A kind of railway robot
This utility model relates to intelligent robot technology field, specifically a kind of railway robot, is particularly suited for electric power tunnel intelligent patrol detection.
Along with construction and the fast development of urban electric power facility, domestic many cities use buried cable to transmit electric energy in succession, alleviate ground and set up the contradiction between space.Power cable is layed in subterranean tunnel, and in urban electric power tunnel, the safe operation of power cable and various electric power facility directly affects the reliability and stability of power supply.So corresponding monitoring and maintenance issues also highlight.At present, tunnel routine inspection mode still combines with manual patrol and fixed point electric power monitoring system, there is problems in that
1) the most most tunnels are patrolled and examined work and are all used artificial mode.Patrolling and examining the distance that will walk several kilometers, working strength is the biggest every time；Additionally, the harmful gas that there may exist in tunnel and high-tension electricity, quite dangerous for people.
2) fixed position that fixed point Electric Intelligent Monitoring System is arranged in tunnel, it it is a kind of fixing, discrete monitoring system, although system can have the biggest coverage rate, but there is also and can not realize situation in tunnel is completely covered, when an emergency happens cannot by provide in the field condition very first time clearly video pictures to defects such as Surveillance center.
Utility model content
For the problems referred to above, the purpose of this utility model is to provide a kind of railway robot, and this robot can replace manually patrolling and examining electric power tunnel, and can transmit video image in real time to monitor supervision platform.
The technical scheme in the invention for solving the technical problem is: a kind of railway robot, including motion parts and suspended portion,
Described motion parts includes the moving parts moved along guide rail, moving parts is provided with driving wheel, the braked wheel being braked moving parts driving moving parts to move and realizes moving parts turning and the composite turning device of climb and fall, driving wheel is connected with driving means, braked wheel is connected with brake, and composite turning device has horizontal rotation and rotates two degree of freedom up and down；
Described suspended portion is suspended on the lower section of moving parts, and suspended portion includes vehicle frame, control device vehicle frame is provided with and provides the video-unit of video pictures, being controlled moving parts and the portable power source powered for power-consuming component.
Further technical scheme is: described moving parts includes wallboard, the left and right sides being distributed in guide rail that wallboard is symmetrical and fix bar by wallboard and link together, driving wheel and braked wheel are between wallboard and guide rail, driving means and brake are positioned at the outside of wallboard, the left and right sides being distributed in guide rail that driving wheel, driving means, braked wheel and brake are all symmetrical.Left wallboard and right wallboard constitute moving parts, simple and compact for structure.
Further technical scheme is: be provided with directive wheel between two ends and the guide rail of every block of described wallboard, directive wheel is connected with floating installation, floating installation is arranged on wallboard, and floating installation compresses with the change of guide rail rail level pressure or diastole is so that the wheel face of directive wheel is held pressed against on the rail level of guide rail.Guide rail clip is handled by the directive wheel on the wallboard of guide rail both sides, and under the pressure of floating installation, moving parts is played location and guide effect by directive wheel.
Further technical scheme is: described driving means is servomotor, and the output shaft of servomotor is connected with driving wheel.Servomotor can make control speed, and positional precision is very accurate, voltage signal can be converted into torque and rotating speed to drive control object.
Further technical scheme is: before and after described vehicle frame, two ends are separately installed with avoidance radar, and avoidance radar is connected with described control device.When running into obstacle in course, avoidance radar can send early warning information to controlling device, controls device and can send cutoff command, causes parts damages in order to avoid bumping against with obstacle.
Further technical scheme is: described control device and portable power source are arranged on the middle part of vehicle frame, and described video-unit is lifted on the lower section of vehicle frame.Control device and portable power source are arranged on the middle part of vehicle frame, make whole robot architecture closely, video-unit is lifted on the lower section of vehicle frame, it is to avoid video-unit is formed by miscellaneous part interferes, and makes video-unit be capable of full viewing angles.
Further technical scheme is: described video-unit is video camera, the subsidiary visual light imaging device of described video camera, infreared imaging device or thermal imaging device.By video camera, the barrier run into can be carried out various functional identification during patrolling and examining, and video information can be uploaded to monitor supervision platform by Radio Transmission Technology and further be identified for monitoring personnel.
Further technical scheme is: described video-unit incidentally keeps the gyroscope of video-unit organism balance.
Further technical scheme is: described moving parts includes two groups, two groups of moving parts are along guide rail reversed arrangement, described composite turning device is arranged on the bottom of moving parts, is connected by support between the composite turning device of two groups of moving parts, and vehicle frame is suspended on the lower section of described support.Composite turning device is installed on the bottom of moving parts and is easy to its driving to moving parts, makes moving parts can adapt to passing through of left and right bend and up and down ramp；Hang vehicle frame by two groups of moving parts, on the premise of structure is the compactest, it is possible to ensure stability and the fastness of vehicle frame, and the flexible performance of its motion meets the electric power tunnel of various environmental form.
Further technical scheme is: be covered with housing in the outside of composite turning device and vehicle frame.Housing protection device interior device, it is to avoid internal unit causes damage because of accidental impact.
The beneficial effects of the utility model are: arrange driving wheel on moving parts, braked wheel, directive wheel and composite turning device, it is capable of moving parts walking as required, stop and by bend and up and down ramp, and moving parts is played location and guide effect by directive wheel, moving parts is made to have higher position precision, can be in complicated dark tunnel environment, carry out tunnel and patrol and examine electric power facility, and it is provided with video-unit and can transmit the image at full visual angle in real time to monitor supervision platform, manual inspection can be substituted completely, simple in construction, easy to spread.
Accompanying drawing explanation
Fig. 1 is the perspective view (omission housing) of this utility model embodiment；
Fig. 2 is the Facad structure figure of this utility model embodiment；
Fig. 3 is the construction profile of this utility model embodiment.
In figure: 1 left wallboard, 2 right wallboards, 3 wallboards fix bar, 4 driving wheels, 5 braked wheels, 6 directive wheels, 7 floating installations, 8 servomotors, 9 brakes, 10 composite turning devices, 11 supports, 12 vehicle frames, 13 avoidance radars, 14 control device, 15 video-units, 16 guide rails, 17 housings, 18 portable power sources.
Detailed description of the invention
Below in conjunction with Figure of description and specific embodiment, the utility model will be further described:
As shown in Figure 1, Figure 2 and Figure 3, a kind of railway robot, including motion parts and suspended portion.
Described motion parts includes the moving parts moved along guide rail 16, moving parts includes left wallboard 1 and right wallboard 2, left wallboard 1 and the left and right sides being distributed in guide rail 16 of right wallboard 2 symmetry and fix bar 3 by wallboard and link together, driving wheel 4 and braked wheel 5 are each installed on left wallboard 1 and right wallboard 2, driving wheel 4 is each connected with servomotor 8, and braked wheel 5 is each connected with brake 9.
Driving wheel 4 and braked wheel 5 are between left and right sidesing wall plate and guide rail 16, and servomotor 8 and brake 9 are positioned at the outside of wallboard, driving wheel 4, servomotor 8, braked wheel 5 and the most symmetrical left and right sides being distributed in guide rail 16 of brake 9.
Fixing left wallboard 1 that bar 3 links together and right wallboard 2 is a pair wallboard through wallboard for each group, before and after every pair of wallboard, two ends are respectively equipped with a pair directive wheel 6, and each directive wheel 6 is arranged on floating installation 7, and floating installation 7 is arranged on wallboard.Under the pressure of floating installation 7, moving parts is positioned, the directive wheel 6 of both sides fixedly positioning on track 16, when through horizontal bend, owing to driving wheel 4 exists transverse translation on track 16, in-orbit under surface pressure change, floating installation 7 forced compression or diastole, make directive wheel 6 be pressed on rail level all the time, thus position whole moving parts, play location and guide effect.
It is connected by elastic hinge between floating installation 7 and the support of directive wheel 6, it is achieved the compression to directive wheel 6.
Moving parts is provided with composite turning device 10, composite turning device 10 possesses two degree of freedom, it is adapted to passing through of left and right bend and up and down ramp, moving parts includes front moving parts and rear moving parts totally two groups, composite turning device 10 is positioned at the bottom of moving parts, is connected by support 11 between the composite turning device 10 of two groups of moving parts.For the balance of total, two groups of moving parts reversed arrangement on guide rail, i.e. the driving wheel of first group of moving parts is positioned at front portion, and the driving wheel of second group of moving parts is positioned at rear portion.
The structure of composite turning device 10 refers to the composite turning device on existing vehicle, level and upper and lower rotary freedom by composite turning device 10 can make whole car body become three combined car bodies in joint, can be by the bend of horizontal direction that least radius is 1.5 meters, again can be by the ramp of no more than 20 degree, in electric power tunnel general environment, cable minimum turning radius is 2 meters, and ramp, tunnel is generally no greater than 15 degree, is the most substantially adapted to the electric power tunnel of various environmental form.
Composite turning device 10 on two groups of moving parts is attached by support 11, and support 11 includes that two cross bars and two vertical poles make support 11 in groined type.Support 11 is crimped on the mounting plane of composite turning device 10, support 11 hanging vehicle frame 12 below, vehicle frame 12 is a rectangular-shaped framework, install in the middle of vehicle frame 12 and control device 14 and portable power source 18, vehicle frame 12 lifting video-unit 15 below, is respectively mounted a pair avoidance radar 13 before and after vehicle frame 12, and video-unit 15 is video camera, the subsidiary thermal imaging device of described video camera and gyroscope, gyroscope is used for keeping video-unit organism balance.
It is covered with housing 17 in the outside of composite turning device 10 and vehicle frame 12.Housing 17 protects device interior device, it is to avoid internal unit causes damage because of accidental impact.
For ease of to understanding of the present utility model, below in conjunction with its work process, the utility model will be further described:
When servomotor 8 starts, drive driving wheel 4, thus drive whole moving parts to advance on track 16；When needs halt, servomotor 8 stall, brake 9 starts, and acts on braked wheel 5, thus brakes whole motion parts；When needing reversely to retreat, servomotor 8 reversely rotates；Moving parts realizes passing through of left and right bend and up and down ramp by composite turning device 10.
When running into obstacle in course, avoidance radar 13 can send early warning information to controlling device 14, control device 14 and can send cutoff command, body part is caused to damage in order to avoid bumping against with obstacle, simultaneously, video-unit 15 can carry out various functional identification to barrier, including using visible ray, infrared imaging or thermal imaging etc..Information above can be uploaded to monitor supervision platform by Radio Transmission Technology and carry out further discriminatory analysis for monitoring personnel.
The concrete structure of moving parts of the present utility model is not limited to the form described in embodiment, moving parts is for driving vehicle frame and the equipment that is arranged on vehicle frame to move along guide rail, and moving parts is capable of the advance along guide rail, stops, retreating and turn and climb and fall.
The foregoing is only preferred embodiment of the present utility model; it it is not whole embodiment of the present utility model; not in order to limit this utility model; all within spirit of the present utility model and principle; the any modification, equivalent substitution and improvement etc. made, within should be included in protection domain of the present utility model.
In addition to technical characteristic described in description, remaining technical characteristic is all known to a person skilled in the art technology, and for prominent innovative characteristics of the present utility model, above-mentioned technical characteristic does not repeats them here.