44);

the second lifting unit (43) comprises a second lifting arm (432) with one end hinged to the mounting base (41), a second motor (431) fixedly mounted at the other end of the second lifting arm (432), and a second swing arm (433) with one end fixedly connected to an output shaft of the second motor (431), and the other end of the second swing arm (433) is hinged to the mounting base (44).

3. The rail-mounted inspection robot according to claim 2, characterized in that: the mounting seat (41) is mounted at the lower part of the robot body (2), and the mounting seat (41) is mounted at one end of the robot bottom plate in the length direction.

4. The rail-hanging inspection robot according to claim 1, characterized in that: a driving unit (25) and a driving unit (26) which are used for driving the robot body (2) to move along the track (1) are arranged in the robot body (2);

the driving unit (25) includes a driving motor (251) and a drive bevel gear (252) connected to an output shaft of the driving motor (251);

the driving unit (26) comprises a driven bevel gear (261) matched with the driving bevel gear (252), a driving gear (262) coaxially installed with the driven bevel gear (261), a driven gear (263) engaged with the driving gear (262), and a driving wheel (264) coaxially installed with the driven gear (263), wherein the driving wheel (264) can travel along the track (1).

5. The rail-hanging inspection robot according to claim 4, wherein: the track-type automatic tracking machine is characterized by further comprising a driven wheel (27) installed on the machine body (2), wherein the driven wheel (27) is matched with the driving wheel (264), the driven wheel (27) is identical to the driving wheel (264) in size, and the driven wheel (27) can travel along the track (1).

6. The rail-hanging inspection robot according to claim 5, wherein: the driving units (26) are arranged in two groups, the two groups of driving units (26) are symmetrically arranged, the two groups of driven wheels (27) are symmetrically arranged, and the driven wheels (27) correspond to the driving units (26) one by one.

7. The rail-mounted inspection robot according to claim 2, characterized in that: an infrared thermal imager (6) is also arranged on the mounting table (44).

8. The rail-mounted inspection robot according to claim 3, characterized in that: the robot body (2) comprises a bottom plate, a front plate (21), a rear plate (22), two symmetrically-installed side plates (23) and a top plate (24), wherein the front plate (21) and the rear plate (22) are concave, and the top plate (24) is matched with the front plate (21) and the rear plate (22).

9. The rail-mounted inspection robot according to claim 8, characterized in that: an ultrasonic radar (3) is mounted on the front plate (21).

10. The rail-mounted inspection robot according to claim 3, characterized in that: and a gas sensor (7) is also arranged at the hinged point of the first lifting arm (422) and the first swinging arm (423).