CN205944881U - Electric power inspection robot and system - Google Patents

Electric power inspection robot and system Download PDF

Info

Publication number
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
Authority
CN
China
Prior art keywords
wheel
robot
assemblies
electric inspection
case
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201620885638.2U
Other languages
Chinese (zh)
Inventor
敬高磊
梁洪军
任春勇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Launch Digital Technology Co Ltd
Original Assignee
Shenzhen Launch Digital Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Launch Digital Technology Co Ltd filed Critical Shenzhen Launch Digital Technology Co Ltd
Priority to CN201620885638.2U priority Critical patent/CN205944881U/en
Application granted granted Critical
Publication of CN205944881U publication Critical patent/CN205944881U/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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

Electric inspection process robot and system
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.
CN201620885638.2U 2016-08-15 2016-08-15 Electric power inspection robot and system Active CN205944881U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201620885638.2U CN205944881U (en) 2016-08-15 2016-08-15 Electric power inspection robot and system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201620885638.2U CN205944881U (en) 2016-08-15 2016-08-15 Electric power inspection robot and system

Publications (1)

Publication Number Publication Date
CN205944881U true CN205944881U (en) 2017-02-08

Family

ID=57918383

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201620885638.2U Active CN205944881U (en) 2016-08-15 2016-08-15 Electric power inspection robot and system

Country Status (1)

Country Link
CN (1) CN205944881U (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
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

Similar Documents

Publication Publication Date Title
CN205944881U (en) Electric power inspection robot and system
CN107769063A (en) Electric inspection process robot and system
CN105234921B (en) Indoor intelligent crusing robot system based on H-type combined orbit
CN204143256U (en) Based on the indoor track type intelligent inspection robot system of combined track
CN201035117Y (en) Ultrahigh-tension power transmission lines earth polling robot
CN101196551A (en) Ground wire patrol checking robot of high voltage power line
WO2017126820A1 (en) Variable flying robot
CN203186345U (en) Electric power tunnel wireless mobile video routing inspection robot structure
CN110111579A (en) A kind of unattended highway automatic tour inspection system and application method
CN110733564B (en) AGV trolley driving steering device and working method thereof
CN106078672A (en) Mono-track intelligent inspection robot
CN111043448A (en) Pipeline robot
CN211694003U (en) Detection control system of pipeline robot
CN103707798A (en) Airtight dual-power roller blind sealing cap
CN205852776U (en) Mono-track intelligent inspection robot
CN209111088U (en) A kind of nuclear radiation environment monitoring sampling robots
CN210806577U (en) Crawler-type inspection robot suitable for overhead transmission line
CN214985741U (en) Station service inspection robot based on Arduino control
CN214467628U (en) Piggery monitoring system
CN212519152U (en) Camera monitoring device for vehicle checking and control
CN214164974U (en) Rail transit vehicle
CN107187463A (en) Overhead rail inspection device
CN215409004U (en) Wind turbine generator system trouble intelligent monitoring system
CN214507248U (en) Video monitoring protective box for railway station
CN207182421U (en) The drive recorder solar powered from motion tracking

Legal Events

Date Code Title Description
GR01 Patent grant
C14 Grant of patent or utility model