CN102736623B - Track self-directed moving robot - Google Patents

Abstract

The invention belongs to the field of special robots, and is specifically a rail-type autonomous mobile robot, including a bogie, a chassis, a collector, a travel switch, a cloud platform, a control system, a sliding wire and a positioning block. There are two bogies, mutually Independent, with the same structure, they run on the rails respectively. On the rails, there are sliding wires connected to the external power supply. There are multiple sets of positioning blocks symmetrically on both sides of the sliding wires; the chassis is connected with two bogies respectively, and on the upper surface of the chassis The pan/tilt and the control system are respectively installed. The lower surface of the chassis is respectively connected with a collector and a travel switch. The collector slides on the sliding line to supply power for the robot. The installation position of the positioning block is corresponding, and the collector and the travel switch are respectively electrically connected with the control system. The invention can realize precise walking, positioning and other controls on the planned track path, and can realize continuous fixed-point observation of multiple targets.

Description

A rail-type autonomous mobile robot

technical field

The invention belongs to the field of special robots, in particular to a rail-type autonomous mobile robot.

Background technique

Substation equipment inspection plays an extremely important role in ensuring the safe production and reliable operation of the power system. Due to the influence of human factors, the traditional manual inspection method is sometimes difficult to detect equipment abnormalities and potential failures in time. The application of intelligent mobile robots for inspection of substation equipment can give full play to the technical advantages of robots and complete some tasks that are difficult to complete by manual inspection, thereby improving the quality of inspection and accelerating the process of unattended substations.

At present, the walking mechanism of mobile robots has various forms such as wheel type, crawler type, or wheel-track combination type, etc., which are flexible in movement and strong in obstacle surmounting ability; It is difficult to achieve continuous fixed-point observation of multiple targets. And the energy source of the mobile robot body is nothing more than two ways of rechargeable battery and internal combustion engine. If the internal combustion engine is used, the structure of the robot is much more complicated; and the rechargeable battery needs to consider the working time of the robot and the charging of the battery.

Contents of the invention

In order to solve the problems of continuous fixed-point observation and the influence of rechargeable batteries on working time during the inspection of existing mobile robots, the purpose of the present invention is to provide a rail-type autonomous mobile robot. The autonomous mobile robot can be applied to the detection and inspection of substation equipment.

The purpose of the present invention is achieved through the following technical solutions:

The present invention includes bogies, chassis, collectors, travel switches, pan-tilts, control systems, sliding wires and positioning blocks, wherein there are two bogies, which are independent of each other and have the same structure. The sliding wires connected to the external power supply are symmetrically provided with multiple sets of positioning blocks on both sides of the sliding wires; the chassis is respectively connected with two bogies, and the upper surface of the chassis is respectively equipped with a pan-tilt and a control system, and the lower surface of the chassis is respectively Connected with a collector and a travel switch, the collector slides on the slide line to supply power to the robot. The travel switch is located on both sides of the collector, and the travel track of the travel switch corresponds to the installation position of the positioning block. The switches are respectively electrically connected with the control system.

Wherein: the sliding wire is fixed on the track through a sliding wire fixing frame, the sliding wire is composed of a copper core and an insulating sheath, one end of the collector is fixedly connected to the lower surface of the chassis, and the other end is in contact with the copper core; The travel switch and the collector are arranged front and back, there are two travel switches, symmetrically arranged on both sides of the track, and the collector is located in the middle of the two travel switches;

The bogie includes a driving motor, a fixed frame, a driving wheel, a driven wheel, a guide wheel and a turntable, wherein the driving wheel and the driven wheel are independently rotatably installed on the fixed frame, and the driving motor is fixed on the fixed frame. Connected to the fixed frame, the active walking wheel is connected with the output shaft of the drive motor; a turntable is arranged on the top of the fixed frame, the chassis is placed on the turntable, the turntable is rotatable relative to the chassis, and the bottom of the fixed frame is equipped with multiple Two guide wheels; the fixed frame is a cuboid, and both ends of the length direction are "concave" shapes, and there are rotatable guide wheels on each of the two branches of the "concave" shape, and the guide wheels at both ends are respectively located on the track The outer side is in rolling contact with the two sides of the track; the central axis of each guide wheel is parallel to and perpendicular to the central axis of the driving wheel and the driven wheel; two through holes are symmetrically opened on the fixed frame, and the active walking The wheel and the driven wheel are respectively accommodated in two through holes, and both the active wheel and the driven wheel are in contact with the upper surface of the track; the central axis of the active wheel and the central axis of the driven wheel are in the horizontal plane The inner part is parallel to each other; the middle part of the fixed frame is a hollow structure, which extends upward to form a support frame, and the turntable is rotatably installed on the top of the support frame; the drive motor has an encoder, and the encoder is connected with the control system. electrical connection.

Advantage of the present invention and positive effect are:

1. The present invention transmits electric energy to the control system through the contact friction between the current collector and the sliding wire, and the collision between the travel switch and the positioning block, under the action of the digital encoder, can realize precise walking on the planned track path , positioning and other controls can realize continuous fixed-point observation of multiple targets.

2. The present invention adopts the rail sliding line method to take power, which can make the mobile robot work continuously for a long time without being restricted by time factors, without considering battery charging and battery life, and solves the energy source of the mobile robot, and the continuous working time is arbitrary ,Stable and reliable.

3. The present invention adopts the power carrier communication technology through the sliding line on the track, and the staff can remotely control the video and communication signals of the mobile robot. Lag and other problems, and solve the cable problem of wired communication.

4. The present invention adopts a double-bogie structure, which is suitable for various curved rail shapes, and the turning radius is small and flexible. The turntable can have an angle change relative to the chassis, avoiding the interference of the mobile robot itself, and realizing the movement of the mobile robot on various curves. run smoothly.

5. The center of gravity of the bogie of the present invention is stable, the carrying capacity is high, and the movement on the track is stable.

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram of the present invention;

Fig. 2 is a structural front view of the present invention;

Fig. 3 is the right view of Fig. 2;

Fig. 4 is a schematic structural diagram of the power supply mode of the present invention;

Fig. 5 is the structural representation of bogie of the present invention;

Among them: 1 is the bogie, 2 is the chassis, 3 is the track, 4 is the driving motor, 5 is the fixed frame, 6 is the driving wheel, 7 is the driven wheel, 8 is the guide wheel, 9 is the turntable, 10 is the set Electrical appliance, 11 is a travel switch, 12 is a cloud platform, 13 is a control system, 14 is a sliding wire, 15 is a sliding wire fixing frame, and 16 is a positioning block.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings.

As shown in Figures 1 to 4, the present invention includes a chassis 2, a current collector 10, a travel switch 11, a cloud platform 12, a control system 13, a sliding wire 14, a positioning block 16 and two bogies 1, and the two bogies 1 are connected to each other. Independent, with the same structure, running on track 3 respectively. The section of the track 3 is "concave" shape, in the middle of the "concave" track, along the length direction of the track, a slide wire 14 is fixed through the slide wire fixing frame 15, and the slide wire 14 is composed of a copper core and an insulating sheath. The wire 14 is connected to an external power supply, and the sliding wire 14 is powered by the external power supply; on both sides of the sliding wire 14, multiple sets of positioning blocks 16 are symmetrically arranged.

As shown in Figure 5, the bogie 1 includes a drive motor 4, a fixed frame 5, a driving wheel 6, a driven wheel 7, a guide wheel 8 and a turntable 9, wherein the fixed frame 5 is a cuboid, and the two ends of the fixed frame in the length direction They are all "concave" shapes, and rotatable guide wheels 8 are provided on the two branches of each "concave" shape, that is, there are four guide wheels 8 on each bogie 1; the guide wheels 8 at both ends They are respectively located on the outside of the track 3 and are in rolling contact with the two sides of the track 3 . The middle part of the fixed frame 5 is a hollow structure, which extends upwards to form a support frame, and the turntable 9 is rotatably mounted on the top of the support frame through bearings, and can rotate at any angle around its own axis. There is also a through hole between the hollow part of the fixed frame 5 and the "concave" structure at each end, and the two through holes are symmetrical to the central axis of the fixed frame 5; the driving wheel 6 and the driven wheel 7 pass through the bearing respectively Installed in a through hole, the driving wheel 6 and the driven wheel 7 are in contact with the upper surface of the track 3 to support the weight of the mobile robot itself. The drive motor 4 is fixedly connected to the "concave" structure at one end, and the driving wheel 6 is keyed to the output shaft of the drive motor 4 . The active traveling wheel 6 and the driven traveling wheel 7 are mutually independent, and the active traveling wheel 6 and the driven traveling wheel 7 are not coaxial, that is, the active traveling wheel 6 and the driven traveling wheel 7 have respective central shafts, and the axes of the two central shafts collinear. Two of four guide wheels 8 are at the front and two are behind, and are installed on the fixed mount 5. The central axis of each guide wheel 8 is parallel to each other, and perpendicular to the central axis of the driving wheel 6 and the driven wheel 7 respectively.

The chassis 2, the pan-tilt 12 and the control system 13 form the robot body, wherein the chassis 2 is placed on the turntable 9, and the two bogies 1 are respectively located at the two ends of the length direction of the chassis 2. The turntable 9 can rotate relative to the chassis 2, and the chassis 2 passes through the The turntable 9 is connected with each bogie 1 . The cloud platform 12 and the control system 13 are installed on the upper surface of the chassis 2, the cloud platform 12 is a two-degree-of-freedom platform, and the control system 13 is the prior art; the lower surface of the chassis 2 is respectively fixed with a collector 10 and a travel switch 11 The current collector 10 and the travel switch 11 are located between the two bogies 1 and are electrically connected to the control system 13 respectively; one end of the current collector 10 is fixedly connected to the lower surface of the chassis 2, and the other end is in contact with the copper core of the sliding wire 14, Through the contact friction between the current collector 10 and the slide wire 14, the electric energy is transmitted to the control system 13 of the mobile robot to supply power for the robot; the travel switch 11 and the current collector 10 are arranged in front and back, and there are two travel switches 11, which are symmetrically arranged on the track 3 On both sides, the current collector 10 is located in the middle of the two travel switches 11 , and the travel track of the travel switch 11 corresponds to the installation position of the positioning block 16 .

The driving motor 4 in the bogie 1 is provided with an encoder, and the encoder is electrically connected with the control system 13 .

Working principle of the present invention is:

The driving motor 4 provides power for the mobile robot to walk on the track 3, and the driving motors 4 in the two bogies 1 work synchronously. Driven by the driving motor 4, the driving wheel 6 provides power for the bogie 1 to travel on the track 3; while the two bogies 1 are running on the track, the collector 10 and the slide wire 14 contact and rub, and the electric energy generated passed to the control system 13. When the mobile robot advances to the positioning block 16, the contact of the travel switch 11 collides with the positioning block 16, and under the action of the digital encoder on the drive motor 4, the signal is sent to the control system 13, which is controlled by the control system 13, Realize the precise parking of the mobile robot at a predetermined position, and then the two-degree-of-freedom pan-tilt installed at the front end of the chassis 2 can conduct precise fixed-point observation of multiple targets.

When the mobile robot travels on the straight track, the bogie 1 has no displacement in the equilibrium position, and each guide wheel 8 will roll forward with an effective radius, guiding the bogie 1 to move forward or backward smoothly in the direction of the track 3; when moving When the robot is running on a curved track, since the driven wheel 7 is a passive wheel, it is not coaxial with the active wheel 6 and is independent of each other. Therefore, when the bogie 1 is on a curved track, the passive walking of the driven wheel 7 solves the problem. The differential speed problem of the two road wheels. The guide wheels 8 on one side or both sides will be subjected to radial pressure on the side of the track 3, and this pressure will force the bogie 1 to return to the equilibrium position; in addition, under the action of the turntable 9, the two independent bogies 1 can respectively There is an angle change with the chassis 2, which avoids the interference of the mobile robot itself, and realizes the smooth operation of the mobile robot on various curves.

The single track is characterized by the use of one track, which occupies a small area; in addition, the track width is narrow, and the track support frame has a simple structure and takes up little space. The present invention uses a single track to support, stabilize and guide the mobile robot. The mobile robot is stuck on the track beam through its unique structure and can run smoothly. There is no need to consider the deceleration problem of the robot at the turning point, and there is no possibility of derailment.

The chassis 2 in the mobile robot of the present invention can be connected in series with the chassis of the next mobile robot through the connecting shaft, and accordingly, a plurality of mobile robots can be connected in series, just like each carriage of a train; there is a chassis 2 in each mobile robot And two bogies 1. When the mobile robot is on a straight track, one chassis 2 can correspond to two or more bogies 1; but if it is on a curved track, only one chassis can correspond to two bogies, otherwise, turning will not be possible at the turn .

The mobile robot adopts power carrier communication technology through the sliding line 14, and the staff can control the video and communication signals of the mobile robot at a long distance. It also solves the cable problem of wired communication.

Claims (7)

1. a rail type autonomous mobile robot, it is characterized in that: comprise bogie (1), chassis (2), current-collector (10), travel switch (11), The Cloud Terrace (12), control system (13), slip (14) and locating piece (16), wherein bogie (1) is two, separate, structure is identical, respectively in the upper operation of track (3), on track (3), be provided with the slip (14) that connects external power supply, the symmetria bilateralis of slip (14) is provided with many group locating pieces (16), described chassis (2) is connected with two bogies (1) respectively, on chassis, the upper surface of (2) is separately installed with The Cloud Terrace (12) and control system (13), the lower surface on chassis (2) is connected with respectively current-collector (10) and travel switch (11), this current-collector (10) slides on slip (14), for robot power supply, described travel switch (11) is positioned at the both sides of current-collector (10), the running orbit of travel switch (11) is corresponding with the installation site of locating piece (16), current-collector (10) and travel switch (11) are electrically connected with control system (13) respectively,

Described bogie (1) comprises drive motor (4), fixed mount (5), positive transport wheel (6), driven road wheel (7), angle sheave (8) and rotating disk (9), wherein positive transport wheel (6) and driven road wheel (7) separate, be installed in rotation on fixed mount (5) respectively, it is upper that drive motor (4) is fixed in fixed mount (5), and described positive transport wheel (6) is connected with the output shaft of drive motor (4); Be provided with rotating disk (9) at the top of fixed mount (5), chassis (2) is placed on rotating disk (9), described rotating disk (9) is rotatable with respect to chassis (2), and the bottom of fixed mount (5) is provided with multiple angle sheaves (8);

Described slip (14) is fixed on track (3) by slip fixed mount (15), slip (14) is made up of copper core and insulating sheath, one end of described current-collector (10) is fixed in the lower surface of chassis (2), and the other end contacts with copper core.

2. by rail type autonomous mobile robot claimed in claim 1, it is characterized in that: described travel switch (11) arranges with current-collector (10) front and back, travel switch (11) is two, be symmetricly set on the both sides of track (3), current-collector (10) is positioned at the centre of two travel switches (11).

3. by rail type autonomous mobile robot claimed in claim 1, it is characterized in that: described fixed mount (5) is rectangular parallelepiped, the two ends of length direction are " recessed " shape, in the Liang Ge branch of each " recessed " shape, be equipped with rotating angle sheave (8), the angle sheave (8) at two ends lays respectively at the outside of track (3), rolls and contact with two sides of track (3).

4. by rail type autonomous mobile robot claimed in claim 3, it is characterized in that: the central axis of described each angle sheave (8) parallels, and perpendicular to the central axis of positive transport wheel (6) and driven road wheel (7).

5. by the rail type autonomous mobile robot described in claim 1 or 3, it is characterized in that: the upper symmetry of described fixed mount (5) has two through holes, positive transport wheel (6) and driven road wheel (7) are placed in respectively in two through holes, and positive transport wheel (6) and driven road wheel (7) all contact with the upper surface of track (3); The central axis of the central axis of described positive transport wheel (6) and driven road wheel (7) is parallel to each other in surface level.

6. by the rail type autonomous mobile robot described in claim 1 or 3, it is characterized in that: the middle part of described fixed mount (5) is hollow structure, upwards extend to form a bracing frame, described rotating disk (9) is installed in rotation on the top of this bracing frame.

7. by rail type autonomous mobile robot claimed in claim 1, it is characterized in that: described drive motor (4) is upper with scrambler, and this scrambler is electrically connected with control system (13).