CN220446456U - Rail-mounted inspection robot - Google Patents
Rail-mounted inspection robot Download PDFInfo
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- CN220446456U CN220446456U CN202321505521.3U CN202321505521U CN220446456U CN 220446456 U CN220446456 U CN 220446456U CN 202321505521 U CN202321505521 U CN 202321505521U CN 220446456 U CN220446456 U CN 220446456U
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- inspection robot
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- 238000007689 inspection Methods 0.000 title claims abstract description 31
- 230000007246 mechanism Effects 0.000 claims abstract description 86
- 230000004888 barrier function Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000001502 supplementing effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Abstract
The utility model relates to the technical field of inspection equipment, in particular to a rail-hanging type inspection robot which comprises a robot travelling mechanism, a telescopic mechanism, a cradle head mechanism, a lower shell, an upper shell and a travelling rail, wherein the outer surface of the travelling rail is overlapped in the robot travelling mechanism, the top of the telescopic mechanism is fixedly arranged at the bottom of the robot travelling mechanism, one side of the cradle head mechanism is connected with one side of the telescopic mechanism, and the upper shell is fixedly arranged outside the robot travelling mechanism and the telescopic mechanism through bolts. The utility model has the advantages that: according to the utility model, through the arrangement of the display screen, the device can be used for displaying the running state of the robot and the specific content of the detected items, and the second ultrasonic detector arranged at the bottom of the lower shell can detect whether an obstacle exists below the tripod head when the tripod head mechanism descends, so that the tripod head is prevented from colliding with the obstacle, and the practicability of the device is ensured.
Description
Technical Field
The utility model relates to the technical field of inspection equipment, in particular to a rail-mounted inspection robot.
Background
The rail-mounted inspection robot is a monitoring robot system which is specially applied to each indoor room of a transformer substation, and can replace manual work to complete various inspection, detection, monitoring, fault diagnosis and early warning functions. All-weather monitoring is carried out on the equipment in the station through an autonomous running maneuvering platform and a group of high-performance detecting instruments, the installation quantity of fixed sensors and instruments required by an intelligent substation can be greatly reduced, a large amount of wiring is not needed, the existing switching room, GIS room and relay protection room are not needed to be modified, and the advanced operation level is improved while the comprehensive operation cost is reduced.
However, most of the conventional rail-mounted inspection robots have the following problems when in use:
1. the lack of a display mechanism can not intuitively know the working content in the working process;
2. only be provided with advance and keep away barrier mechanism, the cloud platform bottom lacks and keeps away barrier mechanism, when carrying out the cloud platform lift, the bottom bumps easily.
In order to solve the problem, the utility model provides a rail-mounted inspection robot.
Disclosure of Invention
The object of the present utility model is to solve at least one of the technical drawbacks.
Therefore, an object of the present utility model is to provide a track-mounted inspection robot, which solves the problems mentioned in the background art and overcomes the defects existing in the prior art.
In order to achieve the above object, an embodiment of an aspect of the present utility model provides a rail-mounted inspection robot, including a robot walking mechanism, a telescopic mechanism, a pan-tilt mechanism, a lower housing, an upper housing and a walking track, wherein an outer surface of the walking track is overlapped with an inner portion of the robot walking mechanism, a top portion of the telescopic mechanism is fixedly mounted at a bottom portion of the robot walking mechanism, one side of the pan-tilt mechanism is connected with one side of the telescopic mechanism, the upper housing is fixedly mounted at an outer portion of the robot walking mechanism and the telescopic mechanism through bolts, the lower housing is fixedly mounted at an outer portion of the pan-tilt mechanism through bolts, two sides of the upper housing are fixedly mounted with a first ultrasonic detector, a bottom portion of the lower housing is fixedly mounted with a second ultrasonic detector, and one side of the lower housing is fixedly mounted with a display screen.
By any of the above schemes, preferably, a robot switch button is fixedly installed on one side of the lower housing, and an emergency stop button is fixedly installed on one side of the lower housing.
The technical effect achieved by adopting the scheme is as follows: the device is convenient to start and stop, and the robot can be turned off in an emergency.
By the above-mentioned scheme preferred, the both sides of cloud platform mechanism are fixed mounting respectively has cloud platform visible light camera shell and cloud platform infrared camera shell, the internally mounted of cloud platform visible light camera shell has the visible light camera, the inside fixed mounting of cloud platform infrared camera shell has the infrared camera.
The technical effect achieved by adopting the scheme is as follows: and carrying out inspection through a visible light camera and an infrared camera.
By any of the above schemes, preferably, two pitching motors are fixedly installed in the cradle head mechanism, and the output ends of the two pitching motors are fixedly connected with a pitching driving gear.
By the above-mentioned scheme preferred, the inside rotation of cloud platform mechanism is connected with two axis of rotation, two the outside of axis of rotation is all fixed mounting has a every single move driven gear, one side of cloud platform visible light camera shell and cloud platform infrared camera shell is fixed mounting in corresponding axis of rotation one side respectively.
In any of the above aspects, it is preferable that the two pitch driven gears are respectively engaged with the corresponding pitch driving gears.
The technical effect achieved by adopting the scheme is as follows: the cradle head visible light camera shell and the cradle head infrared camera shell are conveniently driven to perform pitching rotation.
By the above-mentioned scheme preferred, the inside fixed mounting of cloud platform mechanism has a position motor, the output fixedly connected with position driving gear of position motor, the inside rotation of cloud platform mechanism is connected with the position axle, the outside fixed mounting of position axle has a position driven gear, one side fixed mounting of position axle is in the one side of telescopic machanism.
Preferably in any of the above aspects, the azimuth driving gear and the azimuth driven gear are meshed.
The technical effect achieved by adopting the scheme is as follows: and the azimuth rotation is convenient.
Compared with the prior art, the utility model has the following advantages and beneficial effects:
the utility model can be used for displaying the running state of the robot and the specific content of the detected item through the arrangement of the display screen, and the second ultrasonic detector arranged at the bottom of the lower shell can detect whether an obstacle exists below the tripod head when the tripod head mechanism descends so as to prevent the tripod head from bumping into the obstacle, thereby solving the problems that the existing rail-mounted inspection robot lacks a display mechanism, cannot intuitively know the working content of the existing rail-mounted inspection robot in the working process and is only provided with a travelling obstacle avoidance mechanism, the bottom of the tripod head lacks the obstacle avoidance mechanism, and the bottom is easy to collide when the tripod head ascends and descends, and ensuring the practicability of the device.
Additional aspects and advantages of the utility model will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the utility model.
Drawings
The foregoing and/or additional aspects and advantages of the utility model will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic view of a first view according to an embodiment of the present utility model;
FIG. 2 is a schematic diagram of a second view according to an embodiment of the present utility model;
FIG. 3 is a schematic view of a third view according to an embodiment of the present utility model;
fig. 4 is a schematic view of the structure of the inside of the embodiment according to the present utility model.
In the figure: the device comprises a 1-robot walking mechanism, a 2-telescopic mechanism, a 3-tripod head mechanism, a 4-lower shell, a 5-upper shell, a 6-walking track, a 7-first ultrasonic detector, an 8-second ultrasonic detector, a 9-display screen, a 10-robot switch button, an 11-scram button, a 12-tripod head visible light camera shell, a 13-tripod head infrared camera shell, a 14-visible light camera, a 15-infrared camera, a 16-pitching motor, a 17-pitching driving gear, a 18-rotating shaft, a 19-pitching driven gear, a 20-azimuth motor, a 21-azimuth driving gear, a 22-azimuth shaft and a 23-azimuth driven gear.
Detailed Description
Examples: as shown in fig. 1 to 4, a rail-mounted inspection robot comprises a robot running mechanism 1, a telescopic mechanism 2, a cradle head mechanism 3, a lower shell 4, an upper shell 5 and a running track 6, wherein the robot running mechanism 1 and the telescopic mechanism 2 are all known techniques, and are not improved, and are not repeated herein, the rail-mounted robot running mechanism 1 disclosed in CN218052601U is adopted in the utility model, particularly, the rail-mounted robot running mechanism disclosed in CN218052601U is not repeated herein, the outer surface of the running track 6 is lapped inside the robot running mechanism 1, the top of the telescopic mechanism 2 is fixedly arranged at the bottom of the robot running mechanism 1, one side of the cradle head mechanism 3 is connected with one side of the telescopic mechanism 2, the upper shell 5 is fixedly arranged outside the robot running mechanism 1 and the telescopic mechanism 2 through bolts, install through the bolt, can be convenient for later stage dismouting, so as to overhaul, lower casing 4 passes through bolt fixed mounting in the outside of cloud platform mechanism 3, the equal fixed mounting in both sides of upper casing 5 has a first ultrasonic detector 7, judge whether advance or the in-process that retreats has the barrier to shelter from through first ultrasonic detector 7, so as to avoid the robot complete machine to hit the barrier, the bottom fixed mounting of lower casing 4 has second ultrasonic detector 8, through the setting of second ultrasonic detector 8, telescopic machanism 2 stop action when telescopic machanism 2 drives cloud platform mechanism 3 and runs into the barrier when meeting the barrier, one side fixed mounting of lower casing 4 has display screen 9, display screen 9 can show the state of robot operation and the concrete content of detected item.
One side of the lower shell 4 is fixedly provided with a robot switch button 10 for starting the robot to work, and one side of the lower shell 4 is fixedly provided with an emergency stop button 11 for enabling the robot to be turned off in an emergency.
The two sides of the tripod head mechanism 3 are respectively and fixedly provided with a tripod head visible light camera shell 12 and a tripod head infrared camera shell 13, the interior of the tripod head visible light camera shell 12 is provided with a visible light camera 14, the interior of the tripod head visible light camera shell 12 is fixedly provided with a light supplementing lamp, the shooting definition of the visible light camera 14 is improved through the light supplementing lamp, and the interior of the tripod head infrared camera shell 13 is fixedly provided with an infrared camera 15.
Two pitching motors 16 are fixedly arranged in the cradle head mechanism 3, the visible light camera 12 and the infrared camera 13 can be independently controlled to perform pitching work through the arrangement of the two pitching motors 16, and the output ends of the two pitching motors 16 are fixedly connected with a pitching driving gear 17.
The interior rotation of cloud platform mechanism 3 is connected with two axis of rotation 18, and the outside of two axis of rotation 18 is all fixed mounting has a every single move driven gear 19, and one side of cloud platform visible light camera shell 12 and cloud platform infrared camera shell 13 is fixed mounting in corresponding axis of rotation 18 one side respectively.
The two pitch driven gears 19 are respectively meshed with the corresponding pitch driving gears 17.
An azimuth motor 20 is fixedly arranged in the cradle head mechanism 3, an azimuth driving gear 21 is fixedly connected to the output end of the azimuth motor 20, an azimuth shaft 22 is rotatably connected to the inside of the cradle head mechanism 3, an azimuth driven gear 23 is fixedly arranged outside the azimuth shaft 22, one side of the azimuth shaft 22 is fixedly arranged on one side of the telescopic mechanism 2, and the cradle head mechanism 3 is driven to rotate in azimuth through the azimuth motor 20.
The azimuth driving gear 21 and the azimuth driven gear 23 are meshed.
A rail-mounted inspection robot has the following working principle:
1) After the switch button 10 of the robot is started, the rail-mounted inspection robot starts to continue inspection work, the robot travelling mechanism 1 walks on the travelling rail 6, when the cradle head mechanism 3 needs to be lifted, the cradle head mechanism 3 is driven by the telescopic mechanism 2 to lift, the two pitching motors 16 can independently work under the driving of the azimuth motor 20, the corresponding visible light camera 14 and the infrared camera 15 are further driven to independently rotate, the visible light camera 14 starts to work after the cradle head mechanism 3 stretches to a target detection position, after the work is finished, the telescopic mechanism 2 can realize upward operation, when the telescopic mechanism 2 stretches to the inside of the lower shell 4, the telescopic mechanism 2 stops lifting, and the robot is in the shortest state (see fig. 1-3);
2) The lower shell 4 of the track-hanging type inspection robot is provided with a second ultrasonic detector 8, and when the telescopic mechanism 2 drives the pan-tilt mechanism 3 to move downwards and encounters an obstacle, the telescopic mechanism 2 stops acting so as to prevent the pan-tilt mechanism 3 from colliding with the obstacle;
3) When the rail-mounted inspection robot runs along the walking track 6, whether the robot is blocked by an obstacle in the advancing or retreating process is judged by the first ultrasonic detector 7, so that the whole robot is prevented from colliding with the obstacle, and the running state of the robot and the specific content of the detected items can be displayed by the display screen 9.
Compared with the prior art, the utility model has the following beneficial effects compared with the prior art:
the utility model can be used for displaying the running state of the robot and the specific content of the detected items through the arrangement of the display screen 9, and the second ultrasonic detector 8 arranged at the bottom of the lower shell 4 can detect whether an obstacle exists below the tripod head when the tripod head mechanism 3 descends so as to prevent the tripod head from colliding with the obstacle, thereby solving the problems that the existing rail-mounted inspection robot lacks a display mechanism, cannot intuitively know the working content of the existing rail-mounted inspection robot in the working process and is only provided with a travelling obstacle avoidance mechanism, and the bottom of the tripod head lacks the obstacle avoidance mechanism, and the bottom is easy to collide when the tripod head ascends and descends, and ensuring the practicability of the device.
Claims (8)
1. A rail-mounted inspection robot is characterized in that: including robot running gear (1), telescopic machanism (2), cloud platform mechanism (3), lower casing (4), go up casing (5) and walking track (6), the surface overlap joint of walking track (6) is in the inside of robot running gear (1), the top fixed mounting of telescopic machanism (2) is in the bottom of robot running gear (1), one side of cloud platform mechanism (3) is connected with one side of telescopic machanism (2), go up casing (5) through bolt fixed mounting in the outside of robot running gear (1) and telescopic machanism (2), lower casing (4) are through bolt fixed mounting in the outside of cloud platform mechanism (3), the equal fixed mounting in both sides of going up casing (5) have a first ultrasonic detector (7), the bottom fixed mounting of lower casing (4) has second ultrasonic detector (8), one side fixed mounting of lower casing (4) has display screen (9).
2. The overhead rail inspection robot of claim 1, wherein: one side of the lower shell (4) is fixedly provided with a robot switch button (10), and one side of the lower shell (4) is fixedly provided with an emergency stop button (11).
3. The overhead rail inspection robot of claim 2, wherein: the camera comprises a holder mechanism (3), wherein a holder visible light camera shell (12) and a holder infrared camera shell (13) are respectively and fixedly arranged at two sides of the holder mechanism (3), a visible light camera (14) is arranged in the holder visible light camera shell (12), and an infrared camera (15) is fixedly arranged in the holder infrared camera shell (13).
4. A rail mounted inspection robot according to claim 3, wherein: two pitching motors (16) are fixedly arranged in the cradle head mechanism (3), and pitching driving gears (17) are fixedly connected to the output ends of the pitching motors (16).
5. The rail mounted inspection robot of claim 4, wherein: the inside rotation of cloud platform mechanism (3) is connected with two axis of rotation (18), two the outside of axis of rotation (18) is all fixed mounting has a every single move driven gear (19), one side of cloud platform visible light camera shell (12) and cloud platform infrared camera shell (13) is fixed mounting in corresponding axis of rotation (18) one side respectively.
6. The overhead rail inspection robot of claim 5, wherein: the two pitch driven gears (19) are respectively meshed with the corresponding pitch driving gears (17).
7. The overhead rail inspection robot of claim 6, wherein: the novel telescopic device is characterized in that an azimuth motor (20) is fixedly arranged in the cradle head mechanism (3), an azimuth driving gear (21) is fixedly connected to the output end of the azimuth motor (20), an azimuth shaft (22) is rotatably connected to the inside of the cradle head mechanism (3), an azimuth driven gear (23) is fixedly arranged outside the azimuth shaft (22), and one side of the azimuth shaft (22) is fixedly arranged on one side of the telescopic mechanism (2).
8. The overhead rail inspection robot of claim 7, wherein: the azimuth driving gear (21) is meshed with the azimuth driven gear (23).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321505521.3U CN220446456U (en) | 2023-06-13 | 2023-06-13 | Rail-mounted inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321505521.3U CN220446456U (en) | 2023-06-13 | 2023-06-13 | Rail-mounted inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220446456U true CN220446456U (en) | 2024-02-06 |
Family
ID=89731121
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321505521.3U Active CN220446456U (en) | 2023-06-13 | 2023-06-13 | Rail-mounted inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220446456U (en) |
-
2023
- 2023-06-13 CN CN202321505521.3U patent/CN220446456U/en active Active
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