CN212500414U - Orbital transfer device and orbital transfer system of robot are patrolled and examined to rail mounted intelligence - Google Patents
Orbital transfer device and orbital transfer system of robot are patrolled and examined to rail mounted intelligence Download PDFInfo
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- CN212500414U CN212500414U CN202021142879.0U CN202021142879U CN212500414U CN 212500414 U CN212500414 U CN 212500414U CN 202021142879 U CN202021142879 U CN 202021142879U CN 212500414 U CN212500414 U CN 212500414U
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Abstract
The embodiment of the application discloses a rail transfer device and a rail transfer system of a rail-mounted intelligent inspection robot, wherein the rail transfer operation of a straight rail and a curved rail is carried out by adopting a linear driving mechanism, and the reliability of the rail transfer device in the moving process is improved by adopting the linear rail transfer mechanism; and because adopt the radio frequency identification label and then make patrolling and examining the robot and can automated inspection and communicate with the device of becoming the orbit and realize the judgement and then realize the operation of becoming the orbit in order to realize becoming the orbit position in this application.
Description
Technical Field
The embodiment of the application relates to the technical field of robots, in particular to a rail transfer device and a rail transfer system of a rail type intelligent inspection robot.
Background
At present, an urban underground cable tunnel is one of the marks of urban construction modernization, science and technology and intensification, is also a symbol of full utilization of urban underground space, and is the development trend of urban pipeline construction integration and piping corridor. After becoming a high-speed road network and a high-speed railway, the urban cable tunnel formally becomes a new step for the Chinese economic growth.
With the emphasis of national macro strategy, the research of robots in China has entered the unprecedented period, and the rail type inspection robot is very suitable for completing various tasks in high-requirement and narrow spaces by virtue of high-reliability operation, however, in the face of different tunnel conditions with different forms, the rail transfer system plays an important role in the application of the rail type inspection robot.
Because there is intersection inside utility tunnel and the large-scale cable tunnel, perhaps there are many tracks parallel distribution in the great underground tunnel in cross-section, need patrol and examine the robot and switch the track operation.
SUMMERY OF THE UTILITY MODEL
The application provides a rail transfer device of robot is patrolled and examined to rail mounted intelligence, its rail transfer that can realize high reliability.
The application provides a become rail system, its orbital transfer that can realize high reliability for it can realize independently passing through the track fast in the switch department that needs the orbital transfer to patrol and examine the robot.
In a first aspect, an embodiment of the present application provides a rail transfer device of a rail-mounted intelligent inspection robot, including:
a rail-changing fixing seat;
the linear driving mechanism is fixed on the rail transfer fixing seat and is provided with a driving end;
the orbital transfer moving seat comprises a first track and a second track; the rail-changing moving seat is connected with the rail-changing fixed seat in a sliding mode through a linear sliding assembly, and the linear sliding assembly extends along the X direction; the orbital transfer moving seat is connected with the driving end;
one end of the rail-changing moving seat in the Y direction is provided with a rail inlet area, and the other end of the rail-changing moving seat in the Y direction is provided with a first rail outlet area and a second rail outlet area which are separated; the X direction is perpendicular to the Y direction; the linear driving mechanism is used for driving the orbital transfer moving seat to move along the linear sliding assembly so as to enable the orbital transfer moving seat to move to a first position or a second position; when the rail-changing moving seat is located at a first position, one end of the first rail is located in the rail inlet area, and the other end of the first rail is located in the first rail outlet area; when the rail-changing moving seat is located at the second position, one end of the second rail is located in the rail inlet area, and the other end of the second rail is located in the second rail outlet area.
Furthermore, the orbital transfer moving seat comprises a moving bottom plate, the first rail and the second rail are arranged at the top of the moving bottom plate, a moving sliding block is arranged at the bottom of the moving bottom plate, and the moving sliding block is fixedly connected with the driving end.
Further, the linear sliding assembly comprises a linear sliding rail and a linear sliding block, the linear sliding rail is arranged on the rail-changing fixed seat or the rail-changing movable seat, and the linear sliding block is arranged on the rail-changing movable seat or the rail-changing fixed seat.
Further, the first rail comprises a straight rail, and the second rail comprises a curved rail; the number of the first track and the second track is multiple.
Further, the orbital transfer device further comprises a radio frequency identification tag, and the radio frequency identification tag stores an orbital transfer disc number.
Further, the device of becoming rail still includes control box and photoelectric sensor, photoelectric sensor is connected with the control box electricity, photoelectric sensor is used for detecting patrols and examines whether the robot passes through the device of becoming rail, the control box is used for communicating with patrolling and examining the robot.
Further, the orbital transfer moving seat further comprises a baffle, when the orbital transfer moving seat is located at the first position, the baffle is located in the second orbital discharge area, and when the orbital transfer moving seat is located at the second position, the baffle is located in the first orbital discharge area.
In a second aspect, the present application provides an orbital transfer system, including an inspection robot and an orbital transfer device as described in the first aspect; the inspection robot is communicated with the rail transfer device through the communication module, and the rail transfer device controls the state of the rail transfer moving seat according to the received control signal.
Further, the communication module includes a LoRa wireless communication module.
Further, the inspection robot is also used for sending the state information and the fault information after the orbit is changed to the background server through the wi fi communication module.
Has the advantages that: in the scheme of the application, the linear driving mechanism is adopted to perform the rail transfer operation of the straight rail and the curved rail, and the reliability of the rail transfer device is improved in the moving process due to the adoption of the linear rail transfer mechanism; and because adopt the radio frequency identification label and then make patrolling and examining the robot and can automated inspection and communicate with the device of becoming the orbit and realize the judgement and then realize the operation of becoming the orbit in order to realize becoming the orbit position in this application.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
fig. 1 is a rail transfer device of a rail-mounted intelligent inspection robot according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a rail-changing fixing seat provided in the embodiment of the present application;
fig. 3 is a schematic structural diagram of a orbital transfer moving seat provided in an embodiment of the present application;
FIG. 4 is a schematic structural diagram of a track transfer system in a first position according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a track transfer system in a second position according to an embodiment of the present application.
Reference numerals: 100. a rail-changing fixing seat; 101. a linear drive mechanism; 102. a linear slide assembly; 1021. a linear slide rail; 1022. a linear slider; 200. a rail-changing moving seat; 201. a first track; 202. a second track; 203. moving the base plate; 204. moving the slide block; 205. a baffle plate; 300. a patrol robot; 301. a first external connection track; 302. a second external track; 303. and a third external track.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are for purposes of illustration and not limitation. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures.
Because there is intersection inside utility tunnel and the large-scale cable tunnel, perhaps there are many tracks parallel distribution in the great underground tunnel in cross-section, need patrol and examine the robot and switch the track operation. To the orbital transfer needs of robot are patrolled and examined to present rail mounted, this application provides one kind and possesses and prevent that the robot from falling from the rail mounted and can the straight line become the rail structure to realize that the intelligence patrols and examines the high reliability of robot and becomes the rail. The rail changing disc of the embodiment can automatically realize rail changing and judge the rail changing position; the orbital transfer controller can realize wireless communication with the inspection robot; the inspection robot can automatically and quickly pass through the track at a turnout place needing track change; and the structure of the device is compact, the modular design is realized, and the device is convenient to assemble and disassemble.
Fig. 1 is a track transfer device of a track type intelligent inspection robot provided by an embodiment of the present application, fig. 2 is a schematic structural diagram of a track transfer fixing base 100 provided by the embodiment of the present application, fig. 3 is a schematic structural diagram of a track transfer moving base 200 provided by the embodiment of the present application, as shown in fig. 1, fig. 2 and fig. 3, the embodiment of the present application provides a track transfer device of a track type intelligent inspection robot, including:
a rail-changing fixing seat 100; the orbital transfer fixing base 100 is fixedly arranged on an inspection route of an inspection robot, and the orbital transfer fixing base 100 is mainly used for being connected with the orbital transfer moving base 200, so that orbital transfer operation is realized.
And the linear driving mechanism 101 is fixed on the track-changing fixing seat 100, and the linear driving mechanism 101 is provided with a driving end. A orbital transfer mobile base 200 comprising a first rail 201 and a second rail 202; the orbital transfer moving seat 200 is connected with the orbital transfer fixed seat 100 in a sliding manner through a linear sliding assembly 102, and the linear sliding assembly 102 extends along the X direction; the orbital transfer moving seat 200 is connected with the driving end. In the present embodiment, the driving is mainly performed by the linear driving mechanism 101, and the linear driving mechanism 101 is mainly referred to as a linear motor.
One end of the rail-changing movable seat 200 in the Y direction is provided with a rail inlet area, and the other end of the rail-changing movable seat 200 in the Y direction is provided with a first rail outlet area and a second rail outlet area which are separated; the first derailing area and the second derailing area lead to different directions. The X direction is perpendicular to the Y direction; the linear driving mechanism 101 is configured to drive the orbital transfer moving seat 200 to move along the linear sliding assembly 102, so that the orbital transfer moving seat 200 moves to a first position or a second position; when the orbital transfer moving seat 200 is located at the first position, one end of the first track 201 is located in the track entering area, and the other end of the first track is located in the first track exiting area; when the orbital transfer moving seat 200 is located at the second position, one end of the second track 202 is located in the track entering area, and the other end is located in the second track exiting area.
In this embodiment, the position of the rail entering area is a connection position of the first external rail 301 and the rail transfer device, the first rail exiting area refers to a junction of the second external rail 302 and the rail transfer device, and the second rail exiting area refers to a junction of the third external rail 303 and the rail transfer device. Through the arrangement, the switching of the tracks can be realized.
Further, the rail-changing moving seat 200 includes a moving bottom plate 203, the first rail 201 and the second rail 202 are disposed on the top of the moving bottom plate 203, a moving slider 204 is disposed at the bottom of the moving bottom plate 203, and the moving slider 204 is fixedly connected to the driving end. The movable bottom plate 203 of the embodiment mainly provides a supporting and fixing function, when the linear driving mechanism 101 works, the linear driving mechanism 101 drives the motor rotating shaft to run, and simultaneously drives the movable slider 204 to do linear motion in the direction of the motor rotating shaft, so as to realize the movement of the orbital transfer movable seat 200, and the orbital transfer disk can be freely switched between a first state and a second state through the arrangement of the linear driving mechanism 101, wherein the first state represents that the orbital transfer movable seat 200 is located at the first position, and the second state represents that the orbital transfer movable seat 200 is located at the second position.
More preferably, the linear sliding assembly 102 includes a linear sliding rail 1021 and a linear sliding block 1022, the linear sliding rail 1021 is disposed on the rail-changing fixed base 100 or the rail-changing movable base 200, and the linear sliding block 1022 is disposed on the rail-changing movable base 200 or the rail-changing fixed base 100. Through the linear slide rail 1021 and the linear slider 1022, the rail-changing moving base 200 can run more stably during moving, and the rail-changing device is not shaken to affect the stability of the rail-changing device.
More preferably, the first rail 201 comprises a straight rail, and the second rail 202 comprises a curved rail; the number of the first track 201 and the second track 202 is plural. When the setting is performed, there may be a plurality of setting manners, the first rail 201 may be a straight rail, and may also be a curved rail, and the number of the first rail 201 and the second rail 202 may be one, two, or even three, and the setting may be specifically performed according to actual situations.
More preferably, the orbital transfer device further comprises a radio frequency identification tag, and the radio frequency identification tag stores an orbital transfer disc number. An RF I D label is arranged in a certain range of the track transfer disc, and the RF I D label is mainly used for facilitating the identification of a robot and further interacting with a track transfer device. For example, on one routing inspection route, a plurality of track changing discs are arranged, but different routing inspection robots pass through the same track changing disc through a straight track or a bent track, and the situation is not the same; the inspection robot needs to drive into different inspection tracks according to different track transformers. The number of different track plates is determined by setting the RF ID tag, and the different track plates are determined to drive into different tracks.
More preferably, the device of becoming rail still includes control box and photoelectric sensor, photoelectric sensor is connected with the control box electricity, photoelectric sensor is used for detecting patrols and examines whether the robot passes through the device of becoming rail, the control box is used for communicating with patrolling and examining the robot. The photoelectric sensor is arranged in the derailing area, and when the inspection robot passes through the derailing area, the photoelectric sensor senses a corresponding signal and then sends information to confirm that the robot passes through the corresponding track changing disc.
Furthermore, the orbital transfer mobile seat 200 further comprises a baffle 205, when the orbital transfer mobile seat 200 is located at the first position, the baffle 205 is located at the second orbital transfer area, and when the orbital transfer mobile seat 200 is located at the second position, the baffle 205 is located at the first orbital transfer area. The baffle plate 205 is arranged to ensure that the inspection robot coming from the other side cannot fall into the track changing plate, and the height of the upward extension of the baffle plate 205 is higher than that of the track in the derailing area. Fig. 4 is a schematic structural diagram of the orbital transfer system in the first position according to the embodiment of the present application, and as shown in fig. 4, when the orbital transfer moving base 200 is in the first position, that is, the inspection robot located at the first circumscribed rail 301 enters another area (the second circumscribed rail 302) through the straight rail. If no baffle 205 is arranged, at this time, if an inspection robot needs to drive into the track-changing disc from the third external track 303, the inspection robot can fall off from the track due to the fact that no baffle 205 is arranged and no track is connected, so that the inspection robot falls into the track-changing disc and damages the track-changing disc.
Fig. 5 is a schematic structural diagram of the orbital transfer system in the second position according to the embodiment of the present application, and as shown in fig. 5, when the orbital transfer moving base 200 is in the second position, that is, the inspection robot located at the second external rail 301 enters the third external rail 303 through the curved rail. Similarly, if the baffle 205 is not arranged, at this time, if a robot drives into the track-changing plate from the second external track 302, the inspection robot can fall off from the track because the baffle 205 is not arranged and the track is not connected, so that the inspection robot falls into the track-changing plate and damages the track-changing plate. Therefore, the baffle plate 205 is arranged to prevent the situation from happening, and when the robot moves to the track transfer disc, the robot is blocked from further advancing due to the existence of the baffle plate 205; thereby the condition that the robot that patrols and examines drops can not produce.
The track transfer system of the scheme is composed of a control box and a transfer rail disc, and RFI D tags are arranged in a certain range of the transfer rail disc. When the inspection robot inspects the preset route, when a track changing disc with a corresponding number is built in the inspection robot, the inspection robot actually passes through a straight track or a bent track; therefore, after the robot recognizes the corresponding track-changing RFI D number, the robot body and the control box perform information bidirectional interaction through LoRa wireless communication, and the track-changing disc transmits the current state information and fault information to the robot body. The robot body confirms the state information of the track changing disc, for example, when the robot needs to pass through the track changing disc in the state two, but the track changing disc is in the state one at this time, therefore, the robot needs to send a corresponding track changing control signal to control the track changing disc to be changed from the state to the state two, the information of the two is the same at this time, and only after the information of the two is judged to be correct, the robot body informs the control box to execute a relevant command.
The LoRa mentioned in this embodiment is a low power consumption lan wireless standard. The Long Range radio (Long Range radio) is named as the Long Range radio, and has the greatest characteristic that the Long Range radio is longer than the distance of other radio modes under the same power consumption condition, so that the unification of low power consumption and Long Range is realized, and the Long Range radio is 3-5 times longer than the traditional radio frequency communication distance under the same power consumption condition.
Besides the above track-changing control, the track-changing plate of this embodiment is further provided with a photoelectric detection sensor, which is used for detecting whether the robot passes through the track-changing plate, if the robot runs onto the track-changing plate, at this time, the track-changing plate is contaminated, so that the inspection robot 300 is obstructed, and then the inspection robot 300 cannot pass through the corresponding track-changing plate, that is, the photoelectric detection sensor cannot detect the signal that the inspection robot 300 passes through, at this time, the photoelectric detection sensor can send a corresponding signal to the background server to remind the worker to check the corresponding inspection robot 300. If the photoelectric detection sensor detects that the robot passes through the track changing disc, the state information after track changing is sent to the inspection robot 300, and the robot body uploads the state information and fault information of track changing to a background for display through a wi fi wireless link.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present application and the technical principles employed. It will be understood by those skilled in the art that the present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the application. Therefore, although the present application has been described in more detail with reference to the above embodiments, the present application is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the appended claims.
Claims (10)
1. The utility model provides a rail-mounted intelligence is patrolled and examined orbital transfer device of robot which characterized in that includes:
a rail-changing fixing seat;
the linear driving mechanism is fixed on the rail transfer fixing seat and is provided with a driving end;
the orbital transfer moving seat comprises a first track and a second track; the rail-changing moving seat is connected with the rail-changing fixed seat in a sliding mode through a linear sliding assembly, and the linear sliding assembly extends along the X direction; the orbital transfer moving seat is connected with the driving end;
one end of the rail-changing moving seat in the Y direction is provided with a rail inlet area, and the other end of the rail-changing moving seat in the Y direction is provided with a first rail outlet area and a second rail outlet area which are separated; the X direction is perpendicular to the Y direction; the linear driving mechanism is used for driving the orbital transfer moving seat to move along the linear sliding assembly so as to enable the orbital transfer moving seat to move to a first position or a second position; when the rail-changing moving seat is located at a first position, one end of the first rail is located in the rail inlet area, and the other end of the first rail is located in the first rail outlet area; when the rail-changing moving seat is located at the second position, one end of the second rail is located in the rail inlet area, and the other end of the second rail is located in the second rail outlet area.
2. The orbital transfer device of intelligent inspection robot according to claim 1, wherein the orbital transfer base includes a movable base plate, the first and second tracks are disposed on a top of the movable base plate, and a movable slider is disposed on a bottom of the movable base plate and is fixedly connected to the driving end.
3. The orbital transfer device of intelligent inspection robot according to claim 1, wherein the linear slide assembly includes a linear slide rail and a linear slide block, the linear slide rail is disposed on the orbital transfer holder or the orbital transfer moving holder, and the linear slide block is disposed on the orbital transfer moving holder or the orbital transfer holder.
4. The orbital transfer device of a smart inspection robot according to claim 1, wherein the first track includes a straight track and the second track includes a curved track; the number of the first track and the second track is multiple.
5. The orbital transfer device according to claim 1, wherein the orbital transfer device further includes a radio frequency identification tag that stores an orbital transfer disc number.
6. The orbital transfer device of intelligent inspection robot according to any one of claims 1 to 5, further comprising a control box and a photoelectric sensor, wherein the photoelectric sensor is electrically connected with the control box, the photoelectric sensor is used for detecting whether the inspection robot passes through the orbital transfer device, and the control box is used for communicating with the inspection robot.
7. The orbital transfer device of intelligent inspection robot according to claim 6, wherein the orbital transfer carriage further includes a stop plate, the stop plate being positioned in the second derailment area when the orbital transfer carriage is in the first position and the stop plate being positioned in the first derailment area when the orbital transfer carriage is in the second position.
8. A rail transfer system comprising an inspection robot and a rail transfer apparatus according to any one of claims 1 to 7; the inspection robot is communicated with the rail transfer device through the communication module, and the rail transfer device controls the state of the rail transfer moving seat according to the received control signal.
9. The tracking system of claim 8, wherein said communication module comprises a LoRa wireless communication module.
10. The orbital transfer system of claim 8, wherein the inspection robot is further configured to send the state information and the fault information after orbital transfer to a background server through a wifi communication module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021142879.0U CN212500414U (en) | 2020-06-18 | 2020-06-18 | Orbital transfer device and orbital transfer system of robot are patrolled and examined to rail mounted intelligence |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021142879.0U CN212500414U (en) | 2020-06-18 | 2020-06-18 | Orbital transfer device and orbital transfer system of robot are patrolled and examined to rail mounted intelligence |
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| CN212500414U true CN212500414U (en) | 2021-02-09 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113460120A (en) * | 2021-06-23 | 2021-10-01 | 库卡机器人(广东)有限公司 | Vehicle control method and device, vehicle, transition controller and readable storage medium |
| CN115182672A (en) * | 2022-09-09 | 2022-10-14 | 江苏九龙消防科技有限公司 | Fire prevention fire control door |
-
2020
- 2020-06-18 CN CN202021142879.0U patent/CN212500414U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113460120A (en) * | 2021-06-23 | 2021-10-01 | 库卡机器人(广东)有限公司 | Vehicle control method and device, vehicle, transition controller and readable storage medium |
| CN115182672A (en) * | 2022-09-09 | 2022-10-14 | 江苏九龙消防科技有限公司 | Fire prevention fire control door |
| CN115182672B (en) * | 2022-09-09 | 2023-02-14 | 江苏九龙消防科技有限公司 | Fire prevention fire control door |
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