Heat source detection power network communication inspection robot

Abstract

The utility model discloses a heat source detection electric power network communication inspection robot which comprises a walking frame, an upper concentric-square-shaped guide plate and a lower vehicle rail, the upper concentric-square-shaped guide plate and the lower vehicle rail are fixed to the top end and the bottom end of the walking frame, a concentric-square-shaped frame is installed at one end of the surface of the walking frame in a sliding mode, and supporting frames are fixed to the two sides of the bottom end of the concentric-square-shaped frame. A right-angle bracket is fixed between the two supporting frames, heat source cameras are arranged on the outer walls of the sides, away from each other, of the two supporting frames, Y-axis electric pushing mechanisms are arranged on the outer walls of the two sides of the concentric-square-shaped frame, and active walking units making contact with the outer wall of the lower vehicle rail are installed at the movable ends of the Y-axis electric pushing mechanisms. Compared with the mode that the action is stopped only depending on the walking driving motor, the robot can be stopped more rapidly through extrusion friction braking, the problem of inertia distance delay caused by inertia in the movement process of the robot is solved, the braking efficiency is improved, and the hovering accuracy and precision of the heat source camera are guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection robots, in particular to a heat source detection power network communication inspection robot. Background Art

[0002] The heat source detection and power network communication inspection robot in the tunnel is an intelligent robot specially designed to perform multiple tasks in underground tunnels. Its structure mainly includes a mobile platform, a sensor system, a control system and a communication module. The mobile platform provides the robot with flexible mobility under different ground conditions; the sensor system includes a thermal sensor, a power parameter detection device and a communication equipment detection module, which are used to monitor the heat source, power network status and communication equipment operation in the tunnel; the control system realizes the robot's autonomous navigation, path planning and data processing; the communication module is used for data communication and remote control with an external control center or operator. It uses various sensors to collect data inside the tunnel in real time, and processes and analyzes it through the control system, thereby realizing the monitoring and inspection of heat sources, power networks and communication equipment;

[0003] For example, the tunnel inspection robot disclosed in the authorization announcement number CN217414033U includes a guide rail and a robot body installed on the guide rail and capable of moving forward, backward, turning and braking along the guide rail. The robot body includes a walking unit, a lifting unit and a pan / tilt unit arranged in sequence from top to bottom. The walking unit is connected to the guide rail to realize the movement of the robot body along the guide rail track. The guide rail track provides a fixed path for the robot to walk and stay at any position. The robot passes through the horizontal position and the turning radius is 300mm. The left and right turns and climbing and descending actions, but in this technical solution, when the walking action is performed, it is realized by a walking drive motor, a gear and a rack. When it is necessary to make the detection equipment carried by the robot hover, the walking drive motor can only be controlled to stop. When the walking drive motor stops, the robot itself and the heat source detection equipment carried by it will continue to move forward for a distance due to inertia. This results in a certain deviation from the target position after the robot stops, which affects the accuracy and precision of the hovering, and also brings trouble to the operation of the staff when it is necessary to perform precise operation or fine adjustment on the target position to be detected. Utility Model Content

[0004] The purpose of the utility model is to provide a heat source detection power network communication inspection robot, which uses a Y-axis electric push mechanism to drive an active walking unit to approach or move away from a lower rail, so that the active walking unit and the lower rail are squeezed and rubbed against each other, thereby realizing the braking function of the inspection robot to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a heat source detection power network communication inspection robot, comprising a walking frame and an upper circular guide plate and a lower rail fixed at the top and bottom of the walking frame, a circular frame being slidably installed at one end of the surface of the walking frame, and support frames are fixed on both sides of the bottom end of the circular frame, a right-angle bracket is fixed between the two support frames, and heat source cameras are arranged on the outer walls of the two support frames on the side away from each other, and Y-axis electric sliding mechanisms are arranged on the outer walls of both sides of the circular frame, and the active walking unit in contact with the outer wall of the lower rail is installed on the active end of the Y-axis electric sliding mechanism, and the bottom end of the circular frame is provided with two rectangular hollow parts for the active walking unit to slide on the Y-axis, and a control module is installed on the outer wall of one side of the right-angle bracket, and the output end of the control module is electrically connected to the input end of the Y-axis electric sliding mechanism and the active walking unit.

[0006] Preferably, dovetail guide rails are installed on both sides of the top of the walking frame, and the top wall of the circular frame is installed with two sliding sleeves that slidably cooperate with the dovetail guide rails.

[0007] Preferably, a slit portion extending downward is provided at the top of the circular frame, the width of the slit portion is the same as the thickness of the upper circular guide plate, and blocking pieces are installed on both side outer walls of the circular frame.

[0008] Preferably, a vertical shaft is rotatably installed on one side of the top of the support frame, a connecting seat is fixed on the surface of the vertical shaft, one side outer wall of the connecting seat is fixedly connected to one side outer wall of the heat source camera, and a pulley drive unit for driving the vertical shaft to rotate is installed on one side outer wall of the right-angle bracket, and the input end of the pulley drive unit is electrically connected to the output end of the control module.

[0009] Preferably, the Y-axis electric pushing mechanism includes a T-shaped base installed on the outer walls on both sides of the circular frame, and an electric push rod installed on the outer wall of one side of the T-shaped base, a convex slide is fixed to the top end of the piston rod of the electric push rod, and the active walking unit is installed at one end of the convex slide.

[0010] Preferably, the active walking unit comprises a motor seat installed at one end of the convex skateboard, and a servo motor installed on the top wall of the motor seat, and a rubber walking wheel is installed at the output end of the servo motor.

[0011] Compared with the prior art, the beneficial effect of the utility model is that the heat source detection power network communication inspection robot is provided with a Y-axis electric push mechanism and an active walking unit and other structures that cooperate with each other. When the robot needs to be stopped, the Y-axis electric push mechanism further applies force to the active walking unit, so that extrusion friction is generated between the active walking unit and the lower rail. The extrusion friction can quickly consume the kinetic energy of the robot, thereby effectively slowing down and stopping the movement of the robot. Compared with relying solely on the walking drive motor to stop the movement, the extrusion friction braking can stop the robot more quickly. The robot will not have the problem of inertial distance delay caused by inertia during the movement, thereby improving the braking efficiency and ensuring the hovering accuracy and precision of the heat source camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 The three-dimensional structure of the utility model is shown in FIG. Figure 1 ;

[0013] Figure 2 The three-dimensional structure of the utility model is shown in FIG. Figure 2 ;

[0014] Figure 3 The three-dimensional structure of the utility model is shown in FIG. Figure 3 ;

[0015] Figure 4 It is a three-dimensional structural diagram of the Y-axis electric push mechanism and the active walking unit of the utility model;

[0016] In the figure: 1. walking frame; 2. upper circular guide plate; 3. lower rail; 4. circular frame; 401. rectangular hollow part; 402. gap part; 5. support frame; 6. right-angle bracket; 7. control module; 8. baffle; 9. vertical axis; 10. pulley drive unit; 11. connecting seat; 12. heat source camera; 13. Y-axis electric push mechanism; 1301. T-type base; 1302. electric push rod; 1303. convex skateboard; 14. active walking unit; 1401. motor seat; 1402. servo motor; 1403. rubber walking wheel. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0018] See also Figure 1-4, the utility model provides an embodiment: a heat source detection power network communication inspection robot, comprising a walking frame 1 and an upper circular guide plate 2 and a lower rail 3 fixed at the top and bottom of the walking frame 1, a circular frame 4 is slidably installed at one end of the surface of the walking frame 1, and support frames 5 are fixed on both sides of the bottom of the circular frame 4, a right-angle bracket 6 is fixed between the two support frames 5, and a heat source camera 12 is arranged on the outer wall of the two support frames 5 away from each other, and a Y-axis electric push mechanism 13 is arranged on the outer wall of both sides of the circular frame 4, and an active walking unit 14 in contact with the outer wall of the lower rail 3 is installed at the active end of the Y-axis electric push mechanism 13, and two rectangular hollow parts 401 for the active walking unit 14 to slide on the Y axis are arranged at the bottom of the circular frame 4, and a control module 7 is installed on the outer wall of one side of the right-angle bracket 6, and the output end of the control module 7 is electrically connected to the input end of the Y-axis electric push mechanism 13 and the active walking unit 14;

[0019] When the robot needs to be stopped, the Y-axis electric push mechanism 13 further applies force to the active walking unit 14, so that squeezing friction is generated between the active walking unit 14 and the lower rail 3. The squeezing friction can quickly consume the kinetic energy of the robot, thereby effectively slowing down and stopping the movement of the robot;

[0020] The rectangular hollow portion 401 provides a space area for the Y-axis movement of the active walking unit 14. A downwardly extending slit portion 402 is provided at the top of the circular frame 4. The width of the slit portion 402 is the same as the thickness of the upper circular guide plate 2. Blocking pieces 8 are installed on the outer walls of both sides of the circular frame 4. Dovetail guide rails are installed on both sides of the top of the walking frame 1. Two sliding sleeves that slide with the dovetail guide rails are installed on the top wall of the circular frame 4. During the sliding movement of the circular frame 4, the sliding stability of the circular frame 4 is improved by the dovetail guide rails and the sliding sleeves.

[0021] A vertical shaft 9 is rotatably installed on one side of the top of the support frame 5, a connecting seat 11 is fixed on the surface of the vertical shaft 9, and one side outer wall of the connecting seat 11 is fixedly connected to one side outer wall of the heat source camera 12. A pulley drive unit 10 for driving the vertical shaft 9 to rotate is installed on one side outer wall of the right-angle bracket 6. The input end of the pulley drive unit 10 is electrically connected to the output end of the control module 7. During the detection process of the heat source camera 12, the staff can control the pulley drive unit 10 through the control module 7 to work, and the pulley drive unit 10 drives the vertical shaft 9 and the connecting seat 11 to rotate horizontally, and then adjust the detection angle of the heat source camera 12. Adjusting the horizontal detection angle of the heat source camera 12 can make it observe and detect the target more accurately, increase the robot's perception of the internal environment of the tunnel, and have a more comprehensive understanding of the situation inside the tunnel;

[0022] The Y-axis electric push mechanism 13 includes a T-shaped base 1301 installed on the outer walls of both sides of the circular frame 4, and an electric push rod 1302 installed on the outer wall of one side of the T-shaped base 1301. A convex slide 1303 is fixed to the top of the piston rod of the electric push rod 1302. The active walking unit 14 is installed at one end of the convex slide 1303. The convex slide 1303 and the active walking unit 14 are pushed by the electric push rod 1302 to slide in the Y-axis direction until the active walking unit 14 contacts the outer wall of the lower rail 3 or generates extrusion friction.

[0023] The active walking unit 14 includes a motor seat 1401 installed at one end of the convex skateboard 1303, and a servo motor 1402 installed on the top wall of the motor seat 1401. The output end of the servo motor 1402 is installed with a rubber walking wheel 1403. During the contact between the active walking unit 14 and the outer wall of the lower rail 3, the servo motor 1402 drives the rubber walking wheel 1403 to rotate, thereby driving the circular frame 4, the support frame 5 and other components to move. The servo motor 1402 can adjust the speed and direction of the rubber walking wheel 1403 to keep the robot in a stable motion state.

[0024] When the embodiment of the present application is in use, the staff first takes out several sections of the walking frame 1, and the head and tail ends of adjacent walking frames 1 are plugged into each other, so that the combined length of the upper circular guide plate 2 and the lower rail 3 is extended, and then the staff installs the assembled multiple sections of the track in the form of bolts and fixes them on the top wall of the tunnel, so that the circular frame 4 can slide and walk normally. During this process, the staff sends a control signal to the control module 7 at the console, and the control module 7 drives each electrical component to act according to the control signal sent by the staff at the console, that is, the Y-axis electric push mechanism 13 initially pushes the active walking unit 14 to stick to one side outer wall of the lower rail 3. At this time, the two symmetrically designed active walking units 14 can contact the lower rail 3 together. When the active walking unit 14 is in action, the active walking unit 14 drives the circular frame 4, the support frame 5, the right-angle bracket 6 and the heat source camera 12 and other components move along the extension direction of the upper circular guide plate 2 and the lower rail 3. In this process, the heat source camera 12 is used to compare the ambient temperature to detect abnormal heat sources in the tunnel, such as cable failure, equipment overheating, etc. When the robot needs to be stopped, the Y-axis electric push mechanism 13 further applies force to the active walking unit 14, so that extrusion friction is generated between the active walking unit 14 and the lower rail 3. The extrusion friction can quickly consume the kinetic energy of the robot, thereby effectively slowing down and stopping the movement of the robot. Compared with relying solely on the walking drive motor to stop the movement, the extrusion friction braking can stop the robot more quickly. The robot will not have the problem of inertial distance delay caused by inertia during the movement, thereby improving the braking efficiency, and can improve the hovering accuracy and precision of the heat source camera 12, thereby accurately operating or making fine adjustments to the target position.

Claims

1. A heat source detection power network communication inspection robot, characterized in that: The invention comprises a walking frame (1) and an upper circular guide plate (2) and a lower rail (3) fixed at the top and bottom of the walking frame (1); a circular frame (4) is slidably mounted on one end of the surface of the walking frame (1); support frames (5) are fixed on both sides of the bottom of the circular frame (4); a right-angle bracket (6) is fixed between the two support frames (5); a heat source camera (12) is arranged on the outer walls of the two support frames (5) away from each other; and Y-axis electric push rods are arranged on the outer walls of both sides of the circular frame (4). The movable end of the Y-axis electric push mechanism (13) is equipped with an active walking unit (14) that contacts the outer wall of the lower rail (3); the bottom end of the circular frame (4) is provided with two rectangular hollow parts (401) for the active walking unit (14) to slide along the Y axis; a control module (7) is installed on the outer wall of one side of the right-angle bracket (6); the output end of the control module (7) is electrically connected to the input end of the Y-axis electric push mechanism (13) and the active walking unit (14).

2. A heat source detection power network communication inspection robot according to claim 1, characterized in that: Both sides of the top of the walking frame (1) are equipped with dovetail guide rails, and the top wall of the circular frame (4) is equipped with two sliding sleeves that are slidably matched with the dovetail guide rails.

3. The heat source detection power network communication inspection robot according to claim 1, characterized in that: The top of the circular frame (4) is provided with a slit portion (402) extending downwards, the width of the slit portion (402) being the same as the thickness of the upper circular guide plate (2), and baffles (8) are installed on both side outer walls of the circular frame (4).

4. The heat source detection power network communication inspection robot according to claim 1, characterized in that: A vertical shaft (9) is rotatably mounted on one side of the top of the support frame (5); a connecting seat (11) is fixed on the surface of the vertical shaft (9); an outer wall of one side of the connecting seat (11) is fixedly connected to an outer wall of one side of the heat source camera (12); a pulley drive unit (10) for driving the vertical shaft (9) to rotate is mounted on an outer wall of one side of the right-angle bracket (6); an input end of the pulley drive unit (10) is electrically connected to an output end of the control module (7).

5. The heat source detection power network communication inspection robot according to claim 1, characterized in that: The Y-axis electric push mechanism (13) comprises a T-shaped base (1301) mounted on the outer walls of both sides of the circular frame (4), and an electric push rod (1302) mounted on the outer wall of one side of the T-shaped base (1301), a convex slide plate (1303) being fixed to the top end of the piston rod of the electric push rod (1302), and the active walking unit (14) is mounted on one end of the convex slide plate (1303).

6. The heat source detection power network communication inspection robot according to claim 5, characterized in that: The active walking unit (14) comprises a motor seat (1401) mounted on one end of the convex slide plate (1303), and a servo motor (1402) mounted on the top wall of the motor seat (1401), and a rubber walking wheel (1403) is mounted on the output end of the servo motor (1402).

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