CN218018538U - Modular inspection robot - Google Patents
Modular inspection robot Download PDFInfo
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- CN218018538U CN218018538U CN202222065838.1U CN202222065838U CN218018538U CN 218018538 U CN218018538 U CN 218018538U CN 202222065838 U CN202222065838 U CN 202222065838U CN 218018538 U CN218018538 U CN 218018538U
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- 238000007689 inspection Methods 0.000 title claims abstract description 26
- 238000001514 detection method Methods 0.000 claims abstract description 52
- 230000005540 biological transmission Effects 0.000 claims abstract description 13
- 238000004891 communication Methods 0.000 claims abstract description 7
- 238000005259 measurement Methods 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
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Abstract
The utility model relates to a modularized inspection robot, which comprises a driving module, a driven module, a detection module and a control module; the driving module comprises a first vehicle body, a motor and a driving wheel set, the motor is in transmission connection with the driving wheel set, and the driving wheel set is arranged at the lower end of the first vehicle body; the driven module is detachably connected with the driving module and comprises a second vehicle body and a driven wheel set, and the driven wheel set is arranged at the lower end of the second vehicle body and synchronously runs with the driving wheel set; the detection module is detachably arranged on the driving module and the driven module and is used for detecting the track equipment and the surrounding environment; the control module is respectively in communication connection with the motor and the detection module. The utility model discloses a robot is patrolled and examined to modularization, it adopts the modular setting, and the combination of the function of being convenient for and exchange have realized automatic detection, the cost of using manpower sparingly has improved detection efficiency, avoids appearing reinspecting, missing the condition of examining or the false retrieval.
Description
Technical Field
The utility model relates to an inspection robot technical field, in particular to robot is patrolled and examined to modularization.
Background
With the continuous development of railway engineering, the railway mileage is continuously increased. According to the requirement of railway detection and maintenance, regular or irregular detection needs to be carried out on a railway line. At present, the railway line in the prior art mostly adopts manual detection, the detection efficiency is extremely low, long time is needed, and the conditions of re-detection, missing detection or false detection are easy to occur. Therefore, the prior art has yet to be developed.
SUMMERY OF THE UTILITY MODEL
In view of the foregoing prior art, an object of the present invention is to provide a modular inspection robot, which is designed to adopt modular arrangement, facilitate the combination and exchange of functions, and realize automatic detection.
In order to achieve the above object, the present invention provides the following technical solutions:
the utility model provides a modularized inspection robot, which comprises a driving module, a driven module, a detection module and a control module;
the driving module comprises a first vehicle body, a motor and a driving wheel set, the motor is in transmission connection with the driving wheel set, and the driving wheel set is installed at the lower end of the first vehicle body;
the driven module is detachably connected with the driving module and comprises a second vehicle body and a driven wheel set, and the driven wheel set is mounted at the lower end of the second vehicle body and synchronously operates with the driving wheel set;
the detection module is detachably arranged on the driving module and the driven module and is used for detecting the track equipment and the surrounding environment;
the control module is respectively in communication connection with the motor and the detection module.
Further, the driving module and the driven module are detachably connected through a connecting plate;
the first vehicle body is provided with a first positioning pin, a first movable buckle and a first limiting seat, the first positioning pin and the first movable buckle are arranged at intervals, and the first movable buckle is elastically and rotatably arranged on the first vehicle body and is abutted by the first limiting seat;
the second vehicle body is provided with a second positioning pin, a second movable buckle and a second limiting seat, the second positioning pin and the second movable buckle are arranged at intervals, and the second movable buckle is elastically and rotatably arranged on the second vehicle body and is abutted by the second limiting seat;
the two ends of the connecting plate are respectively provided with a positioning hole, and the two ends of the connecting plate are sleeved outside the first positioning pin and the second positioning pin through the positioning holes and are abutted and fixed by the first movable buckle and the second movable buckle.
Further, the control module is clamped between the first vehicle body and the second vehicle body, and the detection module is mounted right above the first vehicle body and the second vehicle body and clamps the control module.
Further, the driven module further comprises a lighting assembly, the lighting assembly comprises a light source and a support, the light source is fixed with the support, and the support is installed on the second vehicle body.
Furthermore, a bumper strip is arranged on the first vehicle body and/or the second vehicle body.
Further, control module include the box and set up in a plurality of controller and battery in the box, be provided with a plurality of kelly around the box, the kelly joint in first automobile body with between the second automobile body, the battery respectively with controller, motor and detection module electricity are connected, the controller respectively with the motor reaches detection module communication connection.
Further, the driving wheel set comprises a first driving wheel and a second driving wheel, the first driving wheel and the second driving wheel are respectively arranged on two sides of the first vehicle body, the first driving wheel is in transmission connection with the motor, and the second driving wheel is in transmission connection with the first driving wheel through a transmission shaft.
Further, the detection module includes the mount pad and set up in boundary limit detection sensor, railway roadbed foreign matter detection sensor on the mount pad, keep away barrier sensor and a plurality of 3D and measure the camera.
Further, a handle is arranged on the driving module, the driven module, the detection module or the control module.
Further, the device also comprises a guide module and a tensioning module;
the guide module comprises guide wheel sets which are respectively arranged on the first vehicle body and the second vehicle body;
the tensioning module comprises an elastic device and a pressing wheel set, and the elastic force of the elastic device enables the pressing wheel set to elastically abut against the corresponding side face of the track.
The utility model discloses technical scheme has beneficial effect:
the utility model discloses a robot is patrolled and examined to modularization, it adopts the modular setting, and the combination and the exchange of the function of being convenient for have realized automatic detection, and the cost of using manpower sparingly has improved detection efficiency, avoids appearing reinspection, lou to examine or the false retrieval's the condition.
Drawings
Fig. 1 is a schematic structural diagram of the present invention;
FIG. 2 is a schematic view of another aspect of the present invention;
fig. 3 is an exploded view of the present invention;
fig. 4 is a schematic connection diagram of the driving module, the driven module and the control module according to the present invention;
fig. 5 is an enlarged view of a portion of the slave module of the present invention;
fig. 6 is a schematic view of the first movable buckle and the first limiting seat of the present invention;
fig. 7 is an exploded view of the drive module of the present invention;
fig. 8 is an exploded view of the slave module of the present invention;
fig. 9 is an exploded view of the detection module of the present invention;
fig. 10 is an exploded view of the control module of the present invention;
FIG. 11 is a schematic view of the present invention as applied to a track;
fig. 12 is a front view of the present invention as applied to a track;
fig. 13 is a partially enlarged view of fig. 12.
Description of reference numerals:
100-modular inspection robot, 10-drive module, 11-first vehicle body, 111-first positioning pin, 112-first movable buckle, 113-first limiting seat, 12-motor, 13-drive wheel set, 131-first drive wheel, 132-second drive wheel, 133-transmission shaft, 20-driven module, 21-second vehicle body, 211-second positioning pin, 212-second movable buckle, 213-second limiting seat, 22-driven wheel set, 23-light source, 24-bracket, 30-detection module, 31-mounting seat, 32-limit detection sensor, 33-track bed foreign matter detection sensor, 34-obstacle avoidance sensor, 35-3D measurement camera, 40-control module, 41-box body, 42-controller, 43-battery, 44-clamping rod, 50-connecting plate, 60-anti-collision strip, 70-handle, 80-guide module, 90-tensioning module.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the specific embodiments described herein are only used for explaining the present invention, and are not used for limiting the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, back, 8230; \8230;) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the attached drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
In the present application, unless expressly stated or limited otherwise, the terms "connected" and "fixed" are to be construed broadly, e.g., "connected" may be a fixed connection or a removable connection, or may be integral therewith; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In addition, descriptions in the present application as to "first", "second", and the like are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature.
Referring to fig. 1 to 10, the present invention provides a modular inspection robot 100, which includes a driving module 10, a driven module 20, a detecting module 30 and a control module 40.
The driving module 10 comprises a first vehicle body 11, a motor 12 and a driving wheel set 13, wherein the motor 12 is in transmission connection with the driving wheel set 13, and the driving wheel set 13 is installed at the lower end of the first vehicle body 11.
Specifically, the driving wheel set 13 includes a first driving wheel 131 and a second driving wheel 132, the first driving wheel 131 and the second driving wheel 132 are respectively disposed on two sides of the first vehicle body 11, the first driving wheel 131 is in transmission connection with the motor 12, the second driving wheel 132 is in transmission connection with the first driving wheel 131 through a transmission shaft 133, and the first driving wheel 131 is driven by the motor 12 to rotate, so as to drive the second driving wheel 132 to rotate.
The driven module 20 and the driving module 10 are detachably connected, the driven module 20 includes a second vehicle body 21 and a driven wheel set 22, and the driven wheel set 22 is installed at the lower end of the second vehicle body 21 and synchronously operates with the driving wheel set 13.
The driving module 10 and the driven module 20 cooperate to provide mechanical energy such as traction force and speed for the modular inspection robot 100 to walk on the rail, so as to provide stable and reliable ground grabbing force, and prevent the situation that the modular inspection robot 100 is suspended to cause skidding and keeps in place immovable when walking.
The detection module 30 is detachably mounted on the driving module 10 and the driven module 20, and is used for detecting the track equipment and the surrounding environment.
Specifically, the detection module 30 includes a mounting seat 31, and a boundary detection sensor 32, a track bed foreign object detection sensor 33, an obstacle avoidance sensor 34, and a plurality of 3D measurement cameras 35 disposed on the mounting seat 31.
The limit detection sensor 32 and the track bed foreign matter detection sensor 33 adopt laser light radar ranging or camera depth identification, and are respectively used for detecting whether foreign matters exist in the limit range of the track and in the middle of the track bed, so that accidents caused by the fact that a train collides with the foreign matters are avoided.
The obstacle avoidance sensor 34 is disposed at the front side and/or the rear side of the mounting seat 31, and is used to determine whether an obstacle exists when the modular inspection robot 100 moves forward or backward, so as to prevent the modular inspection robot from colliding and falling.
The 3D measuring camera 35 is used for detecting steel rail cracks, steel rail abrasion, steel rail gauge errors, elastic strip failure and the like, is convenient to maintain for a long time, and avoids accidents.
The control module 40 is in communication connection with the motor 12 and the detection module 30, and is configured to control a motion state of the driving module 10, and meanwhile, parameters detected by the detection module 30 are transmitted to the control module 40, so that a user can perform a next operation conveniently.
The utility model discloses a robot 100 is patrolled and examined to modularization, it adopts the modular setting, and the combination of the function of being convenient for and exchange have realized automated inspection, the cost of using manpower sparingly has improved detection efficiency, avoids appearing reinspecting, missing the condition of examining or the false retrieval.
With continued reference to fig. 4 to 6, the driving module 10 and the driven module 20 are detachably connected by a connecting plate 50.
The first vehicle body 11 is provided with a first positioning pin 111, a first movable buckle 112 and a first limiting seat 113, the first positioning pin 111 and the first movable buckle 112 are arranged at intervals, and the first movable buckle 112 is elastically and rotatably arranged on the first vehicle body 11 and is abutted by the first limiting seat 113;
the second car body 21 is provided with a second positioning pin 211, a second movable buckle 212 and a second limiting seat 213, the second positioning pin 211 and the second movable buckle 212 are arranged at an interval, and the second movable buckle 212 is elastically and rotatably arranged on the second car body 21 and is abutted by the second limiting seat 213;
the two ends of the connecting plate 50 are respectively provided with a positioning hole (not shown), and the two ends of the connecting plate 50 are respectively sleeved outside the first positioning pin 111 and the second positioning pin 211 through the positioning holes and are abutted and fixed by the first movable buckle 112 and the second movable buckle 212.
The utility model discloses a drive module 10 and driven module 20 when the installation, only need with the locating hole of connecting plate 50 is aimed at first locating pin 111 with second locating pin 211 inserts, until insert to first activity detain 112 with the second activity is detained 212 department and is supported and is held fixedly, can connect drive module 10 with driven module 20, this mounting means convenient and fast saves time.
Further, the control module 40 is interposed between the first vehicle body 11 and the second vehicle body 21, and the detection module 30 is mounted directly above the first vehicle body 11 and the second vehicle body 21 and clamps the control module 40, so that the structure is compact and the control module is not easily separated from each other.
When installed, the detection module 30 is also inserted into the fixed connection with the first positioning pin 111 and the second positioning pin 211.
In this embodiment, the driven module 20 further includes a lighting assembly, the lighting assembly includes a light source 23 and a bracket 24, the light source 23 is fixed to the bracket 24, the bracket 24 is installed on the second vehicle body 21, the light source 23 provides illumination for the modular inspection robot 100, so as to facilitate the collection work of each sensor.
Preferably, the first vehicle body 11 and/or the second vehicle body 21 are provided with a bumper strip 60 to provide a collision signal for the modular inspection robot 100, so as to prevent a violent collision.
In this embodiment, the driving module 10, the driven module 20, the detecting module 30, or the control module 40 is provided with a handle 70 to facilitate carrying of the respective modules.
Further, control module 40 includes box 41 and set up in a plurality of controller 42 and battery 43 in the box 41, be provided with a plurality of kelly 44 around box 41, kelly 44 joint in first automobile body 11 with between the second automobile body 21, battery 43 respectively with controller 42, motor 12 and detection module 30 electricity are connected to provide the electric quantity, controller 42 respectively with motor 12 reaches detection module 30 communication connection is used for control the modularization patrols and examines the motion of robot 100 and collects the signal of each sensor.
Referring to fig. 1, 11 to 13, the modular inspection robot 100 further includes a guide module 80 and a tensioning module 90.
Wherein, the direction module 80 includes the direction wheelset, the direction wheelset set up respectively in first automobile body 11 with on the second automobile body 21, can let the modularization is patrolled and examined robot 100 and is smoothly turned round and change the way, and frictional force is reduced avoids producing the noise.
The above embodiments of the present invention are merely examples for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. It is not exhaustive here for all embodiments. All obvious changes or variations led out by the technical scheme of the utility model are still in the protection scope of the utility model.
Claims (10)
1. A modularized inspection robot is characterized by comprising a driving module, a driven module, a detection module and a control module;
the driving module comprises a first vehicle body, a motor and a driving wheel set, the motor is in transmission connection with the driving wheel set, and the driving wheel set is installed at the lower end of the first vehicle body;
the driven module is detachably connected with the driving module and comprises a second vehicle body and a driven wheel set, and the driven wheel set is mounted at the lower end of the second vehicle body and synchronously operates with the driving wheel set;
the detection module is detachably arranged on the driving module and the driven module and is used for detecting the track equipment and the surrounding environment;
the control module is respectively in communication connection with the motor and the detection module.
2. The modular inspection robot according to claim 1, wherein the driving module is removably coupled to the driven module via a connection plate;
the first vehicle body is provided with a first positioning pin, a first movable buckle and a first limiting seat, the first positioning pin and the first movable buckle are arranged at intervals, and the first movable buckle is elastically and rotatably arranged on the first vehicle body and is abutted by the first limiting seat;
the second vehicle body is provided with a second positioning pin, a second movable buckle and a second limiting seat, the second positioning pin and the second movable buckle are arranged at intervals, and the second movable buckle is elastically and rotatably arranged on the second vehicle body and is abutted by the second limiting seat;
the two ends of the connecting plate are respectively provided with a positioning hole, and the two ends of the connecting plate are respectively sleeved outside the first positioning pin and the second positioning pin through the positioning holes and are abutted and fixed by the first movable buckle and the second movable buckle.
3. The modular inspection robot according to claim 1, wherein the control module is interposed between the first body and the second body, and the detection module is mounted directly above the first body and the second body and clamps the control module.
4. The modular inspection robot according to claim 1, wherein the slave module further includes a lighting assembly including a light source and a bracket, the light source being secured to the bracket, the bracket being mounted to the second body.
5. The modular inspection robot according to claim 1, wherein bumper strips are provided on the first and/or second bodies.
6. The modular inspection robot according to claim 1, wherein the control module comprises a box body, and a plurality of controllers and batteries arranged in the box body, a plurality of clamping rods are arranged around the box body and clamped between the first vehicle body and the second vehicle body, the batteries are respectively electrically connected with the controllers, the motors and the detection modules, and the controllers are respectively in communication connection with the motors and the detection modules.
7. The modular inspection robot according to claim 1, wherein the driving wheel set includes a first driving wheel and a second driving wheel, the first driving wheel and the second driving wheel are respectively disposed at two sides of the first vehicle body, the first driving wheel is in transmission connection with the motor, and the second driving wheel is in transmission connection with the first driving wheel through a transmission shaft.
8. The modular inspection robot according to claim 1, wherein the detection module includes a mounting base, and a boundary detection sensor, a track bed foreign object detection sensor, an obstacle avoidance sensor and a plurality of 3D measurement cameras disposed on the mounting base.
9. The modular inspection robot according to claim 1, wherein the drive module, the slave module, the detection module or the control module are provided with handles thereon.
10. The modular inspection robot according to claim 1, further including a guide module and a tensioning module;
the guide module comprises guide wheel sets which are respectively arranged on the first vehicle body and the second vehicle body;
the tensioning module comprises an elastic device and a pressing wheel set, and the elastic force of the elastic device enables the pressing wheel set to elastically abut against the corresponding side face of the track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222065838.1U CN218018538U (en) | 2022-08-05 | 2022-08-05 | Modular inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222065838.1U CN218018538U (en) | 2022-08-05 | 2022-08-05 | Modular inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218018538U true CN218018538U (en) | 2022-12-13 |
Family
ID=84342599
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222065838.1U Expired - Fee Related CN218018538U (en) | 2022-08-05 | 2022-08-05 | Modular inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218018538U (en) |
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2022
- 2022-08-05 CN CN202222065838.1U patent/CN218018538U/en not_active Expired - Fee Related
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| Date | Code | Title | Description |
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Granted publication date: 20221213 |