WO2016062246A1 - Indoor track style intelligent inspection robot system - Google Patents

Abstract

An indoor track style intelligent inspection robot system, comprising a robot terminal system (42). The robot terminal system (42) comprises a section bar (15) installed on the indoor walls, a moving mechanism, a motion driving mechanism, and an inspection mechanism being installed on the section bar (15); the inspection mechanism comprises a cradle head (13) and an inspection assembly (14), the inspection mechanism is installed on the moving mechanism, the moving mechanism is driven by the motion driving mechanism, and the moving mechanism drives the inspection mechanism to move up and down along the section bar (15), and in combination with the operation of the cradle head (13) achieves a wide inspection range for the indoor device to be inspected, the robot terminal system (42) conducts power supply and communication in a trolley line, or conducts communication via power supply and electric power carrier by using a sliding touch line way. Being compact and aesthetically pleasing, the structure employed in the system is installed quickly and conveniently, and the system operates smoothly and reliably, and has a high positioning accuracy, a wide inspection range, and a high degree of automation.

Description

Indoor track type intelligent inspection robot system

The present application claims priority to Chinese Patent Application No. 201410563491.0, entitled "Indoor Orbital Intelligent Patrol Robot System", filed on October 21, 2014, the entire contents of which is incorporated herein by reference. in.

Technical field

The invention relates to an indoor orbital intelligent inspection robot system.

Background technique

The normal operation of indoor electrical equipment is essential. On the one hand, indoor electrical equipment needs to have sufficient reliability, on the other hand, it needs timely detection to discover and repair equipment with potential hidden dangers to ensure the normal operation of the system. The real-time detection of indoor electrical equipment is of great significance to ensure its reliable and safe operation. The orbital robot can be used to detect the indoor equipment in real time and understand the running status of the equipment.

Indoor power equipment is often arranged in a hierarchical arrangement, and the total height of each column varies according to specifications. It is usually necessary to monitor the temperature of indoor electrical equipment in real time. In addition to temperature monitoring, equipment appearance, damage, noise, and meter data need to be monitored.

The technical problems existing in the existing indoor orbital intelligent inspection robot system are as follows:

1. The mobile robots currently used for patrolling indoor equipment information mainly adopt the method of wheeled, crawler or composite drive. Due to the limitation of indoor space and other monitored equipment layout, it is necessary to realize the omnidirectional detection function of the equipment, and the robot needs to be able to move in the vertical direction. The traditional wheel drive or crawler drive method needs to overcome its own gravity when it is moving in the vertical direction. It requires a large friction force and is difficult to realize. Because the indoor space can not be replaced at any time, the battery can not be used.

2. At present, mobile robots used to inspect indoor equipment information should be able to generate electromagnetic disturbances as small as possible on the one hand, and on the other hand, electromagnetic harassment to the outside should have low susceptibility. In electronic device design, the method of structural shielding is a commonly used means to improve electromagnetic compatibility. Structural electromagnetic shielding requires good electrical continuity between the bonding surfaces. The metal structural members are deformed during processing, and in particular, the plate-like structure is more likely to cause large deformation and cannot be corrected, so that the combination of the two structural members causes a gap to affect the shielding effect.

3. At present, mobile robots used to inspect indoor equipment information have some defects in the ventilation and heat dissipation parts. For example, the shielding ventilation window is mainly applied to the necessary ventilation openings of electronic equipment, which can take into account the dual functions of EMI shielding and good ventilation. The existing electromagnetic shielding window has the following disadvantages: (a) the existing electromagnetic shielding window does not have the function of dustproof, and the ventilation causes the dust accumulation in the box, and the dust greatly reduces the service life of the device; (b) existing The sealing effect between the electromagnetic shielding window and the box body is not good, and there is a gap between the electromagnetic shielding window and the box body, which affects the effect of electromagnetic shielding.

4. At present, mobile robots used to inspect indoor equipment information, some parts used by robots need to be fixed on the ground or walls, but the traditional through-wall grounding posts need to be tightened on both sides of the chassis wall. There is a problem that installation is inconvenient. Moreover, since there is no anti-off structure, the tightening nut of the grounding post is easy to slide out of the stud after being loosened, causing falling off or being lost.

Summary of the invention

The object of the present invention is to solve the above problems, and to provide an indoor track type intelligent inspection robot system, which has the advantages of meeting the real-time unmanned detection requirements of indoor equipment.

In order to achieve the above object, the present invention adopts the following technical solutions:

An indoor track type intelligent inspection robot system, comprising a remote control system, the remote control system being connected to at least one robot terminal system via a network, the robot terminal system comprising a profile rail, the profile rail being mounted on an indoor wall, a movement mechanism, a motion driving mechanism and a detecting mechanism are mounted on the profile rail; the detecting mechanism includes a cloud platform and a detecting component, the detecting mechanism is mounted on the moving mechanism, and the moving structure is driven by a motion driving mechanism. The moving mechanism drives the detecting mechanism to move up and down along the profile rail, and combines the operation of the gimbal to realize a wide range of detection of the indoor device under test.

The robot terminal system allows one of the following three conditions in terms of power supply communication:

Case 1: Power supply communication using the drag chain method;

Case 2: The power is supplied by the trolley line method and the power carrier is used for communication;

Case 3: Power is supplied by means of a slip line and communicated using a leaky cable or microwave technology.

The remote control system and the robot terminal system are connected by a power professional optical cable.

The motion mechanism includes a timing pulley assembly including a timing pulley wheel assembly and a timing belt, and the timing belt wheel box is mounted on upper and lower ends of the profile rail, a timing pulley is mounted inside the timing belt pulley, and the timing belt is wound around the timing pulley;

The motion driving mechanism drives the detecting mechanism to move up and down, the motion driving mechanism includes an AC servo motor and a speed reducer, and the AC servo motor is mounted together with the timing pulley through a speed reducer; the speed reducer is fixed at the bottom of the profile rail On the timing belt wheel box;

The detecting mechanism includes a first control box; the first control box is configured to implement communication control and power supply to the detecting component and the pan/tilt; the first control box is mounted on the sliding seat, and the sliding seat is fixedly connected with the synchronous belt The sliding seat is mounted on the profile rail by sliding contact, the synchronous belt drives the sliding block to move up and down along the profile rail, and the first control box is mounted with a gimbal, so the first control box also plays The role of the bracket; the detection component is mounted on the pan/tilt.

The robot terminal system further includes a second control box installed near the track, the second control box is in communication with the first control box, and provides power to the first control box; the second control box is also connected to the AC servo motor Movement plays a controlling role;

The robot terminal system uses the streamer mode to perform power supply communication according to different requirements, or adopts a sliding line mode to perform power supply plus power carrier mode for communication.

The UPS is used for switching between the power supply by the streamer and the power supply by the trolley line.

When the robot uses the drag chain to supply communication,

a detection device controller, a video server, a first switch, and a first power module are installed in the first control box; wherein the video server communicates with an infrared camera and an optical camera, respectively, the first switch and the video Server communication, the first switch is in communication with the detection device controller, the detection device controller is respectively in communication with a cloud platform, an infrared camera, and an optical camera; the first power module is each of the first control box Powered by electrical equipment.

a motion controller, a servo driver, a second power module, a second switch, and a first photoelectric converter of the AC servo motor are installed in the second control box, and the photoelectric converter communicates with the second switch, the second switch Communicating with a motion controller, the motion controller is in communication with a servo drive, the first photoelectric converter is in communication with a remote control system, the motion controller is in communication with a zero switch and first and second limit switches, The servo driver is in communication with the AC servo motor, and the second power module supplies power to each of the power modules of the second control box and provides power to the first control box.

When the system adopts the drag chain power supply mode, the first control box power supply and communication are independent Cable, the power cable is taken out from the second control box; the communication cable is connected to the switch inside the second control box; the drag rail and the drag chain are installed on the profile rail, and the drag chain baffle passes The towline baffle mounting member is fixed on the profile rail, and the power supply cable and the communication cable are installed in the drag chain, and the drag chain protects the cable.

When the robot uses the trolley line to supply power and communicates by power carrier mode,

The detection device controller, the video server, the first switch, the first power carrier modem, and the first power module are installed in the first control box, wherein the video server respectively communicates with the infrared camera and the optical camera in the detection component. The first switch communicates with the video server, the first switch communicates with the detection device controller, and the detection device controller communicates with a cloud platform, an infrared camera, and an optical camera, respectively; The module supplies power to each of the electrical devices of the first control box.

a motion controller, a servo driver, a second power module, a second switch, a first photoelectric converter and a second power carrier modem of the AC servo motor are installed in the second control box, and the photoelectric converter communicates with the second switch The second switch is in communication with a motion controller, the controller is in communication with a servo drive, the photoelectric converter is in communication with a remote control system, the motion controller is in communication with a zero switch and first and second limit switches The servo driver is in communication with the AC servo motor, and the second power module supplies power to each of the power modules and supplies power to the first control box;

One end of the first power carrier modem is connected to the first switch, the other end of the first power carrier modem is connected to one end of the second power carrier modem, and the other end of the second power carrier modem is connected to the second switch. .

When the system adopts the sliding line power supply mode, the communication mode adopted by the detection mechanism is the power carrier mode; the first control box is installed with the current collector fixing plate, and the sliding track is fixed on the profile rail. The sliding contact line is installed in the sliding line fixing seat. The two contacts of the current collector are in contact with the sliding line. The two poles of the current collector are connected to two ends of the first power carrier modem of the first control box, and the two poles of the current collector are further connected to the two ends of the first power module of the first control box.

The two poles of the sliding line are connected to the power carrier modem in the second control box, and the two poles of the sliding line are also connected to the two ends of the second power module of the second control box.

The sliding contact line is composed of a copper wire and an insulating sheath, and the copper wire is formed into a sleeve shape, and the set The electric appliance has the same number of wires as the sliding contact wires and the sliding contact connection of the wires of the sliding contact wires.

The robot terminal system further includes a limiting mechanism, the limiting mechanism includes a limit switch, the limit switch is installed at two ends of the profile rail, and the rear surface of the control box contacting the profile rail is equipped with a limit switch The stopper, the limit switch block and the limit switch are used together to prevent collision caused by abnormal power failure.

The first photoelectric converter of the second control box converts all image and video detection signals and control signals into optical signals, and transmits the signals to the remote control system through the optical fiber, thereby realizing processing of the detection content of the entire system. Remote control of detection and motion status.

The encoder of the AC servo motor is connected to the servo driver, and the slider on the track is controlled by the pulse mode to drive the detecting component to reach the designated position for detection.

The AC servo motor has an electromagnetic brake that can be braked in the event of a power failure.

The profile rail is vertically mounted on the interior wall surface by a rail mounting structure.

The timing belt is fitted in the groove of the profile rail in cooperation with the timing pulley.

The detection component includes an infrared camera, a visible light camera, a smoke alarm sensor, a field strength detector, and an ultraviolet detector.

The reducer is fixed to the timing pulley case at the bottom of the profile rail by a flange assembly.

The drag chain baffle is an L-shaped aluminum profile, and the L-shaped aluminum profile and the profile rail form a guide groove to realize the fixing of the drag chain and the guiding of the drag chain.

The bottom end of the profile rail is equipped with a zero point switch as the origin of the robot operation. Before the patrol robot is powered on, the robot automatically returns to the origin first, and then performs the assigned inspection task.

The second control box realizes power supply and communication relay of the entire robot system terminal, and a motion control function of the AC servo motor, and converts the communication control signal into a photoelectric signal to realize remote communication.

The remote control system includes a second photoelectric converter and a host computer, and the second photoelectric converter photoelectrically converts the communication signal to realize communication between the remote control system and the robot terminal system.

An electromagnetic shielding module box is disposed inside the first control box and the second control box, and the electromagnetic shielding module box is used for storing a circuit board, and the electromagnetic shielding module box body is externally mounted according to the built-in circuit board or the electronic device. The interface requires opening the connector mounting hole, and the connector mounting hole is provided with an electromagnetic compatibility type connector.

The electromagnetic shielding module box includes a box body and a shielding cover plate, wherein the shielding cover plate is disposed on the box body, and the shielding cover plate comprises a metal plate, a flexible pad and a metal foil piece which are sequentially stacked from the outside to the inside. The inside of the casing is a cavity, and the inner arm of the casing is provided with a step.

The shielding cover is provided with a mounting hole, and the step is provided with a threaded hole, and the standard fastener securely connects the box body and the shielding cover through the mounting hole and the threaded hole.

The side of the second control box is provided with a ventilation and dustproof electromagnetic shielding window, and the ventilation and dustproof electromagnetic shielding window comprises a first frame and a second frame, and an annular step is opened on the two frames for fixing the ventilation metal plate; A rectangular shallow groove is formed in the frame, and the conductive rubber strip is adhered to the rectangular groove of the second frame through the conductive adhesive, and the honeycomb ventilation metal plate and the dustproof mesh are sequentially packaged in the upper and lower metal frames.

The box of the second control box is fixed on the ground by a safety grounding post; the safety grounding post includes: a ground stud, a hex nut, a flat washer and a hand nut; and a middle part mounting method of the ground stud The blue disk has a thread at both ends, one end of the ground stud has a central hole for reaming and the other end is processed into a waist-round or a D-shape; and the ground stud has a central hole One end is screwed into the hex nut one, the flat washer one and the hand screw nut.

The beneficial effects of the invention:

1. The invention can be applied to the inspection process of equipment in the field of indoor substation inspection, substation small indoor inspection and the field of the converter station in the inspection field of the converter station.

2. The invention is a wall-mounted track, which can meet the diversified and complex detection requirements of the indoor substation equipment or the converter station equipment detection by means of a combination of multiple orbital robots.

3. The track of the invention adopts a profile rail and a transmission drive system, and the profile has high structural strength, high rigidity, and stable and reliable operation. And the material is easy to obtain, and the system can be built quickly. The synchronous belt drive system adopts high motion precision and can meet any fixed-point detection requirements. Through continuous connection, large stroke detection requirements can be achieved.

4. The AC servo motor of the present invention has a brake that can reliably lock the brake when the power is turned off.

5. The invention can adopt the sliding contact line plus power carrier technology or the drag chain tow cable to realize power supply and communication, and overcome the interference caused by the complicated electromagnetic environment in the indoor substation or the converter hall of the converter station when using wireless communication. Moreover, the transmission bandwidth is larger, and the reliable transmission of video and control signals can be realized, and the structure is compact.

6. The invention adopts wired power taking, so that the self-inspection time is not limited by the battery capacity, the detection time is more flexible, and the continuous inspection work can be realized for a long time.

7. The first control box of the present invention can be used as a bracket box to move along with the slide seat, and the control system is flexible in design.

8. The detection component of the invention can be matched with visible light, infrared and ultraviolet detecting devices, pickups, gas detectors, electromagnetic field strength detectors, etc. according to actual use requirements, and is convenient to realize different detection requirements in the indoor substation or the converter hall.

9. When the invention is powered by the towline streamer, the towline baffle used is an L-shaped aluminum profile, which not only can realize large-scale installation, but also has convenient material acquisition. The L-shaped aluminum profile and the track form a guide groove, which can realize the fixation of the towline and the guiding of the towline.

10. The present invention can also be used in places where there is a vertical direction of moving inspection requirements in all rooms, instead of manual work, the maximum stroke can reach several tens of meters.

11. The electromagnetic shielding module box of the present invention has a better sealing effect of the shielding cover plate due to the presence of the flexible gasket; a shielding cover mounting step is left on the box body. The box body can be milled by a single piece of metal, and the shielding effect is good; the shielding cover plate with the flexible pad and the metal foil is simple in structure, and the structure cost of shielding by using the conductive material is low.

12. Ventilation and dustproof electromagnetic shielding window is applied inside the shielding box with high electromagnetic sealing requirements and ventilation. The utility model is installed at a position where the opening is required, and the metal honeycomb structure forms a good electromagnetic shielding property; the conductive rubber strip is installed on the second frame to enhance the sealing effect between the metal frame and the box body, and the shielding window and the box body are prevented. The gap is formed to improve the electromagnetic shielding effect; the dust will greatly reduce the service life of the device. The air filter can effectively prevent the accumulation of dust in the cabinet due to ventilation and improve the service life of the device.

13. The grounding post of the invention has a simple and compact structure, and the ground stud material is a copper alloy, which is easy to process. The standard room used is copper material, which has good electrical conductivity and small grounding resistance. One end of the ground stud and the mounting case of the same type of mounting hole can prevent the ground stud from rotating when the screw is tightened; The other end has a central hole, and the butterfly nut is thickened when the butterfly nut is installed, which can permanently prevent the butterfly hand nut from falling off and is not easy to be lost.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any creative work.

1 is a schematic structural view of a system when a track patrol robot terminal is powered by a sliding wire;

2 is a schematic structural view of a system of a track patrol robot terminal adopting a drag chain power supply mode;

3 is a schematic diagram of a power supply structure of a sliding line of a track inspection robot terminal;

Figure 4 is a schematic view showing the assembly of the drag chain plate and the rail mounting corner piece;

Figure 5 is an example of a cross-sectional form that can be used for a track inspection robot profile rail;

Figure 6 is a schematic view showing the outline of a rail mounting structure;

Figure 7 is a schematic cross-sectional view of the drag chain plate;

Figure 8 is a control structure diagram of the robot terminal system when the drag chain power supply mode is adopted;

Figure 9 is a structural view of the shielding module structure;

Figure 10 is a block diagram of the casing;

Figure 11 is an exploded view of the cover;

Figure 12 is an exploded view of the assembly of the ventilation and dustproof electromagnetic shielding window;

Figure 13 is an exploded view of the assembly of the ventilation and dustproof electromagnetic shielding window;

Figure 14 is a schematic view showing the steps of installing the ventilation metal plate on the upper and lower frames;

Figure 15 is a schematic view showing the assembly of the safety grounding rod of the present invention;

Figure 16 is a schematic structural view of a ground stud of the present invention;

Among them, 1 first timing pulley assembly, 2 first limit switch, 3 track mounting structure, 4 sliding line, 5 sliding seat, 6 collector, 7 sliding line fixing seat, 8 flange assembly, 9 alternating current Servo motor, 10 reducer, 11 zero switch, 12 first control box, 13 pan/tilt, 14 detection unit, 15 profile rail, 16 timing belt, 17 tow chain, 18 tow chain baffle, 19 limit switch block, 20 collector fixed plate, 21 drag chain baffle mounting, 22 first slot, 23 second slot, 24 third slot, 25 fourth slot, 26 fifth slot, 27 second limit switch , 28 second timing pulley assembly, 29 second control box, 30 upper computer, 31 first photoelectric converter, 32 second photoelectric converter, 33 first switch, 34 second switch, 35 second power module, 36 Motion controller, 37 servo drive Actuator, 38 video server, 39 infrared camera, 40 optical camera, 41 remote control system, 42 robot terminal system, 43 fiber, 44 detection device controller, 45 first power module;

46 shield cover, 47 boxes, 48 standard fasteners, 68 connectors, 46-1 metal plate, 46-2 flexible gasket, 46-3 metal foil; 47-1 outer wall, 47-2 thread Hole, 47-3 step, 47-4 connector mounting hole;

49 frame, 49-1 first frame, 49-2 second frame, 49-3 first and second frame on the step of installing ventilation metal plate, 50 honeycomb ventilation metal plate, 51 dust net, 52 conductive rubber strip ;

53-1 hex nut one, 53-2 hex nut two, 53-3 hex nut three, 54-1 flat washer one, 54-2 flat washer two, 54-3 flat washer three, 55 ground stud, 56 butterfly Nut, 57 chassis hole, 58 chassis arm, 59 center hole at one end of the ground stud, 60, flange, 61 ground studs, the other end of the waist round or D type.

detailed description

The invention will be further described below in conjunction with the drawings and embodiments.

As shown in FIG. 1, an indoor orbital intelligent inspection robot system includes a robot terminal system 42 that communicates with a remote control system 41 that includes a profile rail 15 that is profiled rail 15 Vertically mounted on the inner wall surface, the profile rail 15 is mounted with a motion mechanism, a motion driving mechanism and a detecting mechanism;

The motion mechanism includes a first timing pulley assembly 1, a second timing pulley assembly 28, and a timing belt 16, the timing pulley assembly including a timing pulley wheel and a timing pulley, the timing belt wheel box being mounted on the profile The upper and lower ends of the rail 15 are mounted inside the timing belt pulley, and the timing belt 16 is wound on the timing pulley;

The motion driving mechanism drives the detecting mechanism to move up and down. The motion driving mechanism includes an AC servo motor 9 and a speed reducer 10, and the AC servo motor 9 is mounted together with a timing pulley through a speed reducer 10; the speed reducer 10 passes The flange assembly 8 is fixed on the second timing pulley case at the bottom of the profile rail 15;

The detecting mechanism includes a first control box 12; the first control box 12 implements communication control and power supply to the detecting component 14 and the pan/tilt head 13; the first control box 12 is mounted on the sliding seat 5, and the sliding seat 5 Attached to the timing belt 16 , the carriage 5 is mounted on the profile rail 15 by sliding contact, the timing belt 16 drives the carriage 5 to move up and down along the profile rail 15 , the first control box The pan/tilt head 13 is mounted on the 12, so the first control box 12 also functions as a bracket; the detecting unit 14 is mounted on the head unit 13; the detecting unit 14 is composed of an infrared camera 39, an optical camera 40, and the like.

The robot terminal system 42 further includes a second control box 29 mounted adjacent to the track, the second control box 29 communicating with the first control box 12 to transmit signals detected by the first control box 12 to the remote control system 41 The second control box 29 also functions as a motion control for the orbital motion drive assembly;

The robot terminal system 42 performs power supply communication by using a streamer method according to different requirements, or performs power supply and power carrier mode communication by using a sliding line method.

When the robot uses the drag chain to supply communication,

The first control box 12 is provided with a device such as a detection device controller 44, a video server 38, a first switch 33, a first power module 45, and the like; wherein the video server 38 communicates with the infrared camera 39 and the optical camera 40, respectively. The first switch 33 is in communication with the video server 38, the first switch 33 is in communication with the detection device controller 44, and the detection device controller 44 is respectively connected to the cloud platform 13, the infrared camera 39, and The optical camera 40 communicates; the first power module 45 supplies power to each of the powered devices.

A motion controller 36, a servo driver 37, a second power module 35, a second switch 34, and a first photoelectric converter 31 of the AC servo motor 9 are mounted in the second control box 29, and the second photoelectric converter 31 is The second switch 34 is in communication, the second switch 34 is in communication with a motion controller 36, the motion controller 36 is in communication with a servo drive 37, the first photoelectric converter 31 is in communication with a remote control system 41, the motion control The controller 36 is in communication with a zero point switch 11, a first limit switch 2 and a second limit switch 27, the servo drive 37 being in communication with an AC servo motor 9, the second power module 35 supplying power to each of the power modules.

When the robot uses the trolley line to supply power and communicates by power carrier mode,

A detection device controller 44, a video server 38, a first switch 33, a first power carrier modem, and a first power module 45 are installed in the first control box 12, wherein the video server 38 and the detection component 8 are respectively The infrared camera 39 communicates with the optical camera 40, the first switch 33 is in communication with the video server 38, the first switch 33 is in communication with the detection device controller 44, and the detection device controller 44 is associated with the cloud The stage 13, the infrared camera 39 and the optical camera 40 communicate; the first power module 45 supplies power to each of the powered devices.

The motion controller 36 and the servo drive of the AC servo motor 9 are mounted in the second control box 29 The actuator 37, the second power module 35, the second switch 34, the first photoelectric converter 31 and the second power carrier modem, the first photoelectric converter 31 is in communication with the second switch 34, and the second switch 34 is The motion controller 36 communicates, the motion controller 36 is in communication with a servo driver 37, the first photoelectric converter 31 is in communication with a remote control system 41, the motion controller 36 and the zero point switch 11, the first limit switch 2 Communicating with the second limit switch 27, the servo driver 37 is in communication with the AC servo motor 9, and the second power module 35 supplies power to each of the power modules;

One end of the first power carrier modem is connected to the first switch 33, the other end of the first power carrier modem is connected to one end of the second power carrier modem, and the other end of the second power carrier modem is connected to the second switch. 34 connections.

When the system adopts the sliding line power supply mode, the communication mode adopted by the detection mechanism is the power carrier mode; the first control box 12 is mounted with the collector 6 through the collector fixing plate 20, and the profile rail 15 is mounted. The slide wire fixing base 7 is mounted in the slide wire fixing base 7. The two contacts of the current collector 6 are in contact with the sliding line 4. The two poles of the current collector 6 are connected to both ends of the first power carrier modem of the first control box 12, and the two poles of the current collector 6 are also connected to both ends of the first power module 45 of the first control box 12. The two poles of the sliding line 4 are connected to the power carrier modem in the second control box 29, and the two poles of the sliding line 4 are also connected to the two ends of the second power module 35 of the second control box 29.

The sliding wire 4 is composed of a copper wire and an insulating sheath. The copper wire is formed into a sleeve shape, and the current collector 6 has a wire with the same number of sliding wires as a sliding contact connection with the wire of the sliding wire.

When the system adopts the drag chain power supply mode, the first control box 12 is powered and communicated as separate cables, and the power cable is provided by the second control box 29; the communication cable is connected to the second control box 29 The switch rail is connected; the drag rail 18 and the drag chain 17 are mounted on the profile rail 15 , and the drag chain baffle 18 is fixed on the profile rail 15 by the drag chain baffle mounting 21 , the power supply cable and the communication line The cable is housed in the drag chain 17, and the drag chain 17 protects the cable.

The remote control system 41 includes a second photoelectric converter 32 and a host computer 30. The second photoelectric converter 32 photoelectrically converts the communication signals of the remote control system 41 and the robot terminal system 42 and transmits the signals to the host computer 30.

The robot terminal system 42 further includes a limit mechanism including a limit switch mounted at both ends of the profile rail 15 to be in contact with the profile rail 15 The rear surface of the control box is provided with a limit switch block 19, which is used in conjunction with the limit switch to prevent collision caused by abnormal power failure.

The first photoelectric converter 31 of the second control box converts all image and video detection signals and control signals into optical signals, and transmits the signals to the remote control system 41 through the optical fiber 43 to implement detection of the entire system. The content is processed and remotely controlled for detection and motion status.

The encoder of the AC servo motor 9 is connected to the servo driver 37 in the second control box 29, and the slider 5 on the track is precisely controlled by the pulse mode to drive the detecting component 14 to the designated position for detection.

The AC servo motor 9 is provided with an electromagnetic brake, which enables braking in the event of a power failure.

The profile rail 15 is vertically mounted on the inner wall surface by the rail mounting structure 3.

The timing belt 16 is fitted in the groove of the profile rail 15 in cooperation with the timing pulley.

The detection component 14 includes an infrared camera and a visible light camera.

The drag chain baffle 18 is an L-shaped aluminum profile, and the L-shaped aluminum profile and the profile rail 15 form a guide groove to realize the fixing of the drag chain and the guiding of the drag chain.

The bottom end of the profile rail 15 is equipped with a zero point switch 11 as the origin of the robot operation. Before the patrol robot is powered on, the robot automatically returns to the origin first, and then performs the assigned inspection task.

The second control box realizes power supply and communication relay of the entire robot system terminal, and a motion control function of the AC servo motor, and converts the communication control signal into a photoelectric signal.

As shown in FIG. 4, the drag rail 18 and the drag chain 17 are mounted on the profile rail 15, and the drag chain flap 18 is fixed to the profile rail 15 by a drag chain guard mounting member 21.

The towline baffle 18 is an L-shaped aluminum profile, and the L-shaped aluminum profile and the profile rail 15 form a guide groove for fixing the towline and guiding the towline 17.

The bottom end of the profile rail 15 is equipped with a zero point switch 11 as the origin of the robot operation. Before the patrol robot is powered on, the robot automatically returns to the origin first, and then performs the assigned inspection task.

The track system referred to in the present invention consists of a vertical profile rail 15 and a timing belt drive system (first timing pulley assembly 1, second timing pulley assembly 28, carriage 5, AC servo motor 9, speed reducer 10 and flange). Component 8) and the like.

Among them, the length of the profile guide 15 is determined according to the detection range of the inspection robot, and the continuous connection can be up to several tens of meters. The first timing pulley assembly 1 and the second timing pulley assembly 28 are mounted at both ends of the profile rail, and the timing belt 16 and the carriage 5 are mounted. The carriage 5 is fixed to the timing belt 16. Figure 5 is an example of a cross-section of the profile rail 15 that is selectable. The third slot 24 is a T-slot that can be attached to the track by a T-nut; the fourth slot 25 can be used to mount a rectangle. Zero point switch 11 and other devices. The second notch 23 and the fifth notch 26 are installation spaces of the timing belt, and the first notches 22 on the left and right sides can be used for mounting the circular optical axis of the guide, and the bearing 5 is matched with the optical axis. A support guiding effect on the carriage 5 is formed. The AC servo motor 9 and the speed reducer 10 are mounted to the lower second pulley assembly 28 at the lower end of the track through the flange assembly 8. The rotation of the AC servo motor 9 drives the timing pulley to rotate, and the timing belt drives the timing belt 16 and the carriage 5 to move up and down together to form a track driving system of the inspection robot.

The first control box 12 is mounted on the carriage 5, and the control software and hardware of the inspection robot are installed in the first control box 12, and can be used as a support for the platform 13 and the detection unit 14. Driven by the carriage 5, the detecting assembly 14 moves up and down, and the horizontal rotary motion and the pitch motion of the pan/tilt head 13 are combined to realize the all-round detection requirement for the equipment.

The orbital robot referred to in the present invention can be implemented by wired power supply and communication, and can be implemented in two ways, one of which is a power carrier technology through the trolley line 4, as shown in FIG. The other is in the form of a towline streamer, as shown in Figure 2.

The trolley wire 4 shown in FIG. 1 is powered and communicated, wherein the trolley wire 4 is composed of two or more strands of tongue-like or other profiled wire and a trolley wire holder 7. The sliding wire fixing base 7 is mounted on the vertical profile rail 15 , and the sliding contact wire 4 is pressed into the card slot on the plastic insulated sliding wire fixing base 7 to realize the installation of the sliding contact wire 4 . The current collector 6 is mounted on the first control box 12 through the current collector fixing plate 20. The first power box 45 and the first power carrier modem are installed in the first control box 12 to implement wired power supply and communication of the patrol robot.

The sliding line 4 can be two or more strands. When two sliding lines are used, the power line carrier communication technology is adopted, and a power carrier modem is arranged in the first control box 12 to realize no-stream power supply and reliable communication during motion. When multiple strands are used, the signal line and the power line can be directly separated without using the power carrier technology. The specific sliding line can be determined according to actual needs.

As shown in FIG. 2, when the length of the profile rail 15 is small, the system can adopt the power supply mode of the drag chain streamer. In this manner, as shown in Figure 7, the L-shaped towline baffle 18 is passed through the drag chain The fitting 21 is mounted on the vertical rail 15. The fixed end of the drag chain 17 is mounted on the drag chain flapper 18, and the movable end is attached to the bottom of the control box 12 by an L-shaped structural member. The cable is housed in the drag chain 17, and the cable moves with the drag chain 17 as the control box 12 moves up and down.

The drive motor used in the system is an AC servo motor 9 with an incremental encoder. The motion control system in the second control box can precisely control the detection component 14 to any position within the required stroke range by means of several pulses.

A limit switch 2 is mounted at both ends of the profile rail 15, and a limit switch stop 19 (shown in FIG. 3) that cooperates with the limit switch 2 is mounted at the rear of the first control box 12, when the slide 5 slides When the process triggers the limit switch, the power can be disconnected, and the brake of the AC servo motor is tightly held to prevent collision during the movement.

A zero point switch 11 is mounted at the bottom end of the profile rail 15 as the origin of the robot operation. Before the patrol robot is powered on, the robot automatically returns to the origin first, and then performs the assigned inspection task.

The profile rail 15 can be conveniently mounted by an L-shaped rail mounting structure 3 as shown in FIG.

As shown in FIG. 8, the first control box 12 is equipped with software and hardware required for the control of the inspection robot. At the same time, a through-wall connector can be installed on the control box to communicate with the second control box 29.

The motion control device of the AC servo motor 9 and the communication device with the first control box 12 and the remote control system 41 are installed in the second control box 29, and the motion control of the AC servo motor and the relay processing of the signal are realized, and The second control box provides power.

The detecting component 14 can install different devices according to different detection requirements, such as an infrared camera 39, a visible light camera, a toxic gas detector, an ultraviolet detector, an electromagnetic field strength detector, etc., to achieve different detection requirements.

For the power supply and communication mode of the system, either a sliding line or a drag chain can be used. When the robot detects a large stroke, it can adopt the sliding line plus power carrier technology to realize cableless power supply and communication. When the journey is not large, the drag chain method can be adopted, and cabled power supply and communication are adopted. If the sliding line is used, the sliding line 4 is mounted on the profile rail 15, and the current control box 6 is attached to the first control box 12 to be in sliding contact with the current collector 6. If the streamer is used, the towline and the towline can be installed directly on the vertical rail.

As shown in FIG. 9-11, an electromagnetic shielding module box includes a box body 47 and a shielding cover 46. The shielding cover 46 is disposed on the box body 47, and the shielding cover panel 46 is sequentially superposed from the outside to the inside. Gold The plate 46-1, the flexible pad 46-2 and the metal foil 46-3, the inside of the case 47 is a cavity, and the inner arm of the case 47 is provided with a step 47-3.

The shielding cover 46 is provided with a mounting hole, and the step 47-3 is provided with an unthreaded hole 47-2. The standard fastener 48 securely connects the case 47 and the shield cover 46 through the mounting hole and the threaded hole 47-2.

The metal plate 46-1 is a steel plate, an aluminum plate, or a copper plate. The material of the flexible liner 46-2 is a soft, backed foam material. The metal foil 46-3 is an aluminum foil or copper foil with a backing thickness of 0.01 mm to 0.1 mm.

The material of the case 47 is an aluminum alloy or a copper alloy. The metal plate 46-1, the flexible pad 46-2, and the metal foil piece 46-3 have the same length and width, and each has a rectangular shape, and the case 47 is a rectangular parallelepiped. The casing 47 is an integral structure that is milled from a single piece of metal. The casing 2 includes a casing outer wall 47-1. The box body can open the connector mounting hole 47-4 according to the external interface requirement of the built-in circuit board or the electronic device, and the plug mounting hole 47-4 is mounted with the electromagnetic compatibility type connector 68.

The present invention mainly consists of a shield cover 46 and a casing 47. The shield cover 46 is an integral part. Before use, the flexible gasket 46-2 and the metal foil 46-3 are adhered to the metal plate 46-1 to form a whole. The shield cover 46 and cover 47 are then mounted together by standard fasteners 48 to form a tightly sealed space with electromagnetic shielding. The electronic device is housed in the shielded cavity as needed.

When the electromagnetic shielding module box is used: the flexible gasket is pasted on the metal plate before use, and then the metal foil is pasted on the flexible pad, so that the three components are assembled into one body. There is a cavity inside the box. Steps are left on the wall of the box to ensure good sealing after the cover is installed. A threaded hole is opened in the step for mounting the cover.

As shown in FIGS. 12-14, the frame 49 is formed by combining a first frame 49-1 and a second frame 49-2, and the two are formed by welding or bonding or screwing. The second frame 49-2 is opened with a circular rectangular groove, and the conductive rubber strip 52 is adhered to the rectangular groove of the second frame 49-2 by conductive adhesive, and the first and second frame honeycomb ventilation metal plate 50 and the air filter are arranged. The 51 is packaged in the metal frame 49 to form a complete ventilated electromagnetic shielding window. Before the combination of the first and second frames, the ventilation metal plate 50 and the air filter 51 need to be installed into the steps 49-3 of the two frames, as shown in FIG.

Ventilation and dustproof electromagnetic shielding window is applied inside the shielding box with high electromagnetic sealing requirements and requiring ventilation. It is installed at a position where an opening is required, and the metal honeycomb structure forms a good electromagnetic shielding property. The conductive rubber strip 52 is mounted on the second frame to enhance the sealing effect between the frame and the box, to prevent a gap between the shielding window and the box body, and to improve the electromagnetic shielding effect.

Dust can greatly reduce the life of the device. The air filter 3 can effectively prevent the accumulation of dust in the box due to ventilation and improve the service life of the device.

As shown in Fig. 15, the safety grounding post is composed of a ground stud 55 and a standard piece made of copper. The ground stud 55 is made of a copper alloy and has good electrical conductivity and corrosion resistance. The ground stud 55 is divided into three sections, the middle part is a mounting flange 60, and the ends are studs. One end of the ground stud is machined into a waist-round or D-type 61, and the other end has a central hole 59, as shown in FIG.

The ground stud is screwed into one end of the center hole 59 and screwed into a hex nut 53-1, a flat washer 54-1, and a wing nut 56, respectively. The external ground wire can be manually tightened with a wing nut 56. The hex nut one 53-1 can provide a certain height plane, and the external grounding wire can be screwed between the wing nut 56 and the flat washer 54-1 by the butterfly nut 56 to form an external reliable ground.

In use, the chassis wall 58 is rounded or rounded according to the shape of the ground stud, and the ground stud 55 is processed into a waist-shaped or D-shaped portion 61 into the interior of the chassis, and then sequentially rotated inside the chassis. Into the copper hex nut two 53-2, flat washer two 54-2, flat washer three 54-3 and hex nut three 53-3, by the internal hex nut two 53-2 to tighten the ground stud 55 By the external hex nut III 53-3 freely movable, the cable that needs to be grounded inside the chassis can be connected to the grounding post and tightened with a nut.

One end of the ground stud 55 is provided with a central hole 59 for reaming and thickening. After the wing nut 56 is installed, the end portion is thickened to permanently prevent the wing nut from falling off. The threaded portion of the other end of the ground stud 55 cuts out a plane, and can cut a plane into a D-shape, or can symmetrically cut two planes into a waist shape. The mounted chassis wall 58 is slightly larger than the waist-shaped or D-shaped chassis aperture 57 on the stud.

The middle portion of the ground stud 55 is a waist-shaped flange 60 that cuts two planes and can be used when tightening on a circular opening chassis.

The ground stud 55 may be a wing nut 56 or a knurled nut for use as a hand nut for tightening.

Ground stud 55, hex nut one 53-1, hex nut two 53-2, hex nut three 53-3, flat washer one 54-1, flat washer two 54-2, flat washer three 54-3 and wing nut 56 are standard parts made of copper.

The above description of the specific embodiments of the present invention has been described with reference to the accompanying drawings, but not Limitations of the scope of the invention, those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without the creative work are still within the protection scope of the present invention. .

Claims (28)

1. An indoor track type intelligent inspection robot system, characterized in that it comprises a remote control system, and the remote control system is connected to at least one robot terminal system via a network, the robot terminal system comprising a profile rail, the profile rail being installed on an indoor wall The movement rail, the motion driving mechanism and the detecting mechanism are mounted on the profile rail; the detecting mechanism comprises a cloud platform and a detecting component, the detecting mechanism is mounted on the moving mechanism, and the moving structure passes the motion driving mechanism In order to drive, the motion mechanism drives the detecting mechanism to move up and down along the profile rail, and combines the operation of the pan/tilt to realize large-scale detection of the indoor device under test.
2. The indoor track type intelligent inspection robot system according to claim 1, wherein:

   The robot terminal system allows one of the following three conditions in terms of power supply communication:

   Case 1: Power supply communication using the drag chain method;

   Case 2: The power is supplied by the trolley line method and the power carrier is used for communication;

   Case 3: Power is supplied by means of a slip line and communicated using a leaky cable or microwave technology.
3. The indoor track type intelligent inspection robot system according to claim 1, wherein the monitoring center and the robot terminal system are connected by a power professional optical cable.
4. The indoor track type intelligent inspection robot system according to claim 1, wherein:

   The motion mechanism includes a timing pulley assembly including a timing pulley wheel assembly and a timing belt, and the timing belt wheel box is mounted on upper and lower ends of the profile rail, and the timing belt wheel is mounted Inside the timing pulley case, the timing belt is wound around the timing pulley.
5. The indoor track type intelligent inspection robot system according to claim 1, wherein:

   The motion driving mechanism drives the detecting mechanism to move up and down, the motion driving mechanism includes an AC servo motor and a speed reducer, and the AC servo motor is mounted together with the timing pulley through a speed reducer; the speed reducer is fixed at the bottom of the profile rail Timing on the wheel box.
6. The indoor track type intelligent inspection robot system according to claim 1, wherein:

   The detecting mechanism includes a first control box; the first control box is configured to implement communication control and power supply to the detecting component and the pan/tilt; the first control box is mounted on the sliding seat, and the sliding seat is fixedly connected with the synchronous belt The sliding seat is mounted on the profile rail by sliding contact, the synchronous belt drives the sliding block to move up and down along the profile rail, and the first control box is mounted with a gimbal, so the first control The box also functions as a bracket; the detecting unit is mounted on the head;

   The robot terminal system further includes a second control box installed near the track, the second control box is in communication with the first control box, and provides power to the first control box; the second control box is also connected to the AC servo motor The movement plays a controlling role.
7. The indoor track type intelligent inspection robot system according to claim 1, wherein:

   When the robot uses the drag chain to supply communication,

   a detection device controller, a video server, a first switch, and a first power module are installed in the first control box; wherein the video server communicates with an infrared camera and an optical camera, respectively, the first switch and the video Server communication, the first switch is in communication with the detection device controller, the detection device controller is respectively in communication with a cloud platform, an infrared camera, and an optical camera; the first power module is each of the first control box Powered by electrical equipment;

   a motion controller, a servo driver, a second power module, a second switch, and a first photoelectric converter of the AC servo motor are installed in the second control box, and the first photoelectric converter communicates with the second switch, the first The second switch is in communication with a motion controller, the motion controller is in communication with a servo drive, the first photoelectric converter is in communication with a remote control system, the motion controller is in communication with the zero switch and the first and second limit switches, The servo driver is in communication with an AC servo motor, and the second power module supplies power to each of the power modules of the second control box and provides power to the first control box.
8. The indoor track type intelligent inspection robot system according to claim 1, wherein:

   When the system adopts the power supply mode of the drag chain, the power supply and communication of the first control box are independent cables, and the power supply cable is taken out from the second control box; the communication cable is connected to the switch in the second control box; A drag chain baffle and a drag chain are mounted on the profile rail, and the drag chain baffle is fixed on the profile rail by a drag chain baffle mounting member, and the power supply cable and the communication cable are installed in the drag chain, and the drag chain Protect the cable.
9. The indoor track type intelligent inspection robot system according to claim 1, wherein:

   When the robot uses the trolley line to supply power and communicates by power carrier mode,

   The detection device controller, the video server, the first switch, the first power carrier modem, and the first power module are installed in the first control box, wherein the video server respectively communicates with the infrared camera and the optical camera in the detection component. The first switch communicates with the video server, the first switch communicates with the detection device controller, and the detection device The controller communicates with the cloud platform, the infrared camera and the optical camera respectively; the first power module supplies power to each of the electrical devices of the first control box;

   a motion controller, a servo driver, a second power module, a second switch, a first photoelectric converter and a second power carrier modem of the AC servo motor are installed in the second control box, the first photoelectric converter and the second The switch communicates, the second switch is in communication with a motion controller, the motion controller is in communication with a servo drive, the first photoelectric converter is in communication with a remote control system, the motion controller is coupled to a zero point switch, and The second limit switch communicates, the servo driver communicates with the AC servo motor, and the second power module supplies power to each power module and supplies power to the first control box;

   One end of the first power carrier modem is connected to the first switch, the other end of the first power carrier modem is connected to one end of the second power carrier modem, and the other end of the second power carrier modem is connected to the second switch. .
10. The indoor track type intelligent inspection robot system according to claim 1, wherein:

    When the system adopts the sliding line power supply mode, the communication mode adopted by the detection mechanism is the power carrier mode; the first control box is installed with the current collector fixing plate, and the sliding track is fixed on the profile rail. a sliding contact line is installed in the sliding line fixing seat; two contacts of the current collector are in contact with the sliding contact line; and the two poles of the current collector are connected to the first power carrier modem of the first control box At both ends, the two poles of the current collector are also connected to both ends of the first power module of the first control box.
11. The indoor track type intelligent inspection robot system according to claim 8, wherein:

    The two poles of the sliding line are connected to the power carrier modem in the second control box, and the two poles of the sliding line are also connected to the two ends of the second power module of the second control box.
12. The indoor track type intelligent inspection robot system according to claim 8, wherein:

    The sliding contact line is composed of a copper wire and an insulating sheath. The copper wire is formed into a sleeve shape, and the current collector has the same number of wires as the sliding contact wire and the sliding contact connection of the wire of the sliding contact wire.
13. The indoor track type intelligent inspection robot system according to claim 1, wherein:

    The robot terminal system further includes a limiting mechanism, the limiting mechanism includes a limit switch, the limit switch is installed at two ends of the profile rail, and the rear surface of the control box contacting the profile rail is equipped with a limit switch The stopper, the limit switch block and the limit switch are used together to prevent collision caused by abnormal power failure.
14. The indoor track type intelligent inspection robot system according to claim 7, wherein:

    The first photoelectric converter of the second control box converts all image and video detection signals and control signals into optical signals, and transmits the signals to the remote control system through the optical fiber, thereby realizing processing of the detection content of the entire system. Remote control of detection and motion status.
15. The indoor track type intelligent inspection robot system according to claim 5, wherein

    The encoder of the AC servo motor is connected to the servo driver, and the slider on the track is controlled by the pulse mode to drive the detecting component to reach the designated position for detection.
16. The indoor track type intelligent inspection robot system according to claim 5, wherein

    The AC servo motor has an electromagnetic brake that can be braked in the event of a power failure.
17. The indoor track type intelligent inspection robot system according to claim 4, wherein

    The timing belt is fitted in the groove of the profile rail in cooperation with the timing pulley.
18. The indoor track type intelligent inspection robot system according to claim 6, wherein:

    The detection component includes an infrared camera, a visible light camera, a smoke alarm sensor, a field strength detector, and an ultraviolet detector.
19. The indoor track type intelligent inspection robot system according to claim 5, wherein

    The reducer is fixed to the timing pulley case at the bottom of the profile rail by a flange assembly.
20. The indoor track type intelligent inspection robot system according to claim 8, wherein:

    The drag chain baffle is an L-shaped aluminum profile, and the L-shaped aluminum profile and the profile rail form a guide groove to realize the fixing of the drag chain and the guiding of the drag chain.
21. The indoor track type intelligent inspection robot system according to claim 1, wherein:

    The bottom end of the profile rail is equipped with a zero point switch as the origin of the robot operation; before the inspection robot is powered on, the robot automatically returns to the origin first, and then performs the assigned inspection task.
22. The indoor track type intelligent inspection robot system according to claim 6, wherein:

    The second control box realizes power supply and communication relay of the entire robot system terminal, and a motion control function of the AC servo motor, and converts the communication control signal into a photoelectric signal to realize remote communication.
23. The indoor track type intelligent inspection robot system according to claim 7 or 9, wherein

    The remote control system includes a second photoelectric converter and a host computer, and the second photoelectric converter will The communication signal is photoelectrically converted to realize communication between the remote control system and the robot terminal system.
24. The indoor track type intelligent inspection robot system according to claim 7 or 9, wherein

    An electromagnetic shielding module box is disposed inside the first control box and the second control box, and the electromagnetic shielding module box is used for storing the control board.
25. The indoor track type intelligent inspection robot system according to claim 24, wherein

    The electromagnetic shielding module box includes a box body and a shielding cover plate, wherein the shielding cover plate is disposed on the box body, and the shielding cover plate comprises a metal plate, a flexible pad and a metal foil piece which are sequentially stacked from the outside to the inside. The inside of the casing is a cavity, and the inner arm of the casing is provided with a step.
26. The indoor track type intelligent inspection robot system according to claim 25, wherein

    The shielding cover is provided with a mounting hole, and the step is provided with a threaded hole, and the standard fastener securely connects the box body and the shielding cover through the mounting hole and the threaded hole.
27. The indoor track type intelligent inspection robot system according to claim 7 or 9, wherein

    The side of the second control box is provided with a ventilation and dustproof electromagnetic shielding window, and the ventilation and dustproof electromagnetic shielding window comprises a first frame and a second frame, and an annular step is opened on the two frames for fixing the ventilation metal plate; A rectangular shallow groove is formed in the frame, and the conductive rubber strip is adhered to the rectangular groove of the second frame through the conductive adhesive, and the honeycomb ventilation metal plate and the dustproof mesh are sequentially packaged in the upper and lower metal frames.
28. The indoor track type intelligent inspection robot system according to claim 7 or 9, wherein

    The box of the second control box is fixed on the ground by a safety grounding post; the safety grounding post includes: a ground stud, a hex nut, a flat washer and a hand nut; and a middle part mounting method of the ground stud The blue disk has a thread at both ends, one end of the ground stud has a central hole for reaming and the other end is processed into a waist-round or a D-shape; and the ground stud has a central hole One end is screwed into the hex nut one, the flat washer one and the hand screw nut.

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