CN209833619U - Cascaded track inspection robot - Google Patents

Abstract

The utility model discloses a robot is patrolled and examined to cascade type track, including first automobile body, second automobile body and third automobile body, all connect through connecting device between first automobile body, second automobile body, the third automobile body, install supersound on the first automobile body and keep away barrier module, power, smoke transducer and encoder, install gas sensor, speaker, light sensor, temperature sensor ware and radio frequency module on the second automobile body, install WIFI module, industrial computer, 24-12V power module and single board computer on the third automobile body, supersound keeps away barrier module, power, smoke transducer, encoder, gas sensor, speaker, light sensor, temperature sensor ware, radio frequency module, WIFI module all with single board computer signal connection, the WIFI module passes through the switch and is connected with the industrial computer, the industrial computer is connected with the display screen. The utility model discloses a robot can high-speed operation, realizes the climbing of great slope, because each part flexonics's the reason, so make whole mechanism operation more steady.

Description

Cascaded track inspection robot

Technical Field

The utility model relates to a cascaded track inspection robot belongs to the robot field.

Background

Important facilities in the fields of highways, railways, electric power, national defense, municipal administration and the like need to be regularly inspected and maintained, and emergency rescue work is carried out under emergency conditions. When a major accident occurs, the accident occurrence place is far away from the rescue personnel, and the rescue facility cannot timely play a rescue role. The rail type mobile inspection robot can freely move on the erected double-rail type rail by using the technologies of automation, communication, machinery and the like, can periodically inspect and maintain important facilities according to requirements, and can accurately move to an accident site to timely perform rescue work when an accident occurs. The existing track inspection robot has the disadvantages of poor running stability, large volume, low running speed, incomplete functions and no extended functions.

SUMMERY OF THE UTILITY MODEL

The purpose of the invention is as follows: in order to overcome exist not enough among the prior art, the utility model provides a robot is patrolled and examined to cascade type track, the robot can high-speed operation, realizes great slope (45 °) climbing, because each part flexonics's the reason, so makes whole mechanism operation more steady.

The technical scheme is as follows: in order to solve the technical problem, the cascading type track inspection robot comprises a first vehicle body, a second vehicle body and a third vehicle body, the first vehicle body, the second vehicle body and the third vehicle body are connected through connecting devices, the first vehicle body is provided with an ultrasonic obstacle avoidance module, a power supply, a smoke sensor and an encoder, the second vehicle body is provided with a gas sensor, a loudspeaker, an illumination sensor, a temperature sensor and a radio frequency module, the third vehicle body is provided with a WIFI module, an industrial personal computer, a 24-12V power supply module and a single-board computer, the ultrasonic obstacle avoidance module, the power supply, the smoke sensor, the encoder, the gas sensor, the loudspeaker, the illumination sensor, the temperature sensor, the radio frequency module and the WIFI module are all in signal connection with the single-board computer, the WIFI module is connected with the industrial personal computer through the switch, and the industrial personal computer is connected with the display screen.

Preferably, the first vehicle body, the second vehicle body and the third vehicle body are respectively provided with a first-stage motor, a second-stage motor and a third-stage motor, the first-stage motor is a high-torque low-speed motor, the second-stage motor is a common motor, and the third-stage motor is a high-speed motor.

Preferably, the connection means is a flexible connection means.

Preferably, the flexible connecting device is H-shaped and includes a fixing portion fixed to the vehicle body bottom and a connecting portion connecting the fixing portion.

Preferably, the connecting portion and the fixing portion are connected by a bearing.

Has the advantages that: the utility model discloses a cascaded track inspection robot, the robot can high-speed operation, realizes the climbing of great slope (45 °), because the reason of each part flexonics, so make the operation of whole mechanism more steady; the system has perfect composition and complete functions, the balance weight and EMC of the robot are considered in the layout, and each section of vehicle body assembly is scientifically and reasonably arranged.

Drawings

Fig. 1 is a structural view of a robot.

Fig. 2 is a system configuration diagram of the robot.

Fig. 3 is a schematic structural diagram of the relay device of the present invention.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

As shown in fig. 1 to 3, the tandem track inspection robot of the present invention comprises a first vehicle body 1, a second vehicle body 2 and a third vehicle body 3, wherein the first vehicle body 1, the second vehicle body 2 and the third vehicle body 3 are connected by a connecting device, the first vehicle body 1 is provided with an ultrasonic obstacle avoidance module, a power supply, a smoke sensor and an encoder, the second vehicle body 2 is provided with a gas sensor, a speaker, an illumination sensor, a temperature sensor and a radio frequency module, the third vehicle body 3 is provided with a WIFI module 7, an industrial personal computer 5, a 24-12V power supply module and a single board computer 8, the 24-12V power supply module supplies power to each module, the ultrasonic obstacle avoidance module, the power supply, the smoke sensor, the encoder, the gas sensor, the speaker, the illumination sensor, the temperature sensor, the radio frequency module and the WIFI module 7 are all in signal connection with the single board computer 8, WIFI module 7 passes through switch 6 and is connected with industrial computer 5, and industrial computer 5 is connected with display screen 4.

The utility model discloses in, install one-level motor, second grade motor and tertiary motor on first automobile body 1, second automobile body 2 and the third automobile body 3 respectively, the one-level motor is big moment of torsion low-speed motor, the second grade motor is ordinary motor, tertiary motor is high-speed motor, and the motion of industrial computer 5 control tertiary motor, three automobile body pass through the motor and drive the motion.

The utility model discloses in, connecting device is flexible connecting device, flexible connecting device is the H type, has the fixed part 33 of fixing bottom of the car body and connects the connecting portion 31 of fixed part 33, installs fixed part 33 and connecting portion 31 on the automobile body respectively promptly and is the H type, and fixed part 33 is equipped with the through-hole, is equipped with the boss in the through-hole, and connecting portion 31 is the screw rod, and the connecting portion both ends are equipped with the step, installs the bearing at connecting portion 31 both ends, and bearing 32 passes through the nut to be fixed on connecting portion.

The utility model discloses in, main hardware constitutes and includes: industrial computer 5, STM32 embedded veneer, intelligent integration cloud platform, look screen acquisition module, thermal imaging module, RFID orientation module, keep away barrier detection module, touch limit switch, wireless communication module, battery receive electric module, lithium cell group, intercom system, ambient gas and temperature and humidity detection module, smog alarm module, illumination detection module.

Robot hardware component distributes in first automobile body 1 of robot, second automobile body 2 and third automobile body 3, the barrier module is kept away to the supersound, a power supply, smoke transducer, the encoder, the lamp area, the antenna charger receives the electric end, lithium cell group BMS, lithium cell group is located first automobile body 1, four unification gas sensor, the speaker, the adapter, two optical cloud platforms, the illumination sensor, temperature sensor ware and radio frequency module are located second automobile body 2, WIFI module 7, the industrial computer 5, 24-12V power module and single board computer 8 are located third automobile body 3. In the running process of the robot, the industrial personal computer 5 is used as the core of the whole machine and carries a robot control system; the STM32 embedded single board is responsible for robot motion control; the cradle head carries a video acquisition module and a thermal imaging module to be responsible for relevant data acquisition; the radio frequency module is responsible for the position calibration of the robot; the obstacle avoidance detection module detects whether an obstacle exists in the running direction of the robot or not, and the edge touching switch is used as the last obstacle for collision avoidance of the robot; the wireless communication module is responsible for establishing a communication network between the robot and the centralized control center; the battery power receiving module is a part of a wireless charging system and is responsible for charging the lithium battery pack; the lithium battery pack provides power for the robot; four gas sensors detect the content of harmful gas in the pipe gallery and judge whether the harmful gas exceeds the standard or not; an illumination sensor carried by the robot detects whether ambient illumination meets the working requirement of the camera or not and serves as a basis for starting a light supplement lamp; staff in the pipe gallery talkbacks with centralized control center management personnel's pronunciation through the pronunciation intercom system, realizes the on-the-spot condition and reports real time monitoring.

The above description is only a preferred embodiment of the present invention, and it should be noted that: for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be considered as the protection scope of the present invention.

Claims (5)

1. The utility model provides a robot is patrolled and examined to tandem type track which characterized in that: the ultrasonic obstacle avoidance vehicle comprises a first vehicle body, a second vehicle body and a third vehicle body, wherein the first vehicle body, the second vehicle body and the third vehicle body are connected through a connecting device, an ultrasonic obstacle avoidance module, a power supply, a smoke sensor and an encoder are installed on the first vehicle body, a gas sensor, a loudspeaker, an illumination sensor, a temperature sensor and a radio frequency module are installed on the second vehicle body, a WIFI module, an industrial personal computer, a 24-12V power supply module and a single board computer are installed on the third vehicle body, the ultrasonic obstacle avoidance module, the power supply, the smoke sensor, the encoder, the gas sensor, the loudspeaker, the illumination sensor, the temperature sensor, the radio frequency module and the WIFI module are all in signal connection with the single board computer, the WIFI module is connected with the industrial personal computer through a switch, and the industrial personal computer is connected with.

2. The cascading track inspection robot according to claim 1, wherein: the first vehicle body, the second vehicle body and the third vehicle body are respectively provided with a first-stage motor, a second-stage motor and a third-stage motor, the first-stage motor is a high-torque low-speed motor, the second-stage motor is a common motor, and the third-stage motor is a high-speed motor.

3. The cascading track inspection robot according to claim 1, wherein: the connecting device is a flexible connecting device.

4. The cascading track inspection robot according to claim 3, wherein: the flexible connecting device is H-shaped and is provided with a fixing part fixed at the bottom of the vehicle body and a connecting part connected with the fixing part.

5. The cascading track inspection robot according to claim 4, wherein: the connecting part and the fixing part are connected through a bearing.