Hanging rail type strong light supplement explosion-proof inspection robot with holder

Abstract

The invention discloses a hanging rail type strong light supplement explosion-proof inspection robot with a cradle head, which comprises a shell, a main engine room arranged at the bottom of the shell, a control panel and a battery cabin, the control panel and the battery cabin are arranged in the main engine room, a cradle head seat is arranged at the bottom of the shell close to the front end, and a cradle head cabin is arranged at the lower end of the cradle head seat through a horizontal rotating mechanism. And cameras are mounted on the two sides of the holder bin through vertical rotating mechanisms. According to the invention, the camera with the holder is combined with the robot to inspect the storage tank, and meanwhile, the high-intensity illumination light supplement lamp rotating along with the holder is arranged, so that the holder can meet the requirements of 360-degree horizontal rotation of the camera and vertical 120-degree rotation of the camera, better information acquisition is carried out, the inspection efficiency and quality are improved, the manual inspection of the actual environment of a destination is completely replaced, and the inspection efficiency and quality are improved. Due to the explosion-proof design of the robot, the robot can work safely and stably in a combustible and explosive environment to replace manual inspection, so that the safety of workers is ensured, and the safety risk is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of rainwater storage tank inspection, in particular to a rail-mounted explosion-proof inspection robot with a pan-tilt head and strong fill light. Background Art

[0002] A rainwater storage tank is a rainwater collection facility that temporarily retains the peak flow of rainwater runoff in the tank, and then slowly discharges the rainwater from the storage tank after the maximum flow drops. This can avoid rainwater peaks, improve rainwater utilization, control the pollution of the receiving water body by initial rainwater, and play a positive role in drainage scheduling between drainage areas.

[0003] Rainwater storage tanks are an indispensable part of modern urban municipal infrastructure. In order to ensure the normal operation of rainwater storage tanks and water tunnels, it is necessary to conduct regular inspections of rainwater storage tanks and water tunnels, monitor the water quality and silt at the bottom of the tank, observe whether the bottom of the tank is clean, observe the operation of the equipment, collect the working status of the equipment, and immediately find out whether the equipment is working abnormally and whether the storage tank is working normally. Since traditional inspection work is mainly done by staff, the labor intensity of the staff is high, the work site is a confined space, and toxic and harmful gases can easily cause harm to the staff, it is necessary to develop a fully automatic rail-mounted explosion-proof robot that can walk reliably, can be used in confined spaces, and is equipped with a pan-tilt camera and strong fill light. Summary of the invention

[0004] In view of the problems existing in the prior art, the purpose of the present invention is to provide a rail-mounted explosion-proof inspection robot with a pan-tilt head and strong fill light. The robot is combined with a pan-tilt head camera to replace manual inspections, realize automatic inspections in confined spaces and dark environments, avoid potential explosion risks in flammable environments, and solve production safety issues.

[0005] In order to achieve the above-mentioned object of the invention, the present invention adopts the following technical solution:

[0006] A rail-mounted explosion-proof inspection robot with a pan-tilt and strong fill light comprises: a shell, a main compartment installed at the bottom of the shell, a control panel and a battery compartment installed in the main compartment, a battery pack is installed in the battery compartment, a wheel group is installed in the middle position of the shell, the wheel group is connected to a driving mechanism, the robot is assembled on the track through the wheel group, a gas probe, a lighting lamp and an antenna assembly are installed on the side of the main compartment, a pan-tilt seat is installed at the bottom of the shell near the front end, a pan-tilt compartment is installed at the lower end of the pan-tilt seat through a horizontal rotating mechanism, cameras are installed on both sides of the pan-tilt compartment through a vertical rotating mechanism, and the battery pack, camera, gas probe, lighting lamp and antenna assembly are all electrically connected to the control panel.

[0007] As a preferred solution of the present invention, the horizontal rotation mechanism includes a third motor, the third motor is installed in the gimbal compartment, a cylindrical gear is installed on the third motor, a gear disk is fixedly installed in the inner cavity of the gimbal seat, and the cylindrical gear is connected to the gear disk teeth.

[0008] As a preferred solution of the present invention, the vertical rotation mechanism includes a second motor, which is installed at the bottom of the inner cavity of the gimbal compartment. A worm is vertically installed in the gimbal compartment. The second motor drives the worm, and the side teeth of the worm are connected to a worm wheel. The worm wheel is fixedly connected to the cameras at both ends through a connecting shaft.

[0009] As a preferred solution of the present invention, the second motor and the third motor are both servo motors.

[0010] As a preferred solution of the present invention, the wheel group includes a mounting frame, a vertically mounted suspension drive wheel, a transversely mounted transverse roller and a clamping wheel arranged under the track, the suspension drive wheel is connected to a drive mechanism, the drive mechanism includes a gearbox and a first motor, the first motor is installed in a motor compartment in a main compartment, and the first motor drives the suspension drive wheel through a gearbox.

[0011] As a preferred solution of the present invention, a guide rod is rotatably mounted on the mounting frame via a spring seat, a guide wheel is rotatably mounted on the guide rod, and the first motor is a brushless DC motor.

[0012] As a preferred solution of the present invention, a wireless charging component is installed at the end of the main compartment, an alarm light and a side cover are installed on the side of the main compartment, and a battery cover is installed at the bottom of the battery compartment.

[0013] As a preferred solution of the present invention, the housing, camera, gimbal compartment, lighting, wireless charging assembly and main unit compartment are all made of metal explosion-proof shells, and a speed measuring device is also installed in the housing.

[0014] As a preferred solution of the present invention, fill lights are installed at equal intervals around the camera.

[0015] As a preferred solution of the present invention, the fill light is a fill light that can perform convergent light and divergent light conversion.

[0016] Due to the adoption of the above technical solution, the present invention has the following beneficial effects:

[0017] The present invention combines a camera with a pan-tilt head with a robot to perform inspections on regulating reservoirs, and is equipped with a strong light fill light that rotates with the pan-tilt head. It can capture video and photo information in a dark space within 30m and perform inspection operations. The rotatable pan-tilt head and camera can satisfy the camera's 360-degree horizontal rotation and 120-degree vertical rotation, so as to collect better information, improve inspection efficiency and quality, and completely replace the actual environment of the manual inspection destination. The lighting can also be switched according to the on-site conditions, and different types of lighting can be used for regulating reservoirs of different depths, so that it is more suitable for different scenes. At the same time, the explosion-proof design of the robot can work safely and stably in a flammable and explosive environment to replace manual inspections, realize automatic inspections in a confined space in a dark environment, avoid potential explosion risks in a flammable environment, and solve the problem of production safety. The present invention effectively solves the problem that manual inspections are impossible in a confined space in a dark environment, and uses robots to replace manual inspections to complete inspections, thereby ensuring the safety of workers and reducing safety risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 It is a schematic diagram of the bottom structure of the present invention;

[0020] Figure 3 is a cross-sectional view of the bottom structure of the present invention;

[0021] Figure 4 It is a cross-sectional view of the internal structure of the pan / tilt warehouse of the present invention;

[0022] Figure 5 It is a schematic cross-sectional view of the wheel set structure of the present invention.

[0023] In the figure: 1. Shell; 2. Track; 3. Suspension drive wheel; 4. Guide wheel; 5. Clamp wheel; 6. Speed ​​measuring device; 7. Wireless charging component; 8. Illumination lamp; 9. Gas probe; 10. Side cover; 11. Camera; 12. PTZ seat; 13. PTZ compartment; 14. Battery cover; 15. Fill light; 16. Control panel; 17. Battery pack; 18. First motor; 19. Second motor; 20. Third motor; 21. Worm; 22. Worm wheel; 23. Cylindrical gear; 24. Toothed disc; 25. Gearbox; 26. Horizontal roller; 27. Warning light; 28. Main compartment; 29. ​​Antenna assembly; 30. Battery compartment; 31. Motor compartment; 32. Guide rod; 33. Mounting bracket. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0025] Example 1

[0026] like Figures 1 to 5 As shown, a specific embodiment of a rail-mounted explosion-proof inspection robot with a pan-tilt and strong fill light described in the present invention comprises: a shell 1, a mainframe compartment 28 installed at the bottom of the shell 1, a control panel 16 and a battery compartment 30 installed in the mainframe compartment 28, a battery pack 17 is installed in the battery compartment 30, a wheel group is installed in the middle position of the shell 1, the wheel group is connected to the driving mechanism, the robot is assembled on the track 2 through the wheel group, a gas probe 9, a lighting lamp 8 and an antenna assembly 29 are installed on the side of the mainframe compartment 28, a pan-tilt seat 12 is installed at the bottom of the shell 1 near the front end, a pan-tilt seat 12 is installed at the lower end of the pan-tilt seat 12 through a horizontal rotation mechanism, and cameras 11 are installed on both sides of the pan-tilt warehouse 13 through a vertical rotation mechanism, the battery pack 17, the camera 11, the gas probe 9, the lighting lamp 8 and the antenna assembly 29 are all electrically connected to the control panel 16, and the antenna assembly 29 also has a sending and receiving function, and the video and pictures taken by the robot camera are transmitted back to the computer through the wireless communication module in real time for inspection.

[0027] The horizontal rotation mechanism includes a third motor 20, which is installed in the pan-tilt compartment 13. A cylindrical gear 23 is installed on the third motor 20. A toothed disc 24 is fixedly installed in the inner cavity of the pan-tilt seat 12. The cylindrical gear 23 is connected to the toothed disc 24. The third motor 20 can control the pan-tilt compartment 13 to rotate 360 ​​degrees horizontally to collect videos and photos.

[0028] The vertical rotation mechanism includes a second motor 19, which is installed at the bottom of the inner cavity of the gimbal compartment 13. A worm 21 is vertically installed in the gimbal compartment 13. The second motor 19 drives the worm 21. The side teeth of the worm 21 are connected to a worm wheel 22. The worm wheel 22 is fixedly connected to the cameras 11 at both ends through a connecting shaft. The second motor 19 can control the camera to rotate 120° in the vertical direction to collect videos and photos.

[0029] The wheel set includes a mounting frame 33, a vertically mounted suspension drive wheel 3, a horizontally mounted horizontal roller 26, and a clamping wheel 5 arranged below the track 2. The suspension drive wheel 3 is connected to a driving mechanism, and the driving mechanism includes a gearbox 25 and a first motor 18. The first motor 18 is installed in a motor compartment 31 in a main compartment 28. The first motor 18 drives the suspension drive wheel 3 through the gearbox 25. The wheel set is used to fix the robot on the track, and the first motor 18 provides power to the suspension drive wheel 3, thereby driving the robot to move.

[0030] A guide rod 32 is rotatably mounted on the mounting frame 33 via a spring seat, and a guide wheel 4 is rotatably mounted on the guide rod 32 to play a guiding role;

[0031] A wireless charging assembly 7 is installed at the end of the main compartment 28, and its principle is the same as that of wireless charging of mobile phones. The use of wireless charging can achieve better explosion-proof of the robot as a whole. An alarm light 27 and a side cover 10 are installed on the side of the main compartment 28. The alarm light 27 is mainly used to warn of toxic and harmful gases. After exceeding the standard, an alarm is sounded to serve as a warning. The side cover 10 is mainly used for maintenance and replacement of the internal circuits and chips of the robot, which facilitates the maintenance of the robot. A battery cover 14 is installed at the bottom of the battery compartment 30 for replacing the battery pack 17;

[0032] Filling lights 15 are installed equidistantly around the camera 11 for collecting video of the inspected area in a dark environment. The filling lights 15 are capable of converting between focused and diffuse light, and the light can be converted according to the on-site situation. The chip of the control board 16 has a built-in control program. When it is sensed that the storage tank is very deep, the filling lights are adjusted to the focused mode to focus on one point of illumination, so that the light can shine farther and brighter, so as to clearly collect information. When it is sensed that the storage tank is not deep, the filling lights are adjusted to the diffuse mode to make the illumination area larger, so that a large amount of information can be collected faster.

[0033] The housing 1, camera 11, pan / tilt compartment 13, lighting 8, wireless charging assembly 7 and main compartment 28 are all made of metal explosion-proof shells. When the robot enters a flammable and explosive space, no explosion will occur inside the robot. Even if an explosion occurs, it will not affect the outside, and an external explosion will not affect the inside of the robot, thereby achieving an explosion-proof effect. A speed measuring device 6 is also installed in the housing 1, which is mainly used for positioning. The specific position of the robot on the track is obtained by counting the wheel rolling, so that fixed-point inspection can be achieved;

[0034] In this embodiment, the first motor 18 is a brushless DC motor, and the second motor 19 and the third motor 20 are servo motors.

[0035] Working principle of the present invention: the present invention fixes the robot on the track through the wheel group, the first motor 18 provides power to the suspension driving wheel 3, thereby driving the robot to move, the third motor 20 in the horizontal rotation mechanism can control the pan-tilt warehouse 13 to rotate 360 ​​degrees horizontally, and collect videos and photos, the second motor 19 in the vertical rotation mechanism can control the camera 11 to rotate 120 degrees in the vertical direction, and collect videos and photos, the control board 16 controls the second motor 19 and the third motor 20, in a dark environment, the robot turns on the lighting lamp 8 and the fill light 15 through the control board 16, and can realize video collection of the inspected area in a dark environment, replacing the actual environment of the manual inspection destination; the light can be switched according to the on-site situation, and the chip of the control board 16 has a built-in control program. When it is sensed that the regulating reservoir is very deep, the fill light 15 is adjusted to the spotlight mode, focusing on one point of lighting, so that the light shines farther and brighter, so as to adapt to the inspection environment of the regulating reservoir with a depth of up to 30m, and the explosion-proof design of the robot can work safely and stably in an environment with flammable gas, meeting the use of different scenes.

[0036] The components in this article are all universal standard parts or components known to those skilled in the art. Their structures and principles can be known to those skilled in the art through technical manuals or conventional experimental methods, so they will not be described in detail here.

[0037] Although the specific embodiments of the present invention are described in detail above, the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in this field without departing from the purpose of the present invention, and modifications or deformations without creative labor are still within the protection scope of the present invention.

Claims

1. A rail-mounted explosion-proof inspection robot with a pan / tilt and strong fill light, comprising: A shell (1), a mainframe compartment (28) installed at the bottom of the shell (1), a control panel (16) installed in the mainframe compartment (28), and a battery compartment (30), wherein a battery pack (17) is installed in the battery compartment (30), a wheel group is installed in the middle of the shell (1), the wheel group is connected to a driving mechanism, and the robot is assembled on a track (2) through the wheel group, characterized in that: a gas probe (9), an illuminating lamp (8) and an antenna assembly (29) are installed on the side of the mainframe compartment (28), a pan-tilt seat (12) is installed near the front end of the bottom of the shell (1), a pan-tilt seat (13) is installed at the lower end of the pan-tilt seat (12) through a horizontal rotating mechanism, and cameras (11) are installed on both sides of the pan-tilt compartment (13) through a vertical rotating mechanism, and the battery pack (17), camera (11), gas probe (9), illuminating lamp (8) and antenna assembly (29) are all electrically connected to the control panel (16).

2. According to claim 1, a rail-mounted explosion-proof inspection robot with a pan / tilt and strong fill light, characterized in that: The horizontal rotation mechanism comprises a third motor (20), the third motor (20) is installed in the pan-tilt compartment (13), a cylindrical gear (23) is installed on the third motor (20), a toothed disc (24) is fixedly installed in the inner cavity of the pan-tilt seat (12), and the cylindrical gear (23) is connected to the toothed disc (24).

3. A rail-mounted explosion-proof inspection robot with a pan / tilt and strong fill light according to claim 2, characterized in that: The vertical rotation mechanism comprises a second motor (19), the second motor (19) is installed at the bottom of the inner cavity of the gimbal compartment (13), a worm (21) is vertically installed in the gimbal compartment (13), the second motor (19) drives the worm (21), the side teeth of the worm (21) are connected to a worm wheel (22), and the worm wheel (22) is fixedly connected to the cameras (11) at both ends through a connecting shaft.

4. A rail-mounted explosion-proof inspection robot with a pan / tilt and strong fill light according to claim 3, characterized in that: The second motor (19) and the third motor (20) are both servo motors.

5. The rail-mounted explosion-proof inspection robot with a pan / tilt and strong fill light according to claim 1, characterized in that: The wheel set comprises a mounting frame (33), a vertically mounted suspension drive wheel (3), a transversely mounted transverse roller (26), and a clamping wheel (5) arranged below the track (2); the suspension drive wheel (3) is connected to a drive mechanism, and the drive mechanism comprises a gearbox (25) and a first motor (18); the first motor (18) is mounted in a motor compartment (31) in a main machine compartment (28); and the first motor (18) drives the suspension drive wheel (3) through the gearbox (25).

6. The rail-mounted explosion-proof inspection robot with a pan / tilt and strong fill light according to claim 5, characterized in that: A guide rod (32) is rotatably mounted on the mounting frame (33) via a spring seat, a guide wheel (4) is rotatably mounted on the guide rod (32), and the first motor (18) is a brushless DC motor.

7. The rail-mounted explosion-proof inspection robot with a pan / tilt and strong fill light according to claim 1, characterized in that: A wireless charging assembly (7) is installed at the end of the main compartment (28), an alarm light (27) and a side cover (10) are installed on the side of the main compartment (28), and a battery cover (14) is installed at the bottom of the battery compartment (30).

8. The rail-mounted explosion-proof inspection robot with a pan / tilt and strong fill light according to claim 7, characterized in that: The housing (1), camera (11), pan / tilt compartment (13), lighting lamp (8), wireless charging assembly (7) and main unit compartment (28) are all made of metal explosion-proof shells, and a speed measuring device (6) is also installed in the housing (1).

9. The rail-mounted explosion-proof inspection robot with a pan / tilt and strong fill light according to claim 1, characterized in that: Filling lights (15) are installed at equal intervals around the camera (11).

10. The rail-mounted explosion-proof inspection robot with a pan / tilt and strong fill light according to claim 1, characterized in that: The fill light (15) is a fill light (15) capable of performing convergent light conversion.

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