CN213890037U - Automatic inspection robot for vehicle base comprehensive pipe gallery - Google Patents
Automatic inspection robot for vehicle base comprehensive pipe gallery Download PDFInfo
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- CN213890037U CN213890037U CN202022980754.1U CN202022980754U CN213890037U CN 213890037 U CN213890037 U CN 213890037U CN 202022980754 U CN202022980754 U CN 202022980754U CN 213890037 U CN213890037 U CN 213890037U
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Abstract
The utility model discloses an automatic inspection robot for a comprehensive pipe gallery of a vehicle base, which comprises a machine body, a walking mechanism, an integrated checker, a power module, an overhauling manipulator and a control unit, wherein the walking mechanism comprises a walking wheel motor and a plurality of walking wheels; the integrated inspector comprises a front-end integrated inspector and a manipulator integrated inspector, the manipulator integrated inspector is installed on the maintenance manipulator and is provided with an environment detection sensor and a camera, so that when the front-end integrated inspector patrols and examines a fault, the fault is photographed through the manipulator camera and the environment detection sensor is used for sensing the inside of the comprehensive pipe gallery and reporting the management control platform. The utility model discloses an integrated finder shoots or responds to utility tunnel pipeline equipment state and utility tunnel internal environment, collects utility tunnel state information, carries out utility tunnel state identification and failure diagnosis, can patrol and examine utility tunnel fast, high-efficiently, reaches the purpose that reduces intensity of labour, improves and patrol and examine efficiency and effect.
Description
Technical Field
The utility model belongs to the monitoring facilities field, more specifically relates to an automatic robot of patrolling and examining of vehicle base utility tunnel.
Background
Urban rail transit vehicle base is built the structure and is densely covered, the pipeline is complicated and complicated, and conventional pipeline is laid with the dispersion and is established as leading, and the condition such as the mistake is leaked and is bumped easily appears in design and the work progress, and later stage maintenance is difficult to the accurate positioning, for solving above problem, vehicle base utility tunnel obtains the wide application. The utility model discloses a vehicle base utility tunnel is used for the vehicle base, and the utility model discloses a vehicle base utility tunnel is built a tunnel space promptly underground, with each professional pipeline collection in each such as power supply and transformation, low voltage distribution, communication, signal, water supply and drainage, integrated monitoring in the vehicle base in an organic whole, bury underground in the gallery, can promote vehicle base view effect, the pipeline construction of being convenient for again, maintenance and maintenance, often the utility tunnel is equipped with special access hole, hoist and mount mouth, and implement unified planning, design, construction and management, in order to accomplish vehicle base underground space's comprehensive utilization and resource sharing.
The integrated so many pipelines of having installed of vehicle base utility tunnel ensures the safe operation of piping in the piping lane and is vital, therefore patrols and examines also the important link of piping lane maintenance work to the safety of equipment, pipeline in the piping lane. The mode of patrolling and examining of current utility tunnel is mainly manual inspection, and the handheld instrument of patrolling and examining of maintainer examines the utility tunnel promptly, but manual inspection exists that the inspection effect is poor, intensity of labour is big, inefficiency scheduling problem, and the easy deposit of underground space is poisonous, harmful gas, and personnel underground confined space operation has great potential safety hazard. With the rapid development of urban rail transit construction in China, the integration level of the comprehensive pipe gallery of a vehicle base is higher and higher, the overhauling workload is increased day by day, manual inspection is difficult to meet the inspection requirement of the comprehensive pipe gallery, and a technology or related equipment capable of flexibly, rapidly, efficiently and safely inspecting the comprehensive pipe gallery is urgently needed.
SUMMERY OF THE UTILITY MODEL
To the above defect of prior art or improve the demand, the utility model provides an automatic robot of patrolling and examining of vehicle base utility tunnel, it utilizes to patrol and examine the robot and walks capable on patrolling and examining the track, patrols and examines automatically to utility tunnel both sides equipment pipeline, reaches the purpose that reduces intensity of labour, improves and patrol and examine efficiency and effect.
In order to achieve the above object, according to the utility model discloses an aspect provides an automatic robot of patrolling and examining of vehicle base utility tunnel, a serial communication port, include the organism and install jointly walk capable mechanism, integrated inspection ware, power module, maintenance manipulator and the control unit on the organism, wherein:
the walking mechanism comprises a walking wheel motor and a plurality of walking wheels, the central lines of the walking wheels are horizontally arranged, and at least one walking wheel is driven by the walking motor to rotate;
the integrated checker comprises a front end integrated checker and a manipulator integrated checker, wherein the front end integrated checker is arranged at the front end of the machine body and is provided with a front end camera; the manipulator integrated inspector is arranged on the maintenance manipulator and is provided with a manipulator camera and an environment detection sensor;
the control unit is respectively connected with the traveling wheel motor, the front end integrated inspector, the manipulator integrated inspector and the maintenance manipulator;
and the power supply module is respectively connected with the control unit, the walking wheel motor, the front end integrated inspector, the manipulator integrated inspector and the maintenance manipulator.
Preferably, the walking mechanism further comprises a plurality of stabilizing wheels mounted on the machine body, the central line of each stabilizing wheel is vertically arranged, the walking rail comprises a first rail for walking the walking wheels and a second rail for walking the stabilizing wheels, and the first rail is connected to the comprehensive pipe gallery through the second rail.
Preferably, the power module comprises a storage battery and an automatic charging device, and the automatic charging device is connected with the storage battery.
Preferably, the overhaul manipulator includes manipulator base rotating electrical machines, manipulator base and manipulator, manipulator base rotating electrical machines installs on the organism, the vertical setting of output shaft of this manipulator base rotating electrical machines and with manipulator base fixed connection, install on the manipulator base the manipulator, the manipulator includes a plurality of robotic arm and a plurality of arm motor, and every robotic arm is respectively through one arm motor drive rotates, keeps away from the installation on the robotic arm of manipulator base the integrated inspection ware of manipulator.
Preferably, the control unit comprises a storage module, and the storage module is respectively connected with the camera and the environment detection sensor.
Preferably, the control unit includes a positioning module for tracking a position of the positioning inspection robot.
Preferably, the control unit comprises an information transmission module, and the information transmission module is connected with the management control platform through a wireless transmission module.
Preferably, the emergency lighting lamp is arranged at the front end of the machine body.
Preferably, the environment detection sensor comprises a smoke sensor and/or a temperature sensor.
Generally, through the utility model discloses above technical scheme who conceives compares with prior art, can gain following beneficial effect: the utility model discloses an automatic robot that patrols and examines of vehicle base utility tunnel drives the front end integration inspection ware and the manipulator integration inspection ware on the organism to walk together when walking on the walking rail through the running gear, and the camera and the environment detection sensor of front end integration inspection ware can shoot and respond to utility tunnel pipeline equipment state and the interior environment of utility tunnel, collect utility tunnel state information, carry out utility tunnel state identification and failure diagnosis, when the front end integrated checker encounters a fault and needs to further determine the condition, the routing inspection robot stops traveling, the maintenance manipulator stretches out, the manipulator integrated checker is enabled to shoot and sense the fault position in a short distance, thereby carry out detailed detection to the fault location, utilize and patrol and examine the robot and can patrol and examine utility tunnel fast, nimble, high-efficiently, reach the purpose that reduces intensity of labour, improve and patrol and examine efficiency and effect.
Drawings
Fig. 1 is a schematic view of the inspection robot of the present invention;
fig. 2 is a schematic view of the inside of the machine body of the present invention;
FIG. 3 is a schematic view of the inspection robot for linear inspection;
fig. 4 is a detailed inspection schematic diagram of the inspection robot of the utility model;
fig. 5 is the utility model discloses a patrol and examine robot and patrol and examine and turn to the schematic diagram.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Furthermore, the technical features mentioned in the embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.
Referring to fig. 1 to 5, an automatic inspection robot for a vehicle base comprehensive pipe gallery comprises a machine body 1, and a walking mechanism, an integrated inspector, a power module, an inspection manipulator 3 and a control unit which are jointly installed on the machine body 1, wherein:
the machine body 1 is an installation supporting structure for accommodating and installing various devices of the inspection robot.
The walking mechanism comprises a walking wheel motor 6 and a plurality of walking wheels 5, the walking wheel motor 6 is preferably arranged on the inner sides of the left side and the right side of the upper part of the machine body 1, the center lines of the walking wheels 5 are horizontally arranged, and at least one walking wheel 5 is driven by the walking motor to rotate so as to enable the walking mechanism to walk on walking rails arranged in the pipe gallery; preferably, the walking rails are installed at the top of the comprehensive pipe gallery, and the walking wheels 5 are supported by the walking rails, so that the inspection robot is suspended on the walking rails.
The integrated inspector comprises a front end integrated inspector 4 and a manipulator integrated inspector 15, wherein the front end integrated inspector 4 is arranged at the front end of the machine body 1 (the front part and the back part are distinguished by the front part and the back part of an inspection robot when the inspection robot moves on a walking rail) and is provided with a front end camera so as to shoot the state of pipeline equipment of the comprehensive pipe rack and the internal environment of the comprehensive pipe rack, and thus, the state information of the internal part of the comprehensive pipe rack is collected; the integrated finder of manipulator 15 is installed overhaul on the manipulator 3 and have manipulator camera and environmental detection sensor to when patrolling and examining the trouble at the integrated finder of front end 4, let the manipulator camera shoot the trouble department and pass through the environment that environmental detection sensor response utility tunnel is inside and report management control platform through the motion of overhaul manipulator. Preferably, the environment detection sensor comprises a smoke sensor and/or a temperature sensor.
The control unit is respectively connected with the walking wheel motor 6, the front end integrated checker 4, the manipulator integrated checker 15 and the maintenance manipulator 3. The control unit can communicate with the management control platform, the control unit is provided with a control module 10, the control module 10 can receive and process commands sent by the management control platform, and the commands are sent to the walking wheel motor 6, the front end integrated inspector 4, the manipulator integrated inspector 15, the maintenance manipulator 3 and other components of the inspection robot.
And the power supply module is respectively connected with the control unit, the walking wheel motor 6, the front end integrated checker 4, the manipulator integrated checker 15 and the maintenance manipulator 3 so as to supply power.
Further, the walking mechanism further comprises a plurality of stabilizing wheels 7 installed on the machine body 1, the stabilizing wheels 7 are installed at the top of the machine body 1, the central lines of the stabilizing wheels 7 are vertically arranged, the walking rails comprise first rails for walking the walking wheels 5 and second rails for walking the stabilizing wheels 7, and the first rails are connected to the comprehensive pipe gallery through the second rails. The walking wheel motor 6 drives the walking wheels 5 to walk on the walking rails, the walking wheels 5 support the machine body 1 and are used for the walking task of the vehicle, and the stabilizing wheels 7 are used for stably guiding the machine body 1 during walking.
Further, the power module comprises a storage battery 8 and an automatic charging device 9, and the automatic charging device 9 is moved to a charging pile through a walking mechanism to charge the storage battery 8 when the battery needs to be charged. The battery 8 provides power for the whole operation of patrolling and examining the robot, and automatic charging device 9 gets back to initial position less patrolling and examining the robot electric quantity, charges for battery 8 through filling electric pile. The tail part of the machine body 1 is provided with an automatic charging port which is connected with an automatic charging device 9.
Further, the maintenance manipulator 3 comprises a manipulator base rotating motor 14, a manipulator base and a manipulator, the manipulator base rotating motor 14 is arranged on the machine body 1, the output shaft of the robot base rotating motor 14 is vertically arranged and fixedly connected with the robot base, the manipulator is arranged on the manipulator base and comprises a plurality of mechanical arms and a plurality of arm motors, each mechanical arm is driven by one arm motor to rotate, so that the manipulator can be folded and extended, the manipulator integrated checker 15 is arranged on the manipulator arm far away from the manipulator base, when patrolling and examining the trouble at front end integrated inspection ware 4, let the manipulator extend and drive the integrated inspection ware 15 response utility tunnel internal line equipment of manipulator and the interior environment of utility tunnel. The manipulator is initially mounted at the bottom of the machine body 1 in a folding mode, when the front-end integrated inspector 4 inspects faults, the manipulator extends and extends out through arm motor driving, the position and the posture of the manipulator integrated inspector 15 are changed, and the manipulator integrated inspector 15 mounted on the manipulator scans through a manipulator camera and an environment detection sensor to inspect the fault condition in detail.
Further, the control unit comprises a storage module 11 to store data shot by the inspection robot through the camera and sensed by the environment detection sensor in the inspection process.
Further, the control unit comprises a positioning module 12 for tracking and positioning the position of the inspection robot, so that the inspection robot can be managed in a unified manner. The storage module 11 can store data shot by a front-end camera and a manipulator camera of the inspection robot in the inspection process and data sensed by the environment detection sensor, and provides data basis for fault analysis and processing.
Further, the control unit comprises an information transmission module 13, and the information transmission module 13 sends data shot by a camera and sensed by an environment detection sensor when the camera is used for polling to the management control platform through a wireless transmission module.
Further, still include the emergency lighting lamp 2 of installing at organism 1 front end to the light damages or provides to patrol and examine emergency lighting under the condition of not having the electricity in the utility tunnel.
Because of this inspection robot service environment is the airtight environment of utility tunnel, for preventing that the moist environment in the underground from influencing inspection robot's normal use, inspection robot need reach corresponding IP protection requirement.
When the comprehensive pipe gallery of the vehicle base needs to be inspected, the management control platform sends an inspection command, the control module 10 receives and processes the inspection command, the control module 10 sends the command, the storage battery 8 supplies power to the traveling wheel motor 6 to drive the traveling wheels 5 to travel on the traveling rails, and the inspection robot starts to inspect the comprehensive pipe gallery after traveling out of a charging potential.
Patrol and examine the robot and patrol and examine utility tunnel, the position of robot in utility tunnel is patrolled and examined in the location of orientation module 12, the condition of front end integrated inspection ware 4 to utility tunnel is examined, shoot the condition input storage module 11 that senses, control module 10 carries out the analysis to data, when the analysis meets the needs further definite condition, patrol and examine the robot and suspend and walk, manipulator base rotating electrical machines 14 work rotates the manipulator, robotic arm probes out, let manipulator integrated inspection ware 15 closely shoot response fault location, treat that the shooting response finishes, information transmission module 13 wireless transmission reports for supervisory control platform, overhaul by professional maintainer. When the inspection robot inspects the intersection position of the comprehensive pipe gallery, the inspection robot needs to turn, the inspection robot is suspended on the rotatable rail of the walking rail, the rotatable rail is driven by the motor to rotate and turn, and after the inspection robot turns to the walking rail where the inspection robot needs to advance, the inspection robot commands the storage battery 8 to supply power to the walking wheel motor 6 to drive the walking wheels 5 to continuously walk on the walking rail for inspection.
And after the inspection of the inspection robot is finished, entering a charging position, hovering the inspection robot on a rotary traveling rail, driving the rotary traveling rail to rotate and turn around the inspection robot, after turning around is finished, moving the inspection robot to the charging position, charging the battery by extending out of the automatic charging device 9, and enabling the inspection robot to enter an inspection standby state to wait for a next inspection command.
It will be understood by those skilled in the art that the foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the invention to the particular forms disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. The utility model provides an automatic robot of patrolling and examining of vehicle base utility tunnel which characterized in that, includes the organism and installs jointly walking mechanism, integrated finder, power module, maintenance manipulator and the control unit on the organism, wherein:
the walking mechanism comprises a walking wheel motor and a plurality of walking wheels, the central lines of the walking wheels are horizontally arranged, and at least one walking wheel is driven by the walking motor to rotate;
the integrated checker comprises a front end integrated checker and a manipulator integrated checker, wherein the front end integrated checker is arranged at the front end of the machine body and is provided with a front end camera; the manipulator integrated inspector is arranged on the maintenance manipulator and is provided with a manipulator camera and an environment detection sensor;
the control unit is respectively connected with the traveling wheel motor, the front end integrated inspector, the manipulator integrated inspector and the maintenance manipulator;
and the power supply module is respectively connected with the control unit, the walking wheel motor, the front end integrated inspector, the manipulator integrated inspector and the maintenance manipulator.
2. The automatic inspection robot for the vehicle base utility tunnel according to claim 1, wherein the running mechanism further comprises a plurality of stabilizing wheels mounted on the machine body, the center line of each stabilizing wheel is vertically arranged, the running rails comprise a first rail for the running of the running wheels and a second rail for the running of the stabilizing wheels, and the first rail is connected to the utility tunnel through the second rail.
3. The vehicle base utility tunnel automatic inspection robot according to claim 1, wherein the power module includes a battery and an automatic charging device, the automatic charging device being connected to the battery.
4. The automatic inspection robot for the vehicle base comprehensive pipe gallery according to claim 1, wherein the maintenance manipulator comprises a manipulator base rotating motor, a manipulator base and a manipulator, the manipulator base rotating motor is installed on the machine body, an output shaft of the manipulator base rotating motor is vertically arranged and fixedly connected with the manipulator base, the manipulator is installed on the manipulator base and comprises a plurality of mechanical arms and a plurality of arm motors, each mechanical arm is driven by one arm motor to rotate, and the manipulator integrated inspection device is installed on the mechanical arm far away from the manipulator base.
5. The vehicle base utility tunnel automatic inspection robot according to claim 1, wherein the control unit includes a memory module, the memory module is connected with the camera and the environment detection sensor respectively.
6. The vehicle base utility tunnel automated inspection robot of claim 1, wherein the control unit includes a location module for tracking a location of the inspection robot.
7. The vehicle base utility tunnel automatic inspection robot according to claim 1, wherein the control unit comprises an information transmission module, and the information transmission module is connected with the management control platform through a wireless transmission module.
8. The automatic inspection robot for the vehicle base comprehensive pipe gallery according to claim 1, further comprising an emergency lighting lamp installed at the front end of the machine body.
9. The vehicle base utility tunnel automatic inspection robot of claim 1, wherein the environmental detection sensor comprises a smoke sensor and/or a temperature sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022980754.1U CN213890037U (en) | 2020-12-11 | 2020-12-11 | Automatic inspection robot for vehicle base comprehensive pipe gallery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022980754.1U CN213890037U (en) | 2020-12-11 | 2020-12-11 | Automatic inspection robot for vehicle base comprehensive pipe gallery |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213890037U true CN213890037U (en) | 2021-08-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022980754.1U Active CN213890037U (en) | 2020-12-11 | 2020-12-11 | Automatic inspection robot for vehicle base comprehensive pipe gallery |
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| Country | Link |
|---|---|
| CN (1) | CN213890037U (en) |
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- 2020-12-11 CN CN202022980754.1U patent/CN213890037U/en active Active
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