Rail-mounted inspection and operation robot

Abstract

The utility model relates to a rail-mounted inspection and operation robot, which comprises a frame; the walking device is arranged on the rack and used for walking on a hanging rail; the position and posture adjusting device is arranged on the rack, the position and posture adjusting device comprises a point fixing unit, a position and posture adjusting mechanism and a mounting table, and the position fixing unit and the position and posture adjusting mechanism drive the mounting table to conduct position and posture adjustment; at least one visual detection element is arranged on the mounting table; the operation unit is arranged on the mounting table; and the controller is connected with the walking device, the point fixing unit, the pose adjusting mechanism, the visual detection element and the operation unit. The device can replace manual work to carry out patrol inspection and operation. And the device is particularly suitable for occasions such as wind power generator cabins which are inconvenient for people to reach or have certain dangerousness.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection robots, in particular to a rail-hanging inspection and patrol robot. Background Art

[0002] Inspection and maintenance of wind turbine cabins at high altitudes is a frequent and necessary task. Currently, regular or irregular inspections are carried out manually. Maintenance inspectors not only have to overcome the rugged roads and harsh natural weather conditions (extreme heat, severe cold, and strong winds), but also the working environment in the cabin is even worse, which can easily cause physical harm to personnel. Inspection and maintenance work is highly intensive. The high-voltage cabinet protection panel operation and cabinet situation inspection in the high-voltage room of the high-voltage substation in the power industry have inspection windows ranging from 50cm above the ground to 250cm, and inspection windows are set on both sides. The manual inspection work is very intensive and tiring, so it is an inevitable trend to use robots for inspection and inspection operations instead of manual work. Utility Model Content

[0003] The utility model aims to provide a rail-hanging inspection and patrol robot, which can replace manual inspection and has certain operating capabilities and can realize switch control.

[0004] In order to achieve the above-mentioned purpose, the utility model discloses a rail-hanging inspection and patrol robot, which comprises:

[0005] frame;

[0006] A walking device, arranged on the frame and used for walking on the hanging rail;

[0007] A posture adjustment device is arranged on the frame, the posture adjustment device comprises a posture adjustment mechanism, a mounting platform and a fixed point unit for determining the stop position of the frame, and the posture adjustment mechanism drives the mounting platform to adjust the position and posture;

[0008] At least one visual detection element, and at least the mounting platform is provided with a visual detection element;

[0009] An operating unit, arranged on the mounting platform;

[0010] A controller is connected to the walking device, the fixed-point unit, the posture adjustment mechanism, the visual detection element and the operating unit.

[0011] Through the above settings, the controller controls the walking device, the robot can walk on the hanging rail, the visual detection element records the video and feeds back to the controller, and can patrol along the laying direction of the hanging rail, thereby replacing manual patrol. The rack is stopped at the specified point by the fixed-point unit, and the controller instructs the posture adjustment mechanism to move, so that the visual detection element on the installation table can find the target without blind spots. When the target is found, the posture adjustment mechanism stops working. After the installation table is directed to approach the target position and adjust its posture and finely align with the target through hand-eye servo technology, the controller instructs the visual detection element or the operating unit to work and returns information to the controller, such as the camera instrument, the working status of the equipment, the ventilation button for opening the wind turbine cabin, the reset button of the component or the button of the high-voltage cabinet relay protection device, etc.

[0012] Preferably, the visual detection element includes a visible light camera, a depth camera and an infrared camera. This setting can meet the requirements of effective inspection and control coordination in complex environments. For example, during the day, the visible light camera will be more advantageous. The setting of the depth camera can be more conducive to controlling the operation unit to move into place through the hand-eye servo technology. The infrared camera can perform thermal imaging and has a certain sensing ability for temperature anomalies. When a person enters, it can also control the robot to stop and avoid in time.

[0013] Preferably, the posture adjustment mechanism includes a mechanical arm and a telescopic component, the telescopic component is installed on the frame, the telescopic component drives the mechanical arm to rise and fall, and the mechanical arm drives the mounting platform to adjust the position and posture. By setting the mechanical arm, it can rotate 360 ​​degrees, so that the posture adjustment flexibility is higher, and the setting of the telescopic component can make the mounting platform have a larger range of activities, and the visual detection element and the operating unit can be inspected or operated from top (bottom) to bottom (top), front, side and back.

[0014] Preferably, the operating unit includes a button switch and / or an on-off switch, wherein the button switch extends 20 to 40 mm beyond the mounting platform and retracts 0 to 10 mm into the mounting platform when the button switch is retracted; the on-off switch has an operating end, and the operating end protrudes 20 to 30 mm from the mounting platform. The button switch can be a retractable linear motion module or a retractable touch-type product such as an electric push rod or a cylinder, and the on-off switch can be a toggle-type component that can achieve an upward and downward movement. These two types of operating units can perform most switch operations.

[0015] Preferably, the hanging rail is an I-shaped rail, the walking device includes at least one set of walking mechanisms, each of the walking mechanisms includes two sets of walking components, one set of walking components is placed on one side of the I-shaped rail, and the other set of walking components is placed on the other side of the I-shaped rail, the walking components include walking wheels and guide wheels, the walking wheels run on the lower wing plate surface of the I-shaped rail, and the guide wheels press against the lower wing plate edge of the I-shaped rail; at least one of the walking wheels is a driving wheel. After such a setting, the rack can be realized to run on the I-shaped rail without the rack falling.

[0016] Preferably, at least one of the two running wheels corresponding to the running mechanism is a driving wheel, and the power sources of the two running wheels are independent of each other. After such an arrangement, when turning on the hanging rail, the driving wheels on both sides of the I-shaped track can be controlled to run at a differential speed, so that the robot can turn smoothly.

[0017] Preferably, the walking assembly further comprises a support wheel, the support wheel presses against the lower wing plate of the I-shaped track, and the support wheel cooperates with the walking wheel to clamp the lower wing plate of the I-shaped track. By providing the support wheel, the robot can walk more stably.

[0018] Preferably, the frame is provided with a buffer assembly corresponding to the support wheel one by one, the buffer assembly includes a mounting seat, at least one guide rod and at least one elastic member, the mounting seat is provided with a guide hole corresponding to and matching the guide rod, one end of the guide rod passes through the guide hole and is connected to the frame, the other end of the guide rod is provided with an end cap limitedly matched with the guide hole, the mounting seat can slide along the length direction of the guide rod; the elastic member is pressed between the frame and the mounting seat. By providing the buffer assembly, the problem of jamming can be avoided.

[0019] Preferably, the fixed-point unit includes a pedometer sensor, at least one of the support wheels is provided with a pedometer sensor, and the pedometer sensor is connected to a controller. This arrangement can make the robot's travel controllable, and the robot can be controlled to quickly reach a designated position through pedometer.

[0020] Preferably, the grooves on both sides of the I-shaped track are provided with mounting grooves, the mounting grooves are provided with power supply busbars, the frame is provided with sliding contacts corresponding to and matching the power supply busbars, and the sliding contacts are connected to the controller. With this arrangement, it is more convenient for the robot to obtain power, ensuring reliable operation of the robot.

[0021] Preferably, at least one information collection sensor is also included, and the information collection sensor is connected to the controller. By setting different information collection sensors, information such as temperature, humidity, dust, smell, sound, radioactivity, smoke, etc. can be collected.

[0022] The utility model has the following beneficial effects:

[0023] 1. The inspection and operation of hanging rails can replace manual inspection and operation, which is particularly suitable for places where it is inconvenient for personnel to reach or the working environment is harsh or dangerous.

[0024] 2. Realize real-time and all-round control of important equipment, greatly improving the management level.

[0025] 3. When equipment fails, it can be discovered and stopped immediately to avoid running with faults and prevent accidents before they happen. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the use state of the utility model.

[0027] Figure 2 This is a schematic diagram of the use state of the utility model from another perspective.

[0028] Figure 3 It is a schematic diagram of the utility model.

[0029] Figure 4 It is a schematic diagram of the arrangement of the walking device of the utility model.

[0030] Figure 5 It is a schematic diagram of the walking device of the utility model.

[0031] Figure 6 for Figure 5 Enlarged schematic diagram of part A in the middle.

[0032] Figure 7 A schematic diagram of the hanging rail.

[0033] Figure 8 This is a schematic diagram of the first opening and closing switch mode.

[0034] Fig. 9 This is a schematic diagram of the second on / off switch mode.

[0035] Main component symbols:

[0036] Frame 10, buffer assembly 11, mounting seat 111, guide rod 112, elastic member 113, end cap 114, sliding contact 12;

[0037] I-shaped rail 20, hanging rail groove 21, lower wing plate 22, mounting groove 23, power supply busbar 24;

[0038] Walking device 30, walking mechanism 31, walking assembly 32, walking wheel 321, guide wheel 322, support wheel 323;

[0039] Telescopic assembly 41, mechanical arm 42, mounting platform 43;

[0040] Operating unit 50, telescopic driving member 51, rocker plate 52, rotating driving member 53, swing rod 54, silicone plate 55;

[0041] Visible light camera 61, depth camera 62, infrared camera 63. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0043] like Figures 1 to 7 As shown, the utility model discloses a rail-mounted inspection and patrol robot, which includes: a frame 10, a walking device 30, a posture adjustment device, a visual detection element, an operating unit 50, an information sensor and a controller. The information acquisition sensor is embedded on the surface of the frame 10. The information acquisition sensor can be set in multiple and multiple types to collect information such as temperature, humidity, dust, odor, sound, radioactivity, smoke, etc., and can be adjusted according to actual application scenarios. Of course, the information acquisition sensor can also be set on the mounting table 43 so that the information acquisition sensor can be closer to the information source.

[0044] In this case, the hanging rail is explained by taking an I-shaped rail 20 as an example, and the upper end of the I-shaped rail 20 is provided with a hanging rail groove 21 for easy installation.

[0045] The walking device 30 is arranged at the upper end of the frame 10 and is used for walking on the hanging rail. The walking device 30 includes at least one set of walking mechanisms 31. In this case, two sets of walking mechanisms 31 are used as an example for explanation. The two sets of walking mechanisms 31 can ensure the stability of the robot's walking and balance the overall weight of the robot. Each set of walking mechanisms 31 includes two sets of walking components 32, one set of walking components 32 is placed on one side of the I-shaped track 20, and the other set of walking components 32 is placed on the other side of the I-shaped track 20. The walking components 32 include walking wheels 321, guide wheels 322 and support wheels 323. The walking wheels 321 walk on the surface of the lower wing plate 22 of the I-shaped track, and the guide wheels 322 press against the edge of the lower wing plate 22 of the I-shaped track 20. Each walking component 32 can be provided with multiple guide wheels 322. The support wheel 323 presses the lower wing plate 22 of the I-shaped track 20 outside the I-shaped track 20, and the support wheel 323 cooperates with the walking wheel 321 to clamp the lower wing plate 22 of the I-shaped track 20. After such arrangement, the walking device 30 can be limited relative to the I-shaped track 20, that is, the walking device 30 can only move along the length direction of the I-shaped track 20, and the walking device 30 will not fall. By setting the support wheel 323, the robot can also walk more stably.

[0046] In the present case, at least one running wheel 321 is required to be a driving wheel, and the driving wheel is connected to the motor through transmission, and the operation of the driving wheel is controlled by the controller, that is, the motor is connected to the controller, so as to enable the robot to walk on the I-shaped track 20. Preferably, the two running wheels 321 corresponding to at least one running mechanism 31 are driving wheels, and the power sources of the two running wheels 321 are independent of each other. After such arrangement, when turning the hanging track, the driving wheels on both sides of the I-shaped track 20 can be controlled to run differentially, so that the robot can turn smoothly. Of course, all the running wheels 321 can also be designed as driving wheels, and the driving wheels on the same side of the I-shaped track 20 can share a motor, or all the driving wheels can be independently configured with motors.

[0047] In order to increase the friction of the running wheel and prevent the running wheel from getting stuck, for example, when there are obstacles on the I-shaped track 20 or steps may appear at the docking position or the I-shaped track 20 has a slope, a buffer assembly 11 is configured for each support wheel 323. The buffer assembly 11 includes a mounting seat 111, two guide rods 112 and two elastic members 113. The mounting seat 111 is provided with guide holes corresponding to and matching the guide rods 112. One end of the guide rod 112 passes through the guide hole and is threadedly connected to the frame 10. The other end of the guide rod 112 is provided with an end cap 114 that is limitedly matched with the guide hole. The mounting seat 111 can slide along the length direction of the guide rod 112. The elastic member 113 is a spring, which is sleeved on the guide rod 112, and the elastic member 113 is pressed between the frame 10 and the mounting seat 111.

[0048] The posture adjustment device is arranged below the frame 10, and the posture adjustment device includes a fixed-point unit, a posture adjustment mechanism and a mounting platform 43. Preferably, the posture adjustment mechanism includes a mechanical arm 42 and a telescopic component 41. The telescopic component 41 is installed at the bottom of the frame 10 to avoid interfering with the walking device 30. The telescopic component 41 can adopt a scissor-type lifting platform, or a linear moving module based on a motor. These are all existing technologies and will not be repeated here. The telescopic component 41 drives the mechanical arm 42 to rise and fall, and the mechanical arm 42 drives the mounting platform 43 to adjust the position and posture. The telescopic component 41 and the mechanical arm 42 are both connected to the controller. By setting the mechanical arm 42, the posture adjustment flexibility can be higher, and the setting of the telescopic component 41 can make the range of motion of the mounting platform 43 larger, which is more conducive to the operation of the operating unit 50. When the lifting height of the mechanical arm 42 is met, the telescopic component 41 is not needed.

[0049] The fixed point unit is a pedometer sensor, which is used in conjunction with the driving device. Specifically, a pedometer sensor is provided on at least one supporting wheel 323, that is, the supporting wheel 323 provided with the pedometer sensor constitutes a pedometer wheel. This arrangement can make the robot's travel controllable, and the robot can be controlled to quickly reach a specified position through pedometer. Two or more pedometer wheels can be provided to ensure the accuracy and fault tolerance of pedometer.

[0050] The operating unit 50 is arranged on the mounting platform 43 and is connected to the controller. After the operating unit 50 is directed to approach the switch and perform posture adjustment and fine alignment through the hand-eye servo technology, the controller directs the operating unit 50 to press or open and close the switch. The operating unit 50 includes a button switch and / or an on-off switch. The button switch performs a simple pressing operation and can adopt a linear motion module based on a motor or an existing component such as an electric push rod or a cylinder, such as Figures 1 to 3 In the embodiment, the operating unit 50 is configured as a push button switch. When the push button switch is extended, it exceeds the mounting platform by 20 to 40 mm, and when the push button switch is retracted, it is preferably retracted into the mounting platform by 0 to 10 mm, so as to ensure that the push button switch can be pressed smoothly.

[0051] The on-off switch is of the toggle type, such as a handle for toggling a closing switch. As a preferred embodiment, the on-off switch includes a telescopic drive member 51 and a seesaw 52. The middle section of the seesaw 52 has a rotating shaft connected to the edge of the mounting platform 43. One end of the seesaw 52 extends out of the mounting platform 43. This end is defined as the operating end, and the operating end protrudes 20 to 30 mm from the mounting platform. A silicone sleeve may be provided at the operating end to prevent slipping and protect the switch. The telescopic drive member 51 may be a cylinder, and the telescopic drive member 51 is connected to a controller. The base of the cylinder is mounted on the mounting platform 43, and the telescopic drive member 51 is placed above or below the end of the seesaw 52 that does not extend out of the mounting platform 43. The movable end of the telescopic drive member 51 (i.e., the push rod of the cylinder) is connected to the end of the seesaw 52 that does not extend out of the mounting platform 43 (generally by hinged connection), such as Figure 8 After such arrangement, by bringing the operating end close to the handle of the closing switch and pressing against the handle, by controlling the telescopic drive member 51 to move, the operating end presses down or pushes up the handle, thereby closing or opening the switch.

[0052] As another preferred embodiment, the on-off switch includes a rotary drive member 53 and a rocker arm 54. The rotary drive member 53 can be a motor or a rotary cylinder, and the rotary drive member 53 is connected to a controller. One end of the rocker arm 54 extends out of the mounting platform 43, and this end is the operating end, which protrudes 20 to 30 mm from the mounting platform. A silicone plate 55 is provided at the operating end to touch the handle of the switch. The end of the rocker arm 54 that is not provided with the silicone plate 55 is rotatably connected to the mounting platform 43, and the output shaft of the rotary drive member 53 and the end of the rocker arm 54 that is not provided with the silicone plate 55 are connected through a gear set. Such a setting can also realize that the rotary drive member 53 drives the rocker arm 54 to rotate. Fig. 9As shown. The handle of a general switch is moved vertically up and down, so the swing rod 54 can be rotated vertically. After such a setting, by making the silicone plate 55 close to the handle of the closing switch and pressing on the handle, by controlling the rotation drive member 53 to move, the silicone plate 55 presses down or pushes up the handle, thereby achieving closing or opening. The swing rod 54 can be set as a spring telescopic rod to ensure that the silicone plate 55 can reliably press the handle during the closing and opening process, and it is not easy to interfere with the switch, thereby affecting or hindering the smooth execution of the closing and opening.

[0053] Of course, the operating unit 50 can also be designed in other forms, such as clamping and rotating, and can be reasonably configured according to needs. In addition, one or more operating units 50 can be set according to needs.

[0054] The visual detection element is an element used for video or photo feedback on the scene. The visual detection element is connected to the controller for image feedback, including a visible light camera 61, a depth camera 62, and an infrared camera 63, etc., which can be increased or decreased according to the actual application occasion. Setting up multiple types of cameras at the same time can meet the effective inspection and control coordination in complex environments. For example, during the day, the visible light camera 61 will be more advantageous. The setting of the depth camera 62 can be more conducive to the hand-eye servo technology to control the operation unit 50 to move to the position and fine alignment. The infrared camera 63 can perform thermal imaging and has a certain sensing ability for temperature anomalies. When someone enters, it can also control the robot to stop and avoid in time. In order to ensure accuracy, the visual detection element and the operation unit set on the mounting platform 43 are adjacent. In this case, the visible light camera 61 is set at the end of the telescopic component 41 that is not connected to the frame 10, and the depth camera 62 and the infrared camera 63 are adjacent to the mounting platform 43. In order to better cooperate with the hand-eye servo technology to control the operation unit 50, approach the target and finely align the target.

[0055] During routine inspections, the controller controls the running device 30 to run, and the robot walks along the direction of the hanging rail while taking pictures or collecting information such as temperature, humidity, dust, smell, sound, radioactivity, and smoke, and feeds it back to the controller. The controller can remotely send the collected video, image, or information to the control center or the mobile terminal of relevant personnel, and the relevant personnel can remotely monitor the on-site status and operate buttons or switches as needed.

[0056] For fixed position patrol points, magnetic nails can be set on the I-shaped track 20 and numbered. The rack 10 is equipped with a corresponding magnetic nail reader. When the rack 10 moves to the magnetic nail position, the magnetic nail and the magnetic nail reader sense each other and transmit the information to the controller. The controller instructs the rack 10 to stop for inspection and operation according to the patrol point position, or attaches a radio frequency tag to the I-shaped track 20 and numbers it. A radio frequency tag reader is installed at the corresponding position of the rack 10. When the rack 10 moves to the radio frequency tag, the radio frequency tag reader reads the radio frequency tag and transmits the information to the controller. The controller instructs the rack 10 to stop for inspection and operation according to the patrol point position.

[0057] In addition, in order to ensure the endurance of the robot, the utility model is designed as follows: installation grooves 23 are provided in the grooves 21 on both sides of the I-shaped track 20, and power supply busbars 24 are provided in the installation grooves 23, and sliding contacts 12 corresponding to and cooperating with the power supply busbars 24 are provided on the frame 10, and the sliding contacts 12 are connected to the controller. The power supply busbars 24 and the sliding contacts 12 are prior art, and their structures are not described in detail. The controller draws power from the power supply busbars 24 through the sliding contacts 12, which makes it more convenient for the robot to draw power, and can ensure the reliable operation of the robot. Of course, the robot can also have a built-in battery, or the robot can be powered by both batteries and busbars.

[0058] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed in the present invention should be included in the protection scope of the present invention.

Claims

1. A rail-mounted inspection and patrol robot, characterized in that: include: frame; A walking device, arranged on the frame and used for walking on the hanging rail; A posture adjustment device is arranged on the frame, the posture adjustment device comprises a posture adjustment mechanism, a mounting platform and a fixed point unit for determining the stop position of the frame, and the posture adjustment mechanism drives the mounting platform to adjust the position and posture; At least one visual detection element, and at least the mounting platform is provided with a visual detection element; An operating unit, arranged on the mounting platform; A controller is connected to the walking device, the fixed-point unit, the posture adjustment mechanism, the visual detection element and the operating unit.

2. The rail inspection robot according to claim 1, characterized in that: The visual detection element includes a visible light camera, a depth camera and an infrared camera.

3. The rail inspection robot according to claim 1, characterized in that: The posture adjustment mechanism includes a mechanical arm and a telescopic component, wherein the telescopic component is installed on a frame, the telescopic component drives the mechanical arm to rise and fall, and the mechanical arm drives the mounting platform to adjust the position and posture.

4. The rail-hanging inspection and patrol robot according to claim 1 is characterized in that: The operating unit includes a button switch and / or an on-off switch. When the button switch is extended, it exceeds the mounting platform by 20 to 40 mm, and when the button switch is retracted, it retracts into the mounting platform by 0 to 10 mm. The on-off switch has an operating end, and the operating end protrudes from the mounting platform by 20 to 30 mm.

5. The rail inspection robot according to claim 1, characterized in that: The hanging rail is an I-shaped rail, and the walking device includes at least one group of walking mechanisms, each of which includes two groups of walking components, one group of walking components is placed on one side of the I-shaped rail, and the other group of walking components is placed on the other side of the I-shaped rail. The walking components include walking wheels and guide wheels. The walking wheels run on the lower wing plate surface of the I-shaped rail, and the guide wheels press against the edge of the lower wing plate of the I-shaped rail; at least one of the walking wheels is a driving wheel.

6. The rail inspection robot according to claim 5, characterized in that: The travel assembly also includes a support wheel, which presses against the lower wing plate of the I-shaped track. The support wheel cooperates with the travel wheel to clamp the lower wing plate of the I-shaped track.

7. The rail inspection robot according to claim 6, characterized in that: The frame is provided with a buffer assembly corresponding to the support wheel one by one, and the buffer assembly includes a mounting seat, at least one guide rod and at least one elastic member. The mounting seat is provided with a guide hole corresponding to and adapted to the guide rod one by one, one end of the guide rod passes through the guide hole and is connected to the frame, and the other end of the guide rod is provided with an end cap that is limited by the guide hole, and the mounting seat can slide along the length direction of the guide rod; the elastic member is pressed between the frame and the mounting seat.

8. The rail inspection robot according to claim 6, characterized in that: The fixed-point unit includes a pedometer sensor, at least one of the support wheels is provided with a pedometer sensor, and the pedometer sensor is connected to a controller.

9. The rail inspection robot according to claim 1, characterized in that: The hanging rail is provided with at least one installation groove, a power supply busbar is provided in the installation groove, and a sliding contact head corresponding to and matching the power supply busbar is provided on the frame, and the sliding contact head is connected to a controller.

10. The rail inspection robot according to claim 1, characterized in that: It also includes at least one information collection sensor, which is connected to the controller.

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