CN209850940U - Track suspension intelligent inspection robot system - Google Patents
Track suspension intelligent inspection robot system Download PDFInfo
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- CN209850940U CN209850940U CN201920479130.6U CN201920479130U CN209850940U CN 209850940 U CN209850940 U CN 209850940U CN 201920479130 U CN201920479130 U CN 201920479130U CN 209850940 U CN209850940 U CN 209850940U
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Abstract
The utility model relates to an intelligent detection robot field especially relates to a track hangs intelligence and patrols and examines robot system. The device comprises a V-shaped groove track, a walking trolley, a lifting mechanism and a camera shooting rotating holder; a sliding contact line and a synchronous toothed belt are respectively arranged on two sides of the V-shaped groove track; the walking trolley comprises a rotary hanging frame, a walking synchronizing wheel, a swinging sliding table, a mandril resetting mechanism, a walking trolley stepping servo motor, a walking trolley upper base plate, a walking trolley lower base plate and a connecting rod; the lifting mechanism consists of a lifting mechanism stepping servo motor, a first worm support frame, a first worm wheel, a lead screw transmission shaft, a multi-stage lead screw, a lead screw nut, a fixed guide rod and a guide telescopic rod; the camera shooting rotating tripod head consists of a tripod head body, a camera rotating mechanism and a tripod head rotating mechanism; the camera rotating mechanism comprises a camera rotating shaft, a rotating shaft supporting seat, a worm gear III, a worm supporting frame and a camera rotating stepping servo motor.
Description
Technical Field
The utility model relates to an intelligent detection robot field especially relates to a track hangs intelligence and patrols and examines robot system.
Background
At present, in machine rooms or power distribution stations of some important equipment, manual attendance is arranged, the running state of the equipment is regularly patrolled, examination fatigue is easily formed in repeated work day after day, people are in a numb state, early signals which are unstable in work and are scattered at the head of a seedling appear in some equipment in the process of patrolling and examining, and when equipment faults occur, serious property loss and even serious accidents of personal casualties are often caused. Therefore, people want to replace manual guarding with a robot to improve the problems occurring in manual guarding, however, the existing inspection robots in the market have some defects, some inspection robot walking mechanisms adopt a friction wheel driving mode, and can only walk on a linear track or an arc track with a large radius, and in addition, in order to solve the problems of walking skid and inaccurate walking position, a brake braking mechanism and the like are added, so that the mechanical structure of the robot becomes complicated, the weight is increased and the like.
SUMMERY OF THE UTILITY MODEL
The utility model aims to the above-mentioned weak point, a track hangs intelligence and patrols and examines robot system is provided, has V-arrangement groove track, walking dolly, elevating system and the rotatory cloud platform of making a video recording. The structure is compact and the weight is light. The inspection tour can be performed on equipment instruments with different heights and different angles. The device is suitable for automatic itinerant detection of the environment, the equipment running state and the like of a fixed place. Such as environmental detection of machine rooms, power distribution stations and the like, equipment running state monitoring, meter data reading and the like.
A track suspension intelligent inspection robot system is realized by adopting the following technical scheme:
a track suspension intelligent inspection robot system comprises a V-shaped groove track, a walking trolley, a lifting mechanism and a camera shooting rotating holder.
And V-shaped guide positioning grooves are respectively arranged on two sides of the lower part of the V-shaped groove track, and a T-shaped groove for hoisting and fixing is arranged at the top of the V-shaped groove track. And the sliding contact line and the synchronous toothed belt are respectively arranged on two sides of the V-shaped groove track.
The V-shaped groove track is fixedly arranged along the installation position of the electrical equipment or the electrical cabinet according to the installation position of the electrical equipment or the electrical cabinet. The V-shaped groove track is set to be in a shape of turning and turning, so that the robot can conveniently patrol.
The walking trolley comprises a rotary hanging frame, a walking synchronizing wheel, a swinging sliding table, a mandril resetting mechanism, a walking trolley stepping servo motor, a walking trolley upper base plate, a walking trolley lower base plate and a connecting rod.
The upper base plate of the walking trolley is fixedly connected with the lower base plate of the walking trolley through a connecting rod.
The walking trolley is fixed with the guide rollers through the rotary hanging frame, then the two groups of guide rollers are hung in the V-shaped guide positioning grooves of the V-shaped groove track, the walking trolley stepping servo motor is installed and fixed on the base plate of the swinging sliding table through the positioning and guiding of the V-shaped guide positioning grooves, the walking trolley stepping servo motor is connected with the walking synchronizing wheel in a direct connection mode, namely, the output shaft of the walking trolley servo motor is connected with the wheel shaft of the walking synchronizing wheel; the walking trolley stepping servo motor drives the walking synchronous wheel to rotate, and the walking trolley is driven to walk along the V-shaped groove rail of the system.
The sliding contact line arranged in the V-shaped groove track can enable the walking trolley stepping servo motor to utilize a current collector arranged on a bottom plate seat on the walking trolley to get electricity through the sliding contact line of the system track when in use.
The swing sliding table is provided with a swing sliding table base plate, a sliding table rotating shaft and a sliding table guide rail, the swing sliding table adopts a single-shaft cantilever support and sliding table guide rail auxiliary support structure, and the swing sliding table base plate is fixed at the side position of the central axis of the bottom surface of the base plate on the walking trolley through the sliding table rotating shaft; the swing sliding table is fixedly connected with the base plate on the walking trolley through the sliding table rotating shaft, and the swing sliding table can freely rotate around the sliding table rotating shaft.
When the walking trolley stepping servo motor is used, the current collector arranged on the upper baseplate seat of the walking trolley is used for getting electricity through the sliding contact line of the system track.
The rotary hanging rack is provided with a rotary hanging rack base plate, a guide roller fixing shaft and a rotary hanging rack fixing shaft; the T-shaped fork rod structure layout is adopted, two groups of guide rollers are respectively fixed at two ends of a rotary hanger base plate (namely the hanger base plate) by a guide roller fixing shaft, and the guide rollers can freely rotate on the guide roller fixing shaft. Two sets of rotary hangers are respectively installed and fixed at the front and rear positions of the central axis on the top surface of the base plate on the walking trolley through rotary hanger fixing shafts, and the rotary hangers can freely rotate around the rotary hanger fixing shafts on the base plate on the walking trolley.
When the walking trolley works, the walking trolley is suspended in the V-shaped guide positioning grooves of the V-shaped groove tracks through the two groups of guide rollers and is positioned and guided through the V-shaped guide positioning grooves.
The ejector rod resetting mechanism is provided with a resetting ejector rod seat, a resetting ejector rod, a compression spring and an adjusting screw rod. The reset ejector rod seat is fixed on the bottom surface of the upper base plate of the walking trolley and the outer side of the swinging sliding table by screws, and the reset ejector rod is over against the radial position of a stepping servo motor shaft of the walking trolley. The resetting ejector rod seat is provided with a sliding groove, the compression spring and the resetting ejector rod are sequentially arranged in the sliding groove, and the resetting ejector rod can freely slide in the sliding groove of the resetting ejector rod seat; a threaded hole is arranged at the rear part of the sliding groove, and the adjusting screw rod is arranged in the threaded hole.
The rotary hanging rack, the swing sliding table and the reset mechanism on the walking trolley jointly form a flexible structure of the walking trolley, so that the walking trolley can flexibly and continuously pass through a curve. The walking trolley runs to the curved arc position, due to the influence of the arc chord height (the distance between the fixed shafts of the two rotary hangers is the length of a chord, and the chord height is the distance from the midpoint of the chord to the midpoint of the corresponding arc), under the action of the track arc surface, the relative distance between the synchronizing wheel and the rotary hangers changes, the swinging sliding table can swing around the sliding table rotating shaft along with the fluctuation of the arc surface, under the action of the reset mechanism, the synchronizing wheel and the synchronous belt are always kept in a normal meshing state, the blocking phenomenon cannot occur, and therefore the walking trolley can stably walk on the arc tracks with various radiuses.
The lifting mechanism consists of a lifting mechanism stepping servo motor, a first worm support frame, a first worm wheel, a lead screw transmission shaft, a multi-stage lead screw, a lead screw nut, a fixed guide rod and a multi-stage guide telescopic rod. The feed screw nut is provided with multiple stages. The multistage direction telescopic link is provided with at least tertiary direction telescopic link, and the direction telescopic link diameter at all levels is different, and the direction telescopic link at all levels is according to the diameter from big to little pile cover, and multistage direction telescopic link upper end fixed mounting has screw-nut respectively, and multistage screw-nut cooperates with multistage lead screw respectively, and consequently, screw-nut's quantity is not less than the progression of direction telescopic link.
The lifting mechanism stepping servo motor is arranged on the lower base plate of the walking trolley, and the fixed guide rod is fixedly connected to the lower part of the lower base plate of the walking trolley.
The lower part of the multi-stage guiding telescopic rod is provided with a rotating pan-tilt fixing flange which is connected with a rotating pan-tilt connecting flange to install a camera rotating pan-tilt.
The lifting mechanism step servo motor drives the multi-stage screw rods to rotate through the first worm wheel and the first worm, the screw rod nuts at all stages are respectively connected with the corresponding first-stage guiding telescopic rods into a whole through sliding bearings, the screw rods at all stages push the guiding telescopic rods through the screw rod nuts and respectively slide along the directions in the fixed guide rods and the guiding telescopic rods, and the cloud deck lifting function is achieved.
The multi-stage guiding telescopic rod and the lead screw nut can only rotate radially and cannot move axially. All be equipped with the direction spout in fixed guide bar and the direction telescopic link, under the effect of direction spout, can only axial displacement between fixed guide bar and the direction telescopic link, can not radial rotation. The guiding telescopic rods at all levels can only axially move and cannot radially rotate.
The lifting mechanism is characterized in that a worm wheel I and a worm drive a multistage screw rod to rotate. At present, most of lifting mechanisms used in the market drive multistage screw rods to rotate through a motor through gears or synchronous belt wheels. The screw thread of multistage lead screw adopts the bull screw thread, and the helical pitch is big, and it is fast to march, but the screw thread is not the auto-lock, and when the motor was in the stall state, the cloud platform was under the effect of gravity, can slow gliding by oneself, can not fine location when detecting the target. The worm and gear drive multistage screw rod rotates, the problem that the multistage screw rod is not self-locked is well solved, and the lifting operation is very stable.
The camera shooting rotating tripod head consists of a tripod head body, a camera rotating mechanism and a tripod head rotating mechanism; the cloud platform body have cloud platform bottom plate, cloud platform curb plate, connect horizontal pole, rotatory cloud platform installation axle and rotatory cloud platform fixing base. The two cradle head side plates are respectively and vertically fixed at two ends of the cradle head bottom plate; the upper part of the side plate of the holder is fixed through a connecting cross rod; the rotating holder fixing seat is arranged in the middle of the holder bottom plate; the rotating holder fixing seat is connected and installed with the rotating holder installation shaft through a bearing, and the rotating holder is connected with the lifting mechanism through a connecting flange.
The camera rotating mechanism is fixed in the side plate of the holder; the camera rotating mechanism comprises a camera rotating shaft, a rotating shaft supporting seat, a worm gear III, a worm supporting frame III and a camera rotating stepping servo motor; the rotating shaft supporting seat is fixed on the inner side of the side plate of the holder; one end of the camera rotating shaft is connected with the rotating shaft supporting seat, and the other end of the camera rotating shaft is provided with a camera mounting opening for mounting a camera; the upper part and the lower part of the rotating shaft supporting seat are respectively provided with a third worm supporting frame, and a third worm is fixed between the two third worm supporting frames and is provided with a third meshed worm wheel in a matching way; a camera rotating stepping servo motor fixed with the inner side of the side plate of the holder is arranged above the worm support frame III on the upper part.
The holder rotating mechanism comprises a holder stepping servo motor, a worm gear II, a worm II and a worm support frame II. The holder rotating mechanism is fixedly arranged below the rotating holder bottom plate; the tripod head stepping servo motor is arranged at the lower part of the inner side of the tripod head side plate; the second worm is fixed on the cradle head body through a second worm support frame and is provided with a second worm wheel which is meshed with the second worm in a matching mode.
The camera slewing mechanism be equipped with two sets, fix respectively in cloud platform curb plate both sides.
A track suspension intelligent inspection robot system is provided with a visible light camera, an infrared camera, a harmful gas sensor and an ultrasonic distance meter in a matching way.
The visible light camera and the infrared camera are respectively arranged on the outer end of the camera rotating shaft at the two sides of the tripod head, the harmful gas sensor is arranged at the position of the vent on the tripod head body, and the ultrasonic range finder is respectively arranged at the position of the periphery and the bottom of the tripod head shell without a shielding surface.
The camera rotating mechanism drives the camera rotating shaft to rotate by using the worm gear and the worm, so that the pitching action of the camera is realized. The pan-tilt rotating mechanism also adopts a worm gear mechanism, the difference is that a worm gear II is fixed at the lower part of a rotating pan-tilt mounting shaft connected with the lifting mechanism and used as a sun gear to not rotate, a worm gear II is fixed on the pan-tilt body through a support frame, the camera rotating pan-tilt and the fixed shaft can rotate freely relatively, and when the pan-tilt stepping servo motor drives the worm gear II to rotate, the worm gear II is used as a planet gear to rotate around the worm gear II, so that the horizontal rotation of the camera rotating pan-tilt is realized. The tripod head rotating mechanism is characterized in that even if the tripod head stepping servo motor is in a non-working state, the camera shooting rotating tripod head can not change the position and the orientation of the original camera due to the influence of external force. Because the transmission mode adopts a worm gear structure, the transmission is large, the power of a driving motor is reduced, and the weight of the camera shooting rotating holder is also reduced.
A method for inspecting a rail suspension intelligent inspection robot system comprises the following steps:
1) under the control of an industrial control computer, automatically patrolling the field environment and the electrical equipment along the track at fixed time and fixed point, and acquiring field data;
2) in the inspection process, the height of a cradle head and the angle orientation of a camera are automatically adjusted according to electrical equipment and instruments arranged at different heights and different angles, so that the display parameters of the instruments and the working state of the electrical equipment can be clearly and accurately recorded;
3) the method adopts sound, light and electricity to automatically alarm when finding problems, and uploads the data of the inspection record to the control center in real time; or the inspection robot is directed to a specified position to be detected in a remote control mode, and field environment parameters and recording instrument data are collected.
The track suspension intelligent inspection robot system is reasonable in design, compact in structure, convenient to use, simple in structure and light in weight, and consists of a V-shaped groove track, a walking trolley, a lifting mechanism, a camera shooting rotating tripod head, a visible light camera, an infrared camera, a harmful gas sensor, an ultrasonic distance meter and the like. The inspection tour can be performed on equipment instruments with different heights and different angles. The device is suitable for automatic itinerant detection of environments, equipment running states and the like in fixed places, such as environment detection of machine rooms, power distribution stations and the like, equipment running state monitoring, instrument data reading and the like. The inspection robot can continuously perform repeated monotonous work without knowing fatigue, tiredness and emotional fluctuation, overcomes some weaknesses which are difficult to overcome by human, and avoids human errors. Especially, in some dangerous occasions that may cause injury to human bodies, the advantage of the inspection robot is highlighted, human straight danger is effectively prevented, human injury accidents are prevented, and detection efficiency and detection quality are improved.
Drawings
The present invention will be further explained with reference to the accompanying drawings:
FIG. 1 is a perspective view of a rail-mounted intelligent inspection robot system;
FIG. 2 is a cross-sectional view of a rail-mounted intelligent inspection robot system;
fig. 3 is a structural schematic diagram of a walking track (V-groove track) of the track suspension intelligent inspection robot system;
fig. 4 is a schematic structural diagram 1 of the flexible walking trolley of the present invention;
FIG. 5 is a schematic structural view of the flexible traveling trolley of the present invention 2;
FIG. 6 is a schematic structural view of the flexible traveling trolley of the present invention 3;
fig. 7 is a schematic structural view 4 of the flexible walking trolley of the present invention;
FIG. 8 is a left side view of FIG. 7;
FIG. 9 is a sectional view of the flexible walking trolley of the present invention;
fig. 10 is a schematic view of the lift mechanism of the system of the present invention 1;
fig. 11 is a schematic diagram of the lifting mechanism of the system of the present invention 2;
fig. 12 is a schematic view of a rotary pan-tilt structure of the system of the present invention 1;
fig. 13 is a schematic view of the structure of the rotary head of the system of the present invention, fig. 2;
fig. 14 is a schematic diagram of the structure of the rotary head of the system of the present invention shown in fig. 3.
In the figure: 1. v-shaped groove track, 1-1V-shaped guide positioning groove, 1-2T-shaped groove, 2 synchronous cog belt, 3 sliding contact line, 4 base plate on walking trolley, 5 walking synchronous wheel, 6 resetting ejector rod base, 7 adjusting screw rod, 8 resetting ejector rod, 9 swinging sliding table base plate, 10 sliding table rotating shaft, 11 sliding table guide rail, 12 walking trolley stepping servo motor, 13 connecting rod, 14 connecting rod, bottom base plate of walking trolley, 15 guiding roller fixing shaft, 16 guiding roller, 17 rotating hanging frame base plate, 18 rotating hanging frame fixing shaft, 19, first worm, 20 worm wheel, 21 screw rod transmission shaft, 22 multi-stage screw rod, 23 screw rod nut, 24, multi-stage guide telescopic rod, 25 fixed guiding rod, 26, second worm wheel, 27 rotating hanging platform, 28 rotating platform mounting shaft, second worm, 29 and platform stepping servo motor, 30. the device comprises a tripod head bottom plate, 31, tripod head side plates, 32, connecting cross rods, 33, a camera rotating shaft, 34, a rotating shaft supporting seat, 35, a worm gear III, 36, a worm III, 37, a worm supporting frame III, 38, a camera rotating stepping servo motor, 39, a current collector, 40, a lifting mechanism stepping servo motor, 41, a visible light camera, 42, an infrared camera, 43, a harmful gas sensor, 44, a rotating tripod head fixing seat, 45, a worm supporting frame II, 46, a compression spring, 47, a sliding groove, 48, a threaded hole, 49, a rotating tripod head connecting flange, 50 and a rotating tripod head fixing flange.
Detailed Description
Referring to the attached drawings 1-14, the track suspension intelligent inspection robot system comprises a V-shaped groove track 1, a walking trolley, a lifting mechanism and a camera shooting rotating holder.
Two sides of the lower part of the V-shaped groove track 1 are respectively provided with a V-shaped guiding positioning groove 1-1, and the top of the V-shaped groove track is provided with a T-shaped groove 1-2 for hoisting and fixing. The two sides of the V-shaped groove track 1 are respectively provided with a sliding contact line 3 and a synchronous cog belt 2.
The two sides of the V-shaped groove track 1 are respectively provided with a sliding contact line 3 and a synchronous toothed belt 2, and the V-shaped groove track 1 is fixedly arranged along the installation position of electrical equipment or an electrical cabinet according to the installation position of the electrical equipment or the electrical cabinet. The V-shaped groove track 1 is set to be in a shape of turning and turning, so that the robot can conveniently patrol.
The walking trolley comprises a rotary hanger, a walking synchronizing wheel 5, a swinging sliding table, a mandril resetting mechanism, a walking trolley stepping servo motor 12, a walking trolley upper base plate 4, a walking trolley lower base plate 14 and a connecting rod 13.
The upper base plate 4 of the walking trolley is fixedly connected with the lower base plate 14 of the walking trolley through a connecting rod 13.
The swing sliding table is provided with a swing sliding table base plate 9, a sliding table rotating shaft 10 and a sliding table guide rail 11, the swing sliding table adopts a single-shaft cantilever support and sliding table guide rail auxiliary support structure, and the swing sliding table base plate 9 is fixed at the side position of the central axis of the bottom surface of the base plate 4 on the walking trolley through the sliding table rotating shaft 10; the swing sliding table is fixedly connected with the base plate 4 on the walking trolley through the sliding table rotating shaft 10, and the swing sliding table can freely rotate around the sliding table rotating shaft 10.
A walking trolley stepping servo motor 12 is fixedly installed on the base plate 9 of the swing sliding table, the walking trolley stepping servo motor 12 is connected with the walking synchronizing wheel 5 in a direct connection mode, namely, an output shaft of the walking trolley servo motor 12 is connected with a wheel shaft of the walking synchronizing wheel 5; the walking trolley stepping servo motor 12 drives the walking synchronous wheel 5 to rotate, and drives the walking trolley to walk along the V-shaped groove track 1 of the system; when the walking trolley stepping servo motor 12 is used, the current collector 39 arranged on the upper baseplate seat 4 of the walking trolley is used for getting electricity through the sliding contact line 3 of the system track.
The rotary hanger is provided with a rotary hanger base plate 17, a guide roller 16, a guide roller fixing shaft 15 and a rotary hanger fixing shaft 18; two groups of guide rollers 16 are respectively fixed at two ends of a rotary hanger base plate 17 (namely, a hanger base plate) by a guide roller fixing shaft 15 by adopting a T-shaped fork rod structure layout, and the guide rollers 16 can freely rotate on the guide roller fixing shaft 15. The two groups of rotary hangers are respectively installed and fixed at the front and rear positions of the central axis on the top surface of the base plate 4 of the walking trolley through the rotary hanger fixing shafts 18, and the rotary hangers can freely rotate around the rotary hanger fixing shafts 18 on the base plate 4 of the walking trolley.
When the walking trolley works, the walking trolley is hung in the V-shaped guide positioning groove 1-1 of the V-shaped groove track 1 through the two groups of guide rollers 16 and is positioned and guided through the V-shaped guide positioning groove 1-1.
The ejector rod resetting mechanism is provided with a resetting ejector rod seat 6, a resetting ejector rod 8, a compression spring 46 and an adjusting screw rod 7; the reset ejector rod seat 6 is fixed on the bottom surface of the upper base plate 4 of the walking trolley and the outer side of the swing sliding table by screws; the reset ejector rod 8 is over against the radial position of the stepping servo motor shaft of the walking trolley; the reset ejector rod seat 6 is provided with a sliding groove 47, the compression spring 46 and the reset ejector rod 8 are sequentially arranged in the sliding groove 47, and the reset ejector rod 8 can freely slide in the sliding groove 47 of the reset ejector rod seat 6; a threaded hole 48 is formed at the rear part of the sliding groove 47, and the adjusting screw 7 is arranged in the threaded hole 48.
The rotary hanging rack, the swing sliding table and the reset mechanism on the walking trolley jointly form a flexible structure of the walking trolley, so that the walking trolley can flexibly and continuously pass through a curve. When the walking trolley runs to a curved arc, due to the influence of the arc chord height (the distance between the fixed shafts of the two rotary hangers is the length of a chord, and the chord height is the distance from the midpoint of the chord to the midpoint of the corresponding arc), under the action of the arc surface of the track, the relative distance between the synchronizing wheel and the rotary hangers changes, the swinging sliding table can swing around the rotating shaft of the sliding table along with the fluctuation of the arc surface, under the action of the reset mechanism, the synchronizing wheel and the synchronous belt are always kept in a normal meshing state, the blocking phenomenon cannot occur, and therefore the walking trolley can stably walk on arc tracks with various radiuses.
The lifting mechanism consists of a lifting mechanism stepping servo motor 40, a first worm 19, a worm support frame, a first worm wheel 20, a screw rod transmission shaft 21, a multi-stage screw rod 22, a screw rod nut 23, a fixed guide rod 25 and a multi-stage guide telescopic rod 24. The feed screw nut 23 is provided with multiple stages. The multi-stage guide telescopic rod 24 is provided with multiple stages, the diameters of the multi-stage guide telescopic rods 24 are different, the multi-stage guide telescopic rods 24 are sleeved in a stacked mode from large to small according to the diameters, the upper end portions of the multi-stage guide telescopic rods 24 are fixedly provided with screw rod nuts 23 respectively, and the multi-stage nuts 23 are matched with the multi-stage screw rods 22 respectively.
The lifting mechanism stepping servo motor 40 is arranged on the lower base plate 14 of the walking trolley, and the fixed guide rod 25 is fixedly connected to the lower part of the lower base plate 14 of the walking trolley.
The lower part of the multi-stage guiding telescopic rod 24 is provided with a rotating tripod head fixing flange 50, and a camera rotating tripod head is arranged in connection 49 with the rotating tripod head connecting flange.
The lifting mechanism stepping servo motor 40 drives the multistage screw rods 22 to rotate through the first worm wheel 20 and the first worm 19, the screw rod nuts 23 of each stage are fixed with the corresponding guiding telescopic rods 24 into a whole, the screw rods 22 of each stage push the guiding telescopic rods 24 through the screw rod nuts 23 and slide along the guiding directions in the fixed guide rods 25 and the guiding telescopic rods 24 respectively, and the tripod head lifting function is achieved.
The lifting mechanism is characterized in that a worm wheel I20 and a worm rod I19 are used for driving a multi-stage screw rod 22 to rotate. At present, most of lifting mechanisms used in the market drive multistage screw rods to rotate through a motor through gears or synchronous belt wheels. The screw thread of multistage lead screw 22 adopts the bull screw thread, and the helical pitch is big, and it is fast to march, but the screw thread is not the auto-lock, and when the motor was in the stall state, the cloud platform was under the effect of gravity, can slow gliding by oneself, can not fine location when detecting the target. The worm gear is used for driving the multistage screw rod to rotate, the problem that the multistage screw rod 22 is not self-locked is well solved, and the lifting operation is very stable.
The camera shooting rotating tripod head consists of a tripod head body, a camera rotating mechanism and a tripod head rotating mechanism; the holder body is provided with a holder bottom plate 30, a holder side plate 31, a connecting cross rod 32, a rotating holder mounting shaft 27 and a rotating holder fixing seat 44. The two cradle head side plates 31 are respectively and vertically fixed at two ends of the cradle head bottom plate 30; the upper part of the holder side plate 31 is fixed through a connecting cross rod 32; the rotating holder fixing seat 44 is arranged in the middle of the holder base plate 30; the rotating tripod head fixing seat 44 is connected and installed with the rotating tripod head mounting shaft 27 through a bearing, and the rotating tripod head is connected with the lifting mechanism through a connecting flange;
the camera rotating mechanism is fixed in the holder side plate 31; the camera rotating mechanism comprises a camera rotating shaft 33, a rotating shaft supporting seat 34, a worm gear III 35, a worm III 36, a worm supporting frame III 37 and a camera rotating stepping servo motor 38; the rotating shaft supporting seat 34 is fixed on the inner side of the holder side plate 31; one end of the camera rotating shaft 33 is connected with the rotating shaft supporting seat 34, and the other end of the camera rotating shaft is provided with a camera mounting opening for mounting a camera; the upper part and the lower part of the rotating shaft supporting seat 34 are both provided with a third worm supporting frame 37, and a third worm 36 is fixed between the two third worm supporting frames 37 and is provided with a third meshed worm wheel 35 in a matching way; a camera rotating stepping servo motor 38 fixed with the inner side of the tripod head side plate 31 is arranged above the upper worm support frame III 37.
The holder rotating mechanism comprises a holder stepping servo motor 29, a second worm wheel 26, a second worm 28 and a second worm support 45. The holder rotating mechanism is fixedly arranged below the holder bottom plate 30; the tripod head stepping servo motor 29 is arranged at the lower part of the inner side of the tripod head side plate 31; the second worm 28 is fixed on the cradle head body through the second worm support bracket 45 and is provided with a second worm wheel 26 which is engaged with the second worm support bracket in a matching way.
The camera slewing mechanism be equipped with two sets, fix respectively in cloud platform curb plate 31 both sides.
A track suspension intelligent inspection robot system can be matched with a visible light camera, an infrared camera, a harmful gas sensor and/or an ultrasonic distance meter.
The visible light camera 41 and the infrared camera 42 are respectively arranged on the outer end heads of the camera rotating shafts 33 on the two sides of the tripod head, the harmful gas sensor 43 is arranged at the position of the vent on the tripod head body, and the ultrasonic range finder is respectively arranged at the position without a shielding surface at the periphery and the bottom of the tripod head shell. The visible light camera 41 employs a DS-2ZMN0407 type video camera. The infrared camera 42 is a MAG32MINI type infrared camera. The harmful gas sensor 43 is a commercially available harmful gas sensor. The ultrasonic distance meter adopts a commercially available ultrasonic distance meter.
The camera rotating mechanism drives the camera rotating shaft 33 to rotate by using a worm gear, so that the camera is tilted. The pan-tilt rotating mechanism also adopts a worm gear mechanism, except that a second worm gear 26 is fixed at the lower part of a rotating pan-tilt mounting shaft 27 connected with the lifting mechanism and used as a sun gear to not rotate, a second worm 28 is fixed on the pan-tilt body through a support frame, the camera rotating pan-tilt and the rotating pan-tilt mounting shaft 27 can freely rotate, and when a pan-tilt stepping servo motor 29 drives the second worm 8 to rotate, the second worm 28 is used as a planet gear to rotate around the second worm gear 26, so that the horizontal rotation of the camera rotating pan-tilt is realized. The tripod head rotating mechanism is characterized in that even if the tripod head stepping servo motor 29 is in a non-working state, the original camera position and orientation of the camera rotating tripod head can not be changed due to the influence of external force. Because the transmission mode adopts a worm gear structure, the transmission is large, the power of a driving motor is reduced, and the weight of the camera shooting rotating holder is also reduced.
Claims (10)
1. A track suspension intelligent inspection robot system is characterized by comprising a V-shaped groove track, a traveling trolley, a lifting mechanism and a camera shooting rotating holder;
a sliding contact line and a synchronous toothed belt are respectively arranged on two sides of the V-shaped groove track;
the walking trolley comprises a rotary hanging frame, a walking synchronizing wheel, a swinging sliding table, a mandril resetting mechanism, a walking trolley stepping servo motor, a walking trolley upper base plate, a walking trolley lower base plate and a connecting rod;
the upper base plate of the walking trolley is fixedly connected with the lower base plate of the walking trolley through a connecting rod;
the walking trolley is fixed with the guide idler wheels through a rotary hanging frame, and then is hung in a V-shaped guide positioning groove of the V-shaped groove track through two groups of guide idler wheels, positioning and guiding are carried out through the V-shaped guide positioning groove, a walking trolley stepping servo motor is installed and fixed on a base plate of a swing sliding table, the walking trolley stepping servo motor is connected with a walking synchronizing wheel in a direct connection mode, the swing sliding table is fixedly connected with the base plate on the walking trolley through a sliding table rotating shaft, the swing sliding table can freely rotate around the sliding table rotating shaft, the walking trolley stepping servo motor drives the walking synchronizing wheel to rotate, and the walking trolley is driven to walk along the;
the lifting mechanism consists of a lifting mechanism stepping servo motor, a first worm support frame, a first worm wheel, a lead screw transmission shaft, a multi-stage lead screw, a lead screw nut, a fixed guide rod and a multi-stage guide telescopic rod; the multi-stage guide telescopic rods are provided with at least three stages of guide telescopic rods, the diameters of the guide telescopic rods at each stage are different, the guide telescopic rods at each stage are sleeved in a stacking manner from large to small according to the diameters, the upper end parts of the guide telescopic rods at each stage are respectively and fixedly provided with a screw rod nut, and the multi-stage screw rod nuts are respectively matched with the multi-stage screw rods;
the lifting mechanism stepping servo motor is arranged on the lower base plate of the walking trolley, and the fixed guide rod is fixedly connected to the lower part of the lower base plate of the walking trolley; the lower part of the guiding telescopic rod is provided with a rotating tripod head fixing flange which is connected with a rotating tripod head connecting flange to install a camera rotating tripod head;
the camera shooting rotating tripod head consists of a tripod head body, a camera rotating mechanism and a tripod head rotating mechanism; the holder body is provided with a holder bottom plate, a holder side plate, a connecting cross rod and a rotary holder fixing seat; the two cradle head side plates are respectively and vertically fixed at two ends of the cradle head bottom plate; the upper part of the side plate of the holder is fixed through a connecting cross rod; the rotating holder fixing seat is arranged in the middle of the holder bottom plate; the rotating tripod head fixing seat is connected and installed with the rotating tripod head mounting shaft through a bearing, and the rotating tripod head is connected with the lifting mechanism through a connecting flange;
the camera rotating mechanism comprises a camera rotating shaft, a rotating shaft supporting seat, a worm gear III, a worm supporting frame III and a camera rotating stepping servo motor; the two camera rotating mechanisms are respectively fixed on the two tripod head side plates; the rotating shaft supporting seat is fixed on the inner side of the side plate of the holder; one end of the camera rotating shaft is connected with the rotating shaft supporting seat, and the other end of the camera rotating shaft is provided with a camera mounting opening for mounting a camera; the upper part and the lower part of the rotating shaft supporting seat are respectively provided with a third worm supporting frame, and a third worm is fixed between the two third worm supporting frames and is provided with a third meshed worm wheel in a matching way; a camera rotating stepping servo motor fixed with the inner side of the tripod head side plate is arranged above the upper worm support frame III;
the holder rotating mechanism comprises a holder stepping servo motor, a worm gear II, a worm II and a worm support frame II; the holder rotating mechanism is fixedly arranged below the rotating holder bottom plate; the tripod head stepping servo motor is arranged at the lower part of the inner side of the tripod head side plate; the second worm is fixed on the cradle head body through a second worm support frame and is provided with a second worm wheel which is meshed with the second worm in a matching mode.
2. The intelligent rail-mounted inspection robot system according to claim 1, wherein the rotating hanger has a rotating hanger base plate, guide rollers, a guide roller securing axle and a rotating hanger securing axle; the T-shaped fork rod structure layout is adopted, two groups of guide rollers are respectively fixed at two ends of a base plate of the rotary hanging rack by guide roller fixing shafts, and the guide rollers freely rotate on the guide roller fixing shafts; two sets of rotary hangers are respectively installed and fixed at the front and rear positions of the central axis on the top surface of the base plate on the walking trolley through rotary hanger fixing shafts, and the rotary hangers can freely rotate around the rotary hanger fixing shafts on the base plate on the walking trolley.
3. The intelligent track suspension inspection robot system according to claim 1, wherein the swing slide has a swing slide base plate, a slide rotating shaft and a slide guide rail; a single-shaft cantilever support and a sliding table guide rail auxiliary support structure are adopted, and a base plate of a swinging sliding table is fixed on the side surface of the central axis of the bottom surface of the base plate of the walking trolley through a rotating shaft of the sliding table; the swing sliding table is fixedly connected with the base plate on the walking trolley through the sliding table rotating shaft, and the swing sliding table can freely rotate around the sliding table rotating shaft.
4. The intelligent track suspension inspection robot system according to claim 1, wherein the reset mechanism comprises a reset ejector rod seat, a reset ejector rod, a compression spring and an adjusting screw rod; the reset ejector rod seat is fixed on the bottom surface of the upper base plate of the walking trolley and the outer side of the swinging sliding table through screws, and the reset ejector rod is over against the radial position of a stepping servo motor shaft of the walking trolley; the resetting ejector rod seat is provided with a sliding groove, the compression spring and the resetting ejector rod are sequentially arranged in the sliding groove, and the resetting ejector rod can freely slide in the sliding groove of the resetting ejector rod seat; a threaded hole is arranged at the rear part of the sliding groove, and the adjusting screw rod is arranged in the threaded hole.
5. The intelligent track suspension inspection robot system according to claim 1, wherein V-shaped guide positioning grooves are respectively formed in two sides of the lower portion of the V-shaped groove track, and a T-shaped groove for hoisting and fixing is formed in the top of the V-shaped groove track.
6. The intelligent track suspension inspection robot system according to claim 1, wherein the V-shaped groove tracks are fixedly arranged along the installation position of the electrical equipment or the electrical cabinet, and the V-shaped groove tracks are arranged in a turning shape so as to facilitate inspection of the robot.
7. The intelligent track suspension inspection robot system according to claim 1, wherein the rotary hanger, the swing sliding table and the reset mechanism on the traveling trolley are specially arranged for the traveling trolley to pass through a curve, so that the traveling trolley is of a flexible structure, the traveling trolley travels to a curve, and due to the influence of the arc chord height, under the action of the arc surface of the track, the relative distance between the synchronizing wheel and the rotary hanger changes, the swing sliding table can swing around the rotating shaft of the sliding table along with the fluctuation of the arc surface, and under the action of the reset mechanism, the synchronizing wheel and the synchronous belt are always kept in a normal meshing state, so that the synchronous wheel cannot be blocked and can stably travel on arc tracks of various radiuses.
8. The intelligent track suspension inspection robot system according to claim 1, wherein the elevating mechanism stepping servo motor drives a multi-stage lead screw to rotate through a first worm gear and a first worm, lead screw nuts at each stage are respectively fixed with corresponding guiding telescopic rods into a whole, the lead screws at each stage push the guiding telescopic rods through the lead screw nuts, and respectively slide along the guiding directions in the fixed guide rod and the guiding telescopic rods, so that the tripod head elevating function is realized.
9. The track suspension intelligent inspection robot system according to claim 1, wherein the track suspension intelligent inspection robot system is provided with a visible light camera, an infrared camera, a harmful gas sensor and an ultrasonic distance meter in a matching manner.
10. The track-mounted intelligent inspection robot system according to claim 9, wherein the visible light camera and the infrared camera are respectively mounted on the outer ends of the camera rotating shafts on the two sides of the pan/tilt, the harmful gas sensor is mounted at the position of the vent on the pan/tilt body, and the ultrasonic range finder is respectively mounted at the position of the periphery and the bottom of the pan/tilt housing without a shielding surface.
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| CN201920479130.6U CN209850940U (en) | 2019-04-10 | 2019-04-10 | Track suspension intelligent inspection robot system |
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| CN201920479130.6U CN209850940U (en) | 2019-04-10 | 2019-04-10 | Track suspension intelligent inspection robot system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112659142A (en) * | 2020-12-14 | 2021-04-16 | 安徽普华灵动机器人科技有限公司 | Inspection robot capable of stably cruising |
| CN113048354A (en) * | 2021-03-09 | 2021-06-29 | 深圳微品致远信息科技有限公司 | Artificial intelligence supervisory equipment and monitored control system |
| WO2022052467A1 (en) * | 2020-09-08 | 2022-03-17 | 北京京东乾石科技有限公司 | Sliding contact line detection device and sliding contact line detection system |
-
2019
- 2019-04-10 CN CN201920479130.6U patent/CN209850940U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022052467A1 (en) * | 2020-09-08 | 2022-03-17 | 北京京东乾石科技有限公司 | Sliding contact line detection device and sliding contact line detection system |
| CN112659142A (en) * | 2020-12-14 | 2021-04-16 | 安徽普华灵动机器人科技有限公司 | Inspection robot capable of stably cruising |
| CN112659142B (en) * | 2020-12-14 | 2023-10-13 | 广州国巡机器人科技有限公司 | Stable cruising inspection robot |
| CN113048354A (en) * | 2021-03-09 | 2021-06-29 | 深圳微品致远信息科技有限公司 | Artificial intelligence supervisory equipment and monitored control system |
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