Indoor hanging rail inspection robot and holder mechanism thereof

Abstract

The utility model relates to the technical field of inspection equipment, in particular to an indoor hanging rail inspection robot and a cradle head mechanism thereof, which comprise a driving mechanism, a camera arm mechanism, a partial discharge arm mechanism and a cradle head mechanism, and are characterized in that the cradle head mechanism comprises a cradle head bottom plate, and a cradle head driving motor and an arm driving motor are arranged on one side of the cradle head bottom plate; the output end of the pan-tilt driving motor is connected with a pan-tilt worm, and one side of the pan-tilt worm is meshed with a pan-tilt worm gear fixed on the pan-tilt bottom plate so as to drive the pan-tilt mechanism on the whole pan-tilt bottom plate to horizontally rotate by 360 degrees; the output end of the arm driving motor is connected with an arm worm, the lower portion of the arm worm is meshed with an arm worm gear fixed to the periphery of the arm connecting shaft, and then the camera arm mechanism and the partial discharge arm mechanism located at the two horizontal transverse ends of the arm connecting shaft are driven to rotate by + / -180 degrees in the vertical direction. The utility model provides a detection holder mechanism which is low in cost and can rotate by 360 degrees in the horizontal direction and rotate by + / -180 degrees in the vertical direction.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection equipment, in particular to an indoor rail-hanging inspection robot and a pan-tilt mechanism thereof. Background Art

[0002] Track robots are suitable for indoor inspections in power plants, computer rooms, power stations, etc. When the indoor space is too narrow and indoor wheeled inspection robots cannot operate, track-mounted robots can perform 24-hour uninterrupted inspections and are suitable for inspections of indoor equipment. As a perception complex, the robot is equipped with a variety of sensors, such as visible light, thermal imaging, partial discharge, gas, temperature and humidity, and microphones, which can realize comprehensive detection of equipment and environment.

[0003] Existing indoor rail-mounted inspection robots mostly have fixed bottom inspection structures that cannot rotate horizontally or vertically, limiting their flexibility and comprehensiveness. From a market and technical perspective, the market needs a low-cost, more flexible, 360° inspection robot capable of improving the efficiency and accuracy of indoor power distribution cabinet inspections and other inspection tasks.

[0004] In view of this, we propose an indoor rail-mounted inspection robot and its pan-tilt mechanism. Utility Model Content

[0005] In order to make up for the above deficiencies, the utility model provides an indoor rail-hanging inspection robot and a pan-tilt mechanism thereof.

[0006] The technical solution of the utility model is: including a driving mechanism, a camera arm mechanism, a partial discharge arm mechanism, and a pan / tilt mechanism, and is characterized by:

[0007] The pan-tilt mechanism includes a pan-tilt base plate, a pan-tilt drive motor is installed on one side of the pan-tilt base plate, an output end of the pan-tilt drive motor is connected to a pan-tilt worm, one side of the pan-tilt worm is engaged with a pan-tilt worm gear fixed to the pan-tilt base plate, thereby driving the pan-tilt mechanism on the pan-tilt base plate to rotate 360 ​​degrees horizontally;

[0008] An arm drive motor is installed on one side of the gimbal base plate horizontally and parallel to the gimbal drive motor. The output end of the arm drive motor is connected to the arm worm, and the lower part of the arm worm is engaged with the arm worm gear fixed on the periphery of the arm connecting shaft, thereby driving the camera arm mechanism and the local release arm mechanism located at the horizontal ends of the arm connecting shaft to realize ±180° rotation in the vertical direction.

[0009] As a preferred technical solution, a plurality of gas sensors are provided inside the pan / tilt mechanism.

[0010] As a preferred technical solution, the end of the partial discharge arm mechanism is equipped with a partial discharge detection sensor.

[0011] As a preferred technical solution, the inner cavity of the pan-tilt head worm gear is fixed to the pan-tilt head base plate through a rotating shaft.

[0012] As an optimal technical solution, a pan-tilt origin photoelectric device is provided on the top of the pan-tilt base plate. The pan-tilt origin photoelectric device can identify the initial position of the pan-tilt mechanism, so that the pan-tilt mechanism can rotate horizontally no more than 360°, avoiding entanglement of internal cables.

[0013] As a preferred technical solution, an arm origin photoelectric device is set under the arm connecting axis, which can identify the initial position of the arm connecting axis, prevent the camera arm mechanism and the local release arm mechanism from rotating continuously, and thus prevent the internal cables from being entangled.

[0014] Compared with the prior art, the beneficial effects of the present invention are:

[0015] The pan-tilt drive motor drives the pan-tilt worm gear, which meshes with the pan-tilt worm gear to achieve 360° horizontal rotation of the pan-tilt mechanism on the pan-tilt baseplate. Simultaneously, the arm drive motor uses the same principle to enable ±180° vertical rotation of the camera arm and partial discharge arm mechanisms. Combined with the pan-tilt origin photoelectric system and the arm origin photoelectric system, this indoor rail inspection robot can perform specialized and customized inspections in indoor environments, cost-effectively and flexibly rotating 360° horizontally and ±180° vertically to inspect indoor power distribution cabinets and other inspection items. This improves the efficiency and accuracy of inspections of indoor power distribution cabinets and other inspection items. The fusion of multiple sensors enables 24 / 7 operation in confined indoor spaces, enabling autonomous navigation and positioning. Equipped with specialized visible light and infrared cameras, partial discharge detection sensors, and gas sensors, the robot monitors the inspection environment in real time during inspections. Faults are promptly reported to the backend, providing timely feedback on equipment operation and environmental conditions. This robot can replace manual tasks such as routine inspections, fault diagnosis, and early warning alarms, helping enterprises effectively improve the content and frequency of operations and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural diagram of the utility model;

[0017] Figure 2 It is a three-dimensional diagram of the pan / tilt mechanism of the present invention;

[0018] Figure 3 It is a three-dimensional diagram of the indoor rail-hanging inspection robot in the present invention.

[0019] In the figure, 10-drive mechanism, 20-pan-tilt mechanism, 21-pan-tilt drive motor, 22-arm drive motor, 23-pan-tilt worm, 24-pan-tilt worm gear, 25-arm connecting shaft, 26-arm origin photoelectric, 27-arm worm gear, 28-arm worm, 29-pan-tilt origin photoelectric, 210-pan-tilt base plate, 30-camera arm mechanism, 40-partial discharge arm mechanism. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0021] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0022] The (electrical devices, electronic components, circuits and power modules, functions, algorithms, methods) involved in the present invention are merely conventional adaptive applications of existing technologies. Therefore, the present invention is an improvement on the existing technologies, which is essentially a structural improvement, rather than an improvement proposed for the (electrical devices, electronic components, circuits and power modules, functions, algorithms, methods) themselves. That is, although the present invention involves a point (electrical devices, electronic components, circuits and power modules, functions, algorithms, methods), it does not include improvements proposed for the (electrical devices, electronic components, circuits and power modules, functions, algorithms, methods) themselves. The description of the (electrical devices, electronic components, circuits and power modules, functions, algorithms, methods) in the present invention is for the purpose of better illustrating the present invention and for a better understanding of the present invention.

[0023] In the description of this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0024] See also Figure 1-3 , the utility model provides a technical solution:

[0025] An indoor rail-mounted inspection robot and a pan-tilt mechanism thereof include a drive mechanism 10, a camera arm mechanism 30, a partial discharge arm mechanism 40, and a pan-tilt mechanism 20.

[0026] The pan-tilt mechanism 20 includes a pan-tilt base plate 210 .

[0027] A pan-tilt drive motor 21 is installed on one side of the pan-tilt base plate 210, and the output end of the pan-tilt drive motor 21 is connected to the pan-tilt worm 23. One side of the pan-tilt worm 23 engages with the pan-tilt worm gear 24 fixed on the pan-tilt base plate 210, thereby driving the pan-tilt mechanism 20 on the entire pan-tilt base plate 210 to rotate horizontally 360°.

[0028] It is worth further explaining that the pan-tilt worm 23 is located below the pan-tilt base plate 210 and is arranged longitudinally parallel to the pan-tilt base plate 210 .

[0029] In this embodiment, the inner cavity of the pan-tilt head worm gear 24 is fixed to the pan-tilt head base plate 210 via a rotating shaft.

[0030] It is worth further explaining that the rotating shaft of the inner cavity of the pan-tilt worm gear 24 is arranged perpendicular to the bottom of the pan-tilt base plate 210.

[0031] It is worth further explaining that the pan-tilt worm 23 is meshingly connected with the pan-tilt worm wheel 24 .

[0032] In this embodiment, a pan-tilt origin photoelectric device 29 is provided on the top of the pan-tilt base plate 210. The pan-tilt origin photoelectric device 29 can identify the initial position of the pan-tilt mechanism 20, so that the pan-tilt mechanism 20 can rotate horizontally no more than 360° to avoid entanglement of internal cables.

[0033] An arm drive motor 22 is installed on one side of the gimbal base plate 210 horizontally parallel to the gimbal drive motor 21. The output end of the arm drive motor 22 is connected to the arm worm 28. The bottom of the arm worm 28 is engaged with the arm worm gear 27 fixed on the periphery of the arm connecting shaft 25, thereby driving the camera arm mechanism 30 and the local release arm mechanism 40 located at the horizontal ends of the arm connecting shaft 25 to achieve ±180° rotation in the vertical direction.

[0034] It is worth further explaining that the arm worm 28 is arranged parallel to the pan-tilt worm 23 and is respectively located on both sides of the pan-tilt worm wheel 24 , but the arm worm 28 does not mesh with the pan-tilt worm wheel 24 .

[0035] It is worth further explaining that the arm connecting shaft 25 is horizontally parallel to the bottom of the pan-tilt base plate 210, and is then vertically arranged to the rotating shaft that passes through the inner cavity of the pan-tilt worm gear 24.

[0036] In this embodiment, an arm origin photoelectric device 26 is provided below the arm connection shaft 25. The arm origin photoelectric device 26 can identify the initial position of the arm connection shaft 25, thereby preventing the camera arm mechanism 30 and the local discharge arm mechanism 40 from rotating continuously, thereby preventing the internal cables from being entangled.

[0037] It is worth further explaining that the horizontal ends of the arm connecting axis 25 pass through the side panels to connect the camera arm mechanism 30 and the local arm mechanism 40. There are two side panels, which are arranged horizontally and parallel, and the tops are vertically not fixed to the bottom of the gimbal base plate 210.

[0038] It is worth further explaining that a groove mechanism is spliced ​​at the bottom of the gimbal bottom 210, which includes two parallel front and rear plates, and a connecting plate parallel to the gimbal bottom 210 is vertically fixed at the lower ends of the front and rear plates. The groove mechanism can install the gimbal mechanism 20 well in the inner cavity.

[0039] In this embodiment, a plurality of gas sensors are provided inside the pan / tilt mechanism 20 .

[0040] In this embodiment, a partial discharge detection sensor is mounted on the end of the partial discharge arm mechanism 40 .

[0041] It's worth further explaining that the fusion of multiple sensors enables 24 / 7 operation in confined indoor spaces, enabling autonomous navigation and positioning. Equipped with specialized visible light and infrared cameras, partial discharge detection sensors, and gas sensors, the system monitors the on-site environment in real time for inspections. Faults are promptly reported to the backend, providing timely feedback on equipment operation and environmental conditions. This system can replace manual tasks such as routine inspections, fault diagnosis, and early warning light activation, effectively helping enterprises improve the content and frequency of operations and maintenance.

[0042] When the indoor rail-mounted inspection robot and its pan-tilt mechanism of the present invention are in use, the output end of the pan-tilt drive motor 21 is connected to the pan-tilt worm 23, and one side of the pan-tilt worm 23 is engaged with the pan-tilt worm gear 24 fixed on the pan-tilt base plate 210, thereby driving the pan-tilt mechanism 20 on the entire pan-tilt base plate 210 to rotate horizontally 360°. A pan-tilt origin photoelectric device 29 is provided on the top of the pan-tilt base plate 210. The pan-tilt origin photoelectric device 29 can identify the initial position of the pan-tilt mechanism 20, so that the pan-tilt mechanism 20 does not rotate horizontally more than 360°, thereby preventing the internal cables from being entangled.

[0043] The output end of the arm drive motor 22 is connected to the arm worm 28, and the lower part of the arm worm 28 is engaged with the arm worm gear 27 fixed to the periphery of the arm connecting shaft 25, thereby driving the camera arm mechanism 30 and the partial discharge arm mechanism 40 located at the horizontal ends of the arm connecting shaft 25 to achieve ±180° rotation in the vertical direction. The arm origin photoelectric 26 can identify the initial position of the arm connecting shaft 25, preventing the camera arm mechanism 30 and the partial discharge arm mechanism 40 from rotating continuously, thereby preventing the internal cables from being entangled;

[0044] The fusion of multiple sensors enables 24 / 7 operation in confined indoor spaces, enabling autonomous navigation and positioning. Equipped with specialized visible light and infrared cameras, partial discharge detection sensors, and gas sensors, the system monitors the on-site environment in real time for inspections. Faults are promptly reported to the backend with early warning notifications, providing timely feedback on equipment operation and environmental conditions. It can replace manual tasks such as routine inspections, fault diagnosis, and early warning light activation, helping enterprises effectively improve the content and frequency of operations and maintenance.

[0045] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely preferred examples of the present invention and are not intended to limit the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and improvements fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. An indoor rail-mounted inspection robot and its pan-tilt mechanism, comprising a drive mechanism (10), a camera arm mechanism (30), a partial discharge arm mechanism (40), and a pan-tilt mechanism (20), characterized in that: The pan-tilt mechanism (20) comprises a pan-tilt base plate (210), a pan-tilt drive motor (21) is installed on one side of the pan-tilt base plate (210), an output end of the pan-tilt drive motor (21) is connected to a pan-tilt worm (23), and one side of the pan-tilt worm (23) is engaged with a pan-tilt worm wheel (24) fixed on the pan-tilt base plate (210), thereby driving the pan-tilt mechanism (20) on the pan-tilt base plate (210) to rotate 360 ​​degrees horizontally; An arm drive motor (22) is installed on one side of the pan / tilt base plate (210) in a horizontal manner parallel to the pan / tilt drive motor (21); an output end of the arm drive motor (22) is connected to an arm worm (28); the lower portion of the arm worm (28) engages with an arm worm gear (27) fixed to the periphery of the arm connecting shaft (25), thereby driving a camera arm mechanism (30) and a local release arm mechanism (40) located at both horizontal ends of the arm connecting shaft (25) to realize a vertical rotation of ±180°.

2. The indoor rail-mounted inspection robot and its pan-tilt mechanism according to claim 1, characterized in that: Several gas sensors are arranged inside the pan / tilt mechanism (20).

3. The indoor rail-mounted inspection robot and its pan-tilt mechanism according to claim 1, characterized in that: The end of the partial discharge arm mechanism (40) is equipped with a partial discharge detection sensor.

4. The indoor rail-mounted inspection robot and its pan-tilt mechanism according to claim 1, characterized in that: The inner cavity of the pan / tilt head worm wheel (24) is fixed on the pan / tilt head bottom plate (210) via a rotating shaft.

5. The indoor rail-mounted inspection robot and its pan-tilt mechanism according to claim 1, characterized in that: A pan / tilt origin photoelectric device (29) is provided on the top of the pan / tilt base plate (210). The pan / tilt origin photoelectric device (29) can identify the initial position of the pan / tilt mechanism (20), so that the pan / tilt mechanism (20) can rotate horizontally within 360 degrees, thereby preventing internal cables from being entangled.

6. The indoor rail-mounted inspection robot and its pan-tilt mechanism according to claim 1, characterized in that: An arm origin photoelectric device (26) is provided below the arm connection shaft (25). The arm origin photoelectric device (26) can identify the initial position of the arm connection shaft (25), thereby preventing the camera arm mechanism (30) and the local discharge arm mechanism (40) from rotating continuously, thereby preventing the internal cables from being entangled.

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