CN208829047U - The elevator automatic keying system of Intelligent Mobile Robot in faced chamber - Google Patents
The elevator automatic keying system of Intelligent Mobile Robot in faced chamber Download PDFInfo
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- CN208829047U CN208829047U CN201821357035.0U CN201821357035U CN208829047U CN 208829047 U CN208829047 U CN 208829047U CN 201821357035 U CN201821357035 U CN 201821357035U CN 208829047 U CN208829047 U CN 208829047U
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- elevator
- steering engine
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- automatic keying
- mobile robot
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Abstract
The utility model discloses a kind of elevator automatic keying systems of Intelligent Mobile Robot in faced chamber, including instruction control module and automatic keying module；The automatic keying module includes self-control key and power section；The self-control key and former elevator push button correspond, and are covered on the former elevator push button；The power section and the self-control key correspond, including steering engine and cam, and the cam, which is fixed in the shaft of the steering engine, to be rotated with the shaft to trigger the former elevator push button, and each steering engine is connected with described instruction control module.The utility model simplifies structure and control method, improves the realizability and practicability of system, under the premise of not influencing people's normal use Manual press elevator floor key, realizes that indoor substation crusing robot independently takes elevator and completes patrol task.
Description
Technical field
The utility model relates to automation control area, in particular to the electricity of Intelligent Mobile Robot in a kind of faced chamber
Terraced automatic keying system.
Background technique
Elevator is the product of Development of Urbanization, is the one of the important signs that of economic rapid growth.In daily work and life
Elevator has become essential means of transport in work, people's too busy to get away elevator.As China's electric system is towards certainly
The continuous propulsion of dynamicization, intelligent direction, smart grid is fast-developing, and Mobile Robot for Substation Equipment Inspection demand has occurred great
Change.Indoor substation inspection machine artificially completes the automatic detecting task of substation's internal unit, and robot oneself is needed to multiply
It sits on elevator downstairs, and taking elevator is a great problem for crusing robot.
Patent CN107285150A discloses a kind of external elevator key device and its control method, and the device is by master control
Module control triggering panel receives touch action, then passes to transmission mechanism to trigger elevator push button, and detected by photosensitive element
The light of the original key of elevator changes to control display unit, makes its recovery by elastic device after triggering elevator push button terminates
It is in situ.The transmission mechanism of the device is made of fixation member, driving element, actuated element and touch panel, complex cumbersome,
The burden for increasing device reduces realizability, and the selection and installation of elastic device are also a big problem.
Utility model content
The purpose of the utility model is to overcome deficiency in the prior art, substation inspection machine in a kind of faced chamber is provided
The elevator automatic keying system of people realizes room under the premise of not influencing people's normal use Manual press elevator floor key
Interior Intelligent Mobile Robot independently takes elevator and completes patrol task.
The technical scheme adopted by the utility model is the elevator of Intelligent Mobile Robot is pressed automatically in a kind of faced chamber
Key system, including instruction control module and automatic keying module；The automatic keying module includes self-control key and power section；
The self-control key and former elevator push button correspond, and are covered on the former elevator push button；The power section with it is described
It makes key by oneself to correspond, including steering engine and cam, the cam is fixed in the shaft of the steering engine to be rotated with the shaft
To trigger the former elevator push button, each steering engine is connected with described instruction control module.
Further, described instruction control module includes that controller, wireless data receipt modules and wireless data send mould
Block is connected with each other between the wireless data receipt modules and the wireless data sending module by wireless signal, the nothing
The input terminal of line data reception module and the controller is connected with each other, and the output end of the controller connects each described rudder
Machine.
Further, the self-control key uses the unidirectional specular material with translucency to be made, to realize and former elevator
Key indicator lamp is highlighted consistent.
Further, the shaft of the steering engine is embedded in the self-control key, master of the steering engine in addition to the shaft
Body portion is arranged at outside the self-control key, is not influenced the translucency of the self-control key, is reduced system complexity.
Further, the shaft of the steering engine is parallel with plane where the former elevator push button, so that the cam is hanging down
Directly in the rotation in surface of the former elevator push button place plane.
Further, the steering engine uses the miniature steering engine of model SG90 or ES08MAII.
Further, the controller uses the microcontroller of model STM32F103 or KL26.
Further, the controller and each described steering engine are connected with independent current source, by the independent current source
Power supply；The independent current source uses lithium battery.
Further, battery carrier, the self-control key, steering engine, the cam of the fixed independent current source are each attached to bottom plate
On, the bottom plate is fixed on former elevator push button interface by sucker.
The beneficial effects of the utility model are:
1. the utility model almost can be adapted for existing due to not needing transformation inner structure of elevator and control circuit
All vertical ladders, only can need to smoothly be pacified according to the corresponding press-key structure of floor key Style Design in different lift cars
It fills and uses.
2. the utility model will not influence the normal use of elevator, the automatic keying function of wireless control is also added, it can
To realize that crusing robot independently takes the patrol task that elevator removes to complete different floors.
3. the utility model, which is conducive to substation inspection, reduces cost of labor, man-machine patrol frequency is reduced, improves survey monitor
The autonomous patrol frequency of device people.
4. the utility model final finished is a regular shape cabinet, it is easily installed；And control method is simple, uses
It is convenient.
Detailed description of the invention
Fig. 1 a: the utility model power section is in standby schematic diagram (not triggering original elevator push button)；
Fig. 1 b: the status diagram of cam (triggers original elevator to press after rotating 90 degree in the utility model power section
Key)；
Fig. 2: the internal structure of the elevator automatic keying system of Intelligent Mobile Robot is shown in the utility model faced chamber
It is intended to；
Fig. 3: the control method flow chart of the utility model；
Fig. 4: the utility model service robot independently takes elevator flow chart.
Attached drawing mark: 1, key is made；2, cam；3, former elevator push button；4, bottom plate；5, battery carrier；6, steering engine；7, it installs
Hole.
Specific embodiment
For the utility model content, feature and effect that can further appreciate that the utility model, the following examples are hereby given, and
It is described in detail with the accompanying drawings as follows:
As shown in Fig. 1 a, 1b and Fig. 2, the utility model designs in a kind of faced chamber and becomes in the case where elevator is not transformed
The elevator automatic keying system of power station crusing robot, including instruction control module and automatic keying module, may be implemented elevator
Automatic control.
The automatic keying module includes self-control key 1 and power section.The self-control key 1 and former elevator push button 3 one
One is corresponding, and is covered on the former elevator push button 3；The self-control key 1 is using the unidirectional specular material system with translucency
At highlighted consistent with former 3 indicator light of elevator push button to realize.The power section and the self-control key 1 correspond, including
Steering engine 6 and cam 2.The shaft of the steering engine 6 is embedded in the self-control key 1, main body of the steering engine 6 in addition to the shaft
Part is arranged at outside the self-control key 1, therefore, is only taken up self-control 1 small part space of key, is not influenced completely certainly
The translucency of key 1 processed, therefore additional indicating lamp module is not needed, system complexity can be reduced；The shaft of the steering engine 6 and institute
State that former 3 place plane of elevator push button is parallel, so that the cam 2 is in the plane perpendicular to 3 place plane of the former elevator push button
Interior rotation；The cam 2 is fixed in the shaft of the steering engine 6 to be rotated to trigger the former elevator push button 3, often with the shaft
A steering engine 6 is connected with the controller of described instruction control module, controls after controller receives number of floor levels signal
Corresponding steering engine shaft is quickly rotated by 90 ° and 90 degree of homings of fast rotation, and elevator push button 3 former in this way is pressed by cam 2 to be touched
It sends out and indicator light brightens.Fig. 1 a is in standby for power section, does not trigger former elevator push button 3；Fig. 1 b is 6 turns of steering engine
The state of cam 2 after 90 degree dynamic, former elevator push button 3 triggered at this time, then steering engine 6 will be returned to turn 90 degrees rapidly and be reset to such as figure
Position shown in 1a.
Described instruction control module includes controller, wireless data receipt modules and wireless data sending module, the nothing
It is connected with each other between line data reception module and the wireless data sending module by wireless signal, the wireless data receives
The input terminal of module and the controller is connected with each other, and the output end of the controller connects each described steering engine 6.Controller
It is sent to corresponding automatic keying after receiving wireless data instruction, and controls automatic keying work.
The controller and each described steering engine 6 are connected with independent current source, are powered by the independent current source；It is described
Independent current source uses lithium battery, can be fixed on internal system, guarantees aesthetic effect, and learn 24V/2000mAh after actual measurement
Lithium battery can be used one month, effect is fine.
Fig. 2 is the internal system structure chart of the utility model, is combined into a closed box by bottom plate 4 and upper box assembly
Son, the battery carrier 5 of the fixed independent current source, the self-control key 1, steering engine 6, cam 2 etc. are each attached on bottom plate 4, then
It is beautiful that guarantee is packaged with upper box.Through-hole is offered on the bottom plate 4, positioned at the position for making key 1 described in each by oneself,
Allow the indicator light of former elevator push button 3 to be transferred to self-control key 1, also, make cam 2 after rotation can with former elevator by
Key 3 is in contact；It is also provided with mounting hole 7 on the bottom plate 4, is fixed on former 3 interface of elevator push button by ad hoc fashions such as suckers
On.
In the utility model, the steering engine 6 uses the miniature steering engine of model SG90 or ES08MAII；The controller is adopted
With the microcontroller of model STM32F103 or KL26.
In the case where no any control signal is incoming, Tthe utility model system is then in standby, so relatively
For power consumption it is relatively low.Whole system design can be fixed on inner wall of elevator cage with particular form, be not necessarily at regular shape
Any transformation is carried out to elevator interior.
As shown in figure 3, the controlling party based on the elevator automatic keying system of Intelligent Mobile Robot in above-mentioned faced chamber
Method, comprising the following steps:
Step 1, wireless instructions input number of floor levels to controller；
Step 2, the steering engine 6 of controller control respective storey is quickly rotated by 90 °, and 90 degree of fast rotation resets；
Step 3, steering engine 6 is rotated with moving cam 2 generates the former elevator push button 3 of active force pressing；
Step 4, the former elevator push button 3 of respective storey is pressed, and self-control key 1 brightens.
The elevator automatic keying system of Intelligent Mobile Robot in a kind of faced chamber of the utility model, simplify structure and
Control method improves the realizability and practicability of system.
Embodiment 1
As shown in figure 4, by taking elevator is taken by certain indoor substation equipment routing inspection robot as an example.Crusing robot is stopped at 1 building
Breath room is rested until will be needed again, and unexpected central control room sending, which instructs, requires crusing robot to go 5 buildings execution automatic detecting tasks, and in real time
Report inspection situation.At this moment it just needs robot autonomous seating elevator to 5 buildings, then starts automatic detecting task.Work as robot
It is moved to behind elevator floor doorway and instructs " 1 building " to the number of floor levels that elevator automatic keying system sends oneself position, control
Device receives controls that corresponding steering engine 6 is quickly rotated by 90 ° and 90 degree of fast rotation are resetted after instruction, is triggered 1 building with this
Former elevator push button 3.1 building self-control key 1 makes its display high-brightness using the translucency of itself at the same time, indicates 1 building original electricity
Terraced key 3 has been pressed.Elevator door is opened after elevator reaches 1 building, and the sensor system senses of crusing robot itself arrive
Just enter elevator after this signal, and send the number of floor levels to be gone instruction " 5 buildings " to elevator automatic keying system.Controller receives
The former elevator push button 3 that corresponding automatic keying triggers 5 building, elevator is controlled after to command information, at this moment 5 buildings keys of elevator brighten simultaneously
And elevator starts uplink, elevator door is opened after reaching 5 buildings, and to guarantee that crusing robot safety movement goes out elevator, robot is to control
Device processed sends the commands to control elevator door and is constantly in opening state, just cancels after crusing robot successfully moves out elevator
This instruction.Subsequent crusing robot just starts to execute autonomous patrol task and report the developments in real time to central control room.
Although being described above in conjunction with preferred embodiment of the attached drawing to the utility model, the utility model is not
It is confined to above-mentioned specific embodiment, the above mentioned embodiment is only schematical, is not restrictive, ability
The those of ordinary skill in domain is not departing from the utility model aims and claimed under the enlightenment of the utility model
Under ambit, many forms can also be made, these are belonged within the protection scope of the utility model.
Claims (9)
1. the elevator automatic keying system of Intelligent Mobile Robot in a kind of faced chamber, which is characterized in that controlled including instruction
Module and automatic keying module；The automatic keying module includes self-control key and power section；The self-control key and original electricity
Terraced key corresponds, and is covered on the former elevator push button；The power section and the self-control key correspond, packet
Include steering engine and cam, the cam be fixed in the shaft of the steering engine rotated with the shaft with trigger the former elevator by
Key, each steering engine are connected with described instruction control module.
2. the elevator automatic keying system of Intelligent Mobile Robot in a kind of faced chamber according to claim 1, special
Sign is, described instruction control module includes controller, wireless data receipt modules and wireless data sending module, described wireless
It is connected with each other between data reception module and the wireless data sending module by wireless signal, the wireless data receives mould
The input terminal of block and the controller is connected with each other, and the output end of the controller connects each described steering engine.
3. the elevator automatic keying system of Intelligent Mobile Robot in a kind of faced chamber according to claim 1, special
Sign is that the self-control key uses the unidirectional specular material with translucency to be made, to realize and former elevator push button indicator light
It is highlighted consistent.
4. the elevator automatic keying system of Intelligent Mobile Robot in a kind of faced chamber according to claim 1, special
Sign is that the shaft of the steering engine is embedded in the self-control key, and main part of the steering engine in addition to the shaft is all provided with
It sets outside the self-control key, does not influence the translucency of the self-control key, reduces system complexity.
5. the elevator automatic keying system of Intelligent Mobile Robot in a kind of faced chamber according to claim 1, special
Sign is that the shaft of the steering engine is parallel with plane where the former elevator push button, so that the cam is perpendicular to the original
The rotation in surface of plane where elevator push button.
6. the elevator automatic keying system of Intelligent Mobile Robot in a kind of faced chamber according to claim 1, special
Sign is that the steering engine uses the miniature steering engine of model SG90 or ES08MAII.
7. the elevator automatic keying system of Intelligent Mobile Robot in a kind of faced chamber according to claim 2, special
Sign is that the controller uses the microcontroller of model STM32F103 or KL26.
8. the elevator automatic keying system of Intelligent Mobile Robot in a kind of faced chamber according to claim 2, special
Sign is that the controller and each described steering engine are connected with independent current source, is powered by the independent current source；It is described only
Vertical power supply uses lithium battery.
9. the elevator automatic keying system of Intelligent Mobile Robot in a kind of faced chamber according to claim 8, special
Sign is that battery carrier, the self-control key, steering engine, the cam of the fixed independent current source are each attached on bottom plate, the bottom plate
It is fixed on former elevator push button interface by sucker.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821357035.0U CN208829047U (en) | 2018-08-22 | 2018-08-22 | The elevator automatic keying system of Intelligent Mobile Robot in faced chamber |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821357035.0U CN208829047U (en) | 2018-08-22 | 2018-08-22 | The elevator automatic keying system of Intelligent Mobile Robot in faced chamber |
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| CN208829047U true CN208829047U (en) | 2019-05-07 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108996342A (en) * | 2018-08-22 | 2018-12-14 | 天津大学 | The elevator automatic keying system and method for Intelligent Mobile Robot in faced chamber |
| CN113830634A (en) * | 2021-09-22 | 2021-12-24 | 广东电网有限责任公司 | Inspection robot transport elevator control method, inspection robot transport elevator control device, inspection robot transport equipment and storage medium |
-
2018
- 2018-08-22 CN CN201821357035.0U patent/CN208829047U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108996342A (en) * | 2018-08-22 | 2018-12-14 | 天津大学 | The elevator automatic keying system and method for Intelligent Mobile Robot in faced chamber |
| CN113830634A (en) * | 2021-09-22 | 2021-12-24 | 广东电网有限责任公司 | Inspection robot transport elevator control method, inspection robot transport elevator control device, inspection robot transport equipment and storage medium |
| CN113830634B (en) * | 2021-09-22 | 2022-11-04 | 广东电网有限责任公司 | Inspection robot transport elevator control method, inspection robot transport elevator control device, inspection robot transport elevator control equipment and storage medium |
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