CN203616653U - A track intelligent tour-inspection robot - Google Patents
A track intelligent tour-inspection robot Download PDFInfo
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- CN203616653U CN203616653U CN201320839165.9U CN201320839165U CN203616653U CN 203616653 U CN203616653 U CN 203616653U CN 201320839165 U CN201320839165 U CN 201320839165U CN 203616653 U CN203616653 U CN 203616653U
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Abstract
The utility model discloses a track intelligent tour-inspection robot comprising a holder module, rolling wheels, a driving module, a control module and a track. The driving module and the holder module are respectively in corresponding connection with the control module. The track intelligent tour-inspection robot is characterize in that the track intelligent tour-inspection robot also comprises an upper casing body, a lower casing body and a current collector. The driving module, the control module, the rolling wheels and the current collector are all installed on the upper casing body. The holder module is installed on the lower end of the lower casing body. The rolling wheels are arranged on the track. One end of the rolling wheel is connected into a power supply. The current collector is in contact with the track and transmits the power supply to the driving module and the control module. The driving module controls the operation of the rolling wheels. According to the utility model, the track is both regarded as a track path for the operation of the robot and a transmission medium for electric power energy of the robot, so that a purpose of providing a power supply for the robot in an on-line mode is realized; mechanisms are substantially simplified; costs are reduced; because the power supply is obtained in the on-line mode, the driving module can directly provide power for the rolling wheel, and a driving structure without exposing a traction is realized.
Description
Technical field
The utility model relates to a kind of track intelligent inspection robot, relates in particular to the high-precision track intelligent inspection robot of electromechanical integration of a kind of incorporate mechanical, electronics, control, optics.
Background technology
In recent years, along with the development of yield-power, the fixed video monitoring equipment of tradition cannot meet the market demand of diversification in all kinds of machine rooms, plant produced line, large-scale classroom, corridor, a kind of removable tour is patrolled and examined, power monitoring, environmental monitoring, security monitoring, information technoloy equipment monitoring, energy monitoring, asset management be in one, by unified system platform management various device, obtain various information, the robot of intelligent patrol detection on the track setting up of all kinds of warnings that link arises at the historic moment.Intellectuality comprehensive owing to having realized, multi-angle is patrolled and examined, environmental monitoring, plant maintenance personnel amount are reduced, realize Unmanned operation, reduce the security risk that personnel pass in and out hazardous environment, improve monitoring and patrolled and examined quality, reduce enterprise cost, so the intelligent inspection robot setting up is in orbit that track intelligent inspection robot has met the market demand greatly.
As shown in Figure 1, traditional track intelligent inspection robot is mainly by The Cloud Terrace module 6, driver module 1, track 2, travelling mechanism 3, wiping is formed by electric module 4 and BCM Body Control Module 5, its groundwork principle is: when Robot track 2 moves, by being arranged in the drive motor gear mechanism of car body inside and the driver module 1(figure installing along orbital direction as tooth bar) engaged transmission, driving in travelling mechanism 3(figure is roller) realization moving forward and backward on track 2, The Cloud Terrace module 6 completes video and the picture control real-time to the project of patrolling and examining of track 2 both sides simultaneously.
The track of above-mentioned conventional rails intelligent inspection robot is only for as wheel carrier, function singleness, and electric power transfer adopts trolley to be subject to electricity, and cost is higher.Also there is in addition following shortcoming:
1, type of drive adopts rack-and-pinion mode, and structure is heavier, and cost is higher;
2, travelling mechanism roller is fixed, and operation occurs 4 wheels not at same plane, when car body operation, produces shaking phenomenon, affects videl stage picture control effect;
3, rail portion is concentrated tooth bar, trolley etc., operation very complicated, and accuracy requirement is high, constructional difficulties;
4, absence of audio and intercommunication function, cannot obtain on-the-spot acoustic information, lacks the determination methods of fault, is unfavorable for the preliminary judgement of remote control center personnel to field condition; If there is maintainer at scene, also cannot be in time and remote control center communication exchange;
5, for example, in the time that on-the-spot (: electric power machine room) environment temperature is abnormal, power equipment is formed to significant threat,, without Temperature Humidity Sensor function, control center cannot judge extremely to environment temperature, hides great safe suffering.
Utility model content
The purpose of this utility model is just to provide in order to address the above problem the high-precision track intelligent inspection robot of electromechanical integration of a kind of incorporate mechanical, electronics, control, optics.
The utility model is achieved through the following technical solutions above-mentioned purpose:
A kind of track intelligent inspection robot, comprises The Cloud Terrace module, roller, driver module, control module and track, described driver module and described The Cloud Terrace module be connected corresponding with described control module respectively; Also comprise upper shell, lower house and current-collector, described driver module, described control module, described roller and described current-collector are all installed on described upper shell, described The Cloud Terrace module is installed on the lower end of described lower house, described roller is placed on described track, wherein one end access power supply of described track, described current-collector contact with described track and by power delivery to described driver module and described control module, roller operation described in described driver module control.
Install additional after current-collector, track both, as the orbital path of robot operation, also, as the transmission medium of robot electric power energy, provided the object of power supply thereby be embodied as robot online; Owing to can obtaining online power supply, so driver module can be directly for roller provides power, realize without the drives structure that exposes traction; Upper shell and lower house separately design are convenient to install.
Particularly, described The Cloud Terrace module comprises camera, electric-motor drive unit, gear unit, control module and heating module, the control input end of described control module is connected with the cradle head control output terminal of described control module, described electric-motor drive unit is connected with described control module respectively with described heating module, and described camera is connected with described electric-motor drive unit by described gear unit.The Cloud Terrace module is the core component of rail mounted crusing robot, can carry double vision fixed-focus camera, and under low-temperature condition, heating module can start voluntarily camera is carried out to heat temperature raising protection, avoids camera cannot work at low temperatures.
Further, described robot also comprises the Temperature Humidity Sensor being installed on described upper shell, and the signal output part of described Temperature Humidity Sensor is connected with the temperature-humidity signal input end of described control module.Temperature Humidity Sensor can detect extremely in real time to the humiture of site environment, is convenient to the grasp of control center to site environment situation.
Further, described robot also comprises the intercom being installed on described upper shell.While having at the scene personnel to work, be convenient to the timely communication exchange of personnel by intercom and remote control center.
Further, described robot also comprises the microphone and the loudspeaker that are installed on described upper shell, and the signal input part of described microphone is connected with sound, the VT of described control module respectively with the signal input part of loudspeaker.In the time that there are abnormal conditions at scene, can pass through microphone collection site acoustic information, be convenient to fault diagnosis, and notify field staff to fix a breakdown by loudspeaker.
Further, described robot also comprises the RFID sensor being installed on described upper shell, and the signal output part of described RFID sensor is connected with the RFID signal input part of described control module.RFID sensor for recorder people advance mileage and in time calibration self-position accurately locate current coordinate.
Further, on described lower house, rubber sealing strip with pressure-sensitive adhesive is also installed.Under the extreme cases such as earthquake, rubber sealing strip with pressure-sensitive adhesive can play protection robot and avoid the effect of dropping.
Further, three look status lamps are also installed on described lower house, play indicative function.
As preferably, described roller is installed on described upper shell by suspender.
The beneficial effects of the utility model are:
This track intelligent inspection robot has the following advantages:
1, the orbital path that track had both moved as robot, also as the transmission medium of robot electric power energy, provide online the object of power supply thereby be embodied as robot, save traditional trolley way to take power, reduce cost, can also carry out information data with the external world by power carrier module and exchange, greatly simplify the internal structure of an organization, reduce costs; Owing to can obtaining online power supply, so driver module can be directly for roller provides power, realize without the drives structure that exposes traction;
2, safe and reliable: the dangerous hidden danger that the rubber sealing strip with pressure-sensitive adhesive of this robot can effectively avoid robot to drop, avoid the heavy losses of personnel and property;
3, the heating module of driver module can start voluntarily camera is carried out to heat temperature raising protection, avoids camera cannot work at low temperatures; Can adapt to the user demand under extremely low temperature environment, expand market range of application, strengthen product competitiveness in the market;
4, the roller of this track robot adopts hang to be installed on upper shell, has certain elasticity, guarantees that roller and orbital plane contact stabilization are reliable, guarantees robot operation stability;
5, this track robot carries microphone and loudspeaker, in the time that there are abnormal conditions at scene, can collection site acoustic information, and be convenient to fault diagnosis and eliminating;
6, this track robot carries intercom, while having at the scene personnel to work, is convenient to the timely communication exchange of personnel by intercom and remote control center;
7, this track robot carries Temperature Humidity Sensor, can detect extremely in real time the humiture of site environment, is convenient to the grasp of control center to site environment situation;
8, this track robot carries RFID sensor, be convenient to recorder people advance mileage and in time calibration self-position accurately locate current coordinate.
Accompanying drawing explanation
Fig. 1 is the perspective view of conventional rails intelligent inspection robot;
Fig. 2 is the main TV structure schematic diagram of track intelligent inspection robot described in the utility model.
Embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail:
As shown in Figure 2, track intelligent inspection robot described in the utility model comprises upper shell 7, lower house 17, track 15, roller 14, The Cloud Terrace module 19, driver module 10, control module 11, current-collector 21, Temperature Humidity Sensor 20, intercom 12, microphone, loudspeaker and RFID sensor 8, driver module 10 and The Cloud Terrace module 19 be connected corresponding with control module 11 respectively, driver module 10, control module 11, roller 14, current-collector 21, Temperature Humidity Sensor 20, intercom 12, microphone, loudspeaker and RFID sensor 8 are all installed on upper shell 7, wherein, roller 14 is installed on upper shell 7 by suspender 13, The Cloud Terrace module 19 is installed on the lower end of lower house 17, roller 14 is placed on track 15, wherein one end access power supply of track 15, current-collector 21 contact with track 15 and by power delivery to driver module 10 and control module 11, driver module 10 is controlled roller 14 and is moved, the signal output part of Temperature Humidity Sensor 20 is connected with the temperature-humidity signal input end of control module 11, microphone and loudspeaker are merged into voice broadcast service module 9, the sound of the signal input part of voice broadcast service module 9 and control module 11, VT connects, and the signal output part of RFID sensor 8 is connected with the RFID signal input part of control module 11, and rubber sealing strip with pressure-sensitive adhesive 16 and three look status lamps 18 are also installed on lower house 17.
Each module, device and parts in said structure are existing conventional components, wherein, The Cloud Terrace module 19 comprises camera, electric-motor drive unit, gear unit, control module and heating module, the control input end of control module is connected with the cradle head control output terminal of control module, electric-motor drive unit is connected with control module respectively with heating module, and camera is connected with electric-motor drive unit by gear unit; Track 15 adopts standard high quality 20# steel profile, and lightweight, rigidity is large, cheap; Three look status lamps 18 provide illumination under being also used under the occasion of the light dark such as machine room, to obtain splendid video frequency graphic monitoring effect; Control module is mainly made up of master control borad, PLC, switch, RFID, IP plate, movement card extender and radiator fan, is this robot control system assembly; Suspender 13 is hinged transmission by bearing pin, can avoid being uneven due to track 15 above, 4 rollers 14 are at same plane, cause the unsettled situation of roller and the phenomenon of skidding, thus while making robot operation roller 14 all the time with the contacting above of track 15; Driver module 13 is mainly made up of motor, involute cylindrical gear, transmission shaft, bearing seat and active roller (having the roller of driving force in roller 14), it is the power section of crusing robot, it is simple in structure, adopts gear pair transmission, and transmission efficiency is high, compact conformation, transmission requisite space is little, and reliable operation is easy to maintenance simple, ratio of gear is stable, and transmission is accurately steady.
The principle of work of this track intelligent inspection robot is as follows:
Crusing robot runs on the track 15 of round section formula, the tread of roller 14 and tangent contact above track 15, two ends access AC24V ± 5V power supply of track 15, car body is subject to electric input power as the body powered energy from two tracks 15 by current-collector 21 respectively in wiping mode, article two, track 15 is insulated from each other, voltage on track 15 is low-voltage safety voltage, article two, the carrier that track 15 had both moved as car body, also be low-voltage electric power source transmission medium simultaneously, and can carry out information interchange by power carrier module and the external world, by the communication module in control module 11, robot and the external world following information alternately: control command, various kinds of sensors image data, on-the-spot visible light video in real time, image, voice, robotary data etc., robot drives the stepping servo technology of adopting, accurate, reliable and stable, response speed is quick, in the motion process of robot, RFID sensor 8 record that is positioned at each track node suspension bracket advance mileage and in time calibration self-position accurately locate current coordinate, this robot carries a high definition visible light camera by The Cloud Terrace module 19, the ability of walking in conjunction with level, vertical rotation function and the Robot track 15 of The Cloud Terrace module 19, can realize the visible ray binocular video monitoring in the occasions such as machine room, computing machine or staff can and judge its accurate location by video unusual circumstance, can realize monitoring and the data collection task in real time of 2DOF omnibearing visual angle, the control module 11 of this robot can be carried out automatic detecting by control, realizes regularly, repeatedly patrolling and examining and fault pre-alarming equipment in machine room and environment, whether it is patrolled and examined content and comprises: equipment meter reading value in machine room, equipment state lamp show state, switch closed condition, environment temperature and whether normal, ambient humidity and whether normal, device temperature and exceed standard etc.
Above-described embodiment is preferred embodiment of the present utility model; it is not the restriction to technical solutions of the utility model; as long as the technical scheme that can realize on the basis of above-described embodiment without creative work, all should be considered as falling within the scope of the rights protection of the utility model patent.
Claims (9)
1. a track intelligent inspection robot, comprises The Cloud Terrace module, roller, driver module, control module and track, described driver module and described The Cloud Terrace module be connected corresponding with described control module respectively; It is characterized in that: also comprise upper shell, lower house and current-collector, described driver module, described control module, described roller and described current-collector are all installed on described upper shell, described The Cloud Terrace module is installed on the lower end of described lower house, described roller is placed on described track, wherein one end access power supply of described track, described current-collector contact with described track and by power delivery to described driver module and described control module, roller operation described in described driver module control.
2. track intelligent inspection robot according to claim 1, it is characterized in that: described The Cloud Terrace module comprises camera, electric-motor drive unit, gear unit, control module and heating module, the control input end of described control module is connected with the cradle head control output terminal of described control module, described electric-motor drive unit is connected with described control module respectively with described heating module, and described camera is connected with described electric-motor drive unit by described gear unit.
3. track intelligent inspection robot according to claim 1 and 2, it is characterized in that: described robot also comprises the Temperature Humidity Sensor being installed on described upper shell, the signal output part of described Temperature Humidity Sensor is connected with the temperature-humidity signal input end of described control module.
4. track intelligent inspection robot according to claim 1 and 2, is characterized in that: described robot also comprises the intercom being installed on described upper shell.
5. track intelligent inspection robot according to claim 1 and 2, it is characterized in that: described robot also comprises the microphone and the loudspeaker that are installed on described upper shell, the signal input part of described microphone is connected with sound, the VT of described control module respectively with the signal input part of loudspeaker.
6. track intelligent inspection robot according to claim 1 and 2, it is characterized in that: described robot also comprises the RFID sensor being installed on described upper shell, the signal output part of described RFID sensor is connected with the RFID signal input part of described control module.
7. track intelligent inspection robot according to claim 1 and 2, is characterized in that: rubber sealing strip with pressure-sensitive adhesive is also installed on described lower house.
8. track intelligent inspection robot according to claim 1 and 2, is characterized in that: three look status lamps are also installed on described lower house.
9. track intelligent inspection robot according to claim 1 and 2, is characterized in that: described roller is installed on described upper shell by suspender.
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| CN201320839165.9U CN203616653U (en) | 2013-12-19 | 2013-12-19 | A track intelligent tour-inspection robot |
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| CN109142948A (en) * | 2018-07-20 | 2019-01-04 | 盐城工学院 | A kind of detachable sliding rail detection of electrical leakage robot device |
| CN109407711A (en) * | 2018-12-13 | 2019-03-01 | 四川智鼎盛邦智能科技有限公司 | A kind of rail mounted crusing robot |
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