Inspection robot and charging system

Abstract

The utility model belongs to the technical field of inspection equipment, and discloses an inspection robot which comprises a walking frame and at least one group of image acquisition components, the walking frame is provided with wheels through a damping mechanism. The image acquisition assembly comprises a multi-axis mechanical arm and a position transformation assembly; an image acquisition device is arranged at the free end of the multi-axis mechanical arm; the position changing assembly is arranged between the walking frame and the multi-axis mechanical arm and used for driving the multi-axis mechanical arm to move transversely and longitudinally. According to the utility model, the inspection of the railway vehicle can be well met, the detection range can be well expanded, and the labor intensity of workers can be reduced. The utility model further discloses a charging system with the inspection robot.

Description

Technical Field

[0001] The utility model belongs to the technical field of patrol inspection equipment, and in particular relates to a patrol inspection robot and a charging system. Background Art

[0002] In recent years, with the rapid construction and development of my country's railways, locomotive inspection methods have gradually shifted from manual inspection to inspection by inspection robots. However, the inspection efficiency of inspection robots has not been well solved, and there are problems such as small inspection range and inadequate inspection position. Utility Model Content

[0003] In order to solve the above technical problems, the utility model discloses a patrol robot, which can well meet the patrol inspection of rail vehicles, can well expand the detection range, and reduce the labor intensity of staff. The utility model also discloses a charging system with the patrol robot.

[0004] The specific technical solution of the utility model is as follows:

[0005] A patrol robot, comprising:

[0006] a walking frame, wherein the walking frame is provided with wheels via a vibration reduction mechanism; and

[0007] At least one set of image acquisition components, the image acquisition components comprising:

[0008] A multi-axis mechanical arm, wherein the free end of the multi-axis mechanical arm is provided with an image acquisition device; and

[0009] A position conversion component is arranged between the walking frame and the multi-axis mechanical arm, and is used to drive the multi-axis mechanical arm to move laterally and longitudinally.

[0010] The position transformation component can enable the multi-axis robotic arm to achieve displacement in the lateral and longitudinal directions. Based on the multi-directional drive of the multi-axis robotic arm, the image acquisition device has a wider motion space, thereby better meeting the image acquisition requirements of different components; since the walking frame is provided with a vibration reduction mechanism, it can also provide a more stable image acquisition picture for the inspection robot.

[0011] Preferably, the position transformation component comprises:

[0012] A fixed frame, wherein the fixed frame is arranged on the walking frame;

[0013] A longitudinal displacement frame, wherein the longitudinal displacement frame is slidably connected to the fixed frame, and a driving mechanism 1 is provided between the longitudinal displacement frame and the fixed frame;

[0014] a transverse displacement frame disposed at a free end of the longitudinal displacement frame; and

[0015] The mobile platform is used to assemble the multi-axis mechanical arm, and a second driving mechanism is provided between the mobile platform and the lateral displacement frame.

[0016] The coordinated movement of the driving mechanism 1 and the driving mechanism 2 can realize the position switching of the mobile platform, thereby enabling the multi-axis mechanical arm to change the basic position of image acquisition.

[0017] Preferably, directional motion components are provided between the longitudinal displacement frame and the fixed frame, and between the movable platform and the transverse displacement frame.

[0018] The directional motion component can provide a directional displacement path, thereby better meeting the stability requirement on the basis of providing position switching.

[0019] Preferably, the driving mechanism 1 and the driving mechanism 2 both output power through a screw mechanism.

[0020] The structure is simple and easy to implement, and can well meet the power output requirements.

[0021] Preferably, a limit switch is provided at the end of the longitudinal displacement frame and / or the transverse displacement frame, and the limit switch is communicatively connected to the driving mechanism 1 and / or the driving mechanism 2.

[0022] The limit switch can prevent over-driving of drive mechanism one and / or drive mechanism two, thereby preventing excessive displacement of the longitudinal displacement frame and / or the lateral displacement frame from causing falling or rigid collision, thereby protecting the safety of use of the multi-axis robotic arm.

[0023] Preferably, the vibration reduction mechanism comprises:

[0024] A mounting plate, the mounting plate is connected to the walking frame, and a sliding hole is formed on the mounting plate;

[0025] A transmission shaft, the transmission shaft passes through the sliding hole, one end of the transmission shaft is connected to the wheel, and the other end is connected to the drive motor; and

[0026] A shock absorber, one end of which is connected to the walking frame, and the other end of which is connected to the mounting plate.

[0027] The shock absorber can provide the inspection robot with stable movement capability, thereby better meeting the shooting requirements of image acquisition.

[0028] Preferably, the vibration reduction mechanism further comprises:

[0029] A sliding plate, wherein one of the sliding plate and the mounting plate is provided with a guide rail 1, and the other is provided with a slider 1 cooperating with the guide rail 1;

[0030] Wherein, the transmission shaft passes through the sliding plate, and the shock absorber is connected to the sliding plate.

[0031] The guide rail 1 and the slider 1 can realize directional translation between the sliding plate and the mounting plate, so that the inspection robot can better maintain image stability on a bumpy path.

[0032] Preferably, two groups of image acquisition components are included, wherein the image acquisition device of one group of image acquisition components is an area array camera for local shooting, and the image acquisition device of the other group of image acquisition components is a line array camera for full-view shooting.

[0033] The image acquisition method that combines area array cameras and line array cameras can better meet the image acquisition requirements of different components.

[0034] A charging system for an inspection robot, comprising:

[0035] The inspection robot as described above; and

[0036] The charging pile, in the charging pile and the walking frame, one of them is provided with a charging brush block, and the other is provided with a charging brush plate that cooperates with the charging brush block;

[0037] Wherein, the charging brush block and / or the charging brush plate are provided with an adaptive elastic component.

[0038] The use of a charging brush block and a charging brush plate in combination can avoid damage to the charging plug and / or charging plug plate caused by repeated charging, thereby avoiding the risk of charging leakage.

[0039] Preferably, the walking frame is provided with a distance sensor for detecting the relative position between the charging brush block and the charging brush plate.

[0040] The distance sensor can confirm whether the distance between the charging brush plate and the charging brush block meets the charging requirements, thereby determining whether the charging docking is completed to ensure successful charging.

[0041] Compared with the prior art, the utility model can realize unmanned operation, reduce the operating safety hazards of operators, and obtain clearer, more stable and comprehensive component image acquisition screens; the utility model can effectively reduce false detections and improve the operating safety of rail vehicles; in addition, the utility model has a simple structure and is easy to operate, and can well meet the image acquisition needs of different components. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is a schematic diagram of an inspection robot in an embodiment of the utility model;

[0043] Figure 2Schematic diagram of a position changing component in an embodiment of the present utility model;

[0044] Figure 3 A schematic diagram of a vibration reduction mechanism in an embodiment of the utility model;

[0045] Figure 4 Schematic diagram of a charging system in an embodiment of the present utility model.

[0046] In the figure: 100-image acquisition component; 1-walking frame; 2-wheel; 3-multi-axis robotic arm; 4-image acquisition device; 5-fixed frame; 6-longitudinal displacement frame; 7-lateral displacement frame; 8-mobile platform; 9-driving mechanism one; 10-translation motor; 11-gear one; 12-screw; 13-gear two; 14-guide rail two; 15-slider two; 16-limit switch; 17-mounting plate; 18-driving motor; 19-shock absorber; 20-sliding plate; 21-guide rail one; 22-slider one; 23-charging pile; 24-charging brush block; 25-charging brush plate; 26-distance sensor. DETAILED DESCRIPTION

[0047] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with specific implementation methods.

[0048] like Figure 1 to Figure 3 As shown, a patrol robot comprises a walking frame 1 and at least one group of image acquisition components 100; the walking frame 1 is provided with wheels 2 through a vibration reduction mechanism; the image acquisition component 100 comprises a multi-axis robotic arm 3 and a position conversion component; the free end of the multi-axis robotic arm 3 is provided with an image acquisition device 4; the position conversion component is arranged between the walking frame 1 and the multi-axis robotic arm 3, and is used to drive the multi-axis robotic arm 3 to move laterally and longitudinally.

[0049] In this embodiment, the inspection robot has a position transformation component. After being equipped with a multi-axis mechanical arm 3, it can complete the photo-taking operation of all the inspection points under the vehicle and on the side of the vehicle, thereby solving the problem that some inspection points in the prior art are difficult to reach manually. In this embodiment, the inspection robot has a laser navigation function, which allows the inspection robot to accurately locate the inspection point for shooting, so that the inspection robot can shoot in a fixed path, accurately and steadily navigate and locate, avoiding the risk of slipping and bruising during previous manual operations. Therefore, this embodiment has high efficiency that manual labor does not have, and the detection speed of this embodiment is faster and the detection accuracy is higher, avoiding the situation of missed detection and substandard accuracy in manual detection.

[0050] like Figure 2As shown, the multi-axis mechanical arm 3 in the utility model can achieve displacement in the horizontal and vertical directions through the position conversion assembly. Specifically, the position conversion assembly includes a fixed frame 5, a longitudinal displacement frame 6, a transverse displacement frame 7 and a mobile platform 8; the fixed frame 5 is arranged on the walking frame 1; the longitudinal displacement frame 6 and the fixed frame 5 are slidably connected, and a driving mechanism 1 9 is arranged between the longitudinal displacement frame 6 and the fixed frame 5; the transverse displacement frame 7 is arranged at the free end of the longitudinal displacement frame 6; the mobile platform 8 is used to assemble the multi-axis mechanical arm 3, and a driving mechanism 2 is arranged between the mobile platform 8 and the transverse displacement frame 7. The driving mechanism 1 9 and the driving mechanism 2 both output power through a screw mechanism. Taking the driving mechanism 2 as an example, the longitudinal displacement frame 6 is provided with a translation motor 10, and the free end of the translation motor 10 has a gear 11, and the lateral displacement frame 7 is provided with a screw mechanism, and the screw mechanism has a screw rod 12, and one end of the screw rod 12 is provided with a gear 2 13, and the gear 11 and the gear 2 13 are connected by a belt transmission. Therefore, when the translation motor 10 is in motion, the power is transmitted to the gear 2 13 through the gear 11 and the belt, and the screw rod 12 can rotate around itself at this time; it can be seen that the mobile platform 8 and the screw rod 12 are threadedly connected, so that when the position of the screw rod 12 relative to the lateral displacement frame 7 remains unchanged, the mobile platform 8 can move along the axis of the screw rod 12, thereby realizing the lateral displacement of the multi-axis robot 3. It can also be seen that in order to reduce the belt movement path and avoid the additional transmission gear, a hole portion is provided on the lateral displacement frame 7, so that the belt can directly connect the gear 1 11 and the gear 2 13 through the hole portion, thereby meeting the use requirements of simple assembly and convenient maintenance. The same is true for the driving mechanism 9, which will not be elaborated here. Furthermore, directional motion components are provided between the longitudinal displacement frame 6 and the fixed frame 5, and between the mobile platform 8 and the lateral displacement frame 7. Taking the directional motion of lateral displacement as an example, guide rails 14 are provided on both sides of the lateral displacement frame 7, and sliders 15 slidably matched with the guide rails 14 are provided on the mobile platform 8. Therefore, during the rotation of the screw 12, the mobile platform 8 always moves along the extension direction of the guide rails 14 through the sliders 15 configured thereon, thereby ensuring that the mobile platform 8 can only reciprocate along the axis of the screw 12, thereby satisfying the requirement of smooth movement of the multi-axis robot 3. The same is true for the directional motion of the longitudinal displacement, which will not be elaborated here.

[0051] In this embodiment, a limit switch 16 is provided at the end of the longitudinal displacement frame 6 and / or the transverse displacement frame 7, and the limit switch 16 is communicatively connected to the drive mechanism 1 9 and / or the drive mechanism 2. The limit switch 16 can be a photoelectric switch or a contact switch. Taking the directional movement of the transverse displacement as an example, both ends of the transverse displacement frame 7 are provided with a limit switch 16, which is located at the extreme position of the mobile platform 8. Therefore, when the mobile platform 8 moves to the extreme position of the transverse displacement frame 7, the limit switch 16 can be triggered to stop the translation motor 10, thereby stopping the movement of the mobile platform 8, avoiding falling or hard collision caused by excessive movement, thereby effectively improving the safety of the inspection robot. The same is true for the directional movement of the longitudinal displacement, which will not be repeated here.

[0052] like Figure 3 As shown, in order to better use this embodiment, the vibration reduction mechanism includes a mounting plate 17, a transmission shaft and a shock absorber 19; the mounting plate 17 is connected to the walking frame 1, and a sliding hole is provided on the mounting plate 17; the transmission shaft passes through the sliding hole, one end of which is connected to the wheel 2, and the other end is connected to the driving motor 18; one end of the shock absorber 19 is connected to the walking frame 1, and the other end is connected to the mounting plate 17. Further, the vibration reduction mechanism also includes a sliding plate 20, one of which is provided with a guide rail 21 and the other is provided with a slider 22 that cooperates with the guide rail 21; the transmission shaft passes through the sliding plate 20, and the shock absorber 19 is connected to the sliding plate 20. Specifically, one end of the shock absorber 19 is hinged to the sliding plate 20, and the other end is hinged to the walking frame 1. The fixed end of the drive motor 18 is connected to the sliding plate 20 through a reducer, so when the shock absorber 19 undergoes elastic changes, the drive motor 18 can move synchronously with the wheel 2, thereby ensuring the movement ability of the inspection robot at any time, and during the synchronous movement process, the slider 122 moves along the extension direction of the guide rail 121, so that the wheel 2 and the drive motor 18 also move along the extension direction of the guide rail 121, thereby better meeting the movement stability requirements. It should be noted that in this embodiment, the walking frame 1 has four wheels 2, and each wheel 2 is individually configured with a drive motor 18.

[0053] In this embodiment, two groups of image acquisition components 100 are included, wherein the image acquisition device 4 of one group of image acquisition components 100 is a planar array camera for local shooting, and the image acquisition device 4 of the other group of image acquisition components 100 is a linear array camera for full-view shooting, thereby better meeting the image acquisition requirements of different components.

[0054] like Figure 4As shown, on the basis of the above embodiment, this embodiment further discloses a charging system for an inspection robot, specifically, it includes the inspection robot as described above, and a charging pile 23; in the charging pile 23 and the walking frame 1, one of them is provided with a charging brush block 24, and the other is provided with a charging brush plate 25 that cooperates with the charging brush block 24; the charging brush block 24 and / or the charging brush plate 25 are provided with an adaptive elastic component. Specifically, the shape frame is provided with a charging brush plate 25, the charging pile 23 is provided with a charging brush block 24, and an adaptive elastic component is provided between the charging pile 23 and the charging brush block 24. The adaptive elastic component is a spring structure, which allows the charging brush block 24 to be compressed to a maximum of 20 mm, thereby adapting to the navigation positioning error of the inspection robot and ensuring successful charging. The charging brush plate 25 is installed in the middle of the walking frame 1. When the charging brush plate 25 is docked for charging, it has a certain pressure. In order to prevent leakage from contacting the body of the inspection robot, a completely insulating material is used. The external insulation of the charging brush plate 25 is integrally processed and formed by bakelite, and the contact plate is processed into a long strip by a copper plate and embedded in the bakelite board. The bakelite and the copper plate are connected and fixed by countersunk screws.

[0055] In this embodiment, the walking frame 1 is provided with a distance sensor 26 for detecting the relative position between the charging brush block 24 and the charging brush plate 25. The distance sensor 26 can be a photoelectric sensor or an ultrasonic sensor. Through the distance detection of the distance sensor 26, the inspection robot navigation docking charging error can be prevented, thereby avoiding the deviation of the charging position. Furthermore, the neutral line and the live line of the charging brush block 24 respectively have adaptive elastic components to compensate for the navigation error of the inspection robot. When the charging position is confirmed to be in place, the charging pile 23 is powered and charged.

[0056] The above are only preferred embodiments of the present invention. It should be noted that the above preferred embodiments should not be regarded as limiting the present invention. The protection scope of the present invention should be based on the scope defined by the claims. For ordinary technicians in this technical field, several improvements and modifications can be made without departing from the spirit and scope of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A patrol robot, characterized in that: include: A walking frame, wherein the walking frame is provided with wheels via a vibration reduction mechanism; as well as At least one set of image acquisition components, the image acquisition components comprising: A multi-axis mechanical arm, wherein the free end of the multi-axis mechanical arm is provided with an image acquisition device; as well as A position conversion component is arranged between the walking frame and the multi-axis mechanical arm, and is used to drive the multi-axis mechanical arm to move laterally and longitudinally.

2. The inspection robot according to claim 1, characterized in that: The position transformation component comprises: A fixed frame, wherein the fixed frame is arranged on the walking frame; A longitudinal displacement frame, wherein the longitudinal displacement frame is slidably connected to the fixed frame, and a driving mechanism 1 is provided between the longitudinal displacement frame and the fixed frame; a transverse displacement frame disposed at a free end of the longitudinal displacement frame; and The mobile platform is used to assemble the multi-axis mechanical arm, and a second driving mechanism is provided between the mobile platform and the lateral displacement frame.

3. The inspection robot according to claim 2, characterized in that: Directional motion components are provided between the longitudinal displacement frame and the fixed frame, and between the movable platform and the transverse displacement frame.

4. The inspection robot according to claim 2, characterized in that: The driving mechanism 1 and the driving mechanism 2 both output power through a screw mechanism.

5. The inspection robot according to claim 2, characterized in that: A limit switch is disposed at the end of the longitudinal displacement frame and / or the transverse displacement frame, and the limit switch is communicatively connected to the driving mechanism 1 and / or the driving mechanism 2.

6. The inspection robot according to claim 1, characterized in that: The vibration reduction mechanism comprises: A mounting plate, the mounting plate is connected to the walking frame, and a sliding hole is formed on the mounting plate; A transmission shaft, the transmission shaft passes through the sliding hole, one end of the transmission shaft is connected to the wheel, and the other end is connected to the drive motor; and A shock absorber, one end of which is connected to the walking frame, and the other end of which is connected to the mounting plate.

7. The inspection robot according to claim 6, characterized in that: The vibration reduction mechanism further comprises: A sliding plate, wherein one of the sliding plate and the mounting plate is provided with a guide rail 1, and the other is provided with a slider 1 cooperating with the guide rail 1; Wherein, the transmission shaft passes through the sliding plate, and the shock absorber is connected to the sliding plate.

8. The inspection robot according to any one of claims 1 to 7, characterized in that: The invention comprises two groups of image acquisition components, wherein the image acquisition device of one group of image acquisition components is an area array camera for local shooting, and the image acquisition device of the other group of image acquisition components is a line array camera for full-view shooting.

9. A charging system for an inspection robot, characterized in that: include: The inspection robot according to any one of claims 1 to 8; as well as The charging pile, in the charging pile and the walking frame, one of them is provided with a charging brush block, and the other is provided with a charging brush plate that cooperates with the charging brush block; Wherein, the charging brush block and / or the charging brush plate are provided with an adaptive elastic component.

10. A charging system for an inspection robot as claimed in claim 9, characterized in that: The walking frame is provided with a distance sensor for detecting the relative position between the charging brush block and the charging brush plate.

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