CN209717701U - Track intelligent measurement robot in a kind of multiple degrees of freedom room - Google Patents

Abstract

The utility model provides track intelligent measurement robot in a kind of multiple degrees of freedom room, including track and robot, the robot include moving trolley, the first elevating mechanism, column, the first detection components, swing mechanism, telescoping mechanism and the second detection components；First elevating mechanism is fixed on the bottom plate of moving trolley；The column is fixed on the first sliding block；First detection components are fixed on swing mechanism；The telescoping mechanism is fixed on the lower section of swing mechanism；Rack gear is installed, the rack and pinion is meshed on the inner wall of the track.The elevating mechanism of the robot uses two nodel line mould group combinations, effectively increases lifting travel；Rail mounted horizontal extension mechanism is used simultaneously, effectively increases flexible stroke.

Description

Track intelligent measurement robot in a kind of multiple degrees of freedom room

Technical field

The utility model belongs to indoor intelligent detection technique field, and in particular to rail in a kind of liftable multiple degrees of freedom room Road intelligent measurement robot.

Background technique

Indoor track machine people on the market mainly includes moving trolley and lifting part at present, and lifting part mostly uses The ropes class flexible drive such as wirerope, strap, it is rigidly poor to will cause end point detection components in this way, need to pause several seconds Etc. detection components no longer shake after just can be carried out Image Acquisition, efficiency is lower；As do not stop directly shooting if be easy to produce due to Shake and caused by image taking deviation.

On the other hand, for needing to carry out sound collection, Leakage inspection, Partial Discharge Detection etc. closely to equipment The occasion of detection or contact measurement, conventional chambers crusing robot is due to that can only realize non-contact detection.Although also there is portion Crusing robot (such as patent No. ZL201710880882.9) has horizontal extension mechanism in locellus, but its stroke is shorter, can only By track laying to apart from equipment closer location；For the short distance detection in complex device area and contact measurement, the robot Then it is unable to satisfy requirement.

Utility model content

To solve above-mentioned prior art problem, the utility model provides track intelligent measurement machine in a kind of multiple degrees of freedom room Device people, robot lift's structure use two nodel line mould group combinations, effectively increase lifting travel；Rail is used simultaneously Dao Shi horizontal extension mechanism, effectively increases flexible stroke.

To achieve the above object, the utility model provides the following technical solutions:

Track intelligent measurement robot in a kind of multiple degrees of freedom room, including track and robot, the track include first Groove, the first protrusion, the second groove and the second protrusion；The robot includes moving trolley, the first elevating mechanism, column, One detection components, swing mechanism, telescoping mechanism and the second detection components；The moving trolley includes actuating arm, slave arm, bottom Plate, gear, driving motor and battery；The actuating arm and slave arm are connect with bottom plate by revolute pair respectively, and the battery is solid It is scheduled on bottom plate；First elevating mechanism is linear mould group；First elevating mechanism include first motor, the first sliding block, Counterweight and control cabinet；The column is fixed on the first sliding block；First elevating mechanism is fixed on the bottom plate of moving trolley； First detection components are fixed on swing mechanism；The telescoping mechanism is fixed on the lower section of swing mechanism；The track Rack gear is installed, the rack and pinion is meshed on inner wall；The driving motor is fixed on actuating arm by first support, The output shaft of the driving motor is fixedly connected with gear；The battery is used to provide electric power for power device.

Further, the track can be spliced, be bent into arc-shaped, can arbitrarily be arranged according to concrete application situation.

Further, the actuating arm includes overturn-preventing wheel, steering shaft, directive wheel, traveling wheel, the 5th bracket and the 6th Frame；5th bracket, overturn-preventing wheel, directive wheel and traveling wheel are respectively that structure is two groups identical, are fixed on actuating arm, and It is symmetrical along track centerline；6th bracket is connect with bottom plate by revolute pair.

Further, the slave arm includes overturn-preventing wheel, steering shaft, directive wheel, traveling wheel, third bracket and the 4th Frame；The overturn-preventing wheel is run in the first groove of track；The traveling wheel is run in the second groove of track；It is described to lead It is moved in the guide wall of track to wheel；The overturn-preventing wheel, traveling wheel are separately mounted on third bracket, and the directive wheel is logical Bracket is crossed to be mounted on third bracket；The third bracket, overturn-preventing wheel, directive wheel and traveling wheel are respectively structure identical two Group, and it is symmetrical along track centerline, and the 4th bracket is connect with bottom plate by revolute pair.

Further, first elevating mechanism is driven by first motor；The first motor passes through V belt translation driving the One sliding block is moved along the axis direction of the first elevating mechanism.

Further, the traveling wheel includes walking wheel body, ball and screw rod；The screw rod has external screw thread, institute It states ball to be fixed on walking wheel body by spring, a certain amount of float extension can be carried out in walking wheel axis direction；Institute Stating ball can roll in rail walls.

Further, the swing mechanism includes turning motor and rotary disk；The rotary disk includes fixed part and shifting Dynamic part, the turning motor and fixed part are fixed by the bracket on column；The turning motor passes through with movable part Planetary gear transmission mechanism is connected, to drive movable part to rotate along turning motor axis.

Further, the telescoping mechanism includes telescope motor, driving box, expansion rail, fixed block, driven pulley, drive Movable belt pulley and synchronous belt；The driving box is fixed in the mobile mechanism of rotary disk, and under turning motor drive, driving box is driven Telescoping mechanism is along revolution disk axis rotation.

The output shaft of the telescope motor is connect with driving pulley by flat key；The driving pulley and driven pulley installation In driving box；The driven pulley is that structure is two groups identical；Third sliding block is also equipped in the driving box；It is described flexible Track can carry out horizontal sliding along third sliding block；The both ends of the synchronous belt pass through fixed block respectively and are fixed on expansion rail On, the tensioning of synchronous belt is realized in the position by adjusting fixed block；The synchronous belt is surround in driving box, wherein synchronous belt Band flank is meshed with driving pulley, and no flank is matched with driven pulley.

Further, first detection components include visible light camera and thermal infrared imager；The second detection group Part includes sound collector, partial discharge sensor and gas detecting instrument.

Further, the counterweight is mounted on the first elevating mechanism, plays the role of adjusting robot center of gravity；The control Case processed is mounted on the bottom of moving trolley, can control the movement of driving motor, first motor, turning motor and telescope motor.

The beneficial effects of the utility model are embodied in the following aspects:

(1) the utility model elevating mechanism uses two section modular fashions, and stroke is larger, good rigidity, will not in lifting process Cause the shaking of detection components；

(2) the utility model uses rail mounted telescoping mechanism, and the track that can adjust the distance carries out low coverage compared with the equipment of distant positions From detection and contact measurement；

(3) the utility model telescoping mechanism is fixed on swing mechanism, can be rotated with the rotation of swing mechanism, significantly Improve the range of robot short distance detection and contact measurement；

(4) the utility model counterweight and control cabinet are mounted on the first elevating mechanism, effectively have adjusted the center of gravity of robot, Guarantee that center of gravity is located on track centerline when robot orbital motion；

(5) the utility model moving trolley uses overturn-preventing wheel and directive wheel, and riding stability is higher, and machine will not occur Device people topples；

(6) ball is had on the utility model traveling wheel, traveling wheel is provided simultaneously with walking function and guide function, prevents When there is robot operation, traveling wheel clamping stagnation is in the second groove of track；

(7) the utility model has visible detection, infrared detection, partial discharge detection, sound collection, gas detection function, Robot is full-featured, and performance is stablized, a tractor serves several purposes, and intelligence degree is higher.

Detailed description of the invention

Fig. 1 is the schematic cross-section of the utility model track；

Fig. 2 is the utility model moving trolley side view in orbit (moving trolley removes shell)；

Fig. 3 is the structural schematic diagram of the utility model actuating arm；

Fig. 4 is the structural schematic diagram of the utility model slave arm；

Fig. 5 is the structural schematic diagram of the utility model traveling wheel；

Fig. 6 is the side view (moving trolley band shell) of the utility model original state；

Fig. 7 is the front view (moving trolley band shell) of the utility model original state；

Fig. 8 is the structural schematic diagram of the utility model swing mechanism；

Fig. 9 is the structural schematic diagram of the utility model telescoping mechanism；

Figure 10 is the utility model robot control structure block diagram；

Figure 11 is structural schematic diagram when the first elevating mechanism of the utility model declines, telescoping mechanism is in an intermediate position；

Structural schematic diagram when Figure 12 is the decline of the first elevating mechanism of the utility model, telescoping mechanism is in elongation state；

Structural schematic diagram when Figure 13 is 180 ° of swing mechanism movement in the utility model Figure 12；

Figure 14 is layout drawing of the utility model track under overlooking state.

Specific embodiment

The technical issues of to solve the utility model, the technical solution of proposition are apparent clear, below in conjunction with attached drawing The specific embodiment of embodiment is described further, other are through this embodiment in the premise not made the creative labor Under obtained other embodiments, belong to the protection scope of the utility model.

Track intelligent measurement robot in a kind of multiple degrees of freedom room of embodiment 1, referring to Fig.1-14, including track (1) and machine Device people, the track (1) include the first groove (101), first raised (102), the second groove (103) and second raised (104), Structure is as shown in Figure 1；Wherein, first raised (102) on track (1) and second raised (104) are used to increase the intensity of track And rigidity, it prevents from causing to deform when track length is too long；The first groove (101) being arranged on track (1) and the second groove (103), the operation channel as moving trolley (3)；Track (1) is mounted on indoor ceiling or column by hanger, rail Road (1) can carry out any splicing, be bent into the different circular arc of radius, can be installed according to the practical situations at scene；On track Location tags are installed, for positioning to inspection device；Figure 14 is layout drawing of the track under overlooking state.

The robot includes moving trolley (3), the first elevating mechanism (5), column (4), the first detection components (6), returns Rotation mechanism (7), telescoping mechanism (8) and the second detection components (9)；

The moving trolley (3) includes actuating arm (312), slave arm (313), bottom plate (307), gear (302), driving electricity Machine (303) and battery (305)；The actuating arm (312) and slave arm (313) are connect with bottom plate (307) by revolute pair respectively, The battery (305) is fixed on bottom plate (307), provides power supply for robot；

First elevating mechanism (5) is linear mould group, is the prior art；First elevating mechanism (5) includes first Motor (504), the first sliding block (501), counterweight (502) and control cabinet (503)；First elevating mechanism (5) is fixed on movement On the bottom plate (307) of trolley (3)；First motor (504) is by V belt translation driving the first sliding block (501) along the first elevating mechanism (5) axis direction movement.

The column (4) is fixed on the first sliding block (501), and under the drive of first motor (504), column (4) can It is moved along the axis direction of the first elevating mechanism (5).

First detection components (6) are fixed on swing mechanism (7)；The telescoping mechanism (8) is fixed on swing mechanism (7) lower section；

It is equipped with rack gear (2) on the inner wall of the track (1), rack gear (2) is mounted on the inner wall of track (1) by screw On, the position thread mill drilling of corresponding installation rack gear (2) on track (1), rack gear is carried out in orbit by first raised (102) Installation positioning；The rack gear (2) is meshed with the gear (302) on moving trolley (3)；The driving motor (303) passes through the One bracket (304) is fixed on actuating arm (312), and the output shaft of the driving motor (303) is fixedly connected with gear (302)； The battery (305) is used to provide electric power for power device.

Specifically, the actuating arm (312) includes overturn-preventing wheel (308), steering shaft (306), directive wheel (310), walking It is as shown in Figure 3 to take turns (311), the 5th bracket (320) and the 6th bracket (321), structure；5th bracket (320), overturn-preventing wheel (308), directive wheel (310) and traveling wheel (311) are respectively that structure is two groups identical, are symmetrically mounted on driving along track centerline On arm (312)；6th bracket (321) is connect with bottom plate (307) by revolute pair.

Specifically, the slave arm includes overturn-preventing wheel (308), steering shaft (306), directive wheel (310), traveling wheel (311), third bracket (314) and the 4th bracket (315), structure are as shown in Figure 4；The overturn-preventing wheel (308), traveling wheel (311) it is separately mounted on third bracket (314), the directive wheel (310) is mounted on third bracket (314) by bracket； The third bracket (314), overturn-preventing wheel (308), directive wheel (310) and traveling wheel (311) are respectively that structure is two groups identical, And it is symmetrical along track centerline, the 4th bracket (315) is connect with bottom plate (307) by revolute pair.

Wherein, the overturn-preventing wheel (308) track (1) the first groove (101) it is inner run, the first groove plays operation Channeling；The traveling wheel (311) track (1) the second groove (103) it is inner run, the second groove play operation channel make With；The directive wheel (310) moves in the guide wall (105) of track (1), wherein directive wheel (310) is led with track (1) It is contacted to wall (105), is rolled along guide wall (105), play guiding role；

The traveling wheel (311) includes walking wheel body (31102), ball (31103) and screw rod (31101)；It is described Screw rod (31101) has external screw thread, and the ball (31103) is fixed on by spring and is walked on wheel body (31102), can be Traveling wheel (311) axis direction carries out a certain amount of float extension；The ball (31103) can roll in guide wall, Ball (31103) can ensure that traveling wheel (311) will not be stuck in the second groove (103) in turning, auxiliary guide wheels (310) Play guiding role.Structure is as shown in Figure 5.

Specifically, when Robot track (1) moves, the output power of motor (303) is transmitted on gear (302), tooth Wheel (302) drives Robot track (1) operation by engaging with rack gear (2) that are mounted on track (1).Motor (303) Be fixed on actuating arm (312), motion state always with actuating arm (312) unanimously, due to driving force when avoiding the occurrence of steering Direction with the direction of motion is inconsistent causes to drive hypodynamic situation.Motor (303) output shaft is fixedly connected with gear (302), The other side is mounted on first support (304), and first support (304) is fixed on the 6th bracket (321).4th bracket (315) It is connect respectively with bottom plate (307) by revolute pair with the 6th bracket (321)；Robot turning, by track splicing gap when, The speed of service of two sides traveling wheel (311), directive wheel (310) and overturn-preventing wheel (308) is inconsistent, is risen by steering shaft (306) To the effect of adjustment speed difference.

Specifically, the swing mechanism (7) includes turning motor (702) and rotary disk (701)；The rotary disk (701) Including fixed part (7011) and movable part (7012), the turning motor (702) and fixed part (7011) pass through respectively Bracket is fixed on column (4)；The turning motor (702) is connected with movable part (7012) by planetary gear transmission mechanism It connects, to drive movable part to rotate along turning motor (702) axis, structure is as shown in Figure 8.

Specifically, the telescoping mechanism (8) includes telescope motor (801), driving box (802), expansion rail (803), consolidates Determine block (804), driven pulley (805), driving pulley (806) and synchronous belt (807)；The driving box (802) is fixed on revolution In the mobile mechanism of disk (701), in the case where turning motor (702) drive, driving box drives telescoping mechanism along rotary disk (701) axis Rotation, structure are as shown in Figure 9.

The output shaft of the telescope motor (801) is connect with driving pulley (806) by flat key；The driving pulley (806) it is mounted in driving box (802) with driven pulley (805)；The driven pulley (805) is that structure is two groups identical；Institute It states in driving box (802) and is also equipped with third sliding block (not shown)；The expansion rail (803) can carry out along third sliding block Level sliding；The both ends of the synchronous belt (807) pass through fixed block (804) respectively and are fixed on expansion rail, solid by adjusting Realize the tensioning of synchronous belt in the position for determining block (804)；The synchronous belt (807) surround in driving box (802), wherein synchronous belt (807) band flank is meshed with driving pulley (806), and no flank is matched with driven pulley (805).

Specifically, first detection components (6) include visible light camera and thermal infrared imager, are realized to indoor equipment Image detection and temperature detection, the first detection components are used for the remote or non-contact detection of equipment；Second inspection Surveying component (9) includes sound collector (901), partial discharge sensor (902) and gas detecting instrument (903)；Wherein gas detecting instrument It (903) is All-in-One gas detecting instrument, including toxic gas detection sensor, fuel gas detection sensor, Temperature and Humidity Sensor, Smoke Detection sensor；It, being capable of appearance to indoor equipment, heat condition, extraordinary noise, office by the robot Portion's electric discharge, toxic gas, fuel gas, ambient temperature and humidity etc. are measured in real time, and the second detection components are used for the close of equipment Distance or contact measurement.

Specifically, first detection components (6) are fixed on rotary disk (701), the driving in turning motor (702) Under, the first detection components (6) can be rotated along the axis of rotary disk (701), and then realized and carried out to the equipment of track two sides Inspection.

The counterweight (502) is mounted on the first elevating mechanism (5), plays the role of adjusting robot center of gravity, prevents machine Traveling wheel and guiding foot wheel abrasion are uneven in device people movement.

The control cabinet (503) is mounted on the bottom of moving trolley (3), can control driving motor (303), first motor (504), the movement of turning motor (702) and telescope motor (801) is as shown in Figure 10 control system in the utility model control cabinet The structural block diagram of system.

The course of work of the utility model is as follows:

(1) control cabinet (503) control driving motor (303) rotation, Robot track is transported under the transmission of rack-and-pinion Row；

(2) when robot orbiting, reaching specified location tags, control cabinet (503) controls first motor (504) it moves, first motor (504) drives column (4) to move downward, and column (4) drives swing mechanism (7), telescoping mechanism (8) Lowering action is executed, as shown in figure 11；First detection components carry out inspection to the appearance and temperature of equipment；

(3) after the completion of above-mentioned movement, control cabinet (503) controls telescoping mechanism (8) and executes stretching motion, telescoping mechanism (8) Drive the second detection components (9) close to equipment, the signals such as gas, shelf depreciation, noise generated when running to equipment are examined It surveys, as shown in figure 12；

(4) after the completion of above-mentioned movement, telescoping mechanism (8) executes retraction movement, and telescoping mechanism moves to middle position, such as schemes Shown in 11；

(5) when robot inspection among two rows of equipment, if the equipment of two sides is required to inspection, then swing mechanism is driven Telescoping mechanism (8) and the first detection components (6) rotate 180 °, and then realize the inspection to another side apparatus, as shown in figure 13.

(6) positional distance of measuring point to be checked for equipment component is closer, for the movement for reducing moving trolley (3), turn-around machine Structure (7) drives telescoping mechanism (8), the first detection components (6) to rotate appropriate angle；After the completion of movement, telescoping mechanism (8) execution is stretched Long move carries out inspection close to equipment.

(7) after inspection movement, control cabinet (503) controls each reset motor, robot is in original state, such as Fig. 6 Shown in 7.

(8) after robot restPoses, control cabinet controls robot and continues orbiting, finds next inspection point Execute patrol task.

Finally, it is stated that above embodiments are merely intended for describing the technical solutions of the present application, but not for limiting the present application, this field Other modifications or equivalent replacement that those of ordinary skill makes the technical solution of the utility model, it is practical without departing from this The spirit and scope of new technique scheme should all cover in the scope of the claims of the utility model.

Claims (10)

1. track intelligent measurement robot in a kind of multiple degrees of freedom room, including track (1) and robot, which is characterized in that described Track (1) includes the first groove (101), first raised (102), the second groove (103) and second raised (104)；The machine People includes moving trolley (3), the first elevating mechanism (5), column (4), the first detection components (6), swing mechanism (7), telescopic machine Structure (8) and the second detection components (9)；The moving trolley (3) include actuating arm (312), slave arm (313), bottom plate (307), Gear (302), driving motor (303) and battery (305)；The actuating arm (312) and slave arm (313) respectively with bottom plate (307) it is rotatablely connected by revolute pair, the battery (305) is fixed on bottom plate (307)；First elevating mechanism (5) is Linear mould group；First elevating mechanism (5) includes first motor (504), the first sliding block (501), counterweight (502) and control cabinet (503)；First elevating mechanism (5) is fixed on the bottom plate (307) of moving trolley (3)；The column (4) is fixed on first On sliding block (501)；First detection components (6) are fixed on swing mechanism (7)；The telescoping mechanism (8) is fixed on revolution The lower section of mechanism (7)；Second detection components (9) are arranged on telescoping mechanism (8)；It is installed on the inner wall of the track (1) Have rack gear (2), the rack gear (2) is meshed with gear (302)；The driving motor (303) is fixed by first support (304) On actuating arm (312), the output shaft of the driving motor (303) is fixedly connected with gear (302)；The battery (305) is used In providing electric power for power device.

2. track intelligent measurement robot in multiple degrees of freedom room according to claim 1, which is characterized in that the track (1) it can be spliced, be bent into arc-shaped, can arbitrarily be arranged according to concrete application situation.

3. track intelligent measurement robot in multiple degrees of freedom room according to claim 1, which is characterized in that the actuating arm It (312) include overturn-preventing wheel (308), steering shaft (306), directive wheel (310), traveling wheel (311), the 5th bracket (320) and Six brackets (321)；5th bracket (320), overturn-preventing wheel (308), directive wheel (310) and traveling wheel (311) are respectively to tie Structure is two groups identical, is fixed on actuating arm (312), and symmetrical along track centerline；6th bracket (321) and bottom Plate (307) is connected by revolute pair.

4. track intelligent measurement robot in multiple degrees of freedom room according to claim 1, which is characterized in that the slave arm Including overturn-preventing wheel (308), steering shaft (306), directive wheel (310), traveling wheel (311), third bracket (314) and the 4th bracket (315)；The overturn-preventing wheel (308) inner runs in the first groove (101) of track (1)；The traveling wheel (311) is in track (1) the second groove (103) is inner to be run；The directive wheel (310) moves in the guide wall (105) of track (1)；The anti-dumping Cover wheel (308), traveling wheel (311) is separately mounted on third bracket (314), the directive wheel (310) is mounted on by bracket On third bracket (314)；The third bracket (314), overturn-preventing wheel (308), directive wheel (310) and traveling wheel (311) are respectively Two groups identical and symmetrical along track centerline for structure, the 4th bracket (315) and bottom plate (307) pass through rotation Pair connection.

5. track intelligent measurement robot in multiple degrees of freedom room according to claim 1, which is characterized in that described first liter Descending mechanism (5) is driven by first motor (504)；The first motor (504) by V belt translation driving the first sliding block (501) along The axis direction of first elevating mechanism (5) moves.

6. track intelligent measurement robot in multiple degrees of freedom room according to claim 4, which is characterized in that the traveling wheel It (311) include walking wheel body (31102), ball (31103) and screw rod (31101)；The screw rod (31101) has outer spiral shell Line, the ball (31103) are fixed in walking wheel body (31102) by spring, can be in traveling wheel (311) axis direction Carry out a certain amount of float extension；The ball (31103) can roll in rail walls.

7. track intelligent measurement robot in multiple degrees of freedom room according to claim 1, which is characterized in that the turn-around machine Structure (7) includes turning motor (702) and rotary disk (701)；The rotary disk (701) includes fixed part (7011) and moving portion Divide (7012), the turning motor (702) and fixed part (7011) are fixed by the bracket respectively on column (4)；Described time Rotating motor (702) is connected with movable part (7012) by planetary gear transmission mechanism, to drive movable part along revolution The rotation of motor (702) axis.

8. track intelligent measurement robot in multiple degrees of freedom room according to claim 7, which is characterized in that the telescopic machine Structure (8) includes telescope motor (801), driving box (802), expansion rail (803), fixed block (804), driven pulley (805), drives Movable belt pulley (806) and synchronous belt (807)；The driving box (802) is fixed in the mobile mechanism of rotary disk (701), is turning round Under motor (702) drives, driving box (802) drives telescoping mechanism (8) to rotate along rotary disk (701) axis；

The output shaft of the telescope motor (801) is connect with driving pulley (806) by flat key；The driving pulley (806) and Driven pulley (805) is mounted in driving box (802)；The driven pulley (805) is that structure is two groups identical；The driving box (802) third sliding block is also equipped in；The expansion rail (803) can carry out horizontal sliding along third sliding block；The synchronization The both ends of band (807) pass through fixed block (804) respectively and are fixed on expansion rail (803), real by the position for adjusting fixed block The tensioning of existing synchronous belt；The synchronous belt (807) surround in driving box (802), wherein the band flank of synchronous belt (807) and drive Movable belt pulley (806) is meshed, and no flank is matched with driven pulley (805).

9. track intelligent measurement robot in multiple degrees of freedom room according to claim 1, which is characterized in that first inspection Surveying component (6) includes visible light camera and thermal infrared imager；Second detection components (9) include sound collector (901), Partial discharge sensor (902) and gas detecting instrument (903).

10. track intelligent measurement robot in multiple degrees of freedom room according to claim 1, which is characterized in that the counterweight (502) it is mounted on the first elevating mechanism (5), plays the role of adjusting robot center of gravity；The control cabinet (503) is mounted on shifting The bottom of dynamic trolley (3), can control driving motor (303), first motor (504), turning motor (702) and telescope motor (801) movement.