CN206445791U - A kind of orbital docking apparatus and system - Google Patents
A kind of orbital docking apparatus and system Download PDFInfo
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- CN206445791U CN206445791U CN201621172446.3U CN201621172446U CN206445791U CN 206445791 U CN206445791 U CN 206445791U CN 201621172446 U CN201621172446 U CN 201621172446U CN 206445791 U CN206445791 U CN 206445791U
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- docking
- movable rail
- fire resistant
- resistant doorsets
- orbital docking
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Abstract
The utility model embodiment discloses a kind of orbital docking apparatus and system, for docking the track between the different zones separated, for on the premise of Fireproof door structure is not destroyed, so that the track between the different zones separated achieves a butt joint, so that the track machine people on track can be along the track crossing different zones after docking.The utility model embodiment, which provides a kind of orbital docking device, to be included：Motor, movable rail and docking orbit；Motor is electrically connected with movable rail so that movable rail is under motor driving towards the driving of docking orbit direction；The abutting end of movable rail and docking orbit is provided with the buckle of flexible connection so that movable rail and docking orbit achieve a butt joint fixation；Movable rail and docking orbit are separately mounted to outside in the door leaf of fire resistant doorsets.
Description
Technical field
The utility model is related to track operation field, more particularly to a kind of orbital docking apparatus and system.
Background technology
With the development of modern society, in power regulation station room, the routine testing in place such as electric power piping lane and safeguard gradually real
Now automate.At present, track machine people is more and more applied in power regulation station room, in electric power piping lane equipment routing inspection.With
Robot is detected and inspection to substation equipment, saves a large amount of human costs, improves the security of security staff, drop
The human error occurred in low detection process.In order to keep being effectively isolated between each battery limits, generally to track machine
During the arrangement of device people, the method that a set of track machine people equipment is arranged using a battery limits, particularly indoor power regulation station is same
One layer, or a complete electric power piping lane, because the presence of fire prevention zone cut-off (fire resistant doorsets) is, it is necessary to arrange many set track machines
Device people, virtually adds use cost and O＆M cost.
In order that track machine people can cross over fire prevention zone, while not influenceing the device of fire-fighting function, a set of rail is used
Pipeline robot completes the interval inspection work of several fire-fightings, and method of today is one door opening of opening on existing fire resistant doorsets.
Specially：By track directly through fire resistant doorsets, breach is opened up in fire resistant doorsets correspondence position, is coincide with trade shape；While in order to
Robot is facilitated to pass through, the door in fire resistant doorsets respective carter robot opens up biparting double door by space.As track machine people
Need by when, door in door is opened by the way of electric robot is pushed open, track machine people passes through.
Such a method is related to the improvement to original Fireproof door structure, destroys the structural intergrity of original fire resistant doorsets, right
There is a certain degree of influence in fire-fighting effect；In addition, the door in door that such a method is related to, track machine people's is logical for convenience
Row is, it is necessary to be arranged to two-door fan structure, and total is complex.
Therefore, the orbital docking for different zones being realized on the premise of the Fireproof door structure of script is not destroyed is this area skill
The art personnel subject matter to be solved.
Utility model content
The utility model embodiment provides a kind of orbital docking device, including：Motor, movable rail and to integrating with
Road；
The motor is electrically connected with the movable rail so that the movable rail drives in the motor
It is lower to be driven towards the docking orbit direction；
The abutting end of the movable rail and the docking orbit is provided with the buckle of flexible connection；
The movable rail and the docking orbit are separately mounted to outside in the door leaf of fire resistant doorsets.
Preferably, the movable rail is arranged on travel(l)ing rest；
The movable rail is connected by the travel(l)ing rest with the motor；
The travel(l)ing rest is connected by the motor with a fixed support；
Preferably, the travel(l)ing rest is arranged in the support bracket fastened slide rail.
It is additionally provided with the slide rail on rack, the motor and is provided with gear, the gear is nibbled with the rack
Close.
Preferably, the docking mode of the buckle is mechanical self-latching.
Preferably, a track machine people is provided with the movable rail；
The track machine people includes mobile vehicle, communication apparatus and detection device.
The utility model embodiment provides a kind of orbital docking system, including：
Comprehensive Control of ferrying case, fireproof door closer, and above-mentioned orbital docking device；
The ferry-boat Comprehensive Control case is communicated to connect with the fireproof door closer, the orbital docking device；
The fireproof door closer, the door leaf for carrying out fire resistant doorsets according to the first instruction of the ferry-boat Comprehensive Control case
It is turned on and off processing；
The orbital docking device, for carrying out the activity of its own according to the second instruction of the ferry-boat Comprehensive Control case
The docking processing of track and trapped orbit.
Preferably, in addition to fire resistant doorsets position-detection sensor, travel(l)ing rest position-detection sensor, track machine people position
Put detection sensor；
The fire resistant doorsets position-detection sensor is arranged on fireproof door frame, for detect the closings of the fire resistant doorsets with
Opening；
The travel(l)ing rest position-detection sensor is arranged on fixed support, the docking for detecting the movable rail
State；
The track machine people position-detection sensor is arranged on the travel(l)ing rest, for detecting track machine people's
Motion state.
Preferably, the ferry-boat Comprehensive Control case includes：
Ferry-boat integrated controller, for handling external signal, so as to make corresponding processing；
Robot system communication module, for being communicated with track machine people；
Orbital docking device driver element, for being communicated with motor；
Fire resistant doorsets driver element, for being communicated with the fireproof door closer；
On-line monitoring system module, for connecting on-line monitoring system.
Preferably, it is additionally included in line monitoring system；
The on-line detecting system is communicated to connect with the ferry-boat Comprehensive Control case, for controlling fire prevention under emergency conditions
Door opening and closing.
Preferably, the orbital docking system that the utility model is provided also includes ups power system；
The ups power system and the ferry-boat Comprehensive Control case, the fireproof door closer, and the orbital docking
Device is electrically connected with.
As can be seen from the above technical solutions, the utility model embodiment has advantages below：
A kind of orbital docking device disclosed in the utility model embodiment, using motor so that the movable rail exists
Towards docking orbit direction driving under the motor driving, movable rail is set to be driven with docking orbit using buckle
It is fixed together after, the track of different zones is achieved a butt joint.A kind of orbital docking system disclosed in the utility model
Using switch of the ferry-boat Comprehensive Control case control fireproof door closer to fire resistant doorsets, the docking of travel(l)ing rest is controlled, track is controlled
The motion of docking facilities, on the premise of the Fireproof door structure of script is not destroyed so that the track of different zones achieves a butt joint, and makes
Operation can be carried out along the track crossing different zones after docking by obtaining the track machine people on track.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
Or the accompanying drawing used required in description of the prior art is briefly described, it should be apparent that, drawings in the following description are only
It is some embodiments of the present utility model, for those of ordinary skill in the art, before creative labor is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
A kind of principle schematic for orbital docking system that Fig. 1 provides for the utility model embodiment；
The principle schematic for the ferry-boat Comprehensive Control case that Fig. 2 provides for the utility model embodiment；
A kind of schematic flow sheet for orbital docking method that Fig. 3 provides for the utility model embodiment；
The schematic flow sheet for another orbital docking method that Fig. 4 provides for the utility model embodiment.
Wherein, reference is as follows：
1st, ferry-boat Comprehensive Control case；2nd, fireproof door closer；3rd, travel(l)ing rest；4th, track machine people；5th, fixed support；6、
Buckle.
Embodiment
The utility model embodiment provides a kind of orbital docking apparatus and system, for not destroying Fireproof door structure
Under problem so that the track between the different zones of separation achieves a butt joint, enable track machine people on track along docking
Track crossing different zones afterwards.
, below will knot to enable utility model purpose of the present utility model, feature, advantage more obvious and understandable
The accompanying drawing in the utility model embodiment is closed, the technical scheme in the utility model embodiment is clearly and completely described,
Obviously, the embodiments described below are only a part of embodiment of the utility model, and not all embodiment.Based on this reality
With the embodiment in new, it is all other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of the utility model protection.
The utility model embodiment provides a kind of orbital docking device, including：Motor, movable rail and to integrating with
Road；
Motor is electrically connected with movable rail so that movable rail is under motor driving towards docking orbit direction
Driving；
The abutting end of movable rail and docking orbit is provided with the buckle 6 of flexible connection；
Movable rail and docking orbit are separately mounted to outside in the door leaf of fire resistant doorsets.
Movable rail is arranged on travel(l)ing rest 3；
Movable rail is connected by travel(l)ing rest 3 with motor；
Travel(l)ing rest 3 is connected by motor with a fixed support 5；
Travel(l)ing rest 3 is arranged in the slide rail of fixed support 5.
It is additionally provided with slide rail on rack, motor and is provided with gear, wheel and rack engagement.
The docking mode of buckle 6 is mechanical self-latching.
A track machine people 4 is provided with movable rail；
Track machine people 4 includes mobile vehicle, communication apparatus and detection device.
Above is the detailed description of the orbital docking device to the utility model embodiment, below will be real to the utility model
A kind of orbital docking system for applying example offer is described in further detail.
When using track machine people voluntarily push by when, track machine human body structure and internal structure are run steady
Qualitative to there is influence, reliability is low；When using electronic mode, cost is higher, and structure is more complicated.Because being related to structure to change
Enter, when track machine people introduction is carried out to existing equipment area, it usually needs redesign fire resistant doorsets and substituted, it is contemplated that fire prevention
The particularity of door, material, input cost is higher.The orbital docking system that the utility model embodiment is provided can be solved clearly
Certainly above mentioned problem.
The utility model embodiment provides a kind of orbital docking system, including：
Comprehensive Control of ferrying case 1, fireproof door closer 2, and above-mentioned orbital docking device；
Comprehensive Control of ferrying case 1 is communicated to connect with fireproof door closer 2, orbital docking device；
Fireproof door closer 2, for according to ferry-boat Comprehensive Control case 1 first instruction carry out fire resistant doorsets door leaf open or
Closing is handled；
Orbital docking device, for according to ferry-boat Comprehensive Control case 1 second instruction carry out the movable rail of its own and
The docking processing of trapped orbit.
Also include fire resistant doorsets position-detection sensor, travel(l)ing rest position-detection sensor, the detection of track machine people position
Sensor；
Fire resistant doorsets position-detection sensor is arranged on fireproof door frame, for detecting the closing of fire resistant doorsets with opening shape
State；
Travel(l)ing rest position-detection sensor is arranged on fixed support 5, the mated condition for detecting movable rail；
Track machine people's position-detection sensor is arranged on travel(l)ing rest 3, the motion shape for detecting track machine people 4
State.
Ferry-boat Comprehensive Control case 1 includes：
Ferry-boat integrated controller, for handling external signal, so as to make corresponding processing；
Robot system communication module, for being communicated with track machine people；
Orbital docking device driver element, for being communicated with motor；
Fire resistant doorsets driver element, for being communicated with fireproof door closer；
On-line monitoring system module, for connecting on-line monitoring system.
It is additionally included in line monitoring system；
On-line detecting system is communicated to connect with ferry-boat Comprehensive Control case, for controlling fire resistant doorsets to be opened and closed under emergency conditions.
The orbital docking system that the utility model is provided also includes ups power system；
Ups power system is electrically connected with ferry-boat Comprehensive Control case, fireproof door closer, and orbital docking device.
It should be noted that the orbital docking system provided by the utility model embodiment, on the one hand only need to be to original
Fire resistant doorsets carry out automation improvement, and fire resistant doorsets body construction is protected；On the other hand, on effective UNICOM's same level direction
Fire-fighting it is interval, multiple fire-fightings intervals is shared a set of track machine people 4, improve O＆M convenience, improve track machine people 4 and transport
Row stability.
On the one hand automatic improving is carried out to fire resistant doorsets.Fire resistant doorsets set fireproof door closer 2 and control fire resistant doorsets to close
Door device 2, the ferry-boat Comprehensive Control case 1 of orbital docking device action；Retain former Fireproof door structure, increase in increasing anti-collision on fire resistant doorsets
Plus fire resistant doorsets position-detection sensor.
On the other hand, fixed support 5 is installed on fire partition (or between fire partition)；Cunning is installed on support
Rail, and the position sensor of travel(l)ing rest 3 of detection travel(l)ing rest 3 shift position is installed；Slide rail coordinates docking facilities sliding block to connect
Connect travel(l)ing rest 3；Motor is installed, motor end sets gear and is installed on fixed support 5 on travel(l)ing rest 3
Rack coordinate, rack is parallel with slide rail；The lower section of travel(l)ing rest 3 is provided with movable rail, and movable rail is provided at both ends with track
Buckle 6, when carrying out change rail, buckle 6 with by the corresponding position for snapping connection restriction movable rail of docking orbit, in movable rail
Heart position is provided with detection sensor, to detect the position of track machine people 4, buckle docking trapped orbit buckle for machinery from
Lock.
It should be noted that the orbital docking system that the utility model embodiment is provided, is changed by the automation of fire resistant doorsets
Make, be the system of track machine people 4 on the basis of fire-fighting integrality is ensured with reference to docking on-line detecting system and fire-fighting system
Trans-regional operation is carried out there is provided possible；
By setting orbital docking device, it is to avoid damage to fire resistant doorsets body construction, redesign fire resistant doorsets and cause
Cost waste；
By orbital docking device, track machine people 4 is effectively maked an inspection tour into path and carries out UNICOM, be track machine people 4 in defeated
The extension of power transformation room area provides hardware foundation；
Based on the design of ferry-boat Comprehensive Control case 1, fire resistant doorsets, orbital docking device are uniformly automatically controlled, entirely
System is easy to maintenance independently of the system of track machine people 4.
Further, a kind of key point for orbital docking system and method that the utility model is provided is：To fire resistant doorsets
Carry out automatic improving；The automatic control function to fire resistant doorsets is realized with reference to the system of track machine people 4；Comprehensive ferry-boat control cabinet system
One completes the control to fire resistant doorsets, orbital docking device；Orbital docking device uses slide rail, rack-and-pinion, 6 three kinds of machineries of buckle
Mode, using motor as power, orbital docking is carried out under the control of comprehensive ferry-boat control cabinet；Comprehensive ferry-boat control cabinet is by configuring
The environment monitoring sensor such as cigarette induction device, receive the emergency information that on-line detecting system sends and carry out automatic detection fire prevention gate-shaped
State, it is ensured that fire-fighting interval is completely isolated under any time.
Above is a kind of detailed description of the orbital docking system provided the utility model embodiment, below will be to this reality
A kind of orbital docking method based on orbital docking system provided with new embodiment is described in detail.
The utility model embodiment provides a kind of orbital docking method, is performed based on above-mentioned orbital docking system,
Including：
Fire resistant doorsets are controlled to open by fireproof door closer 2；
Travel(l)ing rest 3 is controlled to be docked through the fire resistant doorsets opened by motor；
Track machine people is controlled along the movable rail and docking orbit after docking to target by Comprehensive Control case 1 of ferrying
Move in region.
Also include after above-mentioned orbital docking method：
Travel(l)ing rest 3 is controlled to separate by motor；
Fire resistant doorsets are controlled to close by fireproof door closer 2.
Opened by the control fire resistant doorsets of fireproof door closer 2 and be specially：
Track machine people's position-detection sensor detects the track machine people moved to before fire resistant doorsets, and triggering fire resistant doorsets are closed
The door control fire resistant doorsets of device 2 are automatically opened up.
Travel(l)ing rest 3 is controlled to be docked specially through the fire resistant doorsets opened by motor：
Comprehensive Control of ferrying case 1 controls travel(l)ing rest 3 to carry out docking movement by motor；
By the movement of travel(l)ing rest 3, the buckle 6 on travel(l)ing rest 3 forms mechanical self-latching.
This orbital docking method that the utility model embodiment is provided is concretely comprised the following steps：
101st, track machine people position-detection sensor detects the track machine people moved to before fire resistant doorsets, triggering fire prevention
Door door closer control fire resistant doorsets are automatically opened up；
102nd, ferry-boat Comprehensive Control case controls travel(l)ing rest to carry out docking movement by motor；
103rd, by the movement of travel(l)ing rest, the buckle formation mechanical self-latching on travel(l)ing rest；
104th, by ferry Comprehensive Control case control track machine people along the movable rail and docking orbit after docking to
Move target area；
105th, after track machine people is moved to target area, travel(l)ing rest is controlled to separate by motor；
106th, detect after travel(l)ing rest separation, control fire resistant doorsets to close by fireproof door closer.
Above is a kind of detailed description of the orbital docking method provided the utility model embodiment, below will be to this reality
The detailed description of another orbital docking method provided with new embodiment.
201st, when track machine people runs to orbital docking device side fire resistant doorsets, fire resistant doorsets detection switch is triggered, is prevented
Vent is automatically opened up；
202nd, after fire resistant doorsets are opened, ferry-boat Comprehensive Control case is according to track machine people ferry-boat communications command and fire resistant doorsets position
Confidence breath triggering motor action, makes movable rail overall and opens a lateral movement to fire resistant doorsets, until movable rail buckle with
The buckle docking docked is firm, motor braking；
203rd, ferry-boat Comprehensive Control case carries out docking confirmation according to sensor signal；Track machine people moves to movable rail
Center distance braking；
204th, ferry-boat Comprehensive Control case is confirmed after track machine people's position feedback information, and control motor drives active rail
Road departs to be docked with other end track, meanwhile, fire resistant doorsets are closed；
205th, when orbital docking device is located in fire lobby, movable rail is together with track machine people and former docking orbit
After disengaging, setting returns back to initial position, and after after fire resistant doorsets closing, opposite side fire resistant doorsets continue docking operation after opening；
206th, after second of orbital docking is completed, track machine people moves to purpose orbital region detection trigger switch,
Ferry-boat Comprehensive Control case control movable rail returns back to initial position, and fire resistant doorsets are closed, and whole ferry-boat process is completed.
Above is the detailed description of another orbital docking method provided the utility model embodiment, below will be to this
The ferry-boat Comprehensive Control case that utility model embodiment is provided is described in detail.
The utility model embodiment provides a kind of ferry-boat Comprehensive Control case, is led to by ferry-boat integrated controller, robot system
Believe the composition such as module, orbital docking device driver element, on-line detecting system communication module, fire resistant doorsets driver element.
Integrated controller is the core component of whole ferry-boat Comprehensive Control case, by receiving in track machine people's instruction triggers
Portion's logical program, controls fire resistant doorsets opening and closing, orbital docking device action, and include to track machine people transmission according to state-detection
State, action message including track machine people's own location information, matching track robot complete ferry-boat and become rail process.
Under emergency conditions, internal logic programme-control fire resistant doorsets are triggered by cigarette sense unit, external on-line detecting system
Opening and closing；
Fire resistant doorsets control cabinet sets external power source system, ups power system to be controller and its remaining module for power supply, city's electric-examination
Unit detection external power source state is surveyed, switches ups power system under civil power failure conditions.
It is apparent to those skilled in the art that, for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, may be referred to the corresponding process in preceding method embodiment, will not be repeated here.
Described above, above example is only to illustrate the technical solution of the utility model, rather than its limitations；Although ginseng
The utility model is described in detail according to previous embodiment, it will be understood by those within the art that：It is still
Technical scheme described in foregoing embodiments can be modified, or which part technical characteristic is equally replaced
Change；And these modifications or replacement, the essence of appropriate technical solution is departed from each embodiment technical scheme of the utility model
Spirit and scope.
Claims (10)
1. a kind of orbital docking device, it is characterised in that including：Motor, movable rail and docking orbit；
The motor is electrically connected with the movable rail so that movable rail court under motor driving
The docking orbit direction driving；
The abutting end of the movable rail and the docking orbit is provided with the buckle of flexible connection；
The movable rail and the docking orbit are separately mounted to outside in the door leaf of fire resistant doorsets.
2. a kind of orbital docking device according to claim 1, it is characterised in that the movable rail is arranged at movable branch
On frame；
The movable rail is connected by the travel(l)ing rest with the motor；
The travel(l)ing rest is connected by the motor with a fixed support.
3. a kind of orbital docking device according to claim 1, it is characterised in that the travel(l)ing rest is arranged at described solid
In the slide rail of fixed rack；
It is additionally provided with the slide rail on rack, the motor and is provided with gear, the gear is engaged with the rack.
4. a kind of orbital docking device according to claim 1, it is characterised in that the docking mode of the buckle is machinery
Self-locking.
5. a kind of orbital docking device according to claim 1 a, it is characterised in that rail is provided with the movable rail
Pipeline robot；
The track machine people includes mobile vehicle, communication apparatus and detection device.
6. a kind of orbital docking system, it is characterised in that including：
Comprehensive Control of ferrying case, fireproof door closer, and the orbital docking dress as described in any one in claim 1 to 5
Put；
The ferry-boat Comprehensive Control case is communicated to connect with the fireproof door closer, the orbital docking device；
The fireproof door closer, the door leaf for carrying out fire resistant doorsets according to the first instruction of the ferry-boat Comprehensive Control case is opened
Or closing processing；
The orbital docking device, for carrying out the movable rail of its own according to the second instruction of the ferry-boat Comprehensive Control case
Docking with trapped orbit is handled.
7. a kind of orbital docking system according to claim 6, it is characterised in that also detect and sense including fire resistant doorsets position
Device, travel(l)ing rest position-detection sensor, track machine people's position-detection sensor；
The fire resistant doorsets position-detection sensor is arranged on fireproof door frame, closing and unlatching for detecting the fire resistant doorsets
State；
The travel(l)ing rest position-detection sensor is arranged on fixed support, the docking shape for detecting the movable rail
State；
The track machine people position-detection sensor is arranged on the travel(l)ing rest, the motion for detecting track machine people
State.
8. a kind of orbital docking system according to claim 6, it is characterised in that the ferry-boat Comprehensive Control case includes：
Ferry-boat integrated controller, for handling external signal, so as to make corresponding processing；
Robot system communication module, for being communicated with track machine people；
Orbital docking device driver element, for being communicated with motor；
Fire resistant doorsets driver element, for being communicated with the fireproof door closer；
On-line monitoring system module, for connecting on-line monitoring system.
9. a kind of orbital docking system according to claim 6, it is characterised in that be additionally included in line monitoring system；
The on-line detecting system is communicated to connect with the ferry-boat Comprehensive Control case, for controlling fire resistant doorsets to open under emergency conditions
Close.
10. a kind of orbital docking system according to claim 6, it is characterised in that also including ups power system；
The ups power system and the ferry-boat Comprehensive Control case, the fireproof door closer, and the orbital docking device
It is electrically connected with.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621172446.3U CN206445791U (en) | 2016-10-25 | 2016-10-25 | A kind of orbital docking apparatus and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621172446.3U CN206445791U (en) | 2016-10-25 | 2016-10-25 | A kind of orbital docking apparatus and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206445791U true CN206445791U (en) | 2017-08-29 |
Family
ID=59661292
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621172446.3U Withdrawn - After Issue CN206445791U (en) | 2016-10-25 | 2016-10-25 | A kind of orbital docking apparatus and system |
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| Country | Link |
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| CN (1) | CN206445791U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106346443A (en) * | 2016-10-25 | 2017-01-25 | 广东电网有限责任公司珠海供电局 | Track butting device and system |
| CN107526330A (en) * | 2017-09-11 | 2017-12-29 | 中信重工开诚智能装备有限公司 | A kind of underground pipe gallery auto-translating window device passed through for rail polling robot |
-
2016
- 2016-10-25 CN CN201621172446.3U patent/CN206445791U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106346443A (en) * | 2016-10-25 | 2017-01-25 | 广东电网有限责任公司珠海供电局 | Track butting device and system |
| CN107526330A (en) * | 2017-09-11 | 2017-12-29 | 中信重工开诚智能装备有限公司 | A kind of underground pipe gallery auto-translating window device passed through for rail polling robot |
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