CN216372236U - Inspection robot with self-cleaning function - Google Patents
Inspection robot with self-cleaning function Download PDFInfo
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- CN216372236U CN216372236U CN202122900758.9U CN202122900758U CN216372236U CN 216372236 U CN216372236 U CN 216372236U CN 202122900758 U CN202122900758 U CN 202122900758U CN 216372236 U CN216372236 U CN 216372236U
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- driving motor
- self
- rotating shaft
- device body
- cleaning function
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- 238000007689 inspection Methods 0.000 title claims abstract description 56
- 238000004140 cleaning Methods 0.000 title claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 229920000742 Cotton Polymers 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 2
- 238000003860 storage Methods 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 4
- 239000000428 dust Substances 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 239000003245 coal Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 229910052709 silver Inorganic materials 0.000 description 2
- 239000004332 silver Substances 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 230000001483 mobilizing effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000012544 monitoring process Methods 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model discloses an inspection robot with a self-cleaning function, which comprises a guide rail, a traveling mechanism and an inspection device body, wherein the traveling mechanism is arranged in the guide rail, a mounting seat is arranged at the bottom of the traveling mechanism, a rotating shaft is rotatably connected at the center of the lower surface of the mounting seat, an inverted concave frame is welded at the bottom end of the rotating shaft, the inspection device body is rotatably connected in the inverted concave frame through a rotating shaft, and a third driving motor for driving the rotating shaft to rotate is fixedly connected to the outer wall of the inverted concave frame. According to the inspection robot with the self-cleaning function, in the using process, the rotating shaft and the rotating shaft are controlled to rotate, so that the angles of the horizontal direction and the vertical direction of the inspection device body can be adjusted, and inspection on any position is facilitated.
Description
Technical Field
The utility model relates to the technical field of inspection robots, in particular to an inspection robot with a self-cleaning function.
Background
The inspection robot takes a mobile robot as a carrier, a visible light camera or other detecting instruments as a load system, multi-field information fusion of machine vision-electromagnetic field-GPS-GIS as a navigation system for autonomous movement and autonomous inspection of the robot, and an embedded computer as a software and hardware development platform of a control system, and has the functions of obstacle detection and identification, autonomous operation planning, autonomous obstacle crossing, autonomous inspection of a power transmission line and a line corridor thereof, automatic storage and remote wireless transmission of a robot body for inspecting images and data, ground remote wireless monitoring and remote control, online real-time supply of electric energy, background inspection operation management, analysis and diagnosis and the like.
The current robot of patrolling and examining, the general single image acquisition that possesses, its effect of patrolling and examining is relatively poor, when patrolling and examining, can't adjust the position of probe according to specific environment, so lead to it to patrol and examine the effect relatively poor, so can not satisfy user's demand.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide an inspection robot with a self-cleaning function, so as to solve the problems in the background technology.
In order to achieve the purpose, the utility model adopts the following technical scheme: an inspection robot with a self-cleaning function comprises a guide rail, a traveling mechanism and an inspection device body, wherein the traveling mechanism is arranged in the guide rail, a mounting seat is arranged at the bottom of the traveling mechanism, a rotating shaft is rotatably connected to the center of the lower surface of the mounting seat, an inverted concave frame is welded at the bottom end of the rotating shaft, the inspection device body is rotatably connected in the inverted concave frame through the rotating shaft, and a third driving motor for driving the rotating shaft to rotate is fixedly connected to the outer wall of the inverted concave frame;
the front surface of the inspection device body is embedded with a camera and an infrared thermal imager, a storage battery, a PLC (programmable logic controller) and a wireless connector are arranged inside the inspection device body, and an air detector is arranged on the lower surface of the inspection device body.
As a further description of the above technical solution:
the walking mechanism comprises a sliding seat arranged in the guide rail and a connecting seat welded at the center of the lower surface of the sliding seat, the mounting seat is welded at the bottom end of the connecting seat, the lower surface of the sliding seat is positioned at the two sides of the connecting seat, the two sides of the connecting seat are fixed with rolling wheels through bolts, and the rolling wheels are provided with driving first driving motors.
As a further description of the above technical solution:
the welding has driven gear in the pivot, the mount pad lower surface inlays to establish and installs second driving motor, the rigid coupling has the driving gear on second driving motor's the output shaft, the driving gear is connected with driven gear tooth wheel meshing.
As a further description of the above technical solution:
the center of the front surface of the inverted concave frame is embedded with an infrared distance meter, and the output end of the infrared distance meter is electrically connected with the input end of the PLC.
As a further description of the above technical solution:
the output of camera, infrared thermal imager and air detector is connected with the input electricity of PLC controller, the PLC controller passes through wireless connector and terminal PC wireless connection, the output of PLC controller is connected with first driving motor, second driving motor and third driving motor's input electricity respectively.
As a further description of the above technical solution:
the top end of the inner part of the inverted concave frame is bonded with a dust removing cotton strip.
The utility model provides an inspection robot with a self-cleaning function. The method has the following beneficial effects:
(1) this kind has self-cleaning function and patrols and examines robot, in the in-process that uses, through control pivot and rotation axis rotation, can adjust the horizontal direction of patrolling and examining the device body and the angle of vertical direction, be convenient for patrol and examine the optional position, secondly adopt second driving motor and third driving motor to be used for driving pivot and rotation axis rotation respectively, adopt PLC controller control second driving motor and third driving motor work, the PLC controller passes through wireless connector and terminal PC wireless connection, thereby the angle of patrolling and examining the device body is adjusted to accessible terminal PC remote control.
(2) The inspection robot with the self-cleaning function is characterized in that a camera, an infrared thermal imager and an air detector are integrally arranged on an inspection device body, through the arrangement of the camera, the inspection robot can collect the images and videos of the field equipment and the coal materials and transmit the images and videos to the terminal PC for storage and display, through the arrangement of the infrared thermal imager, the inspection robot can shoot the infrared thermal images of the equipment and the coal surface and extract the temperature information of the equipment from the infrared thermal images, then the data is transmitted to a terminal PC, and further through the arrangement of an air detector, the inspection robot can collect and monitor the data information of the environmental gas, and transmits the information to the terminal PC for displaying and storing in real time, so that the inspection robot can collect the information comprehensively, compare in traditional single image acquisition patrols and examines robot, its result of use of improvement of maximization.
Drawings
Fig. 1 is a front view of an inspection robot with a self-cleaning function according to the present invention;
FIG. 2 is an enlarged view of area A of FIG. 1 according to the present invention;
FIG. 3 is a cross-sectional view of the inspection apparatus body according to the present invention;
fig. 4 is a block diagram of a process of the inspection robot with the self-cleaning function according to the present invention;
fig. 5 is a schematic structural view of the guide rail of the present invention.
Illustration of the drawings:
1. a guide rail; 2. a traveling mechanism; 21. a sliding seat; 22. a connecting seat; 23. a roller; 24. a first drive motor; 3. a mounting seat; 4. a rotating shaft; 41. a driven gear; 42. a second drive motor; 43. a driving gear; 5. an inverted concave frame; 6. a rotating shaft; 7. a body of the inspection device; 71. an infrared range finder; 72. a camera; 73. an infrared thermal imager; 74. an air detector; 75. a storage battery; 76. a PLC controller; 77. a wireless connector; 78. removing the cotton sliver; 8. and a third drive motor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-5, the inspection robot with the self-cleaning function comprises a guide rail 1, a traveling mechanism 2 and an inspection device body 7, wherein the traveling mechanism 2 is arranged in the guide rail 1, an installation seat 3 is arranged at the bottom of the traveling mechanism 2, a rotating shaft 4 is rotatably connected at the center of the lower surface of the installation seat 3, an inverted concave frame 5 is welded at the bottom end of the rotating shaft 4, the inspection device body 7 is rotatably connected in the inverted concave frame 5 through a rotating shaft 6, and a third driving motor 8 for driving the rotating shaft 6 to rotate is fixedly connected to the outer wall of the inverted concave frame 5;
the front surface of the inspection device body 7 is embedded with a camera 72 and an infrared thermal imager 73, the inspection device body 7 is internally provided with a storage battery 75, a PLC 76 and a wireless connector 77, and the lower surface of the inspection device body 7 is provided with an air detector 74.
In this embodiment, the back of the inspection device body 7 is also provided with a charging hole, and the charging hole is used for charging the storage battery 75. The battery 75 is used to supply electric power to the inspection device body 7.
Running gear 2 is including setting up slide holder 21 in guide rail 1 and welding at the connecting seat 22 of slide holder 21 lower surface center department, and the welding of mount pad 3 is in the bottom of connecting seat 22, and the both sides bolt fastening that slide holder 21 lower surface is located connecting seat 22 has gyro wheel 23, installs on the gyro wheel 23 and drives first driving motor 24.
In this embodiment, first driving motor 24 is used for mobilizing gyro wheel 23 and rotates, walks on guide rail 1 through gyro wheel 23 to drive inspection device body 7 and remove, patrol and examine work.
The rotating shaft 4 is welded with a driven gear 41, the lower surface of the mounting seat 3 is embedded with a second driving motor 42, an output shaft of the second driving motor 42 is fixedly connected with a driving gear 43, and the driving gear 43 is in gear engagement with the driven gear 41.
In this embodiment, second driving motor 42 is used for driving gear 43 and rotates, and driving gear 43 can drive pivot 4 through driven gear 41 and rotate to drive the rotation of type of falling concave frame 5 through pivot 4, carry out the position control of horizontal direction to inspection device body 7.
An infrared distance meter 71 is embedded in the center of the front surface of the inverted concave frame 5, and the output end of the infrared distance meter 71 is electrically connected with the input end of the PLC 76.
The top end of the inner part of the inverted concave frame 5 is adhered with a dust removing cotton strip 78.
In this embodiment, through the work of control third driving motor 8, third driving motor 8 drives inspection device body 7 through rotation axis 6 and rotates for camera 72, the infrared thermal imager 73 that set up on inspection device body 7 can contact with deashing silver 78, clean the dust on camera 72, the infrared thermal imager 73 surface automatically through deashing silver 78, realize the automatically cleaning.
In this embodiment, whether infrared distance meter 71 is used for detecting the place ahead of inspection device body 7 has the barrier, when infrared distance meter 71 detected barrier information, can be with data transmission to PLC controller 76 of gathering, PLC controller 76 can control first driving motor 24 stop work this moment for running gear 2 is not removing, and PLC controller 76 passes through wireless connector 77 to terminal PC transmission information simultaneously, reminds the user.
The output ends of the camera 72, the infrared thermal imager 73 and the air detector 74 are electrically connected with the input end of the PLC controller 76, the PLC controller 76 is wirelessly connected with the terminal PC through the wireless connector 77, and the output end of the PLC controller 76 is electrically connected with the input ends of the first driving motor 24, the second driving motor 42 and the third driving motor 8 respectively.
The working principle is as follows: when the inspection robot with the self-cleaning function is used, firstly, a user can send a command to a PLC (programmable logic controller) 76 through a terminal PC (personal computer), the PLC 76 controls a second driving motor 42 and a third driving motor 8 to work, the angle of an inspection device body 7 is adjusted, after the adjustment is finished, the command can be sent to the PLC 76 through the terminal PC at the moment, the PLC 76 controls a first driving motor 24 and a second driving motor 42 to be closed, the command can be sent to the PLC through the terminal PC again at the moment, the first driving motor 24, an infrared distance meter 71, a camera 72, an infrared thermal imager 73 and an air detector 74 are controlled to work, the first driving motor 24 drives a roller 23 to walk on a guide rail 1 to drive the inspection device body 7 to move, and information is adopted by the camera 72, the infrared thermal imager 73 and the air detector 74 and then is transmitted to the PLC 76, and then transmitted to the terminal PC for storage and display through the wireless connector 77.
In the description herein, references to the description of "one embodiment," "an example," "a specific example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and equivalent alternatives or modifications according to the technical solution of the present invention and the inventive concept thereof should be covered by the scope of the present invention.
Claims (6)
1. The inspection robot with the self-cleaning function comprises a guide rail (1), a travelling mechanism (2) and an inspection device body (7), and is characterized in that the travelling mechanism (2) is arranged in the guide rail (1), a mounting seat (3) is arranged at the bottom of the travelling mechanism (2), a rotating shaft (4) is rotatably connected to the center of the lower surface of the mounting seat (3), an inverted concave frame (5) is welded at the bottom end of the rotating shaft (4), the inspection device body (7) is rotatably connected to the inverted concave frame (5) through a rotating shaft (6), and a third driving motor (8) for driving the rotating shaft (6) to rotate is fixedly connected to the outer wall of the inverted concave frame (5);
patrol and examine device body (7) front surface and inlay and establish and install camera (72), infrared thermal imager (73), patrol and examine device body (7) internally mounted has battery (75), PLC controller (76) and wireless connector (77), patrol and examine device body (7) lower surface mounting has air detector (74).
2. The inspection robot with the self-cleaning function according to claim 1, wherein the travelling mechanism (2) comprises a sliding seat (21) arranged in the guide rail (1) and a connecting seat (22) welded at the center of the lower surface of the sliding seat (21), the mounting seat (3) is welded at the bottom end of the connecting seat (22), rollers (23) are fixed on the lower surface of the sliding seat (21) at two sides of the connecting seat (22) through bolts, and a first driving motor (24) is mounted on the rollers (23).
3. The inspection robot with the self-cleaning function according to claim 1, wherein a driven gear (41) is welded on the rotating shaft (4), a second driving motor (42) is embedded and mounted on the lower surface of the mounting seat (3), a driving gear (43) is fixedly connected to an output shaft of the second driving motor (42), and the driving gear (43) is in gear engagement with the driven gear (41).
4. The inspection robot with the self-cleaning function according to claim 1, wherein an infrared distance meter (71) is embedded in the center of the front surface of the inverted concave frame (5), and the output end of the infrared distance meter (71) is electrically connected with the input end of the PLC (76).
5. The inspection robot with the self-cleaning function according to claim 1, wherein output ends of the camera (72), the infrared thermal imager (73) and the air detector (74) are electrically connected with an input end of a PLC (76), the PLC (76) is wirelessly connected with a terminal PC through a wireless connector (77), and output ends of the PLC (76) are respectively electrically connected with input ends of the first driving motor (24), the second driving motor (42) and the third driving motor (8).
6. The inspection robot with the self-cleaning function according to claim 1, wherein an ash removal cotton sliver (78) is bonded to the top end of the inner portion of the inverted concave frame (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122900758.9U CN216372236U (en) | 2021-11-24 | 2021-11-24 | Inspection robot with self-cleaning function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122900758.9U CN216372236U (en) | 2021-11-24 | 2021-11-24 | Inspection robot with self-cleaning function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216372236U true CN216372236U (en) | 2022-04-26 |
Family
ID=81217488
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122900758.9U Expired - Fee Related CN216372236U (en) | 2021-11-24 | 2021-11-24 | Inspection robot with self-cleaning function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216372236U (en) |
-
2021
- 2021-11-24 CN CN202122900758.9U patent/CN216372236U/en not_active Expired - Fee Related
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220426 |
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| CF01 | Termination of patent right due to non-payment of annual fee |