CN109591030A - A kind of interior crusing robot - Google Patents
A kind of interior crusing robot Download PDFInfo
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- CN109591030A CN109591030A CN201910004044.4A CN201910004044A CN109591030A CN 109591030 A CN109591030 A CN 109591030A CN 201910004044 A CN201910004044 A CN 201910004044A CN 109591030 A CN109591030 A CN 109591030A
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- electric expansion
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- 238000004804 winding Methods 0.000 claims abstract description 24
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- 238000007689 inspection Methods 0.000 claims description 23
- 238000001514 detection method Methods 0.000 claims description 18
- 230000005611 electricity Effects 0.000 claims description 5
- 239000007787 solid Substances 0.000 claims description 4
- 230000007704 transition Effects 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 abstract description 28
- 230000007812 deficiency Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 22
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/002—Balancing devices using counterweights
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- Engineering & Computer Science (AREA)
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- Manipulator (AREA)
Abstract
The invention discloses a kind of indoor crusing robots, including the motoring disk, electric expansion push rod and winding mechanism being installed on column, slip ring are equipped with inside motoring disk, winding mechanism and electric expansion push rod are located at the opposite sides of motoring disk.The present invention uses winding mechanism, and electric expansion push rod and electric up-down push rod are interior cabling formula structure, had not only avoided cable from being exposed to the external world and has caused to wear, but also avoids relying on cable movement bring aesthetics deficiency problem.
Description
Technical field
The present invention relates to field in intelligent robotics, more specifically, it is related to a kind of indoor crusing robot.
Background technique
Following background technique is used to help reader and understands the present invention, and is not construed as the prior art.
At present interior crusing robot using more and more common, producing inter-agency, intelligent storage material, carrying, change
The fields such as power station have had begun popularization and application.
More representative be indoor S rail mounted crusing robot (application number: 201410563491.0), the machine
People expands mass application in substation room at present, but the robot needs on ceiling indoors or wall surface around a large amount of
Track；When need to pinpoint spy patrol when, the robot efficiency is lower.Crusing robot (application number in a kind of substation room
201610391100.0) a kind of crusing robot based on cross combined track is disclosed, which overcomes S rail mounted machine
The shortcomings of device people, but when the progress inspection of the application robot, it is still necessary to a certain amount of track is arranged indoors, and cost is opposite
It is higher.
And for monitoring fields such as workshop, material storages, deployment multiple fixed points camera, the party are mostly used at present
Method is monitored there are larger blind area, cannot achieve the conduct monitoring at all levels to equipment.Realize the function to indoor comprehensive detection,
It needs robot that can be able to achieve the movement of larger stroke in horizontal space and vertical space, is also able to achieve when necessary indoor
Fire fighting function.It is limited by the interior space and other working equipments layout, it is clear that existing in-wheel driving or crawler type driving
Mode is difficult to realize, and routing inspection efficiency is lower, and there are certain inspection blind areas.
Summary of the invention
The purpose of the present invention is to provide a kind of indoor crusing robot, by motoring disk, electric expansion push rod and
Compound motion between electric up-down push rod, executing agency can accurately reach indoor any position, realize to indoor equipment
Inspection.
In order to solve the problems in the existing technology, the present invention provides a kind of indoor crusing robot, including is installed on
Motoring disk, electric expansion push rod and winding mechanism on column, are equipped with slip ring inside motoring disk, winding mechanism and
Electric expansion push rod is located at the opposite sides of motoring disk.
As a preferred option, motoring disk includes pedestal, motor and turntable, and pedestal is fixed with column, and motor is fixed
In pedestal, motor output shaft is connect with turntable, and turntable is provided with the channel being adapted to slip ring, slip ring outer surface and turntable vias inner walls
Fixed, slip ring top is concordant with turntable top.
As a preferred option, the fixed bracket of third is equipped between column and motoring disk, pedestal is fixed by third
Bracket is fixed with column；The fixed bracket of column, third and pedestal are provided with the channel passed through for controlling cable and power cable,
It is connected between channel.
As a preferred option, the robot is equipped with executing agency, is equipped between electric expansion push rod and executing agency
Electric up-down push rod, executing agency are located at electric up-down push rod end.
As a preferred option, executing agency includes detection components and fire extinguisher bomb, and detection components include that holder, visible light are taken the photograph
Camera and thermal infrared imager, holder one end are fixed with electric up-down push rod bottom, and the other end is fixed with fire extinguisher bomb, it is seen that light camera shooting
Machine and thermal infrared imager are fixed with holder both ends respectively.
As a preferred option, the robot is equipped with controlling cable and power cable, and column is equipped with control cabinet, control line
Cable is connect with power cable one end with control cabinet, and the other end is connect with slip ring input terminal.Preferably, turntable is provided with is adapted to slip ring
Channel, slip ring outer surface fixes with turntable vias inner walls, and slip ring top is concordant with turntable top.Preferably, column, third are solid
Fixed rack and pedestal are provided with channel, are connected between channel, and controlling cable and power cable are drawn from control cabinet, sequentially pass through vertical
The channel of the fixed bracket of column, third, pedestal and turntable, then connect with slip ring input terminal.Preferably, channel open Yu Lizhu,
Third fixes the center of bracket, pedestal and turntable.
As a preferred option, winding mechanism is fixed by the second fixed bracket and the first fixed bracket, winding mechanism packet
The coiling cable for including wire spool and being around on wire spool, the first fixed bracket, electric expansion push rod and electric up-down push rod are opened
There is channel, be connected between channel, the output end connection of coiling cable one end and slip ring, the other end sequentially passes through the first fixed branch
The channel of frame, electric expansion push rod and electric up-down push rod, respectively with fire extinguisher bomb, holder, visible light camera and infrared thermal imagery
Instrument connection.Preferably, coiling cable includes wrapping layer, has wirerope inside wrapping layer, and wirerope one end is fixed with wire spool,
The other end is connect with holder.
As a preferred option, fixed pulley is equipped with inside electric expansion push rod, fixed pulley is located at electric expansion push rod and electricity
The transition location of dynamic lifting push rod.
As a preferred option, the second fixed branch is provided with balance weight mechanism, and balance weight mechanism is clump weight.Preferably, counterweight
Block is located along the same line with executing agency.Preferably, the first fixed bracket, clump weight, the second fixed bracket, electric expansion push away
Bar and executing agency are located along the same line.Preferably, the second fixed bracket has multiple mounting holes.Preferably, second is fixed
Branch is provided with sliding rail, and clump weight can be moved along sliding rail.
As a preferred option, the fixed branch of third is provided with Temperature and Humidity sensor and smoke sensor device, and third is fixed
Bracket or the first fixed branch are provided with flame sensor.
Beneficial effect
(1) present invention sets interior by the compound motion realization of electric expansion push rod, electric up-down push rod and motoring disk
Standby real-time online, it is comprehensive, without dead angle inspection, suitable for the detection to indoor stereo Space Facilities.
(2) robot of the present invention can not only carry out inspection to equipment two sides, and robot can after electric up-down push rod is shunk
Inspection can be carried out to the position right above equipment in equipment upper direction, to substation's indoor large equipment, GIS device into
There is superiority when row inspection.
(3) present invention uses winding mechanism, and electric expansion push rod and electric up-down push rod are interior cabling formula structure, both avoids
Cable, which is exposed to the external world, to be caused to wear, and avoids relying on cable movement bring aesthetics deficiency problem.
(4) present invention by the compound motion of mobile mechanism and motoring disk realize the real-time online to indoor equipment,
It is comprehensive, without dead angle inspection, suitable for the detection to indoor stereo Space Facilities.
(5) recovering mechanism can be used by mobile mechanism when mobile mechanism breaks down with recovering mechanism in the present invention
It is drawn near swing mechanism, convenient to overhaul
(6) present invention can monitor indoor environment information on-line；It is also equipped with fire-extinguishing function concurrently, it is ensured that indoor occupant and equipment
Safety.
(7) whether the present invention can be by according to there is fire in flame sensor or smoke sensor device comprehensive descision room；When
When any sensor outlet is alarmed, robot can all execute fire extinguishing instruction, it is ensured that indoor security against fire.
(8) vertical columns on the ground are only needed when present invention installation, to wall etc. when greatly reducing construction
The destruction of building structure.
(9) present invention can carry different detection devices, adapt to different indoor inspection requirements.
(10) when executing agency is in apart from motoring disk compared with distant positions, matched by increasing on the second fixed bracket
Pouring weight balances the larger eccentric moment caused by motoring disk.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of embodiment 1.
Fig. 2 is that slip ring is installed on the structural schematic diagram inside motoring disk.
Fig. 3 is the cabling schematic diagram of embodiment 1.
Fig. 4 is the control block diagram of embodiment 1.
Fig. 5-Fig. 7 is the course of work schematic diagram of embodiment 1.
Fig. 8 is the structural schematic diagram of the first scheme in embodiment 2.
Fig. 9 is the structural schematic diagram of second scheme in embodiment 2.
Figure 10 is the structural representation that coiling cable passes through the first fixed bracket and electric expansion push rod channel in embodiment 2
Figure.
Figure 11 is the structural schematic diagram that 2 coiling cable of embodiment passes through electric up-down push rod channel.
Figure 12 is the control block diagram of embodiment 2.
Figure 13-Figure 17 is the course of work schematic diagram of embodiment 2.
Figure 18 is the structural schematic diagram of embodiment 3.
Figure 19 is the cabling schematic diagram of embodiment 3.
Figure 20 is the cabling schematic diagram of bracing wire.
Figure 21 is another cabling schematic diagram of bracing wire.
Figure 22 is the control block diagram of embodiment 3.
Figure 23-27 is the course of work schematic diagram of embodiment 3.
Figure 28 is that balance weight mechanism is installed on the structural schematic diagram in the robot with electric expansion push rod.
Figure 29 is that balance weight mechanism is installed on the structural schematic diagram in the robot with track.
Figure 30 is the structural schematic diagram that the second fixed bracket has mounting hole.
Figure 31 is the structural schematic diagram that the second fixed bracket has sliding rail.
Mark in figure: column 1, power supply box 101, motoring disk 2, pedestal 201, motor 202, turntable 203, third are fixed
Bracket 204, first fixes the fixed bracket 207 of bracket 205, slip ring 206, second, mounting hole 2071, sliding rail 2072, temperature and humidity inspection
Survey sensor 208, smoke sensor device 209, balance weight mechanism 210, flame sensor 211, electric expansion push rod 3, fixed pulley 301,
Electric expansion push-rod electric machine 302, executing agency 4, fire extinguisher bomb 401, detection components 402, holder 403, visible light camera 404,
Thermal infrared imager 405, controlling cable and power cable 5, Main Control Tank 601, auxiliary control case 602, master control cable 603, lead to control cabinet 6
Electric wire cable 604, winding mechanism 7, wire spool 701, coiling cable 702, first passage 703, second channel 704, electric up-down push away
Bar 8, track 9, trolley 901, chassis 902, connection cables 903, recovering mechanism 10, wire spool 1001, is drawn third channel 801
Line 1002.
It is described in detail
Structure of the present invention or technical term used in these are described further below.These explanations are only
Using example way be illustrated it is of the invention by the way of how to realize, any limitation can not be constituted to the present invention.
At present interior crusing robot using more and more common, producing inter-agency, intelligent storage material, carrying, change
The fields such as power station have had begun popularization and application.Existing crusing robot is that rail mounted is advanced, and must rely on track, it is therefore desirable to
A large amount of tracks, higher cost are set on ceiling or wall surface indoors.In addition to this, since rail mounted robot can only be along setting
The track counted is advanced, and inspection blind area is not only certainly existed, but also can not be carried out fixed point spy and be patrolled, therefore patrol when needing to pinpoint spy
When, crusing robot low efficiency.Now providing a kind of indoor crusing robot can be realized without relying on track to advance to interior
The real-time online of equipment, it is comprehensive, without dead angle inspection.
Embodiment 1
Indoor crusing robot, as shown in Figure 1, including column 1, motoring disk 2, electric expansion push rod 3 and executing agency 4,
Motoring disk 2 is installed on column 1, and electric expansion push rod 3 is installed on motoring disk 2, and motoring disk 2 drives electronic
Telescopic putter 3 rotates, and executing agency 4 is located at 3 end of electric expansion push rod.Motoring disk 2 can be in the horizontal plane around column 1
360 ° of rotations are made at center, to drive electric expansion push rod 3 to make 360 ° of rotations in the horizontal plane, to realize to the complete of indoor equipment
Orientation, without dead angle inspection.
As a specific embodiment, as shown in Fig. 2, motoring disk 2 includes pedestal 201, motor 202 and turntable
203, pedestal 201 and column 1 are fixed, and motor 202 is fixed on pedestal 201, and 202 output shaft of motor is connect with turntable 203.Electronic time
Turntable 2 it is small in size, rotate it is sensitive, be suitable for interior.Specifically, being equipped with the fixed branch of third between column 1 and motoring disk 2
Frame 204, pedestal 201 is fixed by the fixed bracket 204 of third and column 1, and the first fixed bracket is equipped with above motoring disk 2
205, turntable top and the first fixed bracket 205 are fixed, and electric expansion push rod 3 and the first fixed bracket 205 are fixed.Preferably,
Column 1 is cylindrical body or square, and 1 bottom of column is fixed with ground.
Preferably, as shown in figure 3, electric expansion push rod 3 uses interior cabling formula Multi-section electric telescopic putter, using more piece electricity
Dynamic telescopic putter not only has biggish retraction stroke ratio, but also uses interior cabling formula structure, both cable is avoided to be exposed to the external world
Cause to wear, in turn avoids relying on cable movement bring aesthetics deficiency problem.
As a specific embodiment, as shown in figs. 1 and 3,3 end of electric expansion push rod is fixed with executing agency 4, holds
Row mechanism includes fire extinguisher bomb 401 and detection components 402, and detection components 402 include holder 403, visible light camera 404 and infrared
Thermal imaging system 405, holder 403 are fixed with 3 end of electric expansion push rod, it is seen that light video camera 404 and thermal infrared imager 405 respectively with
403 both ends of holder are fixed, and fire extinguisher bomb 401 is located at 403 bottom of holder.Visible light camera 404 is put out a fire for monitoring indoor conditions
Bullet 401 is used for indoor fire-fighting fire extinguishing.As another embodiment, executing agency can be replaced manipulator, achievable to interior
The crawl and handling work of sundries, workpiece etc..
As shown in figs. 1 and 3, fixed 204 side of bracket of third is equipped with Temperature Humidity Sensor 208, and the other side is equipped with cigarette
Mist sensor 209.The Temperature Humidity Sensor 208 is for detecting the environmental informations such as indoor temperature, humidity.Smoke sensor device
209, smoking, the kindling etc. being likely to occur mainly for interior are detected.
The operating mode of robot may be configured as automatic detecting, spy patrols or be manually operated, as illustrated in figs. 5-7, robot
Operating mode may be configured as automatic detecting, spy patrols or manual operation, and the working method of embodiment 1 is as follows:
(1) electric expansion push rod 3 is contracted to most short, as shown in Figure 5；
(2) after above-mentioned movement in place, motoring disk 2 executes revolution movement, and electric expansion push rod 3 is driven to move to target position
It sets, as shown in Figure 6；
(3) after above-mentioned movement in place, electric expansion push rod 3 executes elongation movement, reaches the front of target, as shown in Figure 7；
(4) after above-mentioned movement in place, robot executes detection instruction, patrols in conjunction with the rotation realization of holder 403 to indoor equipment
Inspection, while recording the current position and posture of robot, by collected data back, complete data processing and failure from
Dynamic alarm.
Embodiment 2
Embodiment 2 the difference from embodiment 1 is that: the motoring disk 2 of embodiment 2 be equipped with electric up-down push rod 8, executing agency
It is set to 8 end of electric up-down push rod.Motoring disk 2 can make 360 ° around 1 center of column in the horizontal plane and rotate, and electronic time
Turntable 2 drives electric up-down push rod 8 to rotate, to realize the multi-faceted inspection to indoor equipment.
As a specific embodiment, as shown in FIG. 8 and 9, it is equipped between motoring disk 2 and electric up-down push rod 8
Electric expansion push rod 3, electric up-down push rod 8 are fixed on 3 end of electric expansion push rod, and executing agency 4 is fixed on electric up-down and pushes away
On bar 8.Motoring disk 2 can make 360 ° of rotations around 1 center of column in the horizontal plane, and electric expansion push rod 3 can be in level
Direction is flexible, and electric up-down push rod 8 can go up and down in vertical direction, realize to indoor equipment it is comprehensive, without dead angle inspection, it is suitable
For the detection to indoor stereo Space Facilities.
Specifically, electric up-down push rod 8 goes up and down push rod using interior cabling formula Multi-section electric, there is biggish retraction stroke
Than.
As a specific embodiment, as shown in Figure 1, the robot is equipped with flame sensor 211, flame sensor
211 are fixed on the first fixed 205 top of bracket, or are fixed on fixed 204 side of bracket of third, referring to Fig. 8 and 9.Flame passes
Sensor 211 is for detecting indoor open fire, and when there is fire, robot will do it sound-light alarm；It is electronic simultaneously
Rotary disk 2, electric expansion push rod 3 and electric up-down push rod 8 are combined movement, and fire extinguisher bomb 401 is sent to fire occurrence point position
It sets, throws fire extinguisher bomb 401 and put out a fire.
As shown in figs. 13-17, operating mode may be configured as automatic detecting, spy patrols, embodiment 2 to target carry out detection or it is right
Working method when target is put out a fire is as follows:
(1) robot electric lifting push rod 8 rise to extreme position, electric expansion push rod 3 be contracted to it is most short；
(2) after above-mentioned movement in place, motoring disk 2 executes revolution movement, drives electric up-down push rod 8 and electric expansion push rod
3 move to target position；
(3) after above-mentioned movement in place, electric expansion push rod 3 executes elongation movement, reaches the front of target；
(4) after above-mentioned movement in place, electric up-down push rod 8 executes lowering action, drives end effector mechanism to drop to equipment and waits for
Inspection position；
(5) after above-mentioned movement in place, robot executes detection instruction or fire extinguishing instruction, while recording the current pose of moving body
State.By collected data back, the processing of data and the automatic alarm of failure are completed.
Embodiment 3
Motoring disk 2, electric expansion push rod 3 and electric up-down push rod 8 are required to controlling cable and power cable 5 to carry out
The transmission of electric power and control signal.If controlling cable and power cable 5 are arranged in outside mechanism, it is easy mutually winding, and easily mill
Damage.
The robot is equipped with controlling cable and power cable 5, and the arrangement of controlling cable and power cable 5 has two
Kind:
The first scheme:
As shown in figs. 3 and 8, column 1 is equipped with control cabinet 6, is equipped with slip ring 206, controlling cable and power cable 5 inside turntable 203
One end is connect with control cabinet 6, and the other end sequentially passes through column 1, third bracket 204, pedestal 201 and turntable 203, with slip ring 206
Connection.Specifically, column 1, third bracket 204, pedestal 201 and 203 center of turntable are provided with channel, connect between channel
Logical, 206 outer surface of slip ring is fixed with 203 vias inner walls of turntable, and turntable 203 rotates slip ring 206 and also rotates with it, controlling cable and
Power cable 5 is passed through from pedestal 201 and is connect with slip ring 206, be can avoid cable and is rotated with turntable.Preferably, 206 top of slip ring with
203 top of turntable is concordant, and cable is avoided to cause cable to wear with 203 edge friction of turntable.
As a specific embodiment, the first fixed bracket 205 is equipped with the second fixed bracket 207, the second fixed branch
Frame 207 is fixed with winding mechanism 7, and winding mechanism 7 includes wire spool 701 and the coiling cable 702 being around on wire spool 701, around
Drum 701 is fixed on the second fixed 207 top of bracket.Coiling cable when can effectively avoid robot revolute using winding mechanism 7
702 winding.First fixed bracket 205, electric expansion push rod 3 and electric up-down push rod 8 all have channel, connect between channel
Logical, 702 one end of coiling cable is connect with slip ring 206, and the other end sequentially passes through the first fixed bracket 205,3 and of electric expansion push rod
The channel of electric up-down push rod 8.When coiling cable 702 is drawn from slip ring 206, coiling cable 702 can be from the first fixed bracket
205 outsides are passed through, and are around on wire spool 701, or are provided with Vertical Channel in the first fixed bracket 205, and coiling cable 702 is from perpendicular
Straight channel passes through, and is around on wire spool 701, and coiling cable 702 is avoided to be exposed to the external world.Specifically, the wire spool 701 is volume
When spring formula wire spool, electric expansion push rod 3 or/and electric up-down push rod 8 extend, wire spool 701 drives coiling cable 702 to overcome
Wind spring elastic force is extended；Conversely, then coiling cable 702 is shunk under the effect of wind spring elastic force.Specifically, the first fixed bracket
205 are provided with first passage 703, and electric expansion push rod 3 is provided with second channel 704, and electric up-down push rod 8 is provided with third channel 801,
Coiling cable 702 successively pass through wire spool 701, first passage 703, second channel 704 and third channel 801, then with execution
Mechanism 4 connects, referring to Figure 10-11.The wiring path of controlling cable and power cable 5 are as follows: controlling cable and power cable 5 are from control
Case 6 processed is drawn, and the channel of the fixed bracket 204 of column 1, third, pedestal 201 and turntable 203 is sequentially passed through, then with slip ring 206
Input terminal connection, the output end of 702 one end of coiling cable and slip ring 206 is electrically connected, and the other end successively passes through wire spool
701, first passage 703, second channel 704 and third channel 801 are connect with executing agency 4, i.e., respectively with fire extinguisher bomb 401, cloud
Platform 403, visible light camera 404 and thermal infrared imager 405 connect, and are used for motoring disk 2, electric telescopic rod 3, electric up-down
Bar 8 and 4 electric power of executing agency and the transmission for controlling signal, as shown in Fig. 4 and 12.The setting energy of slip ring 206 and winding mechanism 7
Enough avoid the winding between cable.
Second scheme:
As shown in Fig. 9 and 12, column 1 is fixed with power supply box 101, and the second fixed bracket 207 is fixed with Main Control Tank 601, electronic to stretch
3 end of contracting push rod is equipped with auxiliary control case 602, and executing agency 4 is installed on auxiliary control case 602, and executing agency 4 includes 402 He of detection components
Fire extinguisher bomb 401, detection components 402 include holder 403, visible light camera 404 and thermal infrared imager 405, it is seen that light video camera
404 and thermal infrared imager 405 fixed respectively with 403 both ends of holder, 403 one end of holder is connect with auxiliary control case 602, the other end with go out
Fiery bullet 401 connects.Main Control Tank 601 is used to control the movement of electric expansion push rod 3 and electric up-down push rod 8.
Be equipped with as a specific embodiment, inside turntable 203 slip ring 206, controlling cable and 5 one end of power cable with
Power supply box 101 connects, and the other end is connect with the input terminal of slip ring 206；Second fixed 207 one end of bracket is fixed with winding mechanism 7,
Main Control Tank 601 is connected with master control cable 603, the output end electrical connection of master control cable 603 and slip ring 206.The slip ring 206 is pacified
Inside turntable 203, power supply box 101 and Main Control Tank 601 are electrically connected with power cable 5 by slip ring 206 by controlling cable
Together, the winding of coiling cable when avoiding robot revolute.When master control cable 603 is drawn from slip ring 206, master control cable
603 can pass through outside the first fixed bracket 205, connect with Main Control Tank 601, or be provided in the first fixation bracket 205 perpendicular
Straight channel, master control cable 603 are successively passed through from Vertical Channel, first passage 703, are connect with Main Control Tank 601, avoid master control cable
603 are exposed to the external world, as shown in Figure 9.
Winding mechanism 7 includes wire spool 701 and the coiling cable 702 being around on wire spool 701, the first fixed bracket 205
With first passage 703, electric expansion push rod 3 has second channel 704, and first passage 703, second channel 704 and third are logical
Road 801 is sequentially communicated, and 702 one end of coiling cable is connect with Main Control Tank 601, and the other end successively passes through wire spool 701, first passage
703, second channel 704 and third channel 801, respectively with fire extinguisher bomb 401, holder 403, visible light camera 404 and infrared heat
As the connection of instrument 405, referring to fig. 4.Specifically, the wire spool 701 is spring type wire spool, electric expansion push rod 3 and/or electronic
When going up and down the elongation of push rod 8, drive coiling cable 702 that wind spring elastic force is overcome to be extended；Conversely, then coiling cable 702 is in wind spring
Elastic force effect is lower to shrink.Specifically, first passage 703 is set to the center of the first fixed bracket 205, second channel 704 is set
In the center of electric expansion push rod 3, third channel 801 is set to the center of electric up-down push rod 8.Column 1, third are solid
Fixed rack 204, pedestal 201 and turntable 203 are provided with channel, are connected between channel.
The wiring path of controlling cable and power cable 5 are as follows: controlling cable and power cable 5 are drawn from power supply box 101, according to
The secondary channel across column 1, the fixed bracket 204 of third, pedestal 201 and turntable 203, then connect with the input terminal of slip ring 206,
The output end of 702 one end of coiling cable and slip ring 206 is electrically connected, the other end successively pass through wire spool 701, first passage 703,
Second channel 704 and third channel 801 are connect with executing agency 4, i.e., respectively with fire extinguisher bomb 401, holder 403, visible image capturing
Machine 404 and thermal infrared imager 405 connect, for motoring disk 2, electric telescopic rod 3, electric lifting rod 8 and executing agency 4
It carries out electric power and controls the transmission of signal, as shown in Fig. 4 and 12.The effect and control of coiling cable 702, master control cable 603
Cable is identical as power cable 5.
It is electronic when robot is made of motoring disk 2 and electric expansion push rod 3 as a specific embodiment
3 terminus inner of telescopic putter is equipped with fixed pulley 301, and fixed pulley 301 is located at the transition location of electric expansion push rod 3 and holder 403
Place, coiling cable 702 surround fixed pulley 301, as shown in Figure 3.Specifically, fixed pulley 301 uses nylon fixed pulley.Fixed pulley
301 are conducive to cable wiring.
When robot is made of motoring disk 2, electric expansion push rod 3 and electric up-down push rod 8, electric expansion push rod
3 terminus inners are equipped with fixed pulley 301, and fixed pulley 301 is located at the transition location of electric expansion push rod 3 and electric up-down push rod 8,
Coiling cable 702 surround fixed pulley 301, as shown in FIG. 8 and 9.Specifically, fixed pulley 301 uses nylon fixed pulley.Fixed pulley
301 are conducive to cable wiring.
As a specific embodiment, there is wirerope, wirerope one end and wire spool 701 inside coiling cable 702
Fixed, the other end and holder 403 are fixed.Specifically, coiling cable 702 includes wrapping layer, wirerope is located inside wrapping layer.Around
There is wirerope in coiling cable bundle between line mechanism 7 to executing agency 4, wirerope is avoided as beaer when pulling
Direct pulling coiling cable 702 damages it.
As a specific embodiment, as shown in figure 9, being equipped with electric expansion push rod electricity above the first fixed bracket 205
Machine 302, electric expansion push-rod electric machine 302 are connected with electrified cable 604, and electrified cable 604 and the output end of slip ring 206 electrically connect
It connects.Electrified cable 604 is controlling cable and power cable 5, and electrified cable 604, which has, gives electric expansion push-rod electric machine 302 electricity
The effect of power transmission and control 302 positive and negative rotation of electric expansion push-rod electric machine.
As shown in Figure 4 and Figure 8, the control of Temperature and Humidity sensor 208, smoke sensor device 209 and flame sensor 211
Cable and power cable 5 are directly connect with control cabinet 6 without slip ring 206.Alternatively, as shown in figure 9, Temperature and Humidity senses
The controlling cable and power cable 5 of device 208 and smoke sensor device 209 are connect with Main Control Tank 601.
Embodiment 4
Embodiment 3 and the difference of embodiment 1,2 are: motoring disk 2 is equipped with track 9, and track laying has trolley 901,
Mobile mechanism includes chassis 902 and electric up-down push rod 8, and chassis 902 is slided by trolley 901 along track 9,902 bottom of chassis
Portion and electric up-down push rod 8 are fixed, as shown in figure 18.9 length of track in the present embodiment is certain, passes through control mobile mechanism
Movement is to carry out to indoor inspection.It drives mobile mechanism mobile using trolley 901, without wiring, avoids drawing between cable
The winding risen.Multiple mobile mechanisms can be set on track 9, the inspection of multiple regions can be carried out simultaneously, and each other
It does not interfere with each other.9 the space occupied of track is small, is capable of the inspection in practical small space.Mobile mechanism is by trolley 901 along track 9
Mobile, control is more accurate, and inspection range is finer.
The electric up-down push rod 8 is that interior cabling formula Multi-section electric goes up and down push rod, has biggish retraction stroke ratio.
As a specific embodiment, as shown in Figures 19 and 20, the robot is equipped with controlling cable and power cable
5, column 1 is equipped with control cabinet 6, and slip ring 206, controlling cable and 5 one end of power cable are equipped with inside turntable 203 and control cabinet 6 connects
It connects, the other end is connect with the input terminal of slip ring 206, and 901 one end of trolley passes through the output end of connection cables 903 and slip ring 206
Electrical connection, the other end are connect with chassis 902.Specifically, having carbon brush between trolley 901 and chassis 902, it to be used for trolley
Electrical connection between 901 and chassis 902.The trolley 901 has the function of power supply power supply and DC carrier wave communication function.Tool
Body, the controlling cable and power cable 5 drawn from control cabinet 6 are successively by column 1, third fixed bracket 204, motoring
It after disk 2, is installed on slip ring 206, by connecting after slip ring 206 with the trolley 901 being mounted on track 9, trolley 901 will
Power supply is introduced into mobile mechanism.Specifically, trolley 901 is arranged along track 9, the length of the length covering track 9 of trolley 901
Degree.Controlling cable and power cable 5 are identical as the effect of connection cables 903.
As a specific embodiment, as shown in Figures 18 and 19, the second fixed bracket 207 is equipped with recovering mechanism 10, returns
Receiving mechanism 10 includes wire spool 1001 and bracing wire 1002, and 1002 one end of bracing wire is around on wire spool 1001, the other end and chassis 902
It is fixed.When mobile mechanism breaks down during the motion, can be used the recovering mechanism 10 mobile mechanism is drawn to it is electronic
It is convenient to overhaul near rotary disk 2.Specifically, recovering mechanism 10 is fixed on the lower section of the second fixed bracket 207.Preferably, it recycles
Mechanism and mobile mechanism are located at the opposite end of motoring disk 2, and further, recovering mechanism 10 is located along the same line with track 9.
Recovering mechanism 10 and track 9 are located at same straight line, conveniently and effortlessly mobile mechanism are drawn near motoring disk 2.It draws
Line can pass through around motoring disk 2, as shown in figure 20.Preferably, as shown in figure 21, the first fixed bracket 205 is provided with channel, draws
Line 1002 passes through channel, is laid with along track 9, then connect with mobile mechanism.Bracing wire 1002 is passed through from channel, avoids obstruction machine
Operation between structure causes bracing wire 1002 to disconnect moreover, also can avoid friction between bracing wire 1002 and motoring disk 2.Specifically
, bracing wire 1002 has certain intensity, such as wirerope.Specifically, the recovering mechanism 10 is the recycling of hand wirerope
Mechanism.Specifically, wire spool 1001 uses spring type wire spool.When mobile mechanism is far from recovering mechanism 10, mobile mechanism
Drag force overcomes wind spring elastic force to elongate wirerope 1002；When mobile mechanism runs to 10 direction of recovering mechanism, in wind spring bullet
Under power effect, automatically by 1002 elevator of bracing wire.
As a specific embodiment, it is equipped with elastic cable 802, elasticity as shown in figure 19, inside electric up-down push rod 8
Cable one end is connect with chassis 902, the other end respectively with fire extinguisher bomb 401, holder 403, thermal infrared imager 404 and visible image capturing
Machine 405 connects.Elastic cable 802 is controlling cable and power cable 5, has and provides power supply and control action.Elastica
Cable 802 have elasticity, can with the lifting of electric up-down push rod 8 elastic telescopic, avoid the lifting because of electric up-down push rod 8
Cause the winding of cable.
Figure 19 is that the trace-diagram of the present embodiment will be electric by power conversion module after 220V AC power source enters control cabinet 6
Pressure is converted into 24V direct current.The controlling cable and power cable 5 drawn from control cabinet 6 are installed to slip ring 206 after column 1
On, by connecting after slip ring 206 with the trolley 901 being mounted on track 9, power supply is introduced into mobile mechanism by trolley 901
On；Mobile mechanism by be mounted on the elastic cable 802 inside electric up-down push rod respectively with detection components 402, fire extinguisher bomb 401
Connection.
Figure 23-Figure 27 is the operation schematic diagram when present invention is detected or put out a fire to target.Operator can monitor
Backstage is by video camera observation indoor situations, and the operating mode of robot of the present invention may be configured as automatic detecting, spy patrols or manually
Operation, working method when embodiment 3 is detected or put out a fire to target are as follows:
(1) robot electric lifting push rod 8 rises to extreme position；
(2) after above-mentioned movement in place, motoring disk 2 executes revolution movement, drives robot motion to target position；
(3) after above-mentioned movement in place, mobile mechanism drives executing agency 4 and fire extinguisher bomb 401 to run along track, reaches target
Front；
(4) after above-mentioned movement in place, electric up-down push rod 8 executes lowering action, drives under detection components 402 and fire extinguisher bomb 401
Drop to equipment position to be inspected；
(5) after above-mentioned movement in place, robot executes data acquisition instructions or/and throws fire extinguisher bomb instruction, while record moves down
The current position and posture of kinetoplast.By collected data back, the processing of data and the automatic alarm of failure are completed.
Embodiment 5
The present embodiment and the difference of embodiment 1,2,3,4 are: in the present embodiment, the robot is equipped with balance weight mechanism, such as schemes
Shown in 18 and 19.When electric up-down push rod 8 or mobile mechanism are in apart from motoring disk 2 compared with distant positions, to motoring
Disk 2 causes biggish eccentric moment, to balance the eccentric moment, increases balance weight mechanism, counter weight machine in the side of motoring disk 2
Structure is clump weight 210.
When robot is made of motoring disk 2, electric expansion push rod 3 and electric up-down push rod 8, by executing agency 4
The opposite sides of motoring disk 2, i.e. clump weight 210, motoring disk 2 and executing agency 4 are respectively arranged at clump weight 210
On the same line, it can be improved the stability of robot, referring to fig. 28.Specifically, the first fixed bracket 205, clump weight
210, the second fixed bracket 207, electric expansion push rod 3 and executing agency 4 are located along the same line.
When robot by motoring disk 2 and mobile mechanism at when, executing agency 4 and clump weight 210 are respectively arranged at
The opposite sides of motoring disk 2, i.e. clump weight 210, motoring disk 2 and executing agency 4 on the same line, can be improved
The stability of robot, referring to fig. 29.Specifically, the first fixed bracket 205, clump weight 210, second fixed bracket 207, track
9, mobile mechanism and executing agency 4 are located along the same line.
Specifically, 210 size and weight of clump weight are unlimited, according to 3 extended length of electric expansion push rod, executing agency 4 or
Executing agency is depending on the position on track 9.
As a specific embodiment, clump weight 210 is solid by the second fixed bracket 207 and the first fixed bracket 205
Fixed, as shown in figure 30, the second fixed bracket 207 has multiple mounting holes 2071, and clump weight 210 is fixed by fastener such as screw
Any position on the top of the second fixed bracket 207 perhaps lower section or the second fixed bracket 207, multiple mounting holes
Position of the changeable clump weight 210 of 2071 setting on the second fixed bracket 207.As another specific embodiment, such as
Shown in Figure 31, the second fixed bracket 205 is equipped with sliding rail 2072, and clump weight 210 is moved along sliding rail 2071.Moveable counter weight block 210
Position on sliding rail 2072, to balance to eccentric moment caused by motoring disk 2.It is extended according to electric expansion push rod 3
Position on track 9 of length or mobile mechanism, executing agency weight, can change at any time clump weight 210 weight and
Position of the clump weight 210 on the second fixed bracket 207.
In the case where lacking any element specifically disclosed herein, limitation, may be implemented illustrated and described herein
Invention.Used terms and expressions method is used as the term of explanation rather than limits, and is not intended in these terms and table
Up to any equivalent for excluding shown and described feature or part thereof in the use of method, and it should be realized that various remodeling exist
It is all feasible in the scope of the present invention.It is therefore to be understood that although specifically being disclosed by various embodiments and optional feature
The present invention, but the modifications and variations of concept as described herein can be used by those of ordinary skill in the art, and recognize
It is fallen into for these modifications and variations within the scope of the present invention of the appended claims restriction.
It is described herein or record article, patent, patent application and every other document and can electronically obtain
The content of information to a certain extent in full include herein by reference, just as each individual publication by specific and single
Solely point out by reference.Applicant retains from any of any this article, patent, patent application or other documents
And all material and information are incorporated into the right in the application.
Claims (10)
1. a kind of interior crusing robot, which is characterized in that including motoring disk, the electric expansion push rod being installed on column
And winding mechanism, motoring disk inside are equipped with slip ring, winding mechanism and electric expansion push rod are located at motoring disk
Opposite sides.
2. a kind of indoor crusing robot according to claim 1, which is characterized in that motoring disk includes pedestal, electricity
Machine and turntable, pedestal are fixed with column, and motor is fixed on pedestal, and motor output shaft is connect with turntable, and turntable is provided with suitable with slip ring
The channel matched, slip ring outer surface are fixed with turntable vias inner walls, and slip ring top is concordant with turntable top.
3. a kind of indoor crusing robot according to claim 2, which is characterized in that set between column and motoring disk
There is the fixed bracket of third, pedestal is fixed by the fixed bracket of third with column；The fixed bracket of column, third and pedestal are provided with use
It is connected between the channel that controlling cable and power cable pass through, channel.
4. a kind of indoor crusing robot according to claim 3, which is characterized in that electric expansion push rod is solid by first
Fixed rack is fixed with turntable, and the first fixed bracket is provided with channel.
5. a kind of indoor crusing robot according to claim 4, which is characterized in that the robot is equipped with execution machine
Structure, is equipped with electric up-down push rod between electric expansion push rod and executing agency, executing agency is located at electric up-down push rod end.
6. a kind of indoor crusing robot according to claim 5, which is characterized in that executing agency includes fire extinguisher bomb and inspection
Component is surveyed, detection components include holder, visible light camera and thermal infrared imager, and holder is fixed with electric up-down push rod end,
Visible light camera and thermal infrared imager are fixed with holder both ends respectively.
7. a kind of indoor crusing robot according to claim 6, which is characterized in that the robot includes controlling cable
With power cable, column is equipped with control cabinet, and controlling cable connect with power cable one end with control cabinet, the other end and slip ring it is defeated
Enter end connection, the first fixed bracket, electric expansion push rod and electric up-down push rod are provided with channel, and winding mechanism includes coiling
The output end of disk and the coiling cable being around on wire spool, coiling cable one end and slip ring connects, and the other end sequentially passes through first
The channel of fixed bracket, electric expansion push rod and electric up-down push rod, respectively with fire extinguisher bomb, holder, visible light camera and
Thermal infrared imager connection.
8. a kind of indoor crusing robot according to claim 7, which is characterized in that coiling cable includes wrapping layer, packet
There is wirerope, wirerope one end is fixed with wire spool, and the other end is connect with holder inside covering layer.
9. a kind of indoor crusing robot according to claim 8, which is characterized in that it is fixed to be equipped with inside electric expansion push rod
Pulley, fixed pulley are located at the transition location of electric expansion push rod and electric up-down push rod.
10. a kind of indoor crusing robot according to claim 9, which is characterized in that the fixed bracket of column, third and bottom
Seat is provided with channel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910004044.4A CN109591030A (en) | 2019-01-03 | 2019-01-03 | A kind of interior crusing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910004044.4A CN109591030A (en) | 2019-01-03 | 2019-01-03 | A kind of interior crusing robot |
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| CN109591030A true CN109591030A (en) | 2019-04-09 |
Family
ID=65965901
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910004044.4A Pending CN109591030A (en) | 2019-01-03 | 2019-01-03 | A kind of interior crusing robot |
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| CN (1) | CN109591030A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110270029A (en) * | 2019-06-26 | 2019-09-24 | 无锡旭浦能源科技有限公司 | Power energy storage equipment machine people's maintenance system |
| CN110326884A (en) * | 2019-08-23 | 2019-10-15 | 榆逗(上海)智能科技有限公司 | Go up and down feet mechanism |
| CN110647082A (en) * | 2019-10-09 | 2020-01-03 | 宁波思高信通科技有限公司 | Intelligent inspection system for machine room and working method of intelligent inspection system |
| CN111089863A (en) * | 2019-12-31 | 2020-05-01 | 中国科学院空间应用工程与技术中心 | Mutual inspection type exposure device outside material cabin |
| CN111114855A (en) * | 2019-12-31 | 2020-05-08 | 中国科学院空间应用工程与技术中心 | Outer ring inspection device in material cabin with cable arrangement function |
| CN114694339A (en) * | 2020-12-28 | 2022-07-01 | 比亚迪股份有限公司 | Fire prevention and control method and system for rail transit |
| CN116242406A (en) * | 2023-03-02 | 2023-06-09 | 苏州倍斯维尔自动化科技有限公司 | Logistics storage inspection robot |
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Address after: 277000 No. 15 Building, Internet Town, Zaozhuang High-tech Zone, Shandong Province Applicant after: Shandong Institute of industrial technology, Zhejiang University Applicant after: Shandong Dalai Intelligent Technology Co., Ltd. Applicant after: Shandong Lepwell Automation Technology Co., Ltd. Address before: 277 100 Room 408, Building 15, Jinshui Long Street, Zaozhuang High-tech Zone, Shandong Province Applicant before: Shandong Dalai Intelligent Technology Co., Ltd. Applicant before: Shandong Institute of industrial technology, Zhejiang University Applicant before: Shandong Lepwell Automation Technology Co., Ltd. |
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