CN204143259U - Indoor track type intelligent inspection robot system - Google Patents
Indoor track type intelligent inspection robot system Download PDFInfo
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- CN204143259U CN204143259U CN201420610980.2U CN201420610980U CN204143259U CN 204143259 U CN204143259 U CN 204143259U CN 201420610980 U CN201420610980 U CN 201420610980U CN 204143259 U CN204143259 U CN 204143259U
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Abstract
The utility model discloses indoor track type intelligent inspection robot system, comprise robot terminal system, described robot terminal system comprises profiled rail, and described profiled rail is arranged on indoor wall, described profiled rail is provided with motion, motion driving mechanism and testing agency; Described testing agency comprises The Cloud Terrace and detection components, described testing agency is arranged on described motion, described motion structure is driven by motion driving mechanism, described motion drives testing agency to move up and down along profiled rail, and realize detection on a large scale to indoor Devices to test in conjunction with the running of The Cloud Terrace, described robot terminal system adopts towing cable mode to carry out powered communication, or adopts trolley mode to carry out power supply to add electric power carrier system and communicate.The compact conformation of employing of the present utility model is attractive in appearance, convenience quick for installation, and operate steadily reliable, positioning precision is high, and sensing range is large, and automaticity is high.
Description
Technical field
The utility model relates to indoor track type intelligent inspection robot system.
Background technology
The normal operation of indoor power equipment is most important.Indoor power equipment needs enough reliabilities on the one hand, also needs on the other hand to detect to find and to overhaul the equipment that there is potential risk in time, guarantees that system is normally run.The real-time detection of indoor power equipment is significant to its reliable and secure operation of guarantee.Adopt rail mounted robot to detect in real time indoor equipment easily and flexibly, understand the running status of equipment.
Indoor power equipment is apportion hierarchal arrangement often, different according to the overall height of specification each row different.Need under normal circumstances to carry out Real-Time Monitoring to the temperature of indoor power equipment.Except temperature monitoring, also need to monitor equipment appearance, breakage, noise and instrumented data.
The technical matters that existing indoor track type intelligent inspection robot system exists is as follows:
1 at present mainly adopts wheeled, crawler belt or the mode of composite flooding for the mobile robot patrolling and examining indoor equipment information.By the interior space and other monitored equipment layout restrictions, realize, to the omnibearing measuring ability of equipment, needing robot to move in the vertical direction.Conventional drum drives or crawler type type of drive needs to overcome self gravitation when realizing movement in vertical direction, needs larger friction force and is comparatively difficult to realization, and cannot change battery at any time because of indoor small space, cannot adopt the power supply mode of carrying battery.
2 at present for patrolling and examining the mobile robot of indoor equipment information, and equipment indoor to high electrical-magnetic compatibility should be able to produce electromagnetic disturbance on the one hand as small as possible, and another aspect electromagnetic disturbance to external world should have lower neurological susceptibility.In electronic device design, the method for employing structual shield is the means of conventional raising Electro Magnetic Compatibility.Structure electromagnetic shielding requires there is good electric continuity between faying face.All there is distortion adding in hardware man-hour, particularly more easily produces large distortion for platy structure and cannot correct, and so just causing combining at two structural members is can produce gap and affect shield effectiveness.
3 at present for patrolling and examining the mobile robot of indoor equipment information, and ventilation and heat part exists some defects, such as: shielding vent window is mainly used in the necessary ventilation orifice place of electronic equipment, can take into account the double action of EMI shielding and good ventilation.There is following shortcoming in existing electromagnetic shielding window: (a) existing electromagnetic shielding window does not have dust-proof function, ventilates and cause the dust accumulation in casing, and dust can serviceable life of very big reduction equipment; B the sealing effectiveness between () existing electromagnetic shielding window and casing is bad, there is gap between electromagnetic shielding window and casing, affects the effect of electromagnetic screen.
4 at present for patrolling and examining the mobile robot of indoor equipment information, the part accessory having robot to use needs to be fixed on ground or wall, but traditional wall-penetrating type earthing rod is because all needing to tighten operation in the both sides of worn cabinet wall, exists and inconvenient problem is installed.And because there is no disconnecting prevention structure, after the fastening nut of earthing rod gets loose, easily skid off stud, and cause and come off or lose.
Utility model content
The purpose of this utility model is exactly that provide indoor track type intelligent inspection robot system, it has the advantage meeting the real-time unmanned testing requirement of indoor equipment in order to solve the problem.
To achieve these goals, the utility model adopts following technical scheme:
Indoor track type intelligent inspection robot system, comprise tele-control system, described tele-control system is connected by network with at least one robot terminal system, described robot terminal system comprises profiled rail, described profiled rail is arranged on indoor wall, described profiled rail is provided with motion, motion driving mechanism and testing agency; Described testing agency comprises The Cloud Terrace and detection components, described testing agency is arranged on described motion, described motion structure is driven by motion driving mechanism, described motion drives testing agency to move up and down along profiled rail, and realizes the detection on a large scale to indoor Devices to test in conjunction with the running of The Cloud Terrace.
Described robot terminal system allows from following three kinds of optional one of situation in powered communication:
Situation one: adopt drag chain mode to carry out powered communication;
Situation two: adopt trolley mode carry out powering and adopt power carrier mode to communicate;
Situation three: adopt trolley mode carry out powering and adopt leaky wave cable or microwave technology to communicate.
Described tele-control system is connected by electric power optical cable with robot terminal system.
Described motion comprises synchronous pulley component and Timing Belt, described synchronous pulley component comprises synchronous wheeled box and synchronous pulley, described synchronous wheeled box is arranged on the two ends up and down of profiled rail, and described synchronous pulley is arranged on synchronous wheeled box inside, and described Timing Belt is looped around on synchronous pulley;
Described motion driving mechanism drives testing agency to move up and down, and described motion driving mechanism comprises AC servo motor and speed reduction unit, and described AC servo motor is installed together by speed reduction unit and synchronous pulley; Described speed reduction unit is fixed on the synchronous wheeled box bottom profiled rail;
Described testing agency comprises the first control box; First control box is for realizing Control on Communication to detection components and The Cloud Terrace and power supply; Described first control box is arranged on slide, described slide and Timing Belt are connected, described slide is arranged on profiled rail by the mode of sliding contact, described Timing Belt drives described slide to move up and down along profiled rail, The Cloud Terrace installed by described first control box, so the first control box also plays the effect of support; Described The Cloud Terrace installs detection components.
Described robot terminal system also comprises the second control box be arranged near track, and described second control box communicates with the first control box, and provides power supply for the first control box; Described second control box also plays control action to the motion of AC servo motor;
Described robot terminal system, according to different requirements, adopts towing cable mode to carry out powered communication, or adopts trolley mode to carry out power supply to add electric power carrier system and communicate.
Adopt towing cable mode carry out powering and adopt trolley mode power between adopt UPS to switch.
When robot adopts drag chain mode powered communication,
In described first control box, checkout equipment controller, video server, the first switch and the first power module are installed; Wherein, described video server communicates with optical camera with infrared video camera respectively, described first switch communicates with described video server, described first switch communicates with described checkout equipment controller, and described checkout equipment controller communicates with optical camera with The Cloud Terrace, thermal infrared imager respectively; First power module is that each consumer of described first control box is powered.
The motion controller of AC servo motor is installed in described second control box, servo-driver, second source module, second switch and the first photoelectric commutator, described photoelectric commutator and the second switch communication, described second switch communicates with motion controller, described motion controller communicates with servo-driver, described first photoelectric commutator communicates with tele-control system, described motion controller and Zero-point switch and first, second limit switch communication, described servo-driver communicates with AC servo motor, described second source module gives each electricity consumption module for power supply of described second control box, and provide power supply for the first control box.
When system adopts drag chain power supply mode, described first control box is powered and is respectively independently cable with communicating, and power cable is drawn from the second control box; The communications cable is then connected with the switch in the second control box; Described profiled rail is installed drag chain plate washer and drag chain, described drag chain baffle plate is fixed on profiled rail by drag chain baffle plate fabricated section, and described power cable and the communications cable are contained in drag chain, and drag chain plays a protective role to cable.
When robot adopts trolley mode to power, and when adopting power carrier mode to communicate,
In described first control box, checkout equipment controller, video server, the first switch, the first power carrier modem, the first power module are installed, wherein, described video server communicates with optical camera with the infrared video camera in detection components respectively, described first switch communicates with described video server, described first switch communicates with described checkout equipment controller, and described checkout equipment controller communicates with optical camera with The Cloud Terrace, thermal infrared imager respectively; First power module is that each consumer of described first control box is powered.
The motion controller of AC servo motor is installed in described second control box, servo-driver, second source module, second switch, first photoelectric commutator and the second power carrier modem, described photoelectric commutator and the second switch communication, described second switch communicates with motion controller, described controller communicates with servo-driver, described photoelectric commutator communicates with tele-control system, described motion controller and Zero-point switch and first, second limit switch communication, described servo-driver communicates with AC servo motor, described second source module gives each electricity consumption module for power supply, and be that the first control box is powered,
One end of described first power carrier modem is connected with the first switch, other one end of described first power carrier modem is connected with one end of the second power carrier modem, and other one end of described second power carrier modem is connected with the second switch.
When system adopts slide wire power supply mode, the communication mode that the control of testing agency adopts is power carrier mode; Described first control box installs current-collector by current-collector fixed head, and described profiled rail is installed trolley holder, described trolley is arranged in trolley holder.Two contacts of described current-collector contact with trolley.The two ends of the first power carrier modem of the first control box are received at the two poles of the earth of described current-collector, and the first power module two ends of the first control box are also received at the two poles of the earth of described current-collector.
The two poles of the earth of described trolley are received on the power carrier modem in the second control box, and the second source module two ends of the second control box are also received at the two poles of the earth of described trolley.
Described trolley is made up of copper conductor and insulating sheath, and sleeve-shaped made by copper conductor, described current-collector has the wire same with trolley radical be connected with the wire sliding contact of trolley.
Described robot terminal system also comprises position-limit mechanism, described position-limit mechanism comprises limit switch, described limit switch is arranged on the two ends of profiled rail, limit switch block is equipped with in the rear surface of the described control box contacted with profiled rail, and described limit switch block and limit switch are with the use of the collision preventing abnormal power-down from bringing.
First photoelectric commutator of described second control box, all images and video detection signal and control signal are changed into light signal, transferred signals in tele-control system by optical fiber, thus realize processing the Detection of content of whole system and carrying out remote control operation to detection and motion state.
The scrambler of described AC servo motor is connected with servo-driver, and the slide controlled on track by several pulse mode is driven detection components to arrive assigned address and detects.
Described AC servo motor, with electromagnetic brake, can realize braking in the event of a power failure.
Described profiled rail is vertically arranged on indoor wall by installation structure of track part.
Described Timing Belt coordinates with synchronous pulley and is contained in the groove of profiled rail.
Described detection components comprises thermal infrared imager, visible light camera, smog alarm sensor, field intensity detector and Ultraviolet Detector.
Described speed reduction unit is fixed on the synchronous wheeled box bottom profiled rail by flange assembly.
Described drag chain baffle plate is L-type aluminium section bar, and described L-type aluminium section bar and profiled rail form guide groove, realizes the fixing of drag chain and the guiding to drag chain.
Zero-point switch is equipped with in the bottom of described profiled rail, as the initial point that robot runs.Before crusing robot powers at every turn, robot is automatic Aligning control first, then performs the patrol task of distribution.
Described second control box realization is to the power supply of whole robot system terminal and the relaying that communicates, and the motion control function of AC servo motor, and communications control signal is realized the conversion of photosignal, to realize telecommunication.
Described tele-control system comprises the second photoelectric commutator and host computer, and signal of communication is carried out opto-electronic conversion by the second photoelectric commutator, realizes the communication of tele-control system and robot terminal system.
Described first control box and the second control box inside are equipped with electromagnetic shield module box, described electromagnetic shield module box is used for depositing circuit board, according to built-in circuit plate or the external interface requirement of electron device on described electromagnetic shield module box box body, open connector mounting hole, described connector mounting hole is installed electromagnetic compatibility type connector.
Described electromagnetic shield module box, comprise box body and shielding cover board, described shielding cover board is arranged on box body, and described shielding cover board comprises sheet metal, flexible liner and the tinsel that ecto-entad superposes successively, described tray interior is cavity, and box body inner arm is provided with step.
Described shielding cover board has mounting hole, and step is provided with out threaded hole, and box body is fixedly connected with shielding cover board with threaded hole by mounting hole by standard fasteners.
Described second control box side is provided with dust control by ventilation electromagnetic shielding window, and described dust control by ventilation electromagnetic shielding window comprises the first frame and the second frame, two frames opens ring-shaped step and is used for fixing ventilated plates; The rectangle shallow slot of open loop shape on second frame, described conductive rubber strip is bonded in the rectangular channel of the second frame by conducting resinl, and cellular ventilated plates and Air Filter are encapsulated in upper and lower metal edge frame successively.
The casing of described second control box is fixed on the ground by safety ground post; Described safety ground post, comprising: grounding screw, hexagonal nut, plain washer and hand nutting; The center section mounting flange of described grounding screw, two end portions is screw thread, and wherein one end of described grounding screw is equipped with the center pit for reaming jumping-up, and the other end is processed into oval type or D type; The one end being equipped with center pit at described grounding screw screws in hexagonal nut one, plain washer one and hand nutting successively.
The beneficial effects of the utility model:
1 the utility model can be applied to that indoor substation patrols and examines field, the little indoor of transformer station patrol and examine field and converter station valve hall is patrolled and examined in the equipment routing inspection task process of other enclosed space such as field.
2 the utility model are wall-mounted tracks, by the mode of multiple track machine people combination, meet the variation of indoor substation equipment or converter station valve hall equipment Inspection, complicated testing requirement.
3 tracks of the present utility model adopt the drive system of profiled rail and transmission, and profile structure intensity is high, and rigidity is large, operate steadily reliable.And material easily obtains, faster system building can be realized.The synchronous belt drive system kinematic accuracy adopted is high, can meet About Any Fixed Point and detect demand.By continued access, Long Distances testing requirement can be realized.
AC servo motor in 4 the utility model, can reliably locked braking when power-off with detent.
Trolley can be adopted to add PLC technology for 5 the utility model or drag chain towing cable two kinds of modes realize power supply and communicate, overcome when adopting radio communication because complex electromagnetic environment in indoor substation or converter station valve hall is to the interference caused that communicates, and transmission bandwidth is larger, the transmitting of video and control signal can be realized, compact conformation.
6 the utility model adopt wired power taking, and autonomous monitoring time is not limited by battery capacity, and detection time is more flexible, can realize long-time continuous and patrol and examine work.
7 first control boxs of the present utility model can be used as support case and move with slide, and Control System Design is flexible.
8 detection components of the present utility model can be arranged in pairs or groups visible ray, infrared and ultraviolet detector, acoustic pickup, gas detecting instrument, electromagnetic intensity detector etc. according to actual user demand, conveniently realize the different testing requirements in indoor substation or converter station valve hall.
When 9 the utility model adopt drag chain towing cable mode to power, the drag chain baffle plate adopted is L-type aluminium section bar, not only can realize large scale and install, and material obtains conveniently.L-type aluminium section bar and track form guide groove, both can realize fixing drag chain, can realize again the guiding to drag chain.
10 the utility model can also be used in all indoor has vertical direction to move the occasion of the demand of patrolling and examining, and to replace manual work, range can reach tens meters.
11 electromagnetic shield module boxes of the present utility model make the sealing effectiveness of shielding cover board better because of the existence of flexible liner; Box body leaves shielding cover board installation step.Box body can adopt block of metal milling to form, and shield effectiveness is good; Adopt the shielding cover board structure of flexible liner and tinsel simple, lower than the infrastructure cost adopting conductive material to carry out shielding.
12 dust control by ventilation electromagnetic shielding windows are applied in electromagnetic sealing and require higher and require that the shielding case body ventilated is inner.It is arranged on the position needing perforate, because metallic honeycomb forms good electromagnetic wave shielding; Second frame installs conductive rubber strip, enhances the sealing effectiveness between metal edge frame and casing, prevent from forming gap between shielding windows and casing, improve effectiveness; Dust can serviceable life of very big reduction equipment.Air Filter effectively can prevent the dust accumulation caused because of ventilation in casing, improves the serviceable life of equipment.
13 earthing rods of the present utility model are simple and compact for structure, and grounding screw material is aldary, easily processes.With the use of standard room be copper material, good conductivity, stake resistance is little; Grounding screw is opened by one end and the chassis shell installed the mounting hole of same shape, the rotation of installing grounding screw when tightening can be prevented; Ground connection spiral shell is lived the other end and is had center pit, and wing nut installs rear to end reaming jumping-up, permanently can prevent butterfly hand nutting from coming off, not easily lose.
Accompanying drawing explanation
Fig. 1 is that rail polling robot terminal adopts the system contour structures schematic diagram of slip when powering;
Fig. 2 is the system contour structures schematic diagram that rail polling robot terminal adopts drag chain power supply mode;
Fig. 3 is rail polling robot terminal slip electric power-feeding structure schematic diagram;
Fig. 4 is drag chain plate and track installation corner fittings assembling schematic diagram;
Fig. 5 is the adoptable section form example of rail polling robot profiled rail;
Fig. 6 is installation structure of track part appearance schematic diagram;
Fig. 7 is drag chain plate schematic cross-section;
Fig. 8 is the control structure figure of robot terminal system when adopting drag chain power supply mode;
Fig. 9 is shroud module Standard figure;
Figure 10 is box body structure figure;
Figure 11 is cover plate explosive view;
Figure 12 is dust control by ventilation electromagnetic shielding window assembling explosive view;
Figure 13 is dust control by ventilation electromagnetic shielding window assembling explosive view;
Figure 14 is the step schematic diagram that upper and lower side frame installs ventilated plates;
Figure 15 is the utility model safety ground post assembling schematic diagram;
Figure 16 is the structural representation of the utility model grounding screw;
Wherein, 1 first synchronous pulley component, 2 first limit switches, 3 installation structure of track parts, 4 trolleys, 5 slides, 6 current-collectors, 7 trolley holders, 8 flange assemblies, 9 AC servo motor, 10 speed reduction units, 11 Zero-point switches, 12 first control boxs, 13 The Cloud Terraces, 14 detection components, 15 profiled rails, 16 Timing Belts, 17 drag chains, 18 drag chain baffle plates, 19 limit switch blocks, 20 current-collector fixed heads, 21 drag chain baffle plate fabricated sections, 22 first notches, 23 second notches, 24 the 3rd notches, 25 the 4th notches, 26 the 5th notches, 27 second limit switches, 28 second synchronous pulley components, 29 second control boxs, 30 host computers, 31 first photoelectric commutators, 32 second photoelectric commutators, 33 first switches, 34 second switches, 35 second source modules, 36 motion controllers, 37 servo-drivers, 38 video servers, 39 thermal infrared imagers, 40 optical camera, 41 tele-control systems, 42 robot terminal systems, 43 optical fiber, 44 checkout equipment controllers, 45 first power modules,
46 shielding cover boards, 47 box bodys, 48 standard fasteners, 68 connectors, 46-1 sheet metal, 46-2 flexible liner, 46-3 tinsel; 47-1 box body outer wall, 47-2 threaded hole, 47-3 step, 47-4 connector mounting hole;
49 frames, 49-1 first frame, 49-2 second frame, first, second frame of 49-3 is installed the step of ventilated plates, 50 cellular ventilated plates, 51 Air Filters, 52 conductive rubber strips;
53-1 hexagonal nut one, 53-2 hexagonal nut two, 53-3 hexagonal nut three, 54-1 plain washer one, 54-2 plain washer two, 54-3 plain washer three, 55 grounding screw, 56 wing nuts, 57 cabinet holes, 58 cabinet arms, the center pit of 59 grounding screw one end, 60, ring flange, the oval type of 61 grounding screw other end processing or D type.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the utility model is described in further detail.
As shown in Figure 1, indoor track type intelligent inspection robot system, comprise robot terminal system 42, described robot terminal system 42 communicates with tele-control system 41, described robot terminal system 42 comprises profiled rail 15, described profiled rail 15 is vertically arranged on indoor wall, and described profiled rail 15 is provided with motion, motion driving mechanism and testing agency;
Described motion comprises the first synchronous pulley component 1, second synchronous pulley component 28 and Timing Belt 16, described synchronous pulley component comprises synchronous wheeled box and synchronous pulley, described synchronous wheeled box is arranged on the two ends up and down of profiled rail 15, described synchronous pulley is arranged on synchronous wheeled box inside, and described Timing Belt 16 tightly wraps on synchronous pulley;
Described motion driving mechanism drives testing agency to move up and down, and described motion driving mechanism comprises AC servo motor 9 and speed reduction unit 10, and described AC servo motor 9 is installed together by speed reduction unit 10 and synchronous pulley; Described speed reduction unit 10 is fixed on the second synchronous wheeled box bottom profiled rail 15 by flange assembly 8;
Described testing agency comprises the first control box 12; First control box 12 realizes Control on Communication to detection components 14 and The Cloud Terrace 13 and power supply; Described first control box 12 is arranged on slide 5, described slide 5 is connected with Timing Belt 16, described slide 5 is arranged on profiled rail 15 by sliding contact, described Timing Belt 16 drives described slide 5 to move up and down along profiled rail 15, The Cloud Terrace 13 installed by described first control box 12, so the first control box 12 also plays the effect of support; Described The Cloud Terrace 13 installs detection components 14; Detection components 14 is made up of thermal infrared imager 39, optical camera 40 etc.
Described robot terminal system 42 also comprises the second control box 29 be arranged near track, and described second control box 29 communicates with the first control box 12, and the Signal transmissions detected by the first control box 12 is to tele-control system 41; Described second control box 29 also plays the motion control effect to orbital motion driven unit;
Described robot terminal system 42, according to different requirements, adopts towing cable mode to carry out powered communication, or adopts trolley mode to carry out power supply to add electric power carrier system and communicate.
When robot adopts drag chain mode powered communication,
In described first control box 12, the equipment such as checkout equipment controller 44, video server 38, first switch 33, first power module 45 are installed; Wherein, described video server 38 communicates with optical camera 40 with infrared video camera 39 respectively, described first switch 33 communicates with described video server 38, described first switch 33 communicates with described checkout equipment controller 44, and described checkout equipment controller 44 communicates with optical camera 40 with The Cloud Terrace 13, thermal infrared imager 39 respectively; First power module 45 is powered for each consumer.
The motion controller 36 of AC servo motor 9 is installed in described second control box 29, servo-driver 37, second source module 35, second switch 34 and the first photoelectric commutator 31, described second photoelectric commutator 31 communicates with the second switch 34, described second switch 34 communicates with motion controller 36, described motion controller 36 communicates with servo-driver 37, described first photoelectric commutator 31 communicates with tele-control system 41, described motion controller 36 and Zero-point switch 11, first limit switch 2 communicates with the second limit switch 27, described servo-driver 37 communicates with AC servo motor 9, described second source module 35 gives each electricity consumption module for power supply.
When robot adopts trolley mode to power, and when adopting power carrier mode to communicate,
In described first control box 12, checkout equipment controller 44, video server 38, first switch 33, first power carrier modem, the first power module 45 are installed, wherein, described video server 38 communicates with optical camera 40 with the infrared video camera 39 in detection components 8 respectively, described first switch 33 communicates with described video server 38, described first switch 33 communicates with described checkout equipment controller 44, and described checkout equipment controller 44 communicates with optical camera 40 with The Cloud Terrace 13, thermal infrared imager 39 respectively; First power module 45 is powered for each consumer.
The motion controller 36 of AC servo motor 9 is installed in described second control box 29, servo-driver 37, second source module 35, second switch 34, first photoelectric commutator 31 and the second power carrier modem, described first photoelectric commutator 31 communicates with the second switch 34, described second switch 34 communicates with motion controller 36, described motion controller 36 communicates with servo-driver 37, described first photoelectric commutator 31 communicates with tele-control system 41, described motion controller 36 and Zero-point switch 11, first limit switch 2 communicates with the second limit switch 27, described servo-driver 37 communicates with AC servo motor 9, described second source module 35 gives each electricity consumption module for power supply,
One end of described first power carrier modem is connected with the first switch 33, other one end of described first power carrier modem is connected with one end of the second power carrier modem, and other one end of described second power carrier modem is connected with the second switch 34.
When system adopts slide wire power supply mode, the communication mode that the control of testing agency adopts is power carrier mode; Described first control box 12 installs current-collector 6 by current-collector fixed head 20, described profiled rail 15 installs trolley holder 7, described trolley 4 is arranged in trolley holder 7.Two contacts of described current-collector 6 contact with trolley 4.The two ends of the first power carrier modem of the first control box 12 are received at the two poles of the earth of described current-collector 6, and the first power module 45 two ends of the first control box 12 are also received at the two poles of the earth of described current-collector 6.The two poles of the earth of described trolley 4 are received on the power carrier modem in the second control box 29, and second source module 35 two ends of the second control box 29 are also received at the two poles of the earth of described trolley 4.
Described trolley 4 is made up of copper conductor and insulating sheath, and sleeve-shaped made by copper conductor, described current-collector 6 has the wire same with trolley radical be connected with the wire sliding contact of trolley.
When system adopts drag chain power supply mode, described first control box 12 is powered and is respectively independently cable with communicating, and power cable is provided by the second control box 29; The communications cable is then connected with the switch in the second control box 29; Described profiled rail 15 is installed drag chain plate washer 18 and drag chain 17, described drag chain baffle plate 18 is fixed on profiled rail 15 by drag chain baffle plate fabricated section 21, and described power cable and the communications cable are contained in drag chain 17, and drag chain 17 pairs of cables play a protective role.
Described tele-control system 41 comprises after the signal of communication of tele-control system 41 and robot terminal system 42 carries out opto-electronic conversion by the second photoelectric commutator 32 and host computer 30, second photoelectric commutator 32, is transferred in host computer 30.
Described robot terminal system 42 also comprises position-limit mechanism, described position-limit mechanism comprises limit switch, described limit switch is arranged on the two ends of profiled rail 15, limit switch block 19 is equipped with in the rear surface of the described control box contacted with profiled rail 15, and described limit switch block 19 and limit switch are with the use of the collision preventing abnormal power-down from bringing.
First photoelectric commutator 31 of described second control box, all images and video detection signal and control signal are changed into light signal, transferred signals in tele-control system 41 by optical fiber 43, thus realize processing the Detection of content of whole system and carrying out remote control operation to detection and motion state.
The scrambler of described AC servo motor 9 is connected with the servo-driver 37 in the second control box 29, and the slide 5 accurately controlled on track by several pulse mode is driven detection components 14 to arrive assigned address and detects.
Described AC servo motor 9, with electromagnetic brake, can realize braking in the event of a power failure.
Described profiled rail 15 is vertically arranged on indoor wall by installation structure of track part 3.
Described Timing Belt 16 coordinate with synchronous pulley be contained in profiled rail 15 groove in.
Described detection components 14 comprises thermal camera and visible light camera.
Described drag chain baffle plate 18 is L-type aluminium section bar, and described L-type aluminium section bar and profiled rail 15 form guide groove, realizes the fixing of drag chain and the guiding to drag chain.
Zero-point switch 11 is equipped with in the bottom of described profiled rail 15, as the initial point that robot runs.Before crusing robot powers at every turn, robot is automatic Aligning control first, then performs the patrol task of distribution.
Described second control box realization is to the power supply of whole robot system terminal and the relaying that communicates, and the motion control function of AC servo motor, and communications control signal is realized the conversion of photosignal.
As shown in Figure 4, described profiled rail 15 is installed drag chain plate washer 18 and drag chain 17, described drag chain baffle plate 18 is fixed on profiled rail 15 by drag chain baffle plate fabricated section 21.
Described drag chain baffle plate 18 is L-type aluminium section bar, and described L-type aluminium section bar and profiled rail 15 form guide groove, realizes the fixing of drag chain and the guiding to drag chain 17.
Zero-point switch 11 is equipped with in the bottom of described profiled rail 15, as the initial point that robot runs.Before crusing robot powers at every turn, robot is automatic Aligning control first, then performs the patrol task of distribution.
The rail system of the utility model indication is made up of vertical section material guide rail 15, synchronous belt drive system (the first synchronous pulley component 1, second synchronous pulley component 28, slide 5, AC servo motor 9, speed reduction unit 10 and flange assembly 8) etc.
Wherein, the length of section material guide rail 15 requires according to the sensing range of crusing robot and determines, and reaches tens meters by continued access is the longest.The first synchronous pulley component 1 and the second synchronous pulley component 28 is installed at section material guide rail two ends, and installs Timing Belt 16 and slide 5.Slide 5 and Timing Belt 16 are connected.Fig. 5 is the cross section example that of profiled rail 15 can choose, and the 3rd notch 24 is T-slot mouths, miscellaneous equipment and track is connected by T-nut; 4th notch 25 is the devices such as Zero-point switch 11 grade that can be used to install rectangle.Second notch 23, the 5th notch 26 are the installing space of Timing Belt, and the first notch 22 of the left and right sides can be used for installing the circular optical axis led, and slide 5 is installed the bearing mated with optical axis, forms the support guide effect to slide 5.In track lower end by flange assembly 8, AC servo motor 9 and speed reduction unit 10 are installed together with the second synchronous pulley component 28 of lower end.AC servo motor 9 rotarily drives synchronous pulley and rotates, and synchronous pulley drives Timing Belt 16 to move up and down together with slide 5, forms the orbital drive system of crusing robot.
First control box 12 is contained on slide 5, installs control software design and the hardware of crusing robot in the first control box 12, simultaneously can as the support of The Cloud Terrace 13 and detection components 14.Under the drive of slide 5, detection components 14 moves up and down, and the horizontal revolving motion of associating The Cloud Terrace 13 and luffing, realize the comprehensive testing requirement to equipment.
The track machine people of the utility model indication can by wired power supply with communicate, and can adopt and realize in two ways, wherein one adds PLC technology by trolley 4, as shown in Figure 1.Another kind is the form of drag chain towing cable, as shown in Figure 2.
Trolley 4 is as shown in Figure 1 powered and is communicated, and wherein trolley 4 is made up of two strands or multiply tongue shape or other odd-shaped cross section wire and trolley holder 7.Trolley holder 7 is contained on vertical profiled rail 15, and trolley 4 is pressed in the draw-in groove on plastic insulation trolley holder 7, realizes the installation of trolley 4.Current-collector 6 is contained on the first control box 12 by current-collector fixed head 20.First control box 12 built with the first power module 45 and the first power carrier modem etc., the wired power supply realizing crusing robot with communicate.
Trolley 4 can adopt two strands or multiply.When employing two strands of trolleys, adopt the carrier communication of line of electric force, in the first control box 12, be furnished with power carrier modem, realize powering and reliable communication without towing cable when moving.When adopting multiply, can not PLC technology be adopted, and signal wire and power lead are directly separated.Which kind of trolley of concrete employing can be determined according to the actual requirements.
As shown in Figure 2, when the length of profiled rail 15 is less, system can adopt the power supply mode of drag chain towing cable.When adopting in this way, as shown in Figure 7, L-type drag chain baffle plate 18 is contained on vertical rail 15 by drag chain baffle plate fabricated section 21.The stiff end of drag chain 17 is contained on drag chain baffle plate 18, and movable end is contained in the bottom of control box 12 by L-type structural member.Cable is contained in drag chain 17, and when control box 12 moves up and down, cable moves together with drag chain 17.
The drive motor adopted in system is AC servo motor 9, and with incremental encoder, the mode that the kinetic control system in the second control box can be rushed by rapid pulse accurately controls the optional position in the stroke range of detection components 14 arrival requirement.
At the two ends of profiled rail 15, limit switch 2 is housed, the limit switch block 19 (as shown in Figure 3) coordinated with limit switch 2 is housed at the rear portion of the first control box 12, trigger limit switch when slide 5 sliding process and get final product deenergization, the band-type brake of AC servo motor is held tightly, prevents from causing collision in motion process.
In the bottom of profiled rail 15, Zero-point switch 11 is housed, as the initial point that robot runs.Before crusing robot powers at every turn, robot is automatic Aligning control first, then performs the patrol task of distribution.
Profiled rail 15 is installed easily by L-type installation structure of track part 3 as shown in Figure 6.
As shown in Figure 8, the first control box 12 built with crusing robot control required for software and hardware.Simultaneously can installing through-the-wall connector on described control box, communicate with the second control box 29.
The motion control apparatus of AC servo motor 9 and the communication facilities with the first control box 12 and tele-control system 41 are installed in second control box 29, realize the motion control to AC servo motor and the relay process to signal, and provide power supply for the second control box.
Detection components 14 can install different equipment according to different testing requirements, and such as thermal infrared imager 39, visible light camera, poisonous gas detecting instrument, ultraviolet detector, electromagnetic intensity detector etc., realize different detection demands.
For power supply and the communication mode of system, slip or drag chain two kinds of modes can be adopted.When robot detection stroke is larger, trolley can be adopted to add PLC technology and to adopt to realize powering without cable and communicating.Drag chain mode can be adopted when stroke is little, adopt and have cable to power and communicate.According to trolley, profiled rail 15 is installed trolley 4, the first control box 12 installs current-collector 6 wiping cooperation with it additional.According to towing cable mode, then direct drag chain plate and drag chain are installed on vertical rail.
As shown in figs. 9-11, a kind of electromagnetic shield module box, comprise box body 47 and shielding cover board 46, described shielding cover board 46 is arranged on box body 47, described shielding cover board 46 comprises sheet metal 46-1, flexible liner 46-2 and the tinsel 46-3 that ecto-entad superposes successively, described box body 47 inside is cavity, and box body 47 inner arm is provided with step 47-3.
Shielding cover board 46 has mounting hole, and step 47-3 is provided with out threaded hole 47-2, and box body 47 is fixedly connected with shielding cover board 46 with threaded hole 47-2 by mounting hole by standard fasteners 48.
Sheet metal 46-1 is steel plate, aluminium sheet or copper coin.The material of flexible liner 46-2 is the soft foam material with gum.Tinsel 46-3 is thickness 0.01mm to 0.1mm with the aluminium foil of gum or Copper Foil.
The material of box body 47 is aluminium alloy or aldary.Sheet metal 46-1, flexible liner 46-2 are identical with tinsel 46-3 length and width, are rectangle, and described box body 47 is rectangular parallelepiped.Box body 47 is the integrative-structure adopting block of metal milling.Box body 2 comprises box body outer wall 47-1.Described box body according to built-in circuit plate or the external interface requirement of electron device, can open connector mounting hole 47-4, and described plug-in unit mounting hole 47-4 installs electromagnetic compatibility type connector 68.
The utility model forms primarily of shielding cover board 46 and box body 47.Shielding cover board is 46 be integrated parts, before use, first flexible liner 46-2, tinsel 46-3 is pasted onto formation entirety on sheet metal 46-1.Then shielding cover board 46 and cover plate 47 are installed together by standard fasteners 48, form the confined space that electromagnetic screen is good.Electron device is contained in shielding cavity as required.
When described electromagnetic shield module box uses: first pasted on a metal plate by flexible liner before use, then be pasted onto on flexible liner by tinsel, three is made to be assembled into one.Cavity is had in box body.Box wall leaves step, so that cover plate ensures good sealing after installing.Threaded hole opened by step, is used for cover plate is installed.
As shown in figs. 12-14, frame 49 is combined by the first frame 49-1 and the second frame 49-2, and both are formed by connecting by welding or bonding or screw.The rectangular channel of open loop shape on second frame 49-2, conductive rubber strip 52 is bonded in the rectangular channel of the second frame 49-2 by conducting resinl, be encapsulated in metal edge frame 49 at the cellular ventilated plates 50 of first, second frame and Air Filter 51, form complete ventilation electromagnetic shielding window.Before the combination of first, second frame, in the step needing first ventilated plates 50 and Air Filter 51 to be installed to two frames in 49-3, as shown in figure 14.
Dust control by ventilation electromagnetic shielding window is applied in electromagnetic sealing and requires higher and require that the shielding case body ventilated is inner.It is arranged on the position needing perforate, because metallic honeycomb forms good electromagnetic wave shielding.Second frame is installed conductive rubber strip 52, enhance the sealing effectiveness between frame and casing, prevent from forming gap between shielding windows and casing, improve effectiveness.
Dust can serviceable life of very big reduction equipment.Air Filter 3 effectively can prevent the dust accumulation caused because of ventilation in casing, improves the serviceable life of equipment.
As shown in figure 15, safety ground post is made up of grounding screw 55 and standard component made of copper.Grounding screw 55 material is aldary, has good electric conductivity and corrosion resistance.Grounding screw 55 is divided into three sections, and center section is mounting flange 60, and two ends are stud.One end of grounding screw is by being machined to oval type or D type 61, and the other end is equipped with center pit 59, as shown in figure 16.
Grounding screw is equipped with screw-in respectively hexagonal nut one 53-1, plain washer one 54-1 and a wing nut 56 of one end of center pit 59.The ground wire of outside manually can be tightened with wing nut 56 and connect.Hexagonal nut one 53-1 can provide certain elevation plane, and the ground wire of outside is tightened between wing nut 56 and plain washer one 54-1 by wing nut 56 by available hand, forms outside reliable ground.
In use, cabinet wall 58 beats oval hole or D type cabinet hole 57 according to the shape of grounding screw, grounding screw 55 is processed into the partial insertion cabinet inside of kidney ellipsoid or D type 61, then copper hexagonal nut two 53-2, plain washer two 54-2, plain washer three 54-3 and hexagonal nut three 53-3 is screwed in successively at cabinet inside, hexagonal nut two 53-2 close to the inner portion plays the effect of fastening grounding screw 55, hexagonal nut three 53-3 in outer portion is freely movable, cabinet inside can be needed the cable etc. of ground connection to be connected on earthing rod and use nut screwing clamping.
Grounding screw 55 one end is equipped with center pit 59, center pit 59 be used for reaming jumping-up use.By end jumping-up after wing nut 56 loads, can forever prevent wing nut from coming off.Grounding screw 55 other end threaded portion cuts plane, and can cut a plane is D type, and also can cut two planes is symmetrically kidney ellipsoid.Its cabinet wall 58 installed is opened the cabinet hole 57 slightly larger than the kidney ellipsoid on stud or D molded dimension.
Grounding screw 55 center section is the ring flange 60 in oval type cutting two planes, uses when can tighten on the cabinet of making circular hole.
Grounding screw 55 can adopt wing nut 56, knurled nut also can be adopted to be used as when hand nutting is tightened and use.
Grounding screw 55, hexagonal nut one 53-1, hexagonal nut two 53-2, hexagonal nut three 53-3, plain washer one 54-1, plain washer two 54-2, plain washer three 54-3 and wing nut 56 are standard component made of copper.
By reference to the accompanying drawings embodiment of the present utility model is described although above-mentioned; but the restriction not to the utility model protection domain; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection domain of the present utility model.
Claims (10)
1. indoor track type intelligent inspection robot system, it is characterized in that, comprise tele-control system, described tele-control system is connected by network with at least one robot terminal system, described robot terminal system comprises profiled rail, described profiled rail is arranged on indoor wall, described profiled rail is provided with motion, motion driving mechanism and testing agency; Described testing agency comprises The Cloud Terrace and detection components, described testing agency is arranged on described motion, described motion structure is driven by motion driving mechanism, described motion drives testing agency to move up and down along profiled rail, and realizes the detection on a large scale to indoor Devices to test in conjunction with the running of The Cloud Terrace.
2. indoor track type intelligent inspection robot system as claimed in claim 1, is characterized in that,
Described robot terminal system allows from following three kinds of optional one of situation in powered communication:
Situation one: adopt drag chain mode to carry out powered communication;
Situation two: adopt trolley mode carry out powering and adopt power carrier mode to communicate;
Situation three: adopt trolley mode carry out powering and adopt leaky wave cable or microwave technology to communicate.
3. indoor track type intelligent inspection robot system as claimed in claim 1, it is characterized in that, described tele-control system is connected by electric power optical cable with robot terminal system.
4. indoor track type intelligent inspection robot system as claimed in claim 1, is characterized in that,
Described motion comprises synchronous pulley component and Timing Belt, described synchronous pulley component comprises synchronous wheeled box and synchronous pulley, described synchronous wheeled box is arranged on the two ends up and down of profiled rail, and described synchronous pulley is arranged on synchronous wheeled box inside, and described Timing Belt is looped around on synchronous pulley.
5. indoor track type intelligent inspection robot system as claimed in claim 1, is characterized in that,
Described motion driving mechanism drives testing agency to move up and down, and described motion driving mechanism comprises AC servo motor and speed reduction unit, and described AC servo motor is installed together by speed reduction unit and synchronous pulley; Described speed reduction unit is fixed on the synchronous wheeled box bottom profiled rail.
6. indoor track type intelligent inspection robot system as claimed in claim 1, is characterized in that,
Described testing agency comprises the first control box; First control box is for realizing Control on Communication to detection components and The Cloud Terrace and power supply; Described first control box is arranged on slide, described slide and Timing Belt are connected, described slide is arranged on profiled rail by the mode of sliding contact, described Timing Belt drives described slide to move up and down along profiled rail, The Cloud Terrace installed by described first control box, so the first control box also plays the effect of support; Described The Cloud Terrace installs detection components;
Described robot terminal system also comprises the second control box be arranged near track, and described second control box communicates with the first control box, and provides power supply for the first control box; Described second control box also plays control action to the motion of AC servo motor.
7. indoor track type intelligent inspection robot system as claimed in claim 6, is characterized in that,
When robot adopts drag chain mode powered communication,
In described first control box, checkout equipment controller, video server, the first switch and the first power module are installed; Wherein, described video server communicates with optical camera with infrared video camera respectively, described first switch communicates with described video server, described first switch communicates with described checkout equipment controller, and described checkout equipment controller communicates with optical camera with The Cloud Terrace, thermal infrared imager respectively; First power module is that each consumer of described first control box is powered;
The motion controller of AC servo motor is installed in described second control box, servo-driver, second source module, second switch and the first photoelectric commutator, described first photoelectric commutator and the second switch communication, described second switch communicates with motion controller, described motion controller communicates with servo-driver, described first photoelectric commutator communicates with tele-control system, described motion controller and Zero-point switch and first, second limit switch communication, described servo-driver communicates with AC servo motor, described second source module gives each electricity consumption module for power supply of described second control box, and provide power supply for the first control box.
8. indoor track type intelligent inspection robot system as claimed in claim 6, is characterized in that,
When robot adopts trolley mode to power, and when adopting power carrier mode to communicate,
In described first control box, checkout equipment controller, video server, the first switch, the first power carrier modem, the first power module are installed, wherein, described video server communicates with optical camera with the infrared video camera in detection components respectively, described first switch communicates with described video server, described first switch communicates with described checkout equipment controller, and described checkout equipment controller communicates with optical camera with The Cloud Terrace, thermal infrared imager respectively; First power module is that each consumer of described first control box is powered;
The motion controller of AC servo motor is installed in described second control box, servo-driver, second source module, second switch, first photoelectric commutator and the second power carrier modem, described first photoelectric commutator and the second switch communication, described second switch communicates with motion controller, described motion controller communicates with servo-driver, described first photoelectric commutator communicates with tele-control system, described motion controller and Zero-point switch and first, second limit switch communication, described servo-driver communicates with AC servo motor, described second source module gives each electricity consumption module for power supply, and be that the first control box is powered,
One end of described first power carrier modem is connected with the first switch, other one end of described first power carrier modem is connected with one end of the second power carrier modem, and other one end of described second power carrier modem is connected with the second switch.
9. indoor track type intelligent inspection robot system as claimed in claim 1, is characterized in that,
Described detection components comprises thermal infrared imager, visible light camera, smog alarm sensor, field intensity detector and Ultraviolet Detector.
10. indoor track type intelligent inspection robot system as claimed in claim 1, is characterized in that,
Described tele-control system comprises the second photoelectric commutator and host computer, and signal of communication is carried out opto-electronic conversion by the second photoelectric commutator, realizes the communication of tele-control system and robot terminal system.
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| CN201420610980.2U CN204143259U (en) | 2014-10-21 | 2014-10-21 | Indoor track type intelligent inspection robot system |
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| CN201420610980.2U CN204143259U (en) | 2014-10-21 | 2014-10-21 | Indoor track type intelligent inspection robot system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104267730A (en) * | 2014-10-21 | 2015-01-07 | 山东鲁能智能技术有限公司 | Indoor rail-mounted intelligent inspection robot system |
| CN105424397A (en) * | 2015-12-22 | 2016-03-23 | 广东科凯达智能机器人有限公司 | Performance testing platform of power transmission line polling robot |
| CN105739383A (en) * | 2016-02-04 | 2016-07-06 | 彭冬青 | Indoor power equipment intelligent inspection robot management system |
| CN105835063A (en) * | 2016-06-03 | 2016-08-10 | 国网宁夏电力公司检修公司 | Indoor inspection robot system for substation and inspection method for indoor inspection robot system |
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2014
- 2014-10-21 CN CN201420610980.2U patent/CN204143259U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104267730A (en) * | 2014-10-21 | 2015-01-07 | 山东鲁能智能技术有限公司 | Indoor rail-mounted intelligent inspection robot system |
| WO2016062246A1 (en) * | 2014-10-21 | 2016-04-28 | 山东鲁能智能技术有限公司 | Indoor track style intelligent inspection robot system |
| CN104267730B (en) * | 2014-10-21 | 2017-07-28 | 山东鲁能智能技术有限公司 | indoor track type intelligent inspection robot system |
| CN105424397A (en) * | 2015-12-22 | 2016-03-23 | 广东科凯达智能机器人有限公司 | Performance testing platform of power transmission line polling robot |
| CN105424397B (en) * | 2015-12-22 | 2017-12-01 | 广东科凯达智能机器人有限公司 | A kind of Testing Platform for transmission line polling robot |
| CN105739383A (en) * | 2016-02-04 | 2016-07-06 | 彭冬青 | Indoor power equipment intelligent inspection robot management system |
| CN105835063A (en) * | 2016-06-03 | 2016-08-10 | 国网宁夏电力公司检修公司 | Indoor inspection robot system for substation and inspection method for indoor inspection robot system |
| CN105835063B (en) * | 2016-06-03 | 2018-11-13 | 国网宁夏电力公司检修公司 | Crusing robot system and its method for inspecting in a kind of substation room |
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Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co., Ltd. Address before: 250101 Shandong city of Ji'nan province high tech Zone (Lixia District) Xinluo Avenue No. 2008 silver bearing building B block 626 Patentee before: Shandong Luneng Intelligent Technology Co., Ltd. |