CN205944881U - Electric power inspection robot and system - Google Patents
Electric power inspection robot and system Download PDFInfo
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- CN205944881U CN205944881U CN201620885638.2U CN201620885638U CN205944881U CN 205944881 U CN205944881 U CN 205944881U CN 201620885638 U CN201620885638 U CN 201620885638U CN 205944881 U CN205944881 U CN 205944881U
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Abstract
The utility model provides an electric power inspection robot and system, wherein the electric power inspection robot includes the drive assembly that contains support frame and actuating mechanism, contains control panel and power supply unit master control nacelle subassembly and including monitoring devices's ptz assembly, and on the nacelle connecting piece of the one end of locating the support frame can be dismantled to master control nacelle subassembly, actuating mechanism and monitoring devices all were connected with the control panel, modularization, easily dismouting, maintain convenient. Still providing electric power inspection robot system and having included electric power inspection robot and " I -shaped " track, this track includes two diaphragms and the riser of connecting two diaphragms, and the outside of two diaphragms all is equipped with the guide way, the wheel is walked between two diaphragms, and just the both sides of riser are located to two wheel branches of a pair of car axle assembly, on the guide way in two diaphragms outsides is located to two leading wheel subassemblies of a set of leading wheel subassembly, and fasten the electric power inspection robot on the track, modularization, easily dismouting, maintain conveniently, go up even that the rail is simple and convenient, the operation is stable, safe and reliable's electric power inspection robot system.
Description
Technical field
The utility model belongs to power circuit polling apparatus field technical field and in particular to a kind of electric inspection process robot
And system.
Background technology
Each big city is increasingly crowded at present, narrow space, various cables commonly used subterranean tunnel paving mode.Electricity
The short then hundreds of rice of cable length of tunnel, long then several kilometers, or even tens kilometers, and tunnel layout is complicated, thus the maintenance of cable, day
Often patrol and examine the major way becoming investigation cable fault, mostly by the way of artificially patrolling and examining, inefficiency, patrol and examine quality not
Height, high labor intensive, workload are big, and time and effort consuming is with high costs, very strong with the unmanned demand of patrolling and examining in this cable tunnel,
Intelligentized cable tunnel inspection robot arises at the historic moment, and various crusing robot applications are more and more extensive.
The driving of existing crusing robot, control, monitoring are generally structure as a whole, and no matter which partial function goes out for robot
Existing problem, is required for taking off whole machine from track, carries out whole machine repairing.
Existing crusing robot adopts gear-rack drive, trolley way to take power, but the structure for tunnel complexity
Trend, robot track must adapt to tunnel trend, turn, climb and fall situations such as more, rack-and-pinion, trolley typically can only
It is impossible to be used for this environmental condition, this mechanism is difficult to be suitable for this situation it is impossible to practicality for level laying power taking.
Existing crusing robot is positioned in C-shaped channel using the C-shaped channel track with flange, live roller, needs in-orbit
On road, appropriate section setting can take out the locations of structures of car body, and in C-shaped channel, setting electricity-fetching mechanism is also more difficult, for long away from
From tunnel, the later stage is difficult to safeguard.
Utility model content
A technical problem to be solved in the utility model be to provide a kind of modularization, be easy to dismounting, safeguard convenient,
Even easy, stable, the safe and reliable electric inspection process robot of upper rail.
For solving above-mentioned technical problem, of the present utility model employed technical scheme comprise that：
Electric inspection process robot, including drive component, master control pod assemblies and detachable located at described master control pod assemblies
On head assembly；Described drive component includes bracing frame and the drive mechanism on bracing frame, one end of support frame as described above
It is provided with gondola connector, described master control pod assemblies are detachably on described gondola connector；Described master control pod assemblies bag
Include control panel and the electric supply installation powered for described electric inspection process robot, described head assembly includes monitoring device, described drive
Motivation structure and described monitoring device are all connected with described control panel and are controlled.
Further, described drive mechanism includes：
Driving means, are installed on support frame as described above；
Transmission shaft component, is connected with described driving means, and described transmission shaft component is equipped with two driving gears, two
Driven gear is all engaged with driving gear；
Wheel walking mechanism, including two to wheel shaft assembly, pair of wheels shaft assembly includes two wheel shaft assemblies；Wherein
Pair of wheels shaft assembly corresponding with described driving gear, another corresponding with described driven gear to wheel shaft assembly；Described car
Axle assembly includes the rotation shaft of wheel fixing with support frame as described above by bearing, and rotation shaft of wheel one end is equipped with wheel, the other end
It is equipped with the travelling gear with corresponding described driving gear or the cooperation of described driven gear.
Further, support frame as described above includes the first side plate, the second side plate and the side plate connector connecting this two blocks of side plates；
Described driving means are installed on described first side plate；
One end of described transmission shaft component is connected with described driving means, and the other end passes through described first side plate to be installed on
On described second side plate；Two described driving gears are assemblied in the two ends of described transmission shaft component, respectively correspond to the first side plate and
Second side plate；
Described rotation shaft of wheel is fixed on described side plate.
Further, described drive mechanism also include press-type charging mechanism and with described press-type charging mechanism just to
Proximity transducer, described press-type charging mechanism includes cradle and the charging contacts on cradle and presses spring.
Further, described drive mechanism includes the guiding mechanism being installed on support frame as described above, described guiding mechanism bag
Include least one set guide wheel assemblies, described one group of guide wheel assemblies include two guide wheel assemblies being arranged oppositely；Described one group
Guide wheel assemblies include coordinating for two directive wheels of gripper rail both sides with for by described two directive wheels and rail
The locking device with spring of road side wall auto lock.
Further, described guide wheel assemblies also include being connected with support frame as described above guide wheel bracket, lead located at described
To the first rotating shaft on wheel support and the directive wheel fixed seat for fixing described directive wheel in described first rotating shaft；Institute
Stating spring is the button spring being sheathed in described first rotating shaft, the end of described button spring respectively with described guide wheel bracket and described lead
Support to wheel fixed seat.
Further, described locking device also includes the stroke for adjusting described directive wheel on support frame as described above
Adjust jackscrew and automatic to described directive wheel fixed seat for releasing described button spring in described directive wheel fixed seat
The index pin of locking effect.
Further, described drive mechanism also includes RFID component, the position that control panel feeds back according to described RFID component
Information controls described drive mechanism correction to patrol and examine position.
Further, described master control pod assemblies include order removable seal connection front end assemblies, intermediate module and
Aft-end assembly；Front end assemblies include front-end case and the antenna in front-end case, Smoke Sensor, Temperature Humidity Sensor,
Visit barrier radar and emergency stop switch；Described intermediate module include intermediate case and the automatically controlled storehouse in intermediate case, battery compartment and
Master control storehouse, is provided with the electrical part for controlling described electric inspection process robot, is provided with confession in described battery compartment in described automatically controlled storehouse
Electricity rechargeable battery, is provided with described control panel in described master control storehouse；Described aft-end assembly includes rear end housing and outside rear end
Spy barrier radar in shell and emergency stop switch.
Further, the both sides of described intermediate case are provided with opening, and described front-end case and described rear end housing cover respectively
Close the opening of described intermediate case both sides, the junction between described front-end case and described intermediate case and described intermediate case
Junction and described rear end housing between is all using taper water guide slot structure, and described junction is provided with and prevents foreign matter from invading institute
State the sealing structure of master control pod assemblies.
Further, described head assembly includes head base, the thermal imaging system cabin located at head base both sides and phase cabin
And the light compensating lamp located at head base both sides；It is provided with thermal imaging system in described thermal imaging system cabin, in described phase cabin, be provided with camera.
The electric inspection process robot that the utility model provides has the beneficial effects that：Drive component, master control pod assemblies and
Head assembly is three standalone modules, and each several part independently splices, and is detachably connected between three modules, can be with integral replacing, mutually
Transsexual good it is easy to dismounting is it is easy to safeguard, master control pod assemblies, on the gondola connector of the one end being connected to bracing frame, are driven
Dynamic assembly is independently of outside master control pod assemblies, even if not dismantling master control pod assemblies it is also possible to in-orbit maintenance, in-orbit inspection
Repair drive mechanism.When drive component is provided with cover of driver, taking off cover of driver can in-orbit maintenance, maintenance drive mechanism.
Another technical problem to be solved in the utility model is to provide a kind of modularization, is easy to dismounting, safeguards just
Victory, easy, stable, the safe and reliable electric inspection process robot system of upper rail.
For solving above-mentioned technical problem, of the present utility model employed technical scheme comprise that：
Electric inspection process robot system, including described electric inspection process robot and " I-shaped " track, described " I-shaped "
The riser that track includes two transverse slats and connects two transverse slats, the outside of two transverse slats is equipped with gathering sill；Described wheel is two
Walk between transverse slat, and on two described wheel shaft assemblies including of the pair of wheel shaft assembly, the described wheel of assembling sets up separately
Both sides in riser；Two described guide wheel assemblies that described one group of guide wheel assemblies include are respectively arranged on outside two transverse slats
On gathering sill and be adjacent to corresponding gathering sill, and electric inspection process robot is anchored on described " I-shaped " track.
The having the beneficial effects that of electric inspection process robot system that the utility model provides：Electric inspection process robot module
Change, be easy to dismounting, safeguard convenient, using I-shaped track, in electric inspection process robot, lower rail is easy, guide wheel assemblies and guiding
The cooperation of groove, both crusing robot will be limited on track, can guarantee that crusing robot is stable again, wheel will be then as machine
Whole load carriers of device people are walked in " I-shaped " track, safe and reliable.
Brief description
The structural representation of the electric inspection process robot that Fig. 1 provides for the utility model embodiment；
The structural representation of the drive component that Fig. 2 provides for the utility model embodiment；
The structural representation of the master control pod assemblies that Fig. 3 provides for the utility model embodiment；
The structural representation of the head assembly that Fig. 4 provides for the utility model embodiment；
The structural representation of the guide wheel assemblies that Fig. 5 provides for the utility model embodiment；
The structural representation of the guide wheel assemblies that Fig. 6 provides for the utility model embodiment；
The structural representation of the electric inspection process robot system that Fig. 7 provides for the utility model embodiment；
Fig. 8 is the structural representation of the track of Fig. 7.
Specific embodiment
In order that the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with accompanying drawing and enforcement
Example, is further elaborated to the utility model.It should be appreciated that specific embodiment described herein is only in order to explain this
Utility model, is not used to limit the utility model.
As shown in Figure 1-2, as an embodiment of the present utility model, electric inspection process robot includes drive component 1, master
Control pod assemblies 2 and detachable head assembly 3 in master control pod assemblies 2；Drive component 1 include bracing frame 11 and located at
Drive mechanism on bracing frame 11, one end of bracing frame 11 is provided with gondola connector 13, master control pod assemblies 2 detachable located at hanging
On cabin connector 13；Master control pod assemblies 2 include control panel and the electric supply installation powered for electric inspection process robot, head assembly
3 include monitoring device, and drive mechanism and monitoring device are all connected with control panel and are controlled.Drive component 1, master control gondola group
Part 2 and head assembly 3 are three standalone modules, and each several part independently splices, and is detachably connected between three modules, can integrally more
Change, interchangeability is good it is easy to dismounting is it is easy to safeguard, the gondola located at the one end being connected to bracing frame 11 for the master control pod assemblies 2 connects
On part 13, drive component 1 is independently of outside master control pod assemblies 2, even if do not dismantle master control pod assemblies 2 it is also possible to
Rail is safeguarded, in-orbit maintenance drive mechanism.When drive component 1 is provided with cover of driver 14, take off cover of driver 14 can in-orbit maintenance,
Maintenance drive mechanism.
Further, as an embodiment of the utility model electric inspection process robot, as shown in Fig. 2 drive mechanism
Including：
Driving means 121, are installed on bracing frame 11；
Transmission shaft component 122, is connected with driving means 121, and transmission shaft component 122 is equipped with two driving gears
1221, two driving gears 1221 are all engaged with driven gear (driven gear is mountable on the relevant position of bracing frame)；
Wheel walking mechanism 123, including two to wheel shaft assembly, pair of wheels shaft assembly includes two wheel shaft assemblies；
Pair of wheels shaft assembly therein is corresponding with driving gear 1221, another corresponding with driven gear to wheel shaft assembly；Axletree
Assembly includes the rotation shaft of wheel fixing with bracing frame 11 by bearing, and rotation shaft of wheel one end is equipped with wheel 1231, and the other end fills
It is furnished with the travelling gear 1232 with corresponding driving gear 1221 or driven gear cooperation.Driving means 121, transmission shaft component
122 and wheel walking mechanism 123 be installed on the relevant position of bracing frame as standalone module it is easy to dismount, interchangeability is good, dimension
Shield is simple, stable, safe and reliable, four gears (two driving gears 1221 and two quilts that transmission shaft component 122 connects
Moving gear) separate, individually can exchange dismounting, be easy to safeguard.Drive mechanism, driving means 121 drive two drives
Moving gear 1221 rotates, and two driving gears 1221 drive two driven gears to rotate, this four gears (two driving gear
1221 and two driven gears) drive four travelling gears 1232 (travelling gears 1232 in four rotation shaft of wheel) to turn
Dynamic, and then drive four wheels 1231 (wheels 1231 in four rotation shaft of wheel) to be synchronized with the movement, realize one and drag four to move (i.e.
One driving means 121 drives four wheels 1231), structure is simple, stable, safe and reliable.
Further, as an embodiment of the utility model electric inspection process robot, as shown in Fig. 2 bracing frame 11
Including the first side plate 111, the second side plate 112 and the side plate connector 113 connecting this two blocks of side plates；Side plate (the first side plate 111 or
Second side plate 112) can be fastened using the mode such as locking nut, pin and side plate connector 113 between；
Driving means 121 are installed on the first side plate 111；
One end of transmission shaft component 122 is connected with driving means 121, and the other end passes through the first side plate 111 to be installed on the
On two side plates 112, two driving gear 1221 intervals are assemblied on transmission shaft component 122；Preferably two driving gears 1221 fill
It is assigned in the two ends of transmission shaft component 122, and correspond to the first side plate 111 and the second side plate 112 respectively, compact conformation, uniform force,
Robot runs more stable；
Rotation shaft of wheel is fixed on side plate (corresponding first side plate or the second side plate)；Fixing in preferably one rotation shaft of wheel
Wheel 1231 and travelling gear 1232 be divided into the both sides of respective side panels, compact conformation, robot runs more stable.Support
Frame structure is simple, and driving means 121, transmission shaft component 122 and wheel walking mechanism 123 are installed on bracing frame as standalone module
Respective side panels on it is easy to dismounting, interchangeability is good, safeguards simple, stable, safe and reliable.
Further, the upper end of gondola connector 13 is connected with the first side plate 111 and/or the second side plate 112 (as Fig. 2 institute
Show), lower end is connected with master control pod assemblies 2, master control pod assemblies 2 easy to disassemble, is easy to in-orbit maintenance drive component 1.
Further, as an embodiment of the utility model electric inspection process robot, drive component 1 also include located at
Cover of driver 14 (as shown in Figure 1) on bracing frame 11；14 protective actions of cover of driver, for protecting the core of drive component 1
Center portion part, such as driving means 121, transmission shaft component 122 (and driving gear 1221 thereon and driven gear), wheel traveling machine
Structure 123 and guiding mechanism (if any setting) etc..
Further, as an embodiment of the utility model electric inspection process robot, as shown in Fig. 2 driving means
121 include motor 1211 and the decelerator 1212 being in transmission connection with motor 1211, and decelerator 1212 connects described biography
Moving axis assembly 122；Motor 1211 exports power, after decelerator 1212 reduction of speed, accesses transmission shaft component 122, and then drives
Dynamic four wheels 1231, realize one and drag four to move, make the robot stabilized operation of electric inspection process.
Further, as an embodiment of the utility model electric inspection process robot, as shown in Fig. 2 drive mechanism
Also include press-type charging mechanism 125 and with press-type charging mechanism just to proximity transducer 126, press-type charging mechanism
125 include cradle and the charging contacts on cradle 1251 and press spring；Proximity transducer 126 is realized touching to charging
The be aligned of 1251 positions, correction, using pressing spring top clamping charging contacts 1251, Purely mechanical charging mechanism, structure be simple,
Reliable and stable.When bracing frame includes aforementioned two blocks of side plates (the first side plate and the second side plate), preferably press-type charging mechanism 125 sets
On one block of side plate, on another block of side plate, structure is simple, more preferably press-type charging mechanism 125 He for proximity transducer 126
Proximity transducer 126, on the bracing frame side relative with master control pod assemblies 2 place side, is easy to power taking.
Further, as an embodiment of the utility model electric inspection process robot, as shown in Fig. 2 drive mechanism
Including the guiding mechanism being installed on bracing frame 11, guiding mechanism includes least one set guide wheel assemblies, one group of guide wheel assemblies
Including two guide wheel assemblies being arranged oppositely.Inspection machine man-hour guiding mechanism is adjacent to the side wall of track 4, directive wheel group
Part 1241 rolls traveling along the side wall of track 4, and guiding mechanism is installed on the relevant position of side plate it is easy to tear open as standalone module
Dress, interchangeability is good, safeguards simple, robot is stable, safe and reliable.
Further, as an embodiment of the utility model electric inspection process robot, as shown in Fig. 2 one group of guiding
Wheel assembly include coordinating for gripper rail 4 both sides two directive wheels 12417 and for by two directive wheels 12417 with
The locking device with spring of the side wall auto lock of track 4.Locking device ensure that directive wheel is made to the clamping of track 4 side wall
With being prevented from robot double swerve and sideslip, especially drive mechanism adopts driving means 121 to drive two drivings
Gear 1221, what two driven gears dragged one drags during four dynamic structures it is ensured that the stable operation of robot, can be applied to trend multiple
Track 4 in miscellaneous tunnel.
Further, as seen in figs. 5-6, guide wheel assemblies 1241 also include the guide wheel bracket being connected with bracing frame 11
12411st, located at the first rotating shaft 12412 on guide wheel bracket 12411 and in first rotating shaft 12412 for fixed guide
The directive wheel fixed seat 12413 of wheel 12417；Spring is the button spring 12414 being sheathed in first rotating shaft 12412, button spring 12414
End is supported with guide wheel bracket 12411 and directive wheel fixed seat 12413 respectively.The elastic compression guiding of button spring 12414 end
Wheel support 12411 and directive wheel fixed seat 12413, and ensure that directive wheel is close to track 4, two directive wheels are matched for clamping tightly track 4
Side wall, and electric inspection process robot is stable on track 4.Preferably employ biserial button spring, increase coupling mechanism force.
Further, as shown in fig. 6, locking device also includes the row for adjusting directive wheel on bracing frame 11
Journey adjust jackscrew 12415 and in directive wheel fixed seat 12413 for releasing button spring 12414 to directive wheel fixed seat
The index pin 12416 of 12413 auto lock effect.Adjust jackscrew 12415, can freely adjust directive wheel stroke, index pin
12416 rotary stoppers, operation index pin 12416 (rotation) can make button spring 12414 in running order, can be directed to wheel lock
Tight on track 4 it is ensured that safe and reliable to operation, or make button spring 12414 be in off working state, and button spring 12414 can be released
Locking effect to directive wheel fixed seat 12413, and then crusing robot can be made easily, easily to go up lower railway 4.
Further, as an embodiment of the utility model electric inspection process robot, as shown in Fig. 2 drive mechanism
Also include RFID component 127, control panel controls drive mechanism correction to patrol and examine position according to the positional information that RFID component 127 feeds back
Put；The setting of RFID component 127, is capable of the correction of robot location, prevents sideslip.RFID component 127 salable located at
In plastic housing.
Further, as an embodiment of the utility model electric inspection process robot, as shown in figure 3, master control gondola
Assembly 2 includes front end assemblies 21, intermediate module 22 and the aft-end assembly 23 of order removable seal connection；Front end assemblies 21 include
Front-end case and the antenna in front-end case, spy barrier radar and emergency stop switch；Intermediate module 22 includes intermediate case and sets
Automatically controlled storehouse 221 in intermediate case, battery compartment 222 and master control storehouse 223, are provided with for controlling electric inspection process machine in automatically controlled storehouse
The electrical part of people, is provided with power supply rechargeable battery in battery compartment, master control is provided with control panel in storehouse；Aft-end assembly 23 is included outside rear end
Shell and the spy barrier radar located at rear end inside the shell and emergency stop switch.Visit barrier radar and be used for detecting obstacles, emergency stop switch is used for braking
Crusing robot, front end assemblies 21 in master control pod assemblies 2, intermediate module 22 and 23 3 modules of aft-end assembly are mutually only
Vertical, assembling, dismounting are simple, easy, and it is convenient to safeguard.Wherein, electrical part can be fixed on appliance mounting panel, the both sides in automatically controlled storehouse
Draw-in groove is installed in setting, and appliance mounting panel cooperation insertion is installed in draw-in groove；Appliance mounting panel pulls and pushes freely on a mounting board, electrical part
Safeguard very convenient.Master control pod assemblies 2 front-end case, intermediate case and rear end housing all can be made using aluminium alloy, especially
Be made of intermediate case using aluminium alloy, set structure in protection.
Further, master control pod assemblies 2 also include Smoke Sensor and Temperature Humidity Sensor, Smoke Sensor and warm and humid
Any structure in degree two structures of sensor all can be in front-end case or the inside the shell of rear end；It is easy to real-time monitoring environment.
Preferably Smoke Sensor and Temperature Humidity Sensor, in front-end case, is easy to safeguard, before being easy to accurate monitoring robot operation
Square environment.
Further, described master control pod assemblies 2 also include microphone and loudspeaker, in microphone and two structures of loudspeaker
Any structure all can be easy to real-time typing or broadcast voice message in front-end case or the inside the shell of rear end.Preferably microphone
With loudspeaker located at rear end inside the shell, it is easy to safeguard.
Further, as an embodiment of the utility model electric inspection process robot, the close centre of front-end case
The side of shell, rear end housing are provided with opening near the side of intermediate case and/or the both sides of intermediate case, front-end case, in
Between shell and rear end housing splicing after, master control pod assemblies 2 formed enclosed construction.Opening on corresponding shell both can pass through adjacent
Shell seals it is also possible to by dismountable cover plate sealing of extra setting, when needing maintenance, maintenance, open corresponding opening
, structure is simple, easy and simple to handle, reliable and stable.Also can opening on the corresponding shell of fitted seal sealing structure, improve IP etc.
Level.IP is the abbreviation of Ingress Protection, and IP grade is to allotrylic degree of protection for electrical appliance enclosure,
IP grade is made up of two numerals, and first digit represents dust-proof；Second digit is by representing waterproof.
Further, as an embodiment of the utility model electric inspection process robot, the both sides of intermediate case are provided with
Opening, front-end case and rear end housing cover the opening of intermediate case both sides respectively；(end housing can be right afterwards to take off front-end case
Whole devices of intermediate module 22 carry out safeguarding to be changed.Certainly also can in the side of the close intermediate case of front-end case and/or
End housing arranges opening near the side of intermediate case afterwards；Side and rear end housing as the close intermediate case in front-end case
Near the side of intermediate case, opening is set, after front-end case, intermediate case and the splicing of rear end housing, master control pod assemblies 2 shape
Become enclosed construction, then when taking off front-end case and rear end housing, the whole devices within master control pod assemblies 2 can be carried out
Safeguard and change.Junction between front-end case and intermediate case and the junction between intermediate case and rear end housing all adopt
Taper water guide slot structure, and junction is provided with the sealing structure (as sponge rubber) preventing foreign matter from invading master control pod assemblies 2.Cone
Shape water guide slot structure be beneficial to draining, prevent master control pod assemblies 2 from intaking, sealing structure further enhance waterproof effect moreover it is possible to
Enough dust-proof, the cooperation of taper water guide slot structure and sponge rubber, enable master control pod assemblies 2 to reach the degree of protection of IP66.
Further, as an embodiment of the utility model electric inspection process robot, as shown in figure 4, head assembly 3
Including head base 31, the thermal imaging system cabin 32 located at head base 31 both sides and phase cabin 33 and located at head base 31 both sides
Light compensating lamp 34；It is provided with thermal imaging system in thermal imaging system cabin 32, be provided with camera in phase cabin 33 and (for ensureing photograph clearly, height can be adopted
Clear camera).In tunnel environment during insufficient light, both sides light compensating lamp 34 is opened, each position point in camera patrol record tunnel, and
The real-time status of the thermal objects such as each cable connector effectively detected by thermal imaging system, in Visible Light Camera (monitoring device) and thermal imaging system
Under (monitoring device) dual monitoring, can effectively find various potential safety hazards, monitor in real time, provide for timely emergency processing anti-
Feedback data.
As an embodiment of the present utility model, as Figure 7-8, electric inspection process robot includes electric inspection process machine
People's system, including aforesaid electric inspection process robot and " I-shaped " track 4, " I-shaped " track 4 includes two transverse slat 41 Hes
Connect the riser 42 of two transverse slats 41, the outside of two transverse slats 41 is equipped with gathering sill 411；Wheel 1231 is between two transverse slats 41
In walking, and two wheel shaft assemblies including of pair of wheels shaft assembly, the wheel 1231 of assembling is divided into the both sides of riser 42；
Two guide wheel assemblies 1241 that one group of guide wheel assemblies 1241 include are respectively arranged on the gathering sill 411 in two transverse slats 41 outside
And it is adjacent to corresponding gathering sill 411, and electric inspection process robot is anchored on " I-shaped " track 4." I-shaped " track 4 can be adopted
With I-shaped aluminium section bar track 4.Electric inspection process is robot modularized, be easy to dismounting, safeguard convenient, using I-shaped track 4, adapts to
The complicated trend (the more tunnel as situations such as turning, climb and fall) in tunnel, position to take power can be outside track 4, strong applicability,
In electric inspection process robot lower rail easy it is easy to take out car body, the cooperation of guide wheel assemblies 1241 and gathering sill 411, will both by
Crusing robot is limited on track 4, can guarantee that crusing robot is stable, wheel 1231 is then whole as robot again
Walking in load carrier in rail 4, safe and reliable it is easy to setting power taking structure (as aforementioned press-type charging mechanism 125).
The foregoing is only preferred embodiment of the present utility model, not in order to limit the utility model, all this
Any modification, equivalent and improvement made within the spirit of utility model and principle etc., should be included in the utility model
Protection domain within.
Claims (12)
1. electric inspection process robot it is characterised in that：Including drive component, master control pod assemblies and detachable located at described master control
Head assembly in pod assemblies；Described drive component includes bracing frame and the drive mechanism on bracing frame, described support
One end of frame is provided with gondola connector, and described master control pod assemblies are detachably on described gondola connector；Described master control is hung
Cabin assembly includes control panel and the electric supply installation powered for described electric inspection process robot, and described head assembly includes monitoring dress
Put, described drive mechanism and described monitoring device are all connected with described control panel and are controlled.
2. electric inspection process robot according to claim 1 it is characterised in that：Described drive mechanism includes：
Driving means, are installed on support frame as described above；
Transmission shaft component, is connected with described driving means, and described transmission shaft component is equipped with two driving gears, two drivings
Driven gear is all engaged with gear；
Wheel walking mechanism, including two to wheel shaft assembly, pair of wheels shaft assembly includes two wheel shaft assemblies；Therein one
Corresponding with described driving gear to wheel shaft assembly, another corresponding with described driven gear to wheel shaft assembly；Described axletree
Assembly includes the rotation shaft of wheel fixing with support frame as described above by bearing, and rotation shaft of wheel one end is equipped with wheel, and the other end assembles
There is the travelling gear with corresponding described driving gear or the cooperation of described driven gear.
3. electric inspection process robot according to claim 2 it is characterised in that：Support frame as described above include the first side plate,
Two side plates and the side plate connector connecting this two blocks of side plates；
Described driving means are installed on described first side plate；
One end of described transmission shaft component is connected with described driving means, and the other end passes through described first side plate to be installed on described
On second side plate；Two described driving gears are assemblied in the two ends of described transmission shaft component, correspond to the first side plate and second respectively
Side plate；
Described rotation shaft of wheel is fixed on described side plate.
4. electric inspection process robot according to claim 2 it is characterised in that：Described drive mechanism also includes press-type and fills
Motor structure and with described press-type charging mechanism just to proximity transducer, described press-type charging mechanism includes cradle and sets
Charging contacts on cradle and press spring.
5. electric inspection process robot according to claim 2 it is characterised in that：Described drive mechanism includes being installed on described
Guiding mechanism on bracing frame, described guiding mechanism includes least one set guide wheel assemblies, and described one group of guide wheel assemblies include
Two guide wheel assemblies being arranged oppositely；Described one group of guide wheel assemblies include coordinating two for gripper rail both sides
Directive wheel and for by the locking device with spring of described two directive wheels and orbit sidewall auto lock.
6. electric inspection process robot according to claim 5 it is characterised in that：Described guide wheel assemblies also include with described
Bracing frame connect guide wheel bracket, located at the first rotating shaft on described guide wheel bracket and the use in described first rotating shaft
Directive wheel fixed seat in fixing described directive wheel；Described spring is the button spring being sheathed in described first rotating shaft, described button spring
End support with described guide wheel bracket and described directive wheel fixed seat respectively.
7. electric inspection process robot according to claim 6 it is characterised in that：Described locking device is also included located at described
The stroke for adjusting described directive wheel on bracing frame adjust jackscrew and in described directive wheel fixed seat for solving
Index pin except the auto lock effect to described directive wheel fixed seat for the described button spring.
8. electric inspection process robot according to claim 2 it is characterised in that：Described drive mechanism also includes RFID group
Part, described control panel controls described drive mechanism correction to patrol and examine position according to the positional information that described RFID component feeds back.
9. the electric inspection process robot according to any one of claim 1-8 it is characterised in that：Described master control pod assemblies
Front end assemblies, intermediate module and the aft-end assembly connecting including order removable seal；Front end assemblies include front-end case and set
Antenna in front-end case, Smoke Sensor, Temperature Humidity Sensor, spy barrier radar and emergency stop switch；Described intermediate module bag
Include intermediate case and the automatically controlled storehouse in intermediate case, battery compartment and master control storehouse, be provided with for controlling in described automatically controlled storehouse
State the electrical part of electric inspection process robot, in described battery compartment, be provided with power supply rechargeable battery, be provided with described in described master control storehouse
Control panel；Described aft-end assembly includes rear end housing and the spy barrier radar located at rear end inside the shell and emergency stop switch.
10. electric inspection process robot according to claim 9 it is characterised in that：The both sides of described intermediate case are provided with out
Mouth, described front-end case and described rear end housing cover opening, described front-end case and the institute of described intermediate case both sides respectively
State junction between junction and described intermediate case and the described rear end housing between intermediate case all using taper water guide
Slot structure, and described junction is provided with the sealing structure preventing foreign matter from invading described master control pod assemblies.
11. electric inspection process robots according to any one of claim 1-8 it is characterised in that：Described head assembly bag
Include head base, the thermal imaging system cabin located at head base both sides and phase cabin and the light compensating lamp located at head base both sides；Institute
State in thermal imaging system cabin and be provided with thermal imaging system, in described phase cabin, be provided with camera.
12. electric inspection process robot systems it is characterised in that：Including the electric inspection process machine any one of claim 5-7
Device people and " I-shaped " track, the riser that described " I-shaped " track includes two transverse slats and connects two transverse slats, two transverse slats
Outside be equipped with gathering sill；Described wheel is walked between two transverse slats, and two institutes that the pair of wheel shaft assembly includes
The described wheel stating assembling on wheel shaft assembly is divided into the both sides of riser；Described in two that described one group of guide wheel assemblies include
Guide wheel assemblies are respectively arranged on the gathering sill outside two transverse slats and are adjacent to corresponding gathering sill, and will be tight for electric inspection process robot
It is fixed on described " I-shaped " track.
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| CN201620885638.2U CN205944881U (en) | 2016-08-15 | 2016-08-15 | Electric power inspection robot and system |
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| CN201620885638.2U CN205944881U (en) | 2016-08-15 | 2016-08-15 | Electric power inspection robot and system |
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| CN205944881U true CN205944881U (en) | 2017-02-08 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107769063A (en) * | 2016-08-15 | 2018-03-06 | 深圳市朗驰欣创科技股份有限公司 | Electric inspection process robot and system |
| CN107911673A (en) * | 2017-12-25 | 2018-04-13 | 广州科易光电技术有限公司 | Intelligent power equipment monitoring system |
| CN108858126A (en) * | 2017-05-12 | 2018-11-23 | 北京瑞途科技有限公司 | A kind of guiding device for intelligent inspection robot |
| CN109227606A (en) * | 2018-10-26 | 2019-01-18 | 深圳市朗驰欣创科技股份有限公司 | A kind of Intelligent Mobile Robot holder |
| CN110597136A (en) * | 2019-09-24 | 2019-12-20 | 苏州南师大科技园投资管理有限公司 | Intelligent inspection system for production line |
| CN110977928A (en) * | 2019-12-16 | 2020-04-10 | 北京海益同展信息科技有限公司 | Rail-mounted robot and inspection system |
| CN111075508A (en) * | 2019-12-30 | 2020-04-28 | 北京海益同展信息科技有限公司 | Robot applied to tunnel |
| CN113340343A (en) * | 2021-05-21 | 2021-09-03 | 泰安磐然测控科技有限公司 | Novel integrated form patrols and examines appearance |
| CN113715011A (en) * | 2020-05-26 | 2021-11-30 | 杭州海康机器人技术有限公司 | Modular robot |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107769063A (en) * | 2016-08-15 | 2018-03-06 | 深圳市朗驰欣创科技股份有限公司 | Electric inspection process robot and system |
| CN108858126A (en) * | 2017-05-12 | 2018-11-23 | 北京瑞途科技有限公司 | A kind of guiding device for intelligent inspection robot |
| CN108858126B (en) * | 2017-05-12 | 2023-11-21 | 北京瑞途科技有限公司 | Guiding device for intelligent inspection robot |
| CN107911673A (en) * | 2017-12-25 | 2018-04-13 | 广州科易光电技术有限公司 | Intelligent power equipment monitoring system |
| CN109227606A (en) * | 2018-10-26 | 2019-01-18 | 深圳市朗驰欣创科技股份有限公司 | A kind of Intelligent Mobile Robot holder |
| CN110597136A (en) * | 2019-09-24 | 2019-12-20 | 苏州南师大科技园投资管理有限公司 | Intelligent inspection system for production line |
| CN110977928A (en) * | 2019-12-16 | 2020-04-10 | 北京海益同展信息科技有限公司 | Rail-mounted robot and inspection system |
| WO2021121016A1 (en) * | 2019-12-16 | 2021-06-24 | 京东数科海益信息科技有限公司 | Rail-mounted robot and inspection system |
| CN111075508A (en) * | 2019-12-30 | 2020-04-28 | 北京海益同展信息科技有限公司 | Robot applied to tunnel |
| CN113715011A (en) * | 2020-05-26 | 2021-11-30 | 杭州海康机器人技术有限公司 | Modular robot |
| CN113340343A (en) * | 2021-05-21 | 2021-09-03 | 泰安磐然测控科技有限公司 | Novel integrated form patrols and examines appearance |
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