Intelligent detection robot system for valve hall

Abstract

The utility model relates to an intelligent detection robot system for a valve hall, which belongs to the technical field of intelligent robot detection and comprises a robot, a rotatable holder, visible light equipment and a vertical guide rail. The robot comprises a robot shell, a worm and gear speed reducer, a motor and a synchronizing wheel. The worm and gear speed reducer and the motor are arranged in the robot shell; an input shaft of the worm and gear speed reducer is connected with the motor, and an output shaft of the worm and gear speed reducer is connected with the synchronizing wheel; one part of the synchronizing wheel is located in the robot shell, and the other part of the synchronizing wheel is exposed out of the hole through an opening in the rear wall of the robot shell. A synchronous belt is arranged in the vertical guide rail, and the synchronous wheel is engaged with the synchronous belt, so that the robot moves up and down on the vertical guide rail; the rotatable holder is arranged on the top of the robot shell, and the visible light equipment is installed on the holder.

Description

Technical Field

[0001] The utility model relates to the technical field of valve hall detection, in particular to an intelligent detection robot system for a valve hall. Background Art

[0002] Robots have basic characteristics such as perception, decision-making, and execution. They can assist or even replace humans in completing dangerous, heavy, and complex tasks, improve work efficiency and quality, serve human life, and expand or extend the scope of human activities and capabilities.

[0003] The valve hall converter station has multiple voltage levels, complex electrical connections, and a large number of liquid level meters, digital meters, and pointer meters. Manual inspections are labor-intensive and easy to miss, so it is necessary to use intelligent robots to replace manual inspections.

[0004] Because the heights of various meters from the ground are different, robots that simply move on the ground or are set up at a certain height cannot complete the task, and need to reciprocate at different heights; various meters are not only distributed at different heights, but also at different horizontal positions, so it is necessary to clearly read all meters in the horizontal and vertical directions. Therefore, it is necessary to design an intelligent detection robot system for valve halls that can cover the meters within the observed space and can clearly read the values, in order to overcome the problems of heavy workload and high error rate caused by manual inspection in the existing technology. Utility Model Content

[0005] In view of the above analysis, the utility model aims to provide an intelligent detection robot system for a valve hall, so as to solve the problems of heavy workload and high error rate caused by manual inspection in the existing valve hall detection technology.

[0006] The purpose of this utility model is mainly achieved through the following technical solutions:

[0007] A smart inspection robot system for a valve hall, the system comprising a robot, a rotatable pan-tilt platform, a visible light device, and a vertical guide rail; the robot comprising a robot housing, a worm gear reducer, a motor, and a synchronous wheel; the worm gear reducer and the motor are arranged in the robot housing; the input shaft of the worm gear reducer is connected to the motor, and the output shaft of the worm gear reducer is connected to the synchronous wheel; a part of the synchronous wheel is located in the robot housing, and the other part leaks out of the hole through an opening in the rear wall of the robot housing; a synchronous belt is arranged in the vertical guide rail, and the synchronous wheel engages with the synchronous belt to realize the up and down movement of the robot on the vertical guide rail; the rotatable pan-tilt platform is arranged on the top of the robot housing, and the visible light device is installed on the pan-tilt platform.

[0008] Furthermore, a mounting bracket is provided on the top of the robot shell, and the mounting bracket includes a mounting base plate and two symmetrically arranged U-shaped protective baffles; the U-shaped protective baffles are arranged on both sides of the mounting base plate; and the rotatable pan-tilt head is arranged on the mounting bracket.

[0009] Furthermore, the rotatable gimbal includes a fixed shell at the bottom of the gimbal and a gimbal rotating assembly; the bottom of the fixed shell is fixed on the mounting base plate; the fixed shell is surrounded by a U-shaped protective baffle; and the gimbal rotating assembly is arranged on the fixed shell.

[0010] Furthermore, the pan-tilt rotating assembly includes a shell, an internal mounting plate arranged in the shell, a high-precision magnetically encoded servo motor, a gear assembly, a conveyor belt, and a pan-tilt rotating shaft; the high-precision magnetically encoded servo motor and the gear assembly are fixed on the internal mounting plate; the rotating shaft of the high-precision magnetically encoded servo motor and one end of the gear assembly are connected through a conveyor belt, and the other end of the gear assembly is connected to the pan-tilt rotating shaft for driving the rotating shaft to rotate.

[0011] Furthermore, the pan-tilt rotation assembly also includes a servo motor control board and a power board; the servo motor control board and the power board are fixed on the internal mounting plate; the servo motor control board is electrically connected to the high-precision magnetically encoded servo motor; the power board is electrically connected to the servo motor control board and the high-precision magnetically encoded servo motor.

[0012] Furthermore, a first aviation head connector is provided on the top of the robot shell, and a through hole is provided on the side of the fixed shell at the bottom of the gimbal for installing a second aviation head connector, and the external cable of the first aviation head connector is connected to the second aviation head connector.

[0013] Furthermore, the internal cable of the second aviation head connector is located inside the fixed shell at the bottom of the gimbal; a through hole is set on the upper surface of the fixed shell; a through hole is set at the bottom of the gimbal rotation assembly; the internal cable of the second aviation head connector passes through the through hole on the upper surface of the fixed shell and the through hole at the bottom of the gimbal rotation assembly to be connected to the servo motor control board and the power board of the gimbal rotation assembly.

[0014] Furthermore, a slip ring is arranged in the pan-tilt rotating assembly, and the cable entering the through hole at the bottom of the pan-tilt rotating assembly is arranged in the slip ring.

[0015] Furthermore, a mounting bracket is provided on the outer side of the top of the housing of the pan / tilt rotating assembly; the visible light device is fixed on the mounting bracket.

[0016] Furthermore, a wiring hole is provided on the outer side of the top of the pan / tilt rotating assembly shell, and a power cable and a network cable are provided in the slip ring; the power cable and the network cable are connected to the visible light device through the wiring hole.

[0017] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0018] 1. The intelligent detection robot system for valve hall of the present invention is provided with a rotatable pan-tilt head and a visible light device. A second aviation head connector is provided on the side of the fixed shell at the bottom of the rotatable pan-tilt head. The cable of the second aviation head connector enters the fixed shell at the bottom of the rotatable pan-tilt head and then enters the pan-tilt rotating assembly. A slip ring is provided in the pan-tilt rotating assembly to connect the power line and the network cable to the visible light device above the pan-tilt rotating assembly. The second aviation head connector transmits the video signal collected by the visible light device to the host computer through the network cable. The host computer can inspect the readings of each meter according to the collected video.

[0019] 2. The intelligent detection robot system for valve halls of the present invention can realize up and down movement driven by the robot through visible light equipment, expand the horizontal field of view angle driven by the horizontal rotation of the pan-tilt head, and at the same time, realize clear imaging driven by its own focusing motor and field of view magnification motor, and then transmit the images of each meter taken to the upper computer through the network cable, realizing an intelligent detection robot system for valve halls.

[0020] 3. A photoelectric sensor is provided on the left side wall or the right side wall of the robot shell of the present invention. During the movement of the robot, the photoelectric sensor senses the surrounding objects to realize the soft limit of the robot's movement position; a limit switch is provided on the upper part of the rear wall of the robot shell, and the limit switch is electrically connected to the main control board and the motor control board. When the limit switch touches an obstacle, the change of the limit switch signal state is transmitted to the main control board and the motor control board. The main control board and the motor control board control the motor to cut off power or rotate in the opposite direction, driving the robot to leave the limit area, thereby avoiding collision damage to the robot or surrounding objects.

[0021] 4. A synchronous belt is arranged on the vertical guide rail of the present invention, and I-beams are arranged on both sides of the synchronous belt; the robot includes a worm gear reducer, a motor, and a synchronous wheel; the synchronous wheel engages with the synchronous belt, and the worm gear reducer reduces the running speed of the robot while increasing the output torque, and the engagement of the synchronous wheel and the synchronous belt can withstand a maximum weight of 50kg; the robot also includes a mounting plate, the rear wall of the robot shell is fixed on the mounting plate, an L-shaped hook is arranged on the rear wall of the robot shell, and a through hole is arranged at a position corresponding to the L-shaped hook on the mounting plate, and the robot shell is hung on the through hole of the mounting plate through the L-shaped hook, so that the robot is very convenient to disassemble and assemble; pulleys are arranged on the left and right sides of the mounting plate; when the robot moves up and down on the vertical guide rail, the pulley on the mounting plate slides up and down inside the I-beam of the vertical guide rail, so that the robot moves smoothly on the guide rail.

[0022] 5. A third aviation head connector is provided on the right side wall of the robot shell of the present invention, and the cables on the third aviation head connector include a power cable, a network cable, and a serial communication cable; the robot communicates with the host computer through the network cable and the serial port, and the single-chip microcomputer on the main control board receives the command of the host computer to control the movement state of the robot and the movement state of the visible light device and the data reading, thereby realizing remote control of the robot system through the host computer.

[0023] In the present invention, the above-mentioned technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the following content, and some advantages can be obvious from the description or understood by implementing the present invention. The purpose and other advantages of the present invention can be achieved and obtained through the contents specifically pointed out in the text and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are only used for the purpose of illustrating specific embodiments and are not to be considered as limiting the present invention. In the entire drawings, the same reference symbols represent the same components.

[0025] Figure 1 This is a schematic diagram of the overall structure of an intelligent detection robot system for a valve hall;

[0026] Figure 2 It is a schematic diagram of the internal structure of the pan-tilt rotating assembly of an intelligent detection robot system for a valve hall and the position relationship between the pan-tilt and visible light equipment;

[0027] Figure 3 A schematic diagram of the robot structure of an intelligent detection robot system for a valve hall;

[0028] Figure 4 It is a schematic diagram of the installation of the robot and vertical guide rails of an intelligent detection robot system for a valve hall and a schematic diagram of the installation position of the circuit board inside the robot;

[0029] Figure 5 The present invention is a flow chart of a valve hall intelligent detection robot system controlling the motor power supply through a limit switch.

[0030] Reference numerals:

[0031] 1- Visible light equipment;

[0032] 2- Vertical guide rails;

[0033] 3-Pan-tilt rotation assembly;

[0034] 4- Robot;

[0035] 5-Photoelectric sensor sensing board;

[0036] 6-Hard limit switch block;

[0037] 7- shock absorbing plate;

[0038] 8- shock absorber seat;

[0039] 9- screw;

[0040] 10-fixed shell at the bottom of the gimbal;

[0041] 11-High precision magnetic encoding servo motor;

[0042] 12- conveyor belt;

[0043] 13- gear assembly;

[0044] 14-Pan-tilt rotation axis;

[0045] 15- Photoelectric sensor;

[0046] 16-third aviation head connector;

[0047] 17-L-shaped hook;

[0048] 18-synchronous wheel;

[0049] 19-Limit switch;

[0050] 20-U type protective baffle;

[0051] 21- first aviation head connector;

[0052] 22- Power management board;

[0053] 23- Sound and light alarm;

[0054] 24- Main control board;

[0055] 25-Motor control board;

[0056] 26-I-beam;

[0057] 27-Mounting plate. DETAILED DESCRIPTION

[0058] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the present application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0059] A specific embodiment of the utility model discloses an intelligent detection robot system for a valve hall, the overall structure diagram of which is shown in FIG. Figure 1As shown, the system includes a robot 4, a rotatable pan-tilt platform, a visible light device 1, and a vertical guide rail 2; the robot 4 includes a robot housing, a worm gear reducer, a motor, and a synchronous wheel 18; the worm gear reducer and the motor are arranged in the robot housing; the input shaft of the worm gear reducer is connected to the motor, and the output shaft of the worm gear reducer is connected to the synchronous wheel 18; a part of the synchronous wheel 18 is located in the robot housing, and the other part leaks out of the hole through the opening on the rear wall of the robot housing; a synchronous belt is arranged in the vertical guide rail 2, and the synchronous wheel 18 is engaged with the synchronous belt to realize the up and down movement of the robot on the vertical guide rail 2; the rotatable pan-tilt platform is arranged on the top of the robot housing, and the visible light device 1 is installed on the pan-tilt platform.

[0060] Specifically, the worm gear reducer reduces the running speed of the robot 4 while increasing the output torque, and the synchronous wheel 18 and the synchronous belt can withstand a maximum weight of 50kg when engaged; the robot 4 also includes a mounting plate 27, the rear wall of the robot shell is fixed on the mounting plate 27, the rear wall of the robot shell is provided with an L-shaped hook 17, and a through hole is provided at a position corresponding to the L-shaped hook 17 on the mounting plate 27, and the robot shell is hung on the through hole of the mounting plate 27 through the L-shaped hook 17, so that the robot 4 is very convenient to disassemble and assemble; pulleys are provided on the left and right sides of the mounting plate 27; when the robot 4 moves up and down on the vertical guide rail 2, the pulley on the mounting plate 27 slides up and down inside the I-beam 26 of the vertical guide rail 2, so that the robot 4 moves smoothly on the guide rail.

[0061] The vertical guide rail 2 also includes an I-beam 26 arranged in parallel on both sides of the synchronous belt; the robot 4 also includes a mounting plate 27, and the rear wall of the robot shell is fixed on the mounting plate 27; pulleys are arranged on the left and right sides of the mounting plate 27; when the robot 4 moves up and down on the vertical guide rail 2, the pulley on the mounting plate 27 slides up and down inside the I-beam 26 of the vertical guide rail 2.

[0062] A detachable shock absorbing device is arranged at the bottom of the vertical guide rail 2; the shock absorbing device comprises a shock absorbing plate 7 and a shock absorbing seat 8; the shock absorbing plate 7 is mounted on the shock absorbing seat 8; the shock absorbing device is installed directly below the vertical guide rail 2.

[0063] Specifically, when the robot 4 needs to be installed on the vertical guide rail 2, the shock absorbing device is first removed, and the mounting plate 27 of the robot 4 pushes the pulley of the mounting plate 27 upward from the bottom of the vertical guide rail 2 to the I-beam 26, and then the shock absorbing device is installed to the bottom of the vertical guide rail 2. The shock absorbing device prevents the robot 4 from being damaged due to loss of control.

[0064] A plurality of screw rods 9 are arranged below the shock absorbing plate 7 , each screw rod 9 is provided with a spring, and the screw rod 9 is fixed on the shock absorbing seat 8 .

[0065] The robot 4 also includes a main control board 24, which is arranged inside the shell; a photoelectric sensor 15 is arranged on the left side wall or the right side wall of the robot 4 shell; a photoelectric sensor sensing board 5 is respectively arranged on the left side or the right side of the upper and lower ends of the vertical guide rail 2; the photoelectric sensor 15 is electrically connected to the main control board 24, and the drive signal output end of the main control board 24 is connected to the control signal input end of the motor.

[0066] Specifically, the photoelectric sensor 15 and the photoelectric sensor induction plate 5 are arranged on the same side, a photoelectric sensor 15 is arranged on the robot 4, and two photoelectric sensor induction plates 5 are arranged at the upper and lower ends of the vertical guide rail 2. When the robot 4 moves to the vicinity of the photoelectric sensor induction plate 5, the photoelectric sensor 15 on the robot 4 sends out a sensing signal when it is blocked by the photoelectric sensor induction plate 5. After receiving the sensing signal, the main control board 24 sends a command through the single-chip microcomputer to control the motor of the robot 4 to stop running. If the photoelectric sensor 15 does not detect the sensing signal or the command sent by the main control board 24 is missing or the software is out of control, the robot 4 continues to run in one direction, which will trigger the hard limit switch 19 power-off protection device, forcing the motor to be powered off, thereby protecting the motor from damage due to stalling. The device can be reset later by manual means in the background to perform the restoration operation.

[0067] Specifically, the robot 4 includes a dual limit protection function of a photoelectric sensor 15 and a limit switch 19. The photoelectric sensor 15 is arranged on the side wall of the robot 4 shell. During the movement of the robot 4, the photoelectric sensor 15 senses the surrounding objects to realize the soft limit of the movement position of the robot 4; the limit switches 19 are arranged on the side walls around the robot 4 shell to realize the hard limit of the movement position of the robot 4; the limit switch 19 is electrically connected to the main control board 24 and the motor control board 25. When the limit switch 19 touches an obstacle, the change of the signal state of the limit switch 19 is transmitted to the main control board 24 and the motor control board 25. The main control board 24 and the motor control board 25 control the motor to cut off the power or rotate in the opposite direction, driving the robot 4 to leave the limit area, avoiding collision damage to the robot 4 or surrounding objects.

[0068] The robot 4 also includes a motor control board 25, which is arranged inside the shell; a hard limit switch block 6 is arranged above the photoelectric sensor sensing board 5 on the upper part of the vertical guide rail 2 and below the photoelectric sensor sensing board 5 on the lower part of the vertical guide rail 2; a limit switch 19 is arranged on the upper part of the rear wall of the robot 4 shell, and the limit switch 19 is electrically connected to the main control board 24 and the motor control board 25.

[0069] The schematic diagram of the installation position of the internal circuit board of robot 4 is as follows Figure 4 shown.

[0070] A power management board 22 is disposed below the main control board 24 of the robot 4 , and a motor control board 25 is disposed on the right side of the main control board 24 .

[0071] The schematic diagram of the installation of the robot 4 and the vertical guide rail 2 is as follows Figure 4 shown.

[0072] Specifically, pulleys are provided on the left and right sides of the mounting plate 27; when the robot 4 moves up and down on the vertical guide rail 2, the pulleys on the mounting plate 27 slide up and down inside the I-beam 26 of the vertical guide rail 2, so that the robot 4 moves smoothly on the guide rail.

[0073] An L-shaped hook 17 is provided on the rear wall of the robot 4 shell; a through hole is provided on the mounting plate 27 at a position corresponding to the L-shaped hook 17; and the robot 4 shell is hung on the through hole of the mounting plate 27 via the L-shaped hook 17.

[0074] Specifically, the shell of the robot 4 is hung on the through hole of the mounting plate 27 via an L-shaped hook 17, making it very convenient to assemble and disassemble the robot 4.

[0075] The schematic diagram of the robot 4 is as follows Figure 3 shown.

[0076] The motor control board 25 includes an OR gate, an AND gate logic chip, and a relay; the signal output end of the limit switch 19 is simultaneously connected to the first input pin of the OR gate and the signal input pin of the main control board 24, the first logic output pin of the main control board 24 is connected to the second input pin of the OR gate, the output pin of the OR gate is connected to the first input pin of the AND gate, and the second logic output pin of the main control board 24 is connected to the second input pin of the AND gate; the output pin of the AND gate is connected to a relay, and the relay is connected in series with the motor power line.

[0077] The flow chart of controlling the motor power supply through the limit switch 19 is as follows Figure 5 shown.

[0078] Specifically, the switch signal cable of the limit switch 19 located at the upper part of the rear wall of the shell is connected to the signal input pin of the single-chip computer of the main control board 24 and the first input pin of the OR gate of the motor control board 25 at the same time. When the limit switch 19 is not triggered, the limit switch 19 is closed, the switch signal is high level, that is, the first input pin of the OR gate is high level, the first logic output pin of the main control board 24 outputs a logic low to the OR gate; the OR gate outputs a high level to the first input pin of the AND gate; the second logic output pin of the main control board 24 outputs a logic high to the second input pin of the AND gate; the AND gate output pin outputs a high level to control the relay to close, the relay is connected in series with the motor power line, and the motor is powered normally. When the limit switch 19 of the robot 4 device is triggered, the limit switch 19 is opened, the switch signal cable sends a low level; the first input pin of the OR gate is low level, the first logic output pin of the main control board 24 still outputs a logic low to the OR gate; the OR gate outputs a low level to the first input pin of the AND gate, and the AND gate output pin outputs a low level to control the relay to disconnect; the motor is powered off. When the main control board 24 single chip captures the low level of the limit switch 19 signal, it sends abnormal information to the upper computer through the network. The relevant personnel can remotely control the main control board 24 to output a logic high to the OR gate. At this time, the OR gate outputs a logic high to the AND gate, and the AND gate outputs a logic high to control the relay to close, and the motor is powered normally. The background uses manual means to reset the device and perform the restoration operation.

[0079] The robot 4 shell is also provided with an audible and visual alarm 23 , which is connected to the single chip microcomputer of the main control board 24 .

[0080] Specifically, when the robot 4 detects abnormal information, the single chip microcomputer controls the sound and light alarm 23 to sound an alarm, and reports the abnormal information to the host computer.

[0081] A mounting bracket is also provided on the top of the robot 4 shell, and the mounting bracket includes a mounting base plate and two symmetrically arranged U-shaped protective baffles 20; the U-shaped protective baffles 20 are arranged on both sides of the mounting base plate; and the rotatable pan-tilt head is arranged on the mounting bracket.

[0082] The rotatable gimbal includes a fixed shell 10 at the bottom of the gimbal and a gimbal rotating assembly 3; the bottom of the fixed shell is fixed on the mounting base plate; the fixed shell is surrounded by a U-shaped protective baffle 20; and the gimbal rotating assembly 3 is arranged on the fixed shell.

[0083] Specifically, the fixed shell 10 at the bottom of the gimbal is fixedly connected to the robot 4 and cannot rotate; when the gimbal rotating shaft 14 rotates, the gimbal rotating assembly 3 rotates accordingly.

[0084] The pan-tilt rotating assembly 3 includes a shell, an internal mounting plate arranged in the shell, a high-precision magnetically encoded servo motor 11, a gear assembly 13, a conveyor belt 12, and a pan-tilt rotating shaft 14; the high-precision magnetically encoded servo motor 11 and the gear assembly 13 are fixed on the internal mounting plate; the rotating shaft of the high-precision magnetically encoded servo motor 11 and one end of the gear assembly 13 are connected through the conveyor belt 12, and the other end of the gear assembly 13 is connected to the pan-tilt rotating shaft 14, which is used to drive the rotating shaft to rotate.

[0085] The internal structure of the system pan / tilt rotating assembly 3 is as follows Figure 2 shown.

[0086] Specifically, the gear assembly 13 includes a gear, a worm, and a worm wheel; the gear center is sleeved on one end of the worm, and a worm wheel is provided on the other end of the worm; a gear is sleeved on the pan-tilt rotating shaft 14, and the worm wheel is connected to the gear on the pan-tilt rotating shaft 14. Therefore, when the rotating shaft of the high-precision magnetic encoding servo motor 11 drives the gear at one end of the gear assembly 13 to rotate through the conveyor belt 12, the gear at one end of the gear assembly 13 drives the worm of the gear assembly 13 to rotate, and then drives the worm wheel to rotate. The rotation of the worm wheel drives the gear on the pan-tilt rotating shaft 14 to rotate, and then drives the rotating shaft to rotate.

[0087] The pan-tilt rotation assembly 3 also includes a servo motor control board 25 and a power board; the servo motor control board 25 and the power board are fixed on the internal mounting plate; the servo motor control board 25 is electrically connected to the high-precision magnetically encoded servo motor 11; the power board is electrically connected to the servo motor control board 25 and the high-precision magnetically encoded servo motor 11.

[0088] Specifically, the servo motor control board 25 and the power board are fixed on one side of the internal mounting plate. The servo motor control board 25 controls the forward and reverse rotation of the high-precision magnetic encoding servo motor 11, and can also control the high-precision magnetic encoding servo motor 11 to stop.

[0089] A first aviation head connector 21 is also provided on the top of the robot 4 shell, and a through hole is provided on the side of the fixed shell 10 at the bottom of the gimbal for installing a second aviation head connector. The external cable of the first aviation head connector 21 is connected to the second aviation head connector.

[0090] Specifically, the first aviation head connector 21 on the top of the robot 4 shell is connected to the second aviation head connector on the side of the fixed shell 10 at the bottom of the gimbal through an external cable; and the first aviation head connector 21 is connected to the third aviation head connector 16 on the side wall of the robot 4 shell through the cable inside the robot 4 shell, and then the cable is connected to the power supply, network cable, and serial communication cable to the host computer through the third aviation head connector 16.

[0091] The internal cables of the second aviation head connector are located inside the fixed shell 10 at the bottom of the gimbal; a through hole is set on the upper surface of the fixed shell; a through hole is set at the bottom of the gimbal rotation assembly 3; the internal cables of the second aviation head connector pass through the through hole on the upper surface of the fixed shell and the through hole at the bottom of the gimbal rotation assembly 3 and are connected to the servo motor control board 25 and the power board of the gimbal rotation assembly 3.

[0092] Specifically, the fixed shell 10 at the bottom of the gimbal is a hollow structure, which realizes the transmission of cables in the second aviation head connector to the gimbal rotating assembly 3; the cables in the second aviation head connector include network cables connected to the servo motor control board 25, realizing the control of the high-precision magnetically encoded servo motor 11 by the host computer.

[0093] A slip ring is arranged inside the pan / tilt rotating assembly 3 , and the cable entering the through hole at the bottom of the pan / tilt rotating assembly 3 is arranged inside the slip ring.

[0094] Specifically, the cable is arranged in the slip ring to prevent the cable from being damaged by the rotation of the pan / tilt head.

[0095] A mounting frame is provided on the outer side of the top of the housing of the pan / tilt rotating assembly 3 ; the visible light device 1 is fixed on the mounting frame.

[0096] Specifically, the visible light device 1 rotates synchronously with the pan / tilt rotating assembly 3 .

[0097] A wiring hole is provided on the outer side of the top of the shell of the pan / tilt rotating assembly 3 , and a power cable and a network cable are provided in the slip ring; the power cable and the network cable are connected to the visible light device 1 through the wiring hole.

[0098] Specifically, the power cable and network cable in the slip ring are connected to the visible light device 1 through the wiring hole on the top of the housing of the pan / tilt rotating assembly 3. The visible light device 1 rotates synchronously with the pan / tilt rotating assembly 3, so the cables will not be damaged during the rotation. The network cable can realize the transmission of the video of the visible light device 1 to the host computer. At the same time, the host computer can also send remote control commands to realize the focus and zoom operation of the visible light. The focus and zoom operation of the visible light are realized by adjusting the visible light lens through the visible light internal focus motor and zoom motor.

[0099] Compared with the prior art, the intelligent detection robot 4 system for valve halls in this embodiment is provided with a rotatable pan-tilt and a visible light device 1. A second aviation head connector is provided on the side of the fixed shell 10 at the bottom of the rotatable pan-tilt. The cable of the second aviation head connector enters the fixed shell 10 at the bottom of the rotatable pan-tilt and then enters the pan-tilt rotating assembly 3. A slip ring is provided in the pan-tilt rotating assembly 3 to connect the power line and the network cable to the visible light device 1 above the pan-tilt rotating assembly 3. The second aviation head connector transmits the video signal collected by the visible light device 1 to the host computer through the network cable, and the host computer can inspect the readings of each meter according to the collected video. The intelligent detection robot 4 system for valve halls in this embodiment can realize the up and down movement of the visible light device 1 under the drive of the robot 4, expand the horizontal field of view under the drive of the horizontal rotation of the pan-tilt, and at the same time, realize clear imaging under the drive of its own focusing motor and field of view variable magnification motor, and then transmit the images of each meter taken to the host computer through the network cable to realize an intelligent detection robot system for valve halls. A photoelectric sensor 15 is provided on the left side wall or the right side wall of the robot 4 shell provided in this embodiment. During the movement of the robot 4, the photoelectric sensor 15 senses the surrounding objects to realize the soft limit of the movement position of the robot 4; a limit switch 19 is provided on the upper part of the rear wall of the robot 4 shell, and the limit switch 19 is electrically connected to the main control board 24 and the motor control board 25. When the limit switch 19 touches an obstacle, the change of the signal state of the limit switch 19 is transmitted to the main control board 24 and the motor control board 25, and the main control board 24 and the motor control board 25 control the motor to cut off the power or rotate in the opposite direction, driving the robot 4 to leave the limit area, so as to avoid collision damage to the robot 4 or surrounding objects. In this embodiment, a synchronous belt is provided on the vertical guide rail 2, and I-beams 26 are provided on both sides of the synchronous belt; the robot 4 includes a worm gear reducer, a motor, and a synchronous wheel 18; the synchronous wheel 18 is engaged with the synchronous belt, and the worm gear reducer reduces the running speed of the robot 4 while increasing the output torque. The engagement of the synchronous wheel 18 with the synchronous belt can withstand a maximum weight of 50 kg; the robot 4 also includes a mounting plate 27, the rear wall of the robot 4 shell is fixed on the mounting plate 27, the rear wall of the robot 4 shell is provided with an L-shaped hook 17, and a through hole is provided at a position corresponding to the L-shaped hook 17 on the mounting plate 27, and the robot 4 shell is hung on the through hole of the mounting plate 27 through the L-shaped hook 17, so that the robot 4 is very convenient to disassemble and assemble; pulleys are provided on the left and right sides of the mounting plate 27; when the robot 4 moves up and down on the vertical guide rail 2, the pulley on the mounting plate 27 slides up and down inside the I-beam 26 of the vertical guide rail 2, so that the robot 4 moves smoothly on the guide rail.In this embodiment, a third aviation head connector 16 is provided on the right side wall of the robot 4 shell, and the cables on the third aviation head connector 16 include a power cable, a network cable, and a serial communication cable; the robot 4 communicates with the host computer through the network cable and the serial port, and the single-chip microcomputer on the main control board 24 receives the host computer command to control the movement state of the robot 4 and the movement state of the visible light device 1 and the data reading status, thereby realizing remote control of the robot system through the host computer.

[0100] Those skilled in the art can understand that the programs / software involved in the above embodiments are common methods in the prior art, and the present invention does not involve any software improvements. The present invention only requires that each device with corresponding functions be connected through the connection relationship given in the embodiment of the present invention, and does not involve any program software improvements. As for the connection method between the hardware devices with corresponding functions, it can be implemented by those skilled in the art using the prior art, and will not be described in detail here.

[0101] 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. An intelligent detection robot system for a valve hall, characterized in that: The system includes a robot, a rotatable pan-tilt platform, a visible light device, and a vertical guide rail; the robot includes a robot housing, a worm gear reducer, a motor, and a synchronous wheel; the worm gear reducer and the motor are arranged in the robot housing; the input shaft of the worm gear reducer is connected to the motor, and the output shaft of the worm gear reducer is connected to the synchronous wheel; a part of the synchronous wheel is located in the robot housing, and the other part leaks out of the hole through the opening on the rear wall of the robot housing; a synchronous belt is arranged in the vertical guide rail, and the synchronous wheel is engaged with the synchronous belt to realize the up and down movement of the robot on the vertical guide rail; the rotatable pan-tilt platform is arranged on the top of the robot housing, and the visible light device is installed on the pan-tilt platform.

2. The robot system according to claim 1, characterized in that: A mounting bracket is also provided on the top of the robot shell, and the mounting bracket includes a mounting base plate and two symmetrically arranged U-shaped protective baffles; the U-shaped protective baffles are arranged on both sides of the mounting base plate; and the rotatable pan-tilt head is arranged on the mounting bracket.

3. The robot system according to claim 2, characterized in that: The rotatable gimbal includes a fixed shell at the bottom of the gimbal and a gimbal rotating assembly; the bottom of the fixed shell is fixed on the mounting base plate; the fixed shell is surrounded by a U-shaped protective baffle; and the gimbal rotating assembly is arranged on the fixed shell.

4. The robot system according to claim 3, characterized in that: The pan-tilt rotating assembly includes a shell, an internal mounting plate arranged in the shell, a high-precision magnetically encoded servo motor, a gear assembly, a conveyor belt, and a pan-tilt rotating shaft; the high-precision magnetically encoded servo motor and the gear assembly are fixed on the internal mounting plate; the rotating shaft of the high-precision magnetically encoded servo motor and one end of the gear assembly are connected through a conveyor belt, and the other end of the gear assembly is connected to the pan-tilt rotating shaft for driving the rotating shaft to rotate.

5. The robot system according to claim 4, characterized in that: The pan-tilt rotation assembly also includes a servo motor control board and a power board; the servo motor control board and the power board are fixed on the internal mounting plate; the servo motor control board is electrically connected to the high-precision magnetically encoded servo motor; the power board is electrically connected to the servo motor control board and the high-precision magnetically encoded servo motor.

6. The robot system according to claim 5, characterized in that: A first aviation head connector is also provided on the top of the robot shell, and a through hole is provided on the side of the fixed shell at the bottom of the gimbal for installing a second aviation head connector, and the external cable of the first aviation head connector is connected to the second aviation head connector.

7. The robot system according to claim 6, characterized in that: The internal cable of the second aviation head connector is located inside the fixed shell at the bottom of the gimbal; a through hole is set on the upper surface of the fixed shell; a through hole is set at the bottom of the gimbal rotation assembly; the internal cable of the second aviation head connector passes through the through hole on the upper surface of the fixed shell and the through hole at the bottom of the gimbal rotation assembly and is connected to the servo motor control board and power board of the gimbal rotation assembly.

8. The robot system according to claim 7, characterized in that: A slip ring is arranged in the pan / tilt rotating assembly, and a cable entering into a through hole at the bottom of the pan / tilt rotating assembly is arranged in the slip ring.

9. The robot system according to claim 8, characterized in that: A mounting frame is arranged on the outer side of the top of the housing of the pan / tilt rotating assembly; the visible light device is fixed on the mounting frame.

10. The robot system according to claim 8, characterized in that: A wiring hole is provided on the outer side of the top of the pan / tilt rotating assembly shell, and a power cable and a network cable are provided in the slip ring; the power cable and the network cable are connected to the visible light device through the wiring hole.

Images