CN112123313A - Multifunctional inspection robot for railway signal machine room - Google Patents
Multifunctional inspection robot for railway signal machine room Download PDFInfo
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- 238000001514 detection method Methods 0.000 claims abstract description 16
- 238000004891 communication Methods 0.000 claims abstract description 6
- 238000003825 pressing Methods 0.000 claims description 32
- 238000012544 monitoring process Methods 0.000 claims description 13
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- 238000009434 installation Methods 0.000 description 2
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- 230000002159 abnormal effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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Abstract
The application discloses a multifunctional inspection robot for a railway signal machine room, which comprises a robot main body, a communication module, a control unit, a power supply system, a detection module, a sub-robot lifting device and a guide rail, wherein the communication module is arranged on the robot main body; the robot main body plays a role in supporting and positioning all parts of the inspection robot; the sub-robot lifting device plays a role in lifting the sub-robot; the sub-robot comprises a sub-robot main body, a visible light cloud platform camera, an independent power supply, a sub-robot positioning device and a sub-robot driving device; the visible light pan-tilt camera is detachably positioned on the sub-robot main body and plays a role in collecting image information of the periphery of the sub-robot; the sub-robot positioning device plays a role in positioning the sub-robot, and selectively positions the sub-robot on the sub-robot lifting device or the guide rail under the control of the control unit; the guide rail plays a role in guiding the operation of the sub-robot in due time.
Description
Technical Field
The invention relates to the technical field of detection equipment, in particular to a multifunctional inspection robot for a railway signal machine room.
Background
The routine itinerant inspection of the railway signal machine room aims to actively master the running condition of system equipment; periodic cycle inspection at regular time can timely find abnormal conditions and eliminate equipment defects, reduce accident potential and ensure safe operation.
At present, facilities of a railway signal machine room generally complete monitoring work through manual inspection; however, the manual inspection method has the following disadvantages: firstly, the manual inspection detection quality depends on the experience of workers, responsibility and care degree; secondly, the labor cost is higher; thirdly, the potential safety hazards such as exceeding of dangerous gas, local overheating of equipment and the like are difficult to detect by people; and fourthly, once an accident happens, people are difficult to arrive at the scene within the first time, and even if the people arrive at the scene of the accident within the first time, the people can also risk huge lives. Therefore, the problems of unstable result, high labor cost and incapability of guaranteeing the personal safety of workers exist in manual inspection and manual detection; and the inspection robot is used for replacing a human to carry out inspection, so that the difficult problems in the manual inspection process can be avoided, the robot can be allocated to reach a specified position along with the inch, and the inspection can be carried out under the condition of unknown whether a dangerous case exists or not.
The machine room inspection robots in the prior art are generally two types, one type is a wheel type inspection robot walking on the ground of a machine room, the inspection robot has high flexibility and is not limited by a fixed track, but the imaging visual field is limited; the other type is a hanging rail type inspection robot, the hanging rail type inspection robot is reliable in rail operation, wide in visual field and limited in action track.
Chinese patent application No. CN111055259A discloses an inspection robot, which includes a body, a lifting mechanism provided on the body, a pan-tilt mounted at a movable end of the lifting mechanism, an inspection camera unit rotatably mounted on the pan-tilt, and a moving wheel set mounted at the bottom of the body; the holder is provided with a first driving component for driving the routing inspection camera unit to deflect; elevating system can remove camera unit at certain height range with patrolling and examining to satisfy the not image information's of co-altitude rack collection, satisfy the difference and patrol and examine the requirement of task to image acquisition, and then realize according to the nimble different tasks of patrolling and examining of execution of demand. The inspection camera unit of the inspection robot disclosed by the invention is limited to a large number of inevitable shooting dead corners in the structure of the inspection robot when the inspection robot inspects the objects, and particularly, when a single-side or multi-side device to be inspected is close to a wall and the end of the device to be inspected, which is not close to the wall, is higher, the dead corner problem is particularly prominent, so that the problems that a large number of areas cannot be inspected easily occur, and the like.
Although the hanger rail type inspection robot in the prior art can effectively avoid the problem of dead angles of camera shooting when a single-side or multi-side wall of equipment to be inspected is close to the wall and the end, not close to the wall, of the equipment to be inspected is higher, a camera of the robot moves on a fixed track, the moving track is fixed, the robot cannot flexibly adapt to different inspection tasks, and meanwhile, the equipment is greatly improved for a machine room, and the installation cost is higher.
Disclosure of Invention
The embodiment of the application provides a multi-functional robot of patrolling and examining of railway signal computer lab, has solved among the prior art computer lab and has patrolled and examined the robot and shoot the problem that the dead angle is big, the movement track is single, has realized that the computer lab patrols and examines the robot and can adapt to the different technological effect of patrolling and examining the task under the less prerequisite in shooting dead angle.
The embodiment of the application provides a robot which comprises a robot main body, a communication module, a control unit, a power supply system and a detection module, and also comprises a sub-robot, a sub-robot lifting device and a guide rail;
the robot main body plays a role in supporting and positioning all parts of the inspection robot, and a robot walking device, a sub-robot lifting device and a detection module are positioned on the robot main body;
the sub-robot lifting device is fixedly connected to the robot main body and plays a role in lifting the sub-robot;
the sub-robot comprises a sub-robot main body, a visible light cloud platform camera, an independent power supply, a sub-robot positioning device and a sub-robot driving device;
the main body of the sub-robot is a frame of the sub-robot;
the visible light cloud platform camera is detachably positioned on the main body of the sub-robot and plays a role in collecting image information of the periphery of the sub-robot;
the independent power supply is used for supplying power for the operation of the sub-robots;
the sub-robot positioning device is used for positioning the sub-robot, and selectively positioning the sub-robot on the sub-robot lifting device or the guide rail under the control of the control unit;
the sub robot positioning device also comprises a driving device which plays a role in driving the sub robot to move along the guide rail;
the guide rail comprises a sub-robot guide rail;
the sub-robot guide rail plays a role in guiding the operation of the sub-robot after the sub-robot is separated from the sub-robot lifting device;
the sub-robot guide rail comprises a guide rail main body and a guide rail positioning device;
the sub-robot driving device is used for driving the operation of the sub-robot and is a power assembly of the sub-robot;
the guide rail main body is a steel cable or a hard rod;
the guide rail positioning device plays a role in positioning two ends of the guide rail main body on the machine room wall;
the number of the sub-robot guide rails is one or more.
Further said sub-robotic positioning means comprises first and second positioning means;
the first positioning device is positioned at the position where the bottom of the sub-robot is contacted with the sub-robot lifting device, and is used for combining and separating the sub-robot and the sub-robot lifting device in a controlled manner;
the second positioning device is used for positioning the sub-robot on the guide rail and driving the sub-robot to move along the guide rail;
the second positioning device comprises a second positioning device frame, a positioning wheel and a pressing wheel;
the second positioning device frame plays a role in bearing the positioning wheels and the pressing wheels, and the second positioning device frame and the sub-robot main body are of an integral structure;
the positioning wheel is rotatably and fixedly connected to the second positioning device frame, and the axial direction of the positioning wheel is mutually vertical to the height direction of the sub-robot;
the positioning wheel also comprises a driving device;
the driving device plays a role in driving the positioning wheel to rotate around the axis of the positioning wheel;
the pressure applying wheel plays a role in increasing necessary friction force for the positioning wheel to rotate on the guide rail;
the pressure applying wheel comprises a pressure applying wheel main body, a pressure applying wheel elastic element and a pressure applying wheel bracket;
the main body of the pressure applying wheel is in a wheel shape, the axial direction of the main body of the pressure applying wheel is the same as the axial direction of the positioning wheel, and the main body of the pressure applying wheel can be fixedly connected to the pressure applying wheel bracket in a rotating way;
the pressing wheel bracket is positioned on the second positioning device frame in a sliding mode, and the sliding direction of the pressing wheel bracket is the height direction of the sub-robot;
the elastic element of the pressure applying wheel is positioned between the pressure applying wheel bracket and the second positioning device frame, and plays a role of pressing the pressure applying wheel bracket together with the pressure applying wheel main body thereon to the positioning wheel by utilizing the self elasticity so as to ensure that the positioning wheel and the pressure applying wheel main body are tightly attached to the guide rail;
the pressing wheel sliding driving device plays a role in driving the pressing wheel bracket to overcome the elastic force of the elastic element of the pressing wheel to slide downwards along the height direction of the sub-robot when the sub-robot goes up and down the guide rail.
Preferably said sub-robot further comprises a camera lowering means;
the camera lowering device is fixedly connected to the sub-robot main body and plays a role in lowering the visible light cloud platform camera from the sub-robot main body so as to enable the visible light cloud platform camera to be close to the equipment to be inspected;
the structure of the camera lowering device is a combination of a winch and a visible light cloud platform camera positioning device;
the winch is positioned on the sub-robot main body and comprises a winch main body and a winch rope, and one end of the winch rope is fixedly connected to the visible light cloud platform camera;
the visible light cloud platform camera is detachably positioned on the sub-robot main body;
the visible light cloud platform camera positioning device plays a role in controllably combining the visible light cloud platform camera with the sub-robot main body.
Preferably said sub-robotic rope handling apparatus;
the guide rail also comprises a temporary guide rail laying device;
the temporary guide rail laying device comprises a retractable rope row;
the retractable rope row is positioned at the top end of the sub-robot lifting device and comprises a rope end positioning device, a guide rail rope and a guide rail rope positioning tube;
the guide rail rope is wound on the retractable rope row, one end of the guide rail rope is positioned on the retractable rope row, and the other end of the guide rail rope is provided with a rope end positioning device;
the rope end positioning device is essentially a clamp and plays a role in fixedly connecting one end of the guide rail rope to any position on the guide rail main body of the sub-robot guide rail in a controlled manner;
the guide rail rope positioning pipe is a hollow pipe, and the guide rail rope penetrates through the guide rail rope positioning pipe;
the guide rail rope positioning pipe is fixedly connected to the retractable rope row, is slightly lower than the positioning wheel in space, and has an axis parallel to a tangent line of the positioning wheel taking a contact point of the positioning wheel and the pressing wheel as a tangent point;
the rope loading and unloading device of the sub-robot plays a role in assisting the sub-robot to load and unload the rail laid by the retractable rope;
the structure of the rope loading and unloading device of the sub robot is an electric chute sliding rail mechanism which pushes the sub robot to slide at the top end of the lifting device of the sub robot and/or an electric chute sliding rail mechanism which pushes the retractable rope to be arranged at the top end of the lifting device of the sub robot to slide.
Preferably, the second positioning device further comprises a balance wheel, the balance wheel is rotatably fixed on the second positioning device, the main body is a circular roller, the axial direction of the circular roller is the same as the axial direction of the positioning wheel, when the sub-robot is positioned on the sub-robot guide rail, the main bodies of the positioning wheel, the balance wheel and the pressure applying wheel are in direct contact with the sub-robot guide rail, and the positioning wheel and the balance wheel are positioned above the sub-robot guide rail;
the balance wheel ensures the stable operation of the sub-robot on the guide rail, and reduces the shaking of the shot picture caused by the influence of the inertia of the sub-robot on the visible light cloud platform camera as much as possible.
The preferred still includes the rope device of sub-robot;
the guide rail also comprises a temporary guide rail laying device;
the temporary guide rail laying device comprises a retractable rope row;
the retractable rope row is positioned at the top end of the sub-robot lifting device and comprises a rope end positioning device, a guide rail rope and a guide rail rope positioning tube;
the guide rail rope is wound on the retractable rope row, one end of the guide rail rope is positioned on the retractable rope row, and the other end of the guide rail rope is provided with a rope end positioning device;
the main body of the rope end positioning device is annular, the inner wall of the annular rope end positioning device is provided with a roller, and the rope end positioning device is controlled to be opened and closed and is positioned on the sub-robot guide rail in a sliding way;
the guide rail rope positioning pipe is a hollow pipe, and the guide rail rope penetrates through the guide rail rope positioning pipe;
the guide rail rope positioning pipe is fixedly connected to the retractable rope row, is slightly lower than the positioning wheel in space, and has an axis parallel to a tangent line of the positioning wheel taking a contact point of the positioning wheel and the pressing wheel as a tangent point;
the rope loading and unloading device of the sub-robot plays a role in assisting the sub-robot to load and unload the rail laid by the retractable rope.
The independent power supply further comprises an independent power supply charging device;
and the independent power supply charging device charges the independent power supply through the power supply system when the sub-robot is positioned on the sub-robot lifting device.
The detection module is preferably a functional module of the inspection robot and comprises a thermal infrared imager, a sound pickup, an ultrasonic detector, an infrared sensor and/or an environment detection module;
the infrared thermal imager reads the temperature distribution data in the installed switch cabinet and the power distribution cabinet in real time through the infrared observation window of the switch cabinet during inspection, so that the aim of monitoring the working temperature state of all equipment is fulfilled, and the working state of all the equipment is comprehensively mastered;
the sound pickup is used for detecting the environmental noise of the machine room and the working noise of the equipment;
the ultrasonic detector is used for detecting the discharge phenomenon in the switch cabinet and the power distribution cabinet;
the infrared sensor is used for monitoring the surface temperature of all switch cabinets and power distribution cabinets and directly detecting the surface temperature of the switch cabinets;
the environment monitoring module is used for monitoring environmental information such as O, CO, SO, temperature, humidity, smoke and the like in the machine room.
The robot walking device further plays a role in driving the robot main body to walk and turn, is positioned at the bottom of the robot main body, and is structurally provided with wheels and/or a crawler belt.
Preferably, the sub-robot further comprises a down lamp, and the down lamp plays a role of a light source.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
the inspection robot is characterized in that a traditional inspection robot is improved, a sub-robot and a sub-robot lifting device are additionally arranged on the inspection robot, one or more guide rails (steel cables) are arranged at the position, close to the ceiling, of a machine room, a visible light pan-tilt camera and a sub-robot positioning device are mounted on the sub-robot, the sub-robot lifting device is positioned on the main body of the inspection robot, the sub-robot is positioned on the sub-robot lifting device, and the combination relationship between the sub-robot and the sub-robot lifting device (the sub-robot is positioned on the sub-robot lifting device, and the sub-robot is completely separated from the sub-robot lifting device) is controlled; when the inspection robot carries out a normal inspection task, the sub-robot is positioned on the sub-robot lifting device, and the inspection robot changes the spatial position of the inspection robot through the robot walking device to carry out inspection; when encountering inspection visual dead angles or other special conditions during inspection, the sub-robot lifting device and the sub-robot positioning device on the robot main body operate to enable the sub-robot to be separated from the sub-robot lifting device and positioned on the sub-robot guide rail (slide on the sub-robot guide rail), and inspection is carried out at a top-down view angle so as to reduce the shooting dead angles; the problem that the machine room inspection robot is large in shooting dead angle and single in motion track in the prior art is effectively solved, and the technical effect that the machine room inspection robot can adapt to different inspection tasks on the premise that the shooting dead angle is less is achieved.
Drawings
FIG. 1 is a schematic structural diagram of the multifunctional inspection robot for a railway signal machine room of the invention;
FIG. 2 is an isometric view of a sub-robot of the multifunctional inspection robot for a railway signal room of the present invention;
FIG. 3 is a perspective view of the sub-robot of the multifunctional inspection robot for railway signal room in another direction
FIG. 4 is a right side view of a sub-robot of the multifunctional inspection robot for railway signal machine room of the present invention for showing the structure of the second positioning device;
FIG. 5 is a rear view of a sub-robot of the multifunctional inspection robot for a railway signal room of the present invention, for showing the positional relationship of each component of the sub-robot;
FIG. 6 is a schematic structural view of a sub-robot guide rail of the multifunctional inspection robot for a railway signal machine room according to the present invention;
FIG. 7 is a schematic structural diagram of a visible light cloud platform camera of the multifunctional inspection robot for a railway signal machine room according to the present invention;
FIG. 8 is a schematic structural diagram of another structure of the visible light cloud platform camera of the multifunctional inspection robot for the railway signal machine room, according to the present invention;
FIG. 9 is a schematic structural view of a camera lowering device of the multifunctional inspection robot for a railway signal machine room according to the present invention;
FIG. 10 is a schematic structural view of a retractable rope row of the multifunctional inspection robot for a railway signal machine room according to the present invention;
fig. 11 is a schematic structural view of a rope end positioning device of the multifunctional inspection robot for the railway signal machine room;
FIG. 12 is a schematic diagram showing the movement track of the multifunctional inspection robot for a railway signal room according to the present invention when the retractable cord rows are operated;
FIG. 13 is a schematic diagram showing a second movement track of the multifunctional inspection robot for a railway signal room according to the present invention when the retractable cord rows are operated;
in the figure:
a machine room wall 1;
a robot main body 100, a robot traveling device 110;
the sub-robot 200, the sub-robot main body 210, the visible light cloud platform camera 220, the camera lowering device 221, the independent power supply 230, the independent power supply charging device 231, the sub-robot positioning device 240, the first positioning device 241, the second positioning device 242, the second positioning device frame 2421, the positioning wheel 2422, the driving device 24221, the pressure applying wheel 2423, the pressure applying wheel elastic element 24231, the pressure applying wheel bracket 24232, the pressure applying wheel sliding driving device 24233 and the balance wheel 2424;
a sub-robot lifting device 300;
a sub-robot guide 400, a guide body 410, a guide positioning device 420, a guide positioning method, and a guide positioning method,
The sub-robot goes up and down the rope device 600.
Detailed Description
In order to facilitate an understanding of the present invention, the present application will now be described more fully with reference to the accompanying drawings; the preferred embodiments of the present invention are illustrated in the accompanying drawings, but the invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete.
It is noted that the terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs; the terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention; as used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Fig. 1 is a schematic structural diagram of the multifunctional inspection robot for a railway signal room of the present invention; the traditional inspection robot is modified; a sub-robot 200 and a sub-robot lifting device 300 are additionally arranged on the inspection robot, one or more guide rails (steel cables) are arranged at a position close to the ceiling of a machine room, a visible light cloud platform camera 220 and a sub-robot positioning device 240 are mounted on the sub-robot 200, the sub-robot lifting device 300 is positioned on the main body (robot main body 100) of the inspection robot, the sub-robot 200 is positioned on the top of the sub-robot lifting device 300, and the combination relationship between the sub-robot 200 and the sub-robot lifting device 300 (the sub-robot 200 is fixed on the sub-robot lifting device 300, and the sub-robot 200 is completely separated from the sub-robot lifting device 300) is controlled; when the inspection robot performs a normal inspection task, the sub-robot 200 is fixed on the sub-robot lifting device 300, and the inspection robot changes the spatial position of the inspection robot through the robot walking device 110 to perform inspection; when encountering an inspection visual dead angle or other special conditions during inspection, the sub-robot lifting device 300 and the sub-robot positioning device 240 on the robot main body 100 operate to enable the sub-robot 200 to be separated from the sub-robot lifting device 300 and positioned on the sub-robot guide rail 400 (slide on the sub-robot guide rail 400), so that inspection is performed at a top-down view angle to reduce the shooting dead angle; the inspection robot walking on the ground ensures the flexibility of the operation track of the inspection robot for the robot main body, and the inspection robot is ensured to inspect the inspection field of vision through the setting of the sub-robot.
Example one
As shown in fig. 1, the multifunctional inspection robot for a railway signal machine room comprises a robot main body 100, a sub-robot 200, a sub-robot lifting device 300, a guide rail, a communication module, a control unit, a power supply system and a detection module.
The robot main body 100 supports and positions all parts of the inspection robot, and is provided with a robot walking device 110, a sub-robot lifting device 300 and a detection module; the robot traveling device 110, which is positioned at the bottom of the robot main body 100 and can be a wheel and/or a crawler, plays a role of driving the robot main body 100 to travel and turn; the sub-robot lifting device 300 is fixedly connected to the robot main body 100 to lift the sub-robot 200, and the structure of the sub-robot lifting device 300 can be a telescopic rod, which is not described herein for the prior art; the detection module is a functional module of the inspection robot and comprises a thermal infrared imager, a sound pick-up, an ultrasonic detector, an infrared sensor and/or an environment detection module; the infrared thermal imager reads the temperature distribution data in the installed switch cabinet and the power distribution cabinet in real time through the infrared observation window of the switch cabinet during inspection, so that the aim of monitoring the working temperature state of all equipment is fulfilled, and the working state of all the equipment is comprehensively mastered; the sound pickup is used for detecting the environmental noise of the machine room and the working noise of the equipment; the ultrasonic detector is used for detecting the discharge phenomenon in the switch cabinet and the power distribution cabinet; the infrared sensor is used for monitoring the surface temperature of all switch cabinets and power distribution cabinets and directly detecting the surface temperature of the switch cabinets; the environment monitoring module is used for monitoring environment information such as O2, CO2, SO2, temperature, humidity, smoke and the like in a machine room.
As shown in fig. 2 to 5, the sub-robot 200 is positioned on top of the sub-robot lifting means 300 of the robot main body 100, the sub-robot 200 includes a sub-robot main body 210, a visible light plummet camera 220, an independent power supply 230, a sub-robot positioning means 240, and a sub-robot driving means; the sub-robot body 210 is a frame of the sub-robot 200, and plays a role in supporting and positioning other components of the sub-robot 200; the visible light cloud platform camera 220 is detachably positioned on the sub-robot main body 210, and plays a role in collecting image information around the sub-robot 200; the structure of the visible light cloud platform camera 220 is shown in fig. 7 or fig. 8; the independent power supply 230 is used for supplying power for the operation of the sub-robot 200; the independent power supply 230 further comprises an independent power supply charging device 231, and the independent power supply charging device 231 charges the independent power supply 230 through a power supply system when the sub-robot 200 is positioned on the sub-robot lifting device 300, which is the prior art and is not described herein again; the sub-robot driving means is used to drive the operation of the sub-robot 200, and is a power component of the sub-robot 200.
The sub-robot positioning means 240 functions to position the sub-robot 200, and the sub-robot positioning means 240 includes a first positioning means 241 and a second positioning means 242.
The first positioning means is located at a position where the bottom of the sub-robot 200 is in contact with the sub-robot lifting means 300, and serves to controllably combine and separate the sub-robot 200 and the sub-robot lifting means 300; the first positioning device 241 can be an electronic lock, an electromagnet, or the like.
The second positioning means 242 functions to position the sub-robot on the sub-robot guide 400 and to drive the sub-robot 200 to move along the sub-robot guide 400; as shown in fig. 2 to 5, the second positioning device 242 includes a second positioning device frame 2421, a positioning wheel 2422 and a pressure applying wheel 2423; the second positioning means frame 2421 plays a role of supporting the positioning wheels 2422 and the pressure applying wheels 2423, and the second positioning means frame 2421 and the sub-robot main body 210 are integrated; the positioning wheel 2422 is rotatably and fixedly connected to the second positioning device frame 2421, and the axial direction of the positioning wheel 2422 is perpendicular to the height direction of the sub-robot 200; the positioning wheel 2422 further comprises a driving device 24221, the driving device 24221 is used for driving the positioning wheel 2422 to rotate around the axis of the positioning wheel 2422, and can be a motor; the pressure applying wheels 2423 function to increase the friction force necessary for the positioning wheels 2422 to rotate on the sub-robot guide 400; the pressure applying wheel 2423 comprises a pressure applying wheel main body, a pressure applying wheel elastic element 24231 and a pressure applying wheel bracket 24232; the pressure applying wheel main body is in a wheel shape, the axial direction of the pressure applying wheel main body is the same as the axial direction of the positioning wheel 2422, and the pressure applying wheel main body is rotatably and fixedly connected to the pressure applying wheel support 24232; preferably, as shown in fig. 5, the pressing wheel body is provided with a groove for increasing a contact area between the pressing wheel body and the sub-robot guide 400; the pressure applying wheel support 24232 is slidably positioned on the second positioning device frame 2421, the sliding direction of the pressure applying wheel support 24232 is the height direction of the sub-robot 200, the pressure applying wheel elastic element 24231 is positioned between the pressure applying wheel support 24232 and the second positioning device frame 2421, and the pressure applying wheel support 24232 and the pressure applying wheel main body thereon are pressed towards the positioning wheel 2422 by using the self-elastic force, so that the positioning wheel 2422 and the pressure applying wheel main body are tightly attached to the sub-robot guide rail 400; preferably, the elastic element 24231 of the pressure applying wheel is a pressure spring; the pressing wheel sliding driving means 24233 functions to drive the pressing wheel support 24232 to slide downward in the height direction of the sub-robot 200 against the elastic force of the pressing wheel elastic member 24231 when the sub-robot 200 moves up and down on the guide rail; the pressing wheel slide driving device 24233 can be an electric telescopic rod.
As shown in fig. 1 or 6, the guide comprises a sub-robot guide 400; the sub robot guide rail 400 plays a role of guiding the operation of the sub robot 200 after the sub robot 200 is separated from the sub robot lifting device 300; the sub-robot guide 400 includes a guide body 410 and a guide positioning means 420; the guide rail main body 410 is a steel cable or a hard rod, so that the manufacturing cost, the installation cost and the use cost are low, and a machine room is not required to be transformed in a large area in the installation process; the guide rail positioning device 420 plays a role of positioning the two ends of the guide rail main body on the machine room wall, and the structure of the guide rail positioning device can be an expansion screw; the number of the sub-robot guides 400 is one or more.
The communication module, the control unit and the power supply system respectively play roles in communicating, controlling the operation and power supply of each component of the inspection robot, and are not described in detail in the prior art.
In order to ensure the stable operation of the sub-robot 200 on the guide rail, the shaking of the shot picture caused by the inertia of the sub-robot 200 of the visible light cloud platform camera 220 is reduced as much as possible; the second positioning device 242 further comprises a balance wheel 2424, as shown in fig. 4, the balance wheel 2424 is rotatably fixed on the second positioning device 2421, the main body is a circular roller, the axial direction of the circular roller is the same as the axial direction of the positioning wheel 2422, when the sub-robot 200 is on the sub-robot guide 400, the positioning wheel 2422, the balance wheel 2424 and the main body of the pressure applying wheel are all in direct contact with the sub-robot guide 400, wherein the positioning wheel 2422 and the balance wheel 2424 are both located above the sub-robot guide 400.
In consideration of the light problem of the machine room, the sub-robot 200 further comprises a down lamp, and the down lamp plays a role of a light source.
When the embodiment of the invention is actually operated, the inspection robot has two working states of normal inspection and dead angle inspection; in a normal inspection state, the sub-robot 200 is positioned on the inspection robot main body 100, and at this time, the sub-robot lifting device 300 plays a role in changing the height of the visible light cloud platform camera 220, and the inspection robot changes the spatial position of the inspection robot through the robot walking device to perform inspection; when the operation condition of the equipment needs to be observed from top to bottom when encountering an inspection visual dead angle or other special conditions during inspection, the sub-robot lifting device 300 on the robot main body 100 lifts the sub-robot 200, so that the positioning wheel 2422 on the sub-robot 200 is slightly higher than the sub-robot guide rail 400; then the pressing wheel sliding driving device 24233 operates to drive the pressing wheel 2423 to slide towards the direction far away from the positioning wheel 2422, so as to leave a space for the sub-robot guide rail 400 to enter; after that, the robot walking means 110 pushes the robot main body 100 to move, so that the sub-robot guide 400 enters between the positioning wheels 2422 and the pressing wheels 2423, and then the pressing wheel sliding driving means 24233 stops operating, and the pressing wheels 2423 are pressed against the sub-robot guide 400 by the elastic force of the pressing wheel elastic members 24231; after that, the first positioning means 241 is operated to separate the sub robot 200 from the sub robot lifting means 300, the sub robot 200 collects image information along the sub robot guide 400 by the driving of the driving means 24221, and after the collection is completed, the sub robot 200 is again combined with the sub robot lifting means 300 by the first positioning means 241, and enters the normal inspection state.
The technical scheme in the embodiment of the application at least has the following technical effects or advantages:
the problem that the machine room inspection robot is large in shooting dead angle and single in motion track in the prior art is effectively solved, and the technical effect that the machine room inspection robot can adapt to different inspection tasks on the premise that the shooting dead angle is less is achieved.
Example two
In order to further improve the shooting effect of the visible light pan-tilt camera 220 and shorten the shooting distance, in this embodiment, a camera lowering device 221 is added on the sub-robot 200 based on the first embodiment, as shown in fig. 3 or fig. 9, the camera lowering device 221 is fixedly connected to the sub-robot main body 210, and plays a role of lowering the visible light pan-tilt camera 220 from the sub-robot main body 210 so as to make it close to the equipment to be inspected; the camera lowering device 221 can be a combination of a winch and a visible light cloud platform camera positioning device; the winch is positioned on the sub-robot body 210 and comprises a winch body and a winch rope, and one end of the winch rope is fixedly connected to the visible light cloud platform camera 220; the visible light cloud platform camera 220 is detachably positioned on the sub-robot main body 210; the visible light cloud platform camera positioning device functions as a controlled combination of the visible light cloud platform camera 220 and the sub-robot main body 210, and the structure of the visible light cloud platform camera positioning device can be an electronic lock.
In practical operation of this embodiment, the sub-robot 200 operates the camera lowering device 221 in the process of collecting image information along the sub-robot guide rail 400 under the driving of the driving device 24221, and cooperates with the driving device 24221 to further approach the equipment to be inspected so as to optimize the image collecting effect.
The technical scheme in the embodiment of the application at least has the following technical effects or advantages:
compared with the first embodiment, the image acquisition effect of the inspection robot is optimized, and the inspection quality is further improved.
EXAMPLE III
Considering that the simple adoption of the sub-robot guide rail 400 which is distributed in the railway signal machine room in advance still can greatly limit the running track of the sub-robot 200, and more inspection dead corners exist; as shown in fig. 2 and 10, in the present embodiment, a temporary guide rail laying device and a sub-robot rope loading and unloading device 600 are added to the above-described embodiment, and the above-described problem is solved by using a method in which an inspection robot bridges a new guide rail via a sub-robot guide rail 400.
The guide rail also comprises a temporary guide rail laying device; the temporary guide rail laying device comprises a retractable rope row 500, the retractable rope row 500 is positioned at the top end of the sub-robot lifting device 300 and comprises a rope end positioning device 510, a guide rail rope 520 and a guide rail rope positioning tube 530; the guide rail rope 520 is wound on the retractable rope row 500, one end of the guide rail rope 520 is positioned on the retractable rope row 500, and the other end is provided with a rope end positioning device 510; the string head positioning device 510 is constructed as shown in fig. 10, and is essentially a clamp, which serves to fixedly connect one end of the rail string 520 to any position on the rail body 410 of the sub-robot rail 400 under control; the guide rail rope positioning tube 530 is a hollow tube, the guide rail rope 520 passes through the guide rail rope positioning tube 530, the guide rail rope positioning tube 530 is fixedly connected to the retractable rope row 500, the space of the guide rail rope positioning tube 530 is slightly lower than the positioning wheel 2422, and the axis of the guide rail rope positioning tube is parallel to the tangent line of the positioning wheel 2422 taking the contact point of the positioning wheel 2422 and the pressure applying wheel 2423 as the tangent point.
The sub-robot lifting device 600 assists the sub-robot 200 to move up and down the track laid by the retractable rope row 500, and the structure of the sub-robot lifting device 600 can be an electric chute sliding rail mechanism for pushing the sub-robot 200 to slide on the top end of the sub-robot lifting device 300 and/or an electric chute sliding rail mechanism for pushing the retractable rope row 500 to slide on the top end of the sub-robot lifting device 300.
In the actual operation of this embodiment, the sub-robot lifting device 300 of the robot body 100 lifts the sub-robot 200 to clamp the string positioning device 510 to a position on the sub-robot guide rail 400 to position the string of the guide rail string 520; driving the inspection robot to move the position of the inspection robot and rotating the retractable rope rows 500 to complete the laying of the temporary guide rails; then, a pressure applying wheel sliding driving device 24233 operates to drive the pressure applying wheel 2423 to slide towards the direction away from the positioning wheel 2422, so as to reserve a space for the temporary guide rail to enter; after that, the sub-robot rope loading and unloading device 600 operates to make the guide rail rope positioning pipe 530 enter between the positioning wheel 2422 and the pressure applying wheel 2423; then the pressure applying wheel slide driving device 24233 stops running, and the pressure applying wheel 2423 is tightly attached to the guide rail rope positioning tube 530 under the elastic force of the pressure applying wheel elastic element 24231; after that, the first positioning device 241 is operated to separate the sub-robot 200 from the sub-robot lifting device 300, the sub-robot 200 is driven by the driving device 24221 to collect image information along the guide rail rope 520, after the collection is finished, the sub-robot 200 is combined with the sub-robot lifting device 300 again through the first positioning device 241, the retractable rope rows 500 retract the guide rail rope 520, and the robot enters a normal inspection state.
Preferably, the rope end positioning device 510 has a structure as shown in fig. 11, the main body of the rope end positioning device is annular, the inner wall of the annular rope end positioning device 510 is provided with a roller, the rope end positioning device 510 is controlled to open and close (positioning the rope end), and is slidably positioned on the sub-robot guide rail 400; at this time, the operation range of the sub robot 200 is as shown in fig. 13.
The technical scheme in the embodiment of the application at least has the following technical effects or advantages:
compared with the above embodiment, the operation range of the sub-robot 200 along the guide rail is greatly expanded (the operation range is shown in fig. 12), the inspection dead angle is further reduced, and the inspection effect of the robot is optimized.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A multifunctional inspection robot for a railway signal machine room comprises a robot main body, a communication module, a control unit, a power supply system and a detection module, and is characterized by further comprising a sub-robot, a sub-robot lifting device and a guide rail;
the robot main body plays a role in supporting and positioning all parts of the inspection robot, and a robot walking device, a sub-robot lifting device and a detection module are positioned on the robot main body;
the sub-robot lifting device is fixedly connected to the robot main body and plays a role in lifting the sub-robot;
the sub-robot comprises a sub-robot main body, a visible light cloud platform camera, an independent power supply, a sub-robot positioning device and a sub-robot driving device;
the main body of the sub-robot is a frame of the sub-robot;
the visible light cloud platform camera is detachably positioned on the main body of the sub-robot and plays a role in collecting image information of the periphery of the sub-robot;
the independent power supply is used for supplying power for the operation of the sub-robots;
the sub-robot positioning device is used for positioning the sub-robot, and selectively positioning the sub-robot on the sub-robot lifting device or the guide rail under the control of the control unit;
the sub robot positioning device also comprises a driving device which plays a role in driving the sub robot to move along the guide rail;
the guide rail comprises a sub-robot guide rail;
the sub-robot guide rail plays a role in guiding the operation of the sub-robot after the sub-robot is separated from the sub-robot lifting device;
the sub-robot guide rail comprises a guide rail main body and a guide rail positioning device;
the sub-robot driving device is used for driving the operation of the sub-robot and is a power assembly of the sub-robot;
the guide rail main body is a steel cable or a hard rod;
the guide rail positioning device plays a role in positioning two ends of the guide rail main body on the machine room wall;
the number of the sub-robot guide rails is one or more.
2. The multifunctional inspection robot for railway signal machine room according to claim 1, characterized in that the robot
The sub-robot positioning device comprises a first positioning device and a second positioning device;
the first positioning device is positioned at the position where the bottom of the sub-robot is contacted with the sub-robot lifting device, and is used for combining and separating the sub-robot and the sub-robot lifting device in a controlled manner;
the second positioning device is used for positioning the sub-robot on the guide rail and driving the sub-robot to move along the guide rail;
the second positioning device comprises a second positioning device frame, a positioning wheel and a pressing wheel;
the second positioning device frame plays a role in bearing the positioning wheels and the pressing wheels, and the second positioning device frame and the sub-robot main body are of an integral structure;
the positioning wheel is rotatably and fixedly connected to the second positioning device frame, and the axial direction of the positioning wheel is mutually vertical to the height direction of the sub-robot;
the positioning wheel also comprises a driving device;
the driving device plays a role in driving the positioning wheel to rotate around the axis of the positioning wheel;
the pressure applying wheel plays a role in increasing necessary friction force for the positioning wheel to rotate on the guide rail;
the pressure applying wheel comprises a pressure applying wheel main body, a pressure applying wheel elastic element and a pressure applying wheel bracket;
the main body of the pressure applying wheel is in a wheel shape, the axial direction of the main body of the pressure applying wheel is the same as the axial direction of the positioning wheel, and the main body of the pressure applying wheel can be fixedly connected to the pressure applying wheel bracket in a rotating way;
the pressing wheel bracket is positioned on the second positioning device frame in a sliding mode, and the sliding direction of the pressing wheel bracket is the height direction of the sub-robot;
the elastic element of the pressure applying wheel is positioned between the pressure applying wheel bracket and the second positioning device frame, and plays a role of pressing the pressure applying wheel bracket together with the pressure applying wheel main body thereon to the positioning wheel by utilizing the self elasticity so as to ensure that the positioning wheel and the pressure applying wheel main body are tightly attached to the guide rail;
the pressing wheel sliding driving device plays a role in driving the pressing wheel bracket to overcome the elastic force of the elastic element of the pressing wheel to slide downwards along the height direction of the sub-robot when the sub-robot goes up and down the guide rail.
3. The multifunctional inspection robot for the railway signal machine room according to claim 2, wherein the sub-robot further comprises a camera lowering device;
the camera lowering device is fixedly connected to the sub-robot main body and plays a role in lowering the visible light cloud platform camera from the sub-robot main body so as to enable the visible light cloud platform camera to be close to the equipment to be inspected;
the structure of the camera lowering device is a combination of a winch and a visible light cloud platform camera positioning device;
the winch is positioned on the sub-robot main body and comprises a winch main body and a winch rope, and one end of the winch rope is fixedly connected to the visible light cloud platform camera;
the visible light cloud platform camera is detachably positioned on the sub-robot main body;
the visible light cloud platform camera positioning device plays a role in controllably combining the visible light cloud platform camera with the sub-robot main body.
4. The multifunctional inspection robot for the railway signal machine room according to claim 2 or 3, further comprising a sub-robot rope loading and unloading device;
the guide rail also comprises a temporary guide rail laying device;
the temporary guide rail laying device comprises a retractable rope row;
the retractable rope row is positioned at the top end of the sub-robot lifting device and comprises a rope end positioning device, a guide rail rope and a guide rail rope positioning tube;
the guide rail rope is wound on the retractable rope row, one end of the guide rail rope is positioned on the retractable rope row, and the other end of the guide rail rope is provided with a rope end positioning device;
the rope end positioning device is essentially a clamp and plays a role in fixedly connecting one end of the guide rail rope to any position on the guide rail main body of the sub-robot guide rail in a controlled manner;
the guide rail rope positioning pipe is a hollow pipe, and the guide rail rope penetrates through the guide rail rope positioning pipe;
the guide rail rope positioning pipe is fixedly connected to the retractable rope row, is slightly lower than the positioning wheel in space, and has an axis parallel to a tangent line of the positioning wheel taking a contact point of the positioning wheel and the pressing wheel as a tangent point;
the rope loading and unloading device of the sub-robot plays a role in assisting the sub-robot to load and unload the rail laid by the retractable rope;
the structure of the rope loading and unloading device of the sub robot is an electric chute sliding rail mechanism which pushes the sub robot to slide at the top end of the lifting device of the sub robot and/or an electric chute sliding rail mechanism which pushes the retractable rope to be arranged at the top end of the lifting device of the sub robot to slide.
5. The multifunctional inspection robot for railway signal machine room of claim 4, wherein the multifunctional inspection robot is characterized in that
The second positioning device also comprises a balance wheel which is fixed on the second positioning device in a rotating way, the main body of the balance wheel is a round roller wheel, the axial direction of the round roller wheel is the same as the axial direction of the positioning wheel, when the sub-robot is positioned on the sub-robot guide rail, the main bodies of the positioning wheel, the balance wheel and the pressure applying wheel are all in direct contact with the sub-robot guide rail, and the positioning wheel and the balance wheel are all positioned above the sub-robot guide rail;
the balance wheel ensures the stable operation of the sub-robot on the guide rail, and reduces the shaking of the shot picture caused by the influence of the inertia of the sub-robot on the visible light cloud platform camera as much as possible.
6. The multifunctional inspection robot for railway signal machine rooms according to claim 2 or 3, characterized in that,
the device also comprises a sub-robot rope loading and unloading device;
the guide rail also comprises a temporary guide rail laying device;
the temporary guide rail laying device comprises a retractable rope row;
the retractable rope row is positioned at the top end of the sub-robot lifting device and comprises a rope end positioning device, a guide rail rope and a guide rail rope positioning tube;
the guide rail rope is wound on the retractable rope row, one end of the guide rail rope is positioned on the retractable rope row, and the other end of the guide rail rope is provided with a rope end positioning device;
the main body of the rope end positioning device is annular, the inner wall of the annular rope end positioning device is provided with a roller, and the rope end positioning device is controlled to be opened and closed and is positioned on the sub-robot guide rail in a sliding way;
the guide rail rope positioning pipe is a hollow pipe, and the guide rail rope penetrates through the guide rail rope positioning pipe;
the guide rail rope positioning pipe is fixedly connected to the retractable rope row, is slightly lower than the positioning wheel in space, and has an axis parallel to a tangent line of the positioning wheel taking a contact point of the positioning wheel and the pressing wheel as a tangent point;
the rope loading and unloading device of the sub-robot plays a role in assisting the sub-robot to load and unload the rail laid by the retractable rope.
7. The multifunctional inspection robot for the railway signal machine room according to claim 6, wherein the independent power supply further comprises an independent power supply charging device;
and the independent power supply charging device charges the independent power supply through the power supply system when the sub-robot is positioned on the sub-robot lifting device.
8. The multifunctional inspection robot for the railway signal machine room according to one of claims 1 to 3, wherein the detection module is a functional module of the inspection robot, and comprises a thermal infrared imager, a sound pickup, an ultrasonic detector, an infrared sensor and/or an environment detection module;
the infrared thermal imager reads the temperature distribution data in the installed switch cabinet and the power distribution cabinet in real time through the infrared observation window of the switch cabinet during inspection, so that the aim of monitoring the working temperature state of all equipment is fulfilled, and the working state of all the equipment is comprehensively mastered;
the sound pickup is used for detecting the environmental noise of the machine room and the working noise of the equipment;
the ultrasonic detector is used for detecting the discharge phenomenon in the switch cabinet and the power distribution cabinet;
the infrared sensor is used for monitoring the surface temperature of all switch cabinets and power distribution cabinets and directly detecting the surface temperature of the switch cabinets;
the environment monitoring module is used for monitoring environmental information such as O, CO, SO, temperature, humidity, smoke and the like in the machine room.
9. The multifunctional inspection robot for railway signal machine room according to any one of claims 1 to 3, characterized in that the multifunctional inspection robot for railway signal machine room is characterized in that
The robot walking device plays a role in driving the robot main body to walk and turn, is positioned at the bottom of the robot main body, and is structurally provided with wheels and/or a crawler belt.
10. The multifunctional inspection robot for the railway signal machine room according to claim 7, wherein the sub-robot further comprises a down lamp, and the down lamp functions as a light source.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010971258.1A CN112123313A (en) | 2020-09-16 | 2020-09-16 | Multifunctional inspection robot for railway signal machine room |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010971258.1A CN112123313A (en) | 2020-09-16 | 2020-09-16 | Multifunctional inspection robot for railway signal machine room |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113494941A (en) * | 2021-08-10 | 2021-10-12 | 广州友智电气技术有限公司 | Intelligent power distribution room multi-parameter state monitoring system and method |
| CN115625738A (en) * | 2022-10-28 | 2023-01-20 | 鞍钢集团矿业有限公司 | Auxiliary installation device and method for underground wire rope flaw detection climbing robot |
-
2020
- 2020-09-16 CN CN202010971258.1A patent/CN112123313A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113494941A (en) * | 2021-08-10 | 2021-10-12 | 广州友智电气技术有限公司 | Intelligent power distribution room multi-parameter state monitoring system and method |
| CN115625738A (en) * | 2022-10-28 | 2023-01-20 | 鞍钢集团矿业有限公司 | Auxiliary installation device and method for underground wire rope flaw detection climbing robot |
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