CN214376625U - An autonomous charging station for an urban comprehensive pipe gallery track inspection robot - Google Patents
An autonomous charging station for an urban comprehensive pipe gallery track inspection robot Download PDFInfo
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- CN214376625U CN214376625U CN202120484005.1U CN202120484005U CN214376625U CN 214376625 U CN214376625 U CN 214376625U CN 202120484005 U CN202120484005 U CN 202120484005U CN 214376625 U CN214376625 U CN 214376625U
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Abstract
本实用新型公开了一种城市综合管廊轨道巡检机器人自主充电站，其特征在于，包括多条连接的导向轨道，每条导向轨道上设有可移动的巡检机器人和红外感应器，在导向轨道的连接处下方设有充电组件，在导向轨道连接处的侧面设有控制组件，所述的充电组件包括轴承、伺服电机和旋转座，轴承固定在导向轨道交汇处的内部下端，伺服电机固定在导向轨道交汇处的内部上端，旋转座与轴承的下端连接，旋转座的前侧设有充电座。本实用新型能够接收多个巡检机器人的充电信号，按照到达顺序依次充电，安装成本低；提供充电的同时对周围环境进行定点监控，发现故障能够及时预警，保障管廊内安全性。
The utility model discloses an autonomous charging station for an urban comprehensive pipe gallery track inspection robot, which is characterized in that it comprises a plurality of connected guide tracks, and each guide track is provided with a movable inspection robot and an infrared sensor. A charging assembly is arranged below the connection of the guide rail, and a control assembly is arranged on the side of the connection of the guide rail. The charging assembly includes a bearing, a servo motor and a rotating seat. The bearing is fixed at the inner lower end of the intersection of the guide rail, and the servo motor It is fixed on the inner upper end of the intersection of the guide rails, the rotating seat is connected with the lower end of the bearing, and the front side of the rotating seat is provided with a charging seat. The utility model can receive the charging signals of a plurality of inspection robots, and charge them in sequence according to the arrival sequence, and the installation cost is low; while providing charging, the surrounding environment is monitored at a fixed point, and faults can be warned in time to ensure the safety in the pipe gallery.
Description
Technical Field
The utility model relates to a city utility tunnel track inspection robot is charging station independently belongs to piping lane inspection equipment technical field.
Background
The urban comprehensive pipe gallery is a tunnel space which is built underground in a city and in which various engineering pipelines are collected, and is an important infrastructure for guaranteeing urban operation; whether equipment in the urban comprehensive pipe gallery can normally operate is related to whether the whole city can normally operate, and patrol inspection of relevant equipment is required to be carried out in the urban comprehensive pipe gallery all the time; the initial inspection is carried out manually, but the final inspection is carried out by an inspection robot due to the wide coverage range of the pipe gallery; the pipe rack inspection robot is generally in a hanging rail type, namely a rail is assumed at the top end of a pipe rack, and the inspection robot moves on the rail to inspect the pipe rack;
the inspection robots are driven by electric power, and the charging mode of the inspection robots is generally manual or fixed-point charging pile due to a special moving mode; due to the characteristic that the track moves in a single same line, a constructor generally adopts an inspection robot of a certain section of track to be charged by one charging pile, so that the corresponding number of charging piles are required to be arranged near the track junction according to the number of the tracks, and the installation cost is greatly increased; in addition, fill electric pile early warning ability poor, as the equipment of being connected with external power supply line, in case in the piping lane break down equipment trouble in will probably cause numerous potential safety hazards such as electric power leakage.
Based on this, an urban comprehensive pipe gallery track inspection robot autonomous charging station which is higher in safety and suitable for track intersections is urgently needed.
Disclosure of Invention
The to-be-solved technical problem of the utility model is: how to design an urban utility tunnel track and patrol and examine robot autonomic charging station, make it can receive and handle a plurality of charging requirements of patrolling and examining the robot.
In order to solve the technical problem, the technical scheme of the utility model a city utility tunnel track is patrolled and examined robot and is independently charged station is provided, a serial communication port, including the guide track of many connections, be equipped with mobilizable robot and the infrared inductor of patrolling and examining on every guide track, be equipped with the subassembly that charges below the orbital junction of direction, be equipped with control assembly in the side of guide track junction, the subassembly that charges include bearing, servo motor and roating seat, the inside lower extreme at guide track intersection is fixed to the bearing, servo motor fixes the inside upper end at guide track intersection, the roating seat is connected with the lower extreme of bearing, the front side of roating seat is equipped with the charging seat, charging seat front side upper portion symmetry is equipped with two plugs, charging seat front side lower part is equipped with trigger switch, is equipped with monitor in the bottom of roating seat.
Preferably, the control assembly comprises a case, a control module is arranged in the case, two first joint arms are arranged on two sides of the case respectively, the end part of each first joint arm is connected with the connecting joint, two second joint arms are arranged on the end parts of the two connecting joints, a touch screen controller is arranged between the two second joint arms, a handle is arranged at the lower end of the touch screen controller, and the case is electrically connected with the charging seat.
Preferably, one side of quick-witted case be equipped with temperature and humidity sensor, quick-witted incasement portion is equipped with automatically controlled ware, charging seat and servo motor all with automatically controlled ware electric connection, machine case upper end is equipped with bee calling organ and warning light, bee calling organ is located one side of warning light, bee calling organ and warning light all with automatically controlled ware electric connection.
Preferably, the upper end of the rotating seat is provided with a rotating shaft, the rotating shaft is in interference fit inside the bearing, and the end part of the rotating shaft is connected with the end part of the output shaft of the servo motor through a coupler.
Preferably, the lower end of the rotating seat is provided with a monitoring probe, the monitoring probe is provided with a digital camera and an infrared camera in a rotating mode, an image processing module and a transmission module are arranged inside the case, the transmission module is in transmission connection with an external superior control end and comprises an image compression module and an image recognition module, and a temperature and humidity sensor is arranged at the side end of the case.
Preferably, when not using, the touch screen controller is received in the rear side of quick-witted case through festival arm one and two foldings of festival arm, and the handheld handle of user pulls down the touch screen controller, reads this device relevant data and manages data, and the user will touch the screen controller and push back the position of accomodating after using the completion, and the damping pivot is guaranteed that the position can not remove when no exogenic action of touch screen controller, convenient storage.
Preferably, in the working process, digital imaging and thermal imaging picture in the monitor collection piping lane, confirm whether there are non-staff and abnormal temperature condition in the piping lane, and transmit the picture to higher level control end after the compression, the person of facilitating the use carries out the fixed point control to the condition in the piping lane, temperature and humidity sensor detects near this device temperature and humidity condition simultaneously, discover temperature and humidity sensor discovery unusual temperature or humidity change, control module receives abnormal signal, send the warning to higher level control end via transmission module, and control monitor rotates and searches for unusual position, the person of facilitating the use discovers, deal with abnormal conditions fast, reduce the loss.
Preferably, the automatically controlled ware of quick-witted incasement supplies with the charging assembly after with external power source conversion and is used for servo motor to rotate and patrol and examine the charging of robot, and when the circuit broke down, control module sent the signal to higher level's control end earlier, then the automatically controlled ware of control module control stops the power supply to the charging assembly, opens bee calling organ and warning light simultaneously, reminds the user to overhaul.
The utility model discloses a theory of operation is: the user installs the device, a case and an external power supply are connected with a signal source of a superior control end, the inspection robot has low electric quantity and cannot finish an inspection task, the inspection robot moves to an infrared sensor at a corresponding position through one of guide rails, the infrared sensor identifies the inspection robot and sends a signal to a control module, the control module receives the signal and identifies the direction of the rail where the inspection robot is located, a servo motor is controlled to start, a charging assembly is driven to rotate to be just opposite to the inspection robot, an instruction is sent to the inspection robot, the inspection robot moves forward and moves to the front end of a plug, the plug is clamped and enters the interior of the inspection robot, the plug is contacted with the inspection robot when the inspection robot conflicts a trigger switch, the control module receives the trigger signal from the trigger switch, a power supply line is started, and the inspection robot starts to charge; when a plurality of inspection robots arrive at the corresponding infrared sensors from different tracks in sequence, the control module receives signals and judges the arrival time in sequence, and the charging assembly is controlled to repeat the steps on the different inspection robots according to the arrival time in sequence of the inspection robots until the inspection robots are charged.
Compared with the prior art, this city utility tunnel track inspection robot is charging station independently has following advantage:
1. through the cooperation of guide rail, the subassembly that charges and infrared inductor, receive the orbital signal of charging of patrolling and examining the robot of a plurality of directions, charge according to the arrival order in proper order, the work is high-efficient, and installation cost is lower.
2. Through control assembly, provide and carry out fixed point control to the surrounding environment when charging, the discovery trouble can in time be early-warned, security in the guarantee piping lane.
Drawings
Fig. 1 is a schematic perspective view of the present invention;
fig. 2 is a schematic front view of the charging assembly of the present invention;
fig. 3 is a schematic perspective view of the control assembly of the present invention;
fig. 4 is a schematic side view of the control assembly of the present invention when folded;
in the figure: 1-guide track, 2-control component, 201-cabinet, 202-knuckle arm I, 203-connecting joint, 204-knuckle arm II, 205-touch screen controller, 206-handle, 207-temperature and humidity sensor, 208-buzzer, 209-warning lamp, 3-charging component, 301-bearing, 302-servo motor, 303-rotating seat, 304-charging seat, 305-monitoring probe, 306-trigger switch, 307-plug, 4-inspection robot, 5-infrared inductor.
Detailed Description
In order to make the present invention more comprehensible, preferred embodiments are described in detail below with reference to the accompanying drawings.
As shown in fig. 1-4, the present embodiment provides an autonomous charging station for an urban comprehensive pipe gallery track inspection robot, including a control assembly 2, a charging assembly 3 and a plurality of infrared sensors 5, where the charging assembly 3 is located at an intersection of a plurality of guide tracks 1, and the infrared sensors 5 are respectively fixed on the plurality of guide tracks 1, in the present embodiment, the fixing manner is a bolt connection, the inspection robot 4 moves on the guide tracks 1, the control assembly 2 includes a case 201, a control module is disposed inside the case 201, the charging assembly 3 includes a bearing 301, a servo motor 302 and a rotary base 303, in the present embodiment, the infrared sensors 5 and the servo motor 302 are prior art products and can be directly purchased and used in the market, the bearing 301 is fixed at the inner lower end of the intersection of the guide tracks 1, in the present embodiment, the fixing manner is an interference fit, the servo motor 302 is fixed at the upper end of the inside of the intersection of the guide track 1, in this embodiment, the fixing mode is bolt connection, the upper end of the rotating base 303 is provided with a rotating shaft, the rotating shaft is in interference fit inside the bearing 301, the end part of the rotating shaft is connected with the end part of the output shaft of the servo motor 302 through a coupler, the front side of the rotating base 303 is provided with a charging base 304, the charging base 304 is electrically connected with the case 201, the upper part of the front side of the charging base 304 is symmetrically provided with two plugs 307, and the lower part of the front side of the charging base 304 is provided with a trigger switch 306;
the user installs the device, the case 201 is connected with an external power supply and a signal source of a superior control end, the inspection robot 4 has low electric quantity and is not enough to complete the inspection task, the infrared sensor 5 moves to the infrared sensor 5 at the corresponding position through one of the guide rails 1, the infrared sensor 5 identifies the inspection robot 4 and sends a signal to the control module, the control module receives the signal, identifies the direction of the rail where the inspection robot 4 is located, controls the servo motor 302 to start, drives the charging assembly 3 to rotate to be just opposite to the inspection robot 4, then sends an instruction to the inspection robot 4, the inspection robot 4 moves forward and moves to the front end of the plug 307, the plug 307 is clamped and enters the interior of the inspection robot 4, the plug 307 is contacted with the inspection robot 4 when the inspection robot 4 is pressed against the trigger switch 306, the control module receives the trigger signal from the trigger switch 306 and starts a power supply line, the inspection robot 4 starts charging; when a plurality of inspection robots 4 successively arrive at the corresponding infrared sensors 5 from different tracks, the control module receives signals and judges the arrival time, and the charging assembly 3 is controlled to repeat the steps for the different inspection robots 4 according to the arrival time of the inspection robots 4 until the inspection robots 4 are charged.
Two sides of the case 201 are respectively hinged with a first knuckle arm 202, the end parts of the first knuckle arms 202 are respectively hinged with a connecting joint 203, the end parts of the two connecting joints 203 are respectively hinged with a second knuckle arm 204, a touch screen controller 205 is hinged between the second knuckle arms 204, the lower end of the touch screen controller 205 is provided with a handle 206, and all hinged parts are connected by using a damping rotating shaft;
when not using, touch screen controller 205 is folded through festival arm one 202 and festival arm two 204 and is accomodate the rear side at quick-witted case 201, and the user is handheld handle 206 and is pulled down touch screen controller 205, reads this device relevant data and manages data, and the user pushes back touch screen controller 205 and accomodates the position after using the completion, and the damping pivot guarantees that touch screen controller 205 can not remove when no exogenic action position, convenient storage.
The lower end of the rotating seat 303 is provided with a monitoring probe 305, the monitoring probe 305 is rotatably provided with a digital camera and an infrared camera, an image processing module and a transmission module are arranged inside the case 201, the transmission module is in transmission connection with an external superior control end, the image processing module comprises an image compression module and an image recognition module, and the side end of the case 201 is provided with a temperature and humidity sensor 207;
in the working process, monitor 305 gathers digital imaging and thermal imaging picture in the piping lane, confirm whether there are non-staff and abnormal temperature condition in the piping lane, and transmit the picture to higher level control end after the compression, the person of facilitating the use carries out the fixed point control to the condition in the piping lane, temperature and humidity sensor 207 detects near this device's temperature and humidity condition simultaneously, discover temperature and humidity sensor 207 and discover unusual temperature or humidity change, control module receives abnormal signal, send the warning to higher level control end via transmission module, and control monitor 305 rotates and searches for unusual position, the person of facilitating the use discovers, the abnormal condition of rapid processing, reduce the loss.
An electric controller is arranged in the case 201, the charging seat 304 and the servo motor 302 are both electrically connected with the electric controller, the upper end of the case 201 is provided with a buzzer 208 and a warning lamp 209, the buzzer 208 is positioned at the side end of the warning lamp 209, and the buzzer 208 and the warning lamp 209 are both electrically connected with the electric controller;
the automatically controlled ware supplies with the subassembly 3 that charges after with external power source conversion and is used for servo motor 302 to rotate and patrol and examine charging of robot 4, and when the circuit broke down, control module sent the signal to higher level control end earlier, then the automatically controlled ware of control module control stops the power supply to subassembly 3 that charges, opens bee calling organ 208 and warning light 209 simultaneously, reminds the user to overhaul.
The utility model discloses a theory of operation:
the user installs the device, the case 201 is connected with an external power supply and a signal source of a superior control end, the user pulls down the touch screen controller 205 by holding the handle 206, reads related data of the device and manages the data, the user pushes the touch screen controller 205 back to a storage position after use, the inspection robot 4 moves to the infrared sensor 5 of a corresponding position through one track in the guide track 1 when the electric quantity is low and is insufficient to complete an inspection task, the infrared sensor 5 identifies the inspection robot 4, sends a signal to the control module, the control module receives the signal, identifies the track direction of the inspection robot 4, controls the servo motor 302 to start, drives the charging component 3 to rotate to just face the inspection robot 4, sends an instruction to the inspection robot 4, the robot 4 advances to move to the front end of the plug 307, and the plug 307 is clamped and enters the inspection robot 4, when the inspection robot 4 collides with the trigger switch 306, the plug 307 is in contact with the inspection robot 4, the control module receives a trigger signal from the trigger switch 306, a power supply line is started, and the inspection robot 4 starts to charge; when a plurality of inspection robots 4 successively arrive at the corresponding infrared sensors 5 from different tracks, the control module receives signals and judges the arrival time, and the charging assembly 3 is controlled to repeat the steps on the different inspection robots 4 according to the arrival time of the inspection robots 4 until the inspection robots 4 are charged; in the course of the work, monitor probe 305 gathers digital imaging and thermal imaging picture in the pipe gallery, confirm whether there are non-staff and abnormal temperature condition in the pipe gallery, and transmit the picture to higher level control end after the compression, the person of facilitating the use carries out the fixed point control to the condition in the pipe gallery, temperature and humidity sensor 207 detects near this device's temperature and humidity condition simultaneously, discover temperature and humidity sensor 207 and discover unusual temperature or humidity change, control module receives abnormal signal, send the warning to higher level control end via transmission module, and control monitor probe 305 rotates and searches for unusual position, when the circuit breaks down, control module sends signal to higher level control end earlier, control module control electric controller stops the power supply to charging assembly 3 simultaneously, open bee calling organ 208 and warning light 209 simultaneously, remind the user to overhaul.
In conclusion, the guide rail 1, the charging assembly 3 and the infrared sensor 5 are matched to receive charging signals of the inspection robots 4 with the rails in multiple directions, and the inspection robots are sequentially charged according to the arrival sequence, so that the work is efficient, and the installation cost is low; through control assembly 2, provide and carry out fixed point control to the surrounding environment when charging, the discovery trouble can in time be early-warned, security in the guarantee piping lane.
Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.
Claims (4)
1. The autonomous charging station for the urban comprehensive pipe gallery track inspection robot is characterized by comprising a plurality of connected guide tracks (1), wherein each guide track (1) is provided with a movable inspection robot (4) and an infrared inductor (5), a charging assembly (3) is arranged below the joint of each guide track (1), a control assembly (2) is arranged on the side surface of the joint of each guide track (1), each charging assembly (3) comprises a bearing (301), a servo motor (302) and a rotating base (303), the bearings (301) are fixed at the lower end of the inside of the intersection of the guide tracks (1), the servo motors (302) are fixed at the upper end of the inside of the intersection of the guide tracks (1), the rotating bases (303) are connected with the lower ends of the bearings (301), the front sides of the rotating bases (303) are provided with charging seats (304), two plugs (307) are symmetrically arranged on the upper parts of the front sides of the charging seats (304), the lower part of the front side of the charging seat (304) is provided with a trigger switch (306), and the bottom of the rotating seat (303) is provided with a monitoring probe (305).
2. The urban comprehensive pipe gallery track inspection robot autonomous charging station according to claim 1, wherein the control assembly (2) comprises a case (201), a control module is arranged inside the case (201), a first knuckle arm (202) is arranged on each of two sides of the case (201), the end of each first knuckle arm (202) is connected with a connecting joint (203), a second knuckle arm (204) is arranged on each of the ends of the two connecting joints (203), a touch screen controller (205) is arranged between the two second knuckle arms (204), a handle (206) is arranged at the lower end of the touch screen controller (205), and the case (201) is electrically connected with the charging seat (304).
3. The urban comprehensive pipe gallery track inspection robot autonomous charging station according to claim 2, wherein a temperature and humidity sensor (207) is arranged on one side of the case (201), an electric controller is arranged inside the case (201), the charging seat (304) and the servo motor (302) are both electrically connected with the electric controller, a buzzer (208) and a warning lamp (209) are arranged at the upper end of the case (201), the buzzer (208) is located on one side of the warning lamp (209), and the buzzer (208) and the warning lamp (209) are both electrically connected with the electric controller.
4. The urban comprehensive pipe gallery track inspection robot autonomous charging station according to claim 1, wherein a rotating shaft is arranged at the upper end of the rotating seat (303), the rotating shaft is in interference fit inside the bearing (301), and the end of the rotating shaft is connected with the end of an output shaft of the servo motor (302) through a coupling.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120484005.1U CN214376625U (en) | 2021-03-05 | 2021-03-05 | An autonomous charging station for an urban comprehensive pipe gallery track inspection robot |
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| CN202120484005.1U CN214376625U (en) | 2021-03-05 | 2021-03-05 | An autonomous charging station for an urban comprehensive pipe gallery track inspection robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115060665A (en) * | 2022-08-16 | 2022-09-16 | 君华高科集团有限公司 | Automatic inspection system for food safety |
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2021
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115060665A (en) * | 2022-08-16 | 2022-09-16 | 君华高科集团有限公司 | Automatic inspection system for food safety |
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