CN212497777U - Hang rail formula intelligence and patrol and examine robot - Google Patents

Hang rail formula intelligence and patrol and examine robot Download PDF

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Publication number
CN212497777U
CN212497777U CN202020405206.3U CN202020405206U CN212497777U CN 212497777 U CN212497777 U CN 212497777U CN 202020405206 U CN202020405206 U CN 202020405206U CN 212497777 U CN212497777 U CN 212497777U
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China
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trolley
base plate
hanging
walking
walking trolley
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CN202020405206.3U
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Chinese (zh)
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朱昕华
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Shanghai Yu Crown Technology Co ltd
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Shanghai Yu Crown Technology Co ltd
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Abstract

The utility model discloses a rail-hanging type intelligent inspection robot, which comprises a V-groove track, a walking trolley, a lifting mechanism and a pan-tilt camera; the left side and the right side of the V-groove track are respectively provided with a sliding contact line and a synchronous belt; the walking trolley specifically comprises a trolley frame consisting of an upper base plate of the walking trolley, a lower base plate of the walking trolley, a connecting rod and a supporting block, a telescopic sliding table, a walking driving wheel, a compression spring resetting mechanism, a driving servo motor and a driver, a flexible suspension wheel frame mechanism, a PLC (programmable logic controller) electric control unit, a switching power supply and a power carrier communication module; the lifting mechanism consists of a lifter driving motor, a lifting control module, a stay cord encoder and a double-column guide telescopic rod; the pan-tilt camera consists of a pan-tilt body, a camera rotating mechanism and a pan-tilt rotating mechanism. Has the advantages that: the utility model has the advantages of simple structure is reliable, the operation is stable, charge safety, driving force are strong, long service life, with low costs etc.

Description

Hang rail formula intelligence and patrol and examine robot
Technical Field
The utility model relates to an automatic equipment field of patrolling and examining relates to a hang rail formula intelligence and patrol and examine robot particularly.
Background
At present, in the field of industrial monitoring robots, various production occasions such as unattended machine rooms, warehouses and workshop production lines, especially in some special occasions, traditional fixed video monitoring equipment cannot meet diversified market demands, and immediately movable industrial monitoring robots are produced by transportation; the movable industrial monitoring robot can replace manpower to carry out all-around and multi-angle inspection on a target, unmanned operation is achieved, safety risks of personnel entering and exiting dangerous environments are reduced, monitoring inspection quality is improved, and enterprise cost is reduced. However, the existing inspection robot in the market still has some disadvantages, for example, the existing inspection robot is provided with a roller and a driving device for driving the roller to travel along a track on a trolley, the track is C-shaped steel with a downward opening, the roller is in rolling fit with the inner wall surfaces of two sides of the opening of the C-shaped steel track, and the adopted traveling mechanism is driven by meshing of gears, so that the defect that the robot cannot travel on a curve and cannot realize an accurate positioning function is also realized. Some inspection robot running gear adopt the mode of friction wheel drive, its shortcoming is only can walk on straight line track or the very big circular arc track of radius, the problem that appears skidding and walking is inaccurate, if increase brake braking mechanism again, further cause the mechanical structure of robot to become complicated, bad problems such as weight increase.
An effective solution to the problems in the related art has not been proposed yet.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a hang rail formula intelligence and patrol and examine robot, V groove track has, the walking dolly, elevating system and cloud platform camera, the robot should be patrolled and examined the detection to the equipment instrument and meter of co-altitude not, different angles, be applicable to the environment in fixed place, the automatic tour detection of equipment running state etc. if the environment detection of unmanned guard's computer lab, warehouse, workshop production line, distribution station etc., equipment running state control, instrument data reads etc. to solve the problem that proposes in the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme: a rail-hanging type intelligent inspection robot comprises a V-groove rail, a walking trolley, a lifting mechanism and a pan-tilt camera.
Furthermore, V-groove that is used for hanging driven roller is provided with respectively in V groove track lower part both sides, and upper portion is provided with the T-slot that is used for hoist and mount fixed, wiping line and hold-in range are equipped with respectively to V groove track both sides.
Further, the walking trolley comprises a walking trolley upper base plate, a walking trolley lower base plate, a connecting rod and a supporting block, wherein the walking trolley upper base plate and the walking trolley lower base plate are assembled into a trolley frame through the connecting rod and the supporting block.
Furthermore, the walking trolley is fixed with the driven suspension wheels through the suspension wheel frame, and then suspended in a V groove of a track through two groups of driven suspension wheels, the servo motor and the speed reducer are fixedly installed on the driving motor installation plate, and the output shaft of the speed reducer is fixedly connected with the synchronous wheel shaft; the servo motor drives the walking synchronous wheel to rotate, the walking synchronous wheel is meshed with the synchronous belt on the guide rail, and a current collector on a base plate on the walking trolley gets electricity through a sliding contact line on the guide rail.
Furthermore, the driving motor mounting plate is slidably mounted in the sliding table guide seat, the driving motor mounting plate is rigidly connected with the reset spring seat, the first spring guide pillar support, the second spring guide pillar support and the spring guide pillar form a reset mechanism, and the reset spring is mounted on the spring guide pillar.
Furthermore, the two groups of suspension wheel frames are respectively installed and fixed at the front and rear positions of the central axis on the top surface of the base plate of the walking trolley through the rotation shafts of the suspension wheel frames, and the two groups of driven suspension wheels are respectively fixed at the two ends of the suspension wheel frames through the suspension wheel shafts.
Further, install initial point proximity switch support and terminal point proximity switch support on the dolly upper base plate, install initial point proximity switch and terminal point proximity switch on it respectively, simultaneously still install two-dimensional code reader support on the dolly upper base plate, install two-dimensional code reader on it.
Further, elevating system fixes at dolly upper base plate lower surface by the elevating system mounting bracket, and elevating system includes the twin columns direction telescopic link, the twin columns direction telescopic link sets up tertiary direction telescopic link at least.
Furthermore, a pan-tilt camera mounting flange is arranged at the lower part of the double-column guide telescopic rod and connected with a pan-tilt camera.
Compared with the prior art, the utility model discloses following beneficial effect has: the utility model discloses positioning accuracy is high, stability is strong, can detect the inspection to the equipment instrument of co-altitude not, different angles, has simple structure reliably, the operation is stable, charging safety, driving force are strong, long service life, a great deal of advantage such as with low costs.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic view of the overall structure of a rail-mounted intelligent inspection robot according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a V-groove track for a smart inspection robot to walk according to an embodiment of the present invention;
fig. 3 is a perspective view of a rail-mounted intelligent inspection robot according to an embodiment of the present invention;
fig. 4 is a bottom view of the internal structure of the rail-mounted intelligent inspection robot according to the embodiment of the present invention;
fig. 5 is a top view of the inner structure of the rail-mounted intelligent inspection robot according to the embodiment of the present invention.
Reference numerals:
1. a V-groove track; 1.2, a trolley line; 1.3, synchronous belts; 2. a walking trolley; 2.1.1, a base plate on the walking trolley; 2.1.2, a lower base plate of the walking trolley; 2.1.3, connecting rod; 2.1.4, supporting blocks; 2.2.1.1, a walking synchronous wheel; 2.2.1.2, synchronizing the wheel shafts; 2.2.1.3, a synchronous wheel bearing seat; 2.2.1.4, synchronizing wheel end cover; 2.2.1.5, a speed reducer; 2.2.1.6, a servo motor; 2.2.2.1, a sliding table guide seat; 2.2.2.2, driving motor mounting plate; 2.3.1, a reset spring seat; 2.3.2, spring guide post; 2.3.3, a first spring guide pillar bracket; 2.3.4, a second spring guide column bracket; 2.3.5, a return spring; 2.4.1, hanging a wheel frame; 2.4.2, hanging a wheel bracket rotating shaft; 2.4.3, a wheel carrier bearing cover; 2.4.4, a driven suspension wheel; 2.4.5, hanging the wheel shaft; 2.4.6, suspending a wheel axle sleeve; 2.5.1.1, the starting point approaches the switch bracket; 2.5.1.2, starting point approach switch; 2.5.2.1, end point proximity switch bracket; 2.5.2.2, end point proximity switch; 2.5.3.1, a two-dimensional code reader bracket; 2.5.3.2, a two-dimensional code reader; 2.5.4.1, a PLC control unit; 2.5.4.2, a power carrier; 2.5.4.3, a switching power supply; 2.5.5, a current collector; 3. a lifting mechanism; 3.1.1, a lifting mechanism mounting rack; 3.1.2, a double-column guiding telescopic rod; 3.2.1, a stay wire encoder; 3.2.2, fixing a pull rope seat; 4. cloud deck camera.
Detailed Description
The following, with reference to the drawings and the detailed description, further description of the present invention is made:
referring to fig. 1-5, according to the embodiment of the present invention, a rail-mounted intelligent inspection robot includes a V-groove track 1, a walking trolley 2, a lifting mechanism 3 and a pan-tilt camera 4.
Through the above technical scheme of the utility model, 1 lower part both sides of V groove track are provided with the V-arrangement groove that is used for hanging driven roller 2.4.4 respectively, and upper portion is provided with and is used for the fixed T-arrangement groove of hoist and mount, and wiping line 1.2 and hold-in range 1.3 are equipped with respectively to the track both sides.
The walking trolley 2 comprises a walking trolley upper base plate 2.1.1, a walking trolley lower base plate 2.1.2, a connecting rod 2.1.3 and a supporting block 2.1.4, and the walking trolley upper base plate 2.1.1 and the walking trolley lower base plate 2.1.2 are assembled into a trolley frame through the connecting rod 2.1.3 and the supporting block group 2.1.4.
The walking trolley 2 is fixed with the driven suspension wheels 2.4.4 through the suspension wheel frames 2.4.1, and then is suspended in a V groove of a track through two groups of driven suspension wheels 2.4.4 for guiding and positioning; the servo motor 2.2.1.6 and the speed reducer 2.2.1.5 are fixedly arranged on the driving motor mounting plate 2.2.2.2, and the output shaft of the speed reducer 2.2.1.5 is fixedly connected with the synchronous wheel shaft 2.2.1.2; the servo motor 2.2.1.6 drives the walking synchronous wheel 2.2.1.1 to rotate, the walking synchronous wheel 2.2.1.1 is meshed with the synchronous belt 1.3 on the guide rail, and the driven suspension wheel 2.4.4 is driven to walk along the V-groove track; the current collector 2.5.5 on the base plate 2.1.1 on the walking trolley gets electricity through the trolley line 1.2 on the guide rail to supply power for the trolley electrical system.
The driving motor mounting plate 2.2.2.2 is slidably mounted in the sliding table guide seat 2.2.2.1, the driving motor mounting plate 2.2.2.2 is rigidly connected with the reset spring seat 2.3.1, the first spring guide pillar support 2.3.3, the second spring guide pillar support 2.3.4 and the spring guide pillar 2.3.2 form a reset mechanism, the reset spring 2.3.5 is mounted on the spring guide pillar 2.3.2, the reset spring 2.3.5 applies restoring force to the driving motor mounting plate 2.2.2.2 through the reset spring seat 2.3.1, and when the linear walking is performed, the walking synchronous wheel 2.2.1.1 can be completely meshed with the synchronous belt 1.3.
The flexible suspension wheel frame mechanism comprises suspension wheel frames 2.4.1 and suspension wheel frame rotating shafts 2.4.2, the suspension wheel frames 2.4.1 can freely rotate around the suspension wheel frame rotating shafts 2.4.2, and the two groups of suspension wheel frames 2.4.1 are respectively fixedly arranged at the front and back positions of a central axis on the top surface of a base plate 2.1.1 on the walking trolley through the suspension wheel frame rotating shafts 2.4.2; two groups of driven suspension wheels 2.4.4 are respectively fixed at two ends of a suspension wheel frame 2.4.1 by a suspension wheel shaft 2.4.5, and the driven suspension wheels 2.4.4 can freely rotate on the suspension wheel shaft 2.4.5; under the combined action of the sliding table, the reset mechanism and the flexible suspension wheel frame mechanism, the walking trolley can flexibly and continuously pass through a curve.
A starting point proximity switch bracket 2.5.1.1 and an end point proximity switch bracket 2.5.2.1 are arranged on the base plate 2.1.1 of the trolley, and a starting point proximity switch 2.5.1.2 and an end point proximity switch 2.5.2.2 are respectively arranged on the starting point proximity switch bracket 2.5.2.1 and are used as limiting points on two sides of the track; meanwhile, a two-dimensional code reader support 2.5.3.1 is further installed on the base plate 2.1.1 on the trolley, a two-dimensional code reader 2.5.3.2 is installed on the two-dimensional code reader support and used for reading two-dimensional codes below the track, and therefore the trolley can be started and stopped at any point on the track.
The lifting mechanism 3 is fixed on the lower surface of a base plate 2.1.1 on the trolley through a lifting mechanism mounting frame 3.1.1; the lifting mechanism comprises a double-column guide telescopic rod 3.1.2, the guide telescopic rod is at least provided with three stages of guide telescopic rods, each stage of guide telescopic rod has different diameters, and each stage of guide telescopic rod is overlapped and sleeved layer by layer according to the diameters from large to small; the lifting motor controls the double-column guide telescopic rod 3.1.2 to lift up and down, and the lifting distance is controlled by the stay wire encoder 3.2.1, so that starting and stopping at any position are realized.
The lower part of the double-column guiding telescopic rod 3.1.2 is provided with a pan-tilt camera mounting flange which is connected with a pan-tilt camera 4; the pan-tilt camera 4 can rotate horizontally by 360 degrees, vertically by 90 degrees and vertically by 90 degrees, so that the purpose of detecting and patrolling the equipment instruments at different heights and different angles is achieved.
To sum up, the utility model discloses positioning accuracy is high, stability is strong, can detect the inspection to the equipment instrument of co-altitude not, different angles, has simple structure reliably, the operation is stable, charge safety, driving capability are strong, long service life, a great deal of advantage such as with low costs.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (6)

1. A hanging rail type intelligent inspection robot is characterized by comprising a V-groove track (1), a walking trolley (2), a lifting mechanism (3) and a pan-tilt camera (4), wherein V-shaped grooves for hanging driven rollers (2.4.4) are respectively arranged on two sides of the lower portion of the V-groove track (1), T-shaped grooves for fixing the hanging are arranged on the upper portion of the V-groove track, a sliding contact line (1.2) and a synchronous belt (1.3) are respectively arranged on two sides of the V-groove track (1), the walking trolley (2) comprises a walking trolley upper base plate (2.1.1), a walking trolley lower base plate (2.1.2), a connecting rod (2.1.3) and a supporting block group (2.1.4), the walking trolley upper base plate (2.1.1) and the walking trolley lower base plate (2.1.2) are assembled into a trolley frame through the connecting rod (2.1.3) and the supporting block group (2.1.4), and the walking trolley (2) is fixed with a driven wheel (2.4.4) through a hanging wheel frame (2.1), two groups of driven suspension wheels (2.4.4) are suspended in a V groove of a track, a servo motor (2.2.1.6) and a speed reducer (2.2.1.5) are fixedly arranged on a driving motor mounting plate (2.2.2.2), and an output shaft of the speed reducer (2.2.1.5) is fixedly connected with a synchronous wheel shaft (2.2.1.2); the servo motor (2.2.1.6) drives the walking synchronizing wheel (2.2.1.1) to rotate, the walking synchronizing wheel (2.2.1.1) is meshed with a synchronous belt (1.3) on the guide rail, and a current collector (2.5.5) on a base plate (2.1.1) on the walking trolley gets electricity through a trolley line (1.2) on the guide rail.
2. The hanging rail type intelligent inspection robot according to claim 1, wherein the driving motor mounting plate (2.2.2.2) is slidably mounted in the sliding table guide seat (2.2.2.1), the driving motor mounting plate (2.2.2) is rigidly connected with the reset spring seat (2.3.1), the first spring guide pillar support (2.3.3), the second spring guide pillar support (2.3.4) and the spring guide pillar (2.3.2) form a reset mechanism, and the reset spring (2.3.5) is mounted on the spring guide pillar (2.3.2).
3. The hanging rail type intelligent inspection robot according to claim 1, wherein the two sets of the hanging wheel frames (2.4.1) are respectively fixedly installed at the front and rear positions of the central axis on the top surface of the base plate (2.1.1) of the walking trolley through the rotating shafts (2.4.2) of the hanging wheel frames, and the two sets of the driven hanging wheels (2.4.4) are respectively fixed at the two ends of the hanging wheel frames (2.4.1) through the hanging wheel shafts (2.4.5).
4. The hanging rail type intelligent inspection robot according to claim 1, wherein a starting point proximity switch bracket (2.5.1.1) and an end point proximity switch bracket (2.5.2.1) are mounted on the base plate (2.1.1) of the trolley, the starting point proximity switch (2.5.1.2) and the end point proximity switch (2.5.2.2) are mounted on the base plate (2.1.1) of the trolley, and meanwhile, a two-dimensional code reader bracket (2.5.3.1) is further mounted on the base plate (2.1.1) of the trolley, and a two-dimensional code reader (2.5.3.2) is mounted on the base plate.
5. The hanging rail type intelligent inspection robot according to claim 1, wherein the lifting mechanism (3) is fixed on the lower surface of a base plate (2.1.1) on the trolley through a lifting mechanism mounting frame (3.1.1), the lifting mechanism comprises a double-column guiding telescopic rod (3.1.2), and the double-column guiding telescopic rod (3.1.2) is at least provided with a three-stage guiding telescopic rod.
6. The hanging rail type intelligent inspection robot according to claim 5, wherein a pan-tilt camera mounting flange is mounted at the lower part of the double-column guiding telescopic rod (3.1.2), and the pan-tilt camera (4) is mounted in a flange connection mode.
CN202020405206.3U 2020-03-26 2020-03-26 Hang rail formula intelligence and patrol and examine robot Active CN212497777U (en)

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Application Number Priority Date Filing Date Title
CN202020405206.3U CN212497777U (en) 2020-03-26 2020-03-26 Hang rail formula intelligence and patrol and examine robot

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Application Number Priority Date Filing Date Title
CN202020405206.3U CN212497777U (en) 2020-03-26 2020-03-26 Hang rail formula intelligence and patrol and examine robot

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113752235A (en) * 2021-10-20 2021-12-07 和美(深圳)信息技术股份有限公司 Walking and positioning device of rail-hanging robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113752235A (en) * 2021-10-20 2021-12-07 和美(深圳)信息技术股份有限公司 Walking and positioning device of rail-hanging robot

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