CN105459093A - Autonomous navigation harmful gas detecting robot - Google Patents
Autonomous navigation harmful gas detecting robot Download PDFInfo
- Publication number
- CN105459093A CN105459093A CN201610025629.0A CN201610025629A CN105459093A CN 105459093 A CN105459093 A CN 105459093A CN 201610025629 A CN201610025629 A CN 201610025629A CN 105459093 A CN105459093 A CN 105459093A
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- chassis
- cabin
- fin arm
- robot
- crawler belt
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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- 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
- B25J19/0054—Cooling means
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- 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
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
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- 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
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- 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
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an autonomous navigation harmful gas detecting robot which comprises a wheel and crawler type robot platform. The wheel and crawler type robot platform comprises a chassis cabin and crawler walking mechanisms arranged on the left side and the right side of the chassis cabin. Gas detectors are arranged on a top plate of the chassis cabin. Each gas detector is connected with an alarm and connected with a robot controller. Laser radar is arranged at the front end of the top plate of the chassis cabin and connected with the robot controller through a navigation processor. A monitor is arranged on the top plate of the chassis cabin and installed on the top plate of the chassis cabin through a telescopic mast. The autonomous navigation harmful gas detecting robot is powerful in function, high in practicability, high in obstacle crossing capacity, high in adaptability to high-temperature and low-temperature environments and toxic and harmful strong acid and alkaline environments, capable of detecting gas leakage, capable of directly finding leakage failure points and quite high in practical value.
Description
Technical field
The present invention relates to a kind of detection robot, more particularly, relate to a kind of pernicious gas detection robot of independent navigation.
Background technology
Along with the fast development of China's economic construction, urbanization and process of industrialization are constantly accelerated, and the places such as Chemical Manufacture factory and chemical industry storage get more and more.Before fire-fighting and rescue work are carried out, need to send persons wear's protective garment, enter the detection of some confined spaces, to distinguish that gas or material outlet leakage.But along with the development of technology, robot more adapts to this work than people.But traditional robot, does not often possess secondary survival ability, do not consider robot high temperature in the presence of a harsh environment, deep-etching destroys, and cause robot short time temperature rise too high, the accessories such as crawler belt melt by high temperature or strong acid-base, and internal controller heats up and lost efficacy.Cause robot to walk, ability of thoroughly losing the job in such a case, cannot finish the work.Meanwhile, often there is the extreme environment such as dense smoke thick fog unglazed night in disaster field, often causes robot vision part normally to work.Meanwhile, owing to lacking severe on-the-spot map, advance route and return route cannot be known at disaster field by robot, and investigation cannot be carried out.In addition, traditional detection of gas robot directly cannot find and split leak source, probably can only detect leak area, after detecting leakage, still needs manually to search.Meanwhile, conventional toxic is harmful to and the detection robot of fuel gas, and all simple use gas detector cannot, to accurately finding source of leaks fast, not be clearly to the castering action of detection efficiency.Therefore for above-mentioned problem, be badly in need of a kind ofly can entering the robot that extreme disaster field carries out detection.
Summary of the invention
1. invent the technical problem that will solve
The object of the invention is to overcome above-mentioned deficiency, provide a kind of pernicious gas detection robot of independent navigation, adopt technical scheme of the present invention, obstacle climbing ability is strong, adapt to high and low temperature environment and strong acid and strong base environmental performance strong, by the on-the-spot map of laser radar Fast Drawing, be convenient to specify attack and route of withdrawal; Whether energy serviceability temperature sensor and gas sensor detection exist high temperature and poisonous explosive possibility around, whether send rescue personnel after decision; More by the two light integrated monitoring instrument of infrared visible ray, by the thermal imaging of thermal infrared imager and the combination of visible ray, high temperature at a distance or leak point can be searched for, and disaster affected people position, and send rapidly rear decision-maker to, formulate best scheme.Last robot can by the map drawn, and safety returns, and greatly ensure that the safety of detection personnel.
2. technical scheme
For achieving the above object, technical scheme provided by the invention is:
The pernicious gas detection robot of a kind of independent navigation of the present invention, comprise wheel-pedrail robot platform, described wheel-pedrail robot platform comprises cabin, chassis body and is located at the creeper undercarriage of the Cang Ti left and right sides, chassis, described cabin, chassis body top board is provided with gas detector, each gas detector is all connected with alarm, and each gas detector is connected with robot controller; The front end of described cabin, chassis body top board is provided with laser radar, and this laser radar is connected with robot controller by navigating processor; Described cabin, chassis body top board is provided with monitor, and monitor is arranged on the body top board of cabin, chassis by stretchable mast.
Further, described monitor is the two light integrated monitoring instrument of monopod video camera or thermal infrared imager or infrared visible ray.
Further, front side and the left and right sides of described cabin, chassis body are provided with temperature sensor.
Further, the left and right sides panel of described cabin, chassis body is provided with the casing that can be used as control cabinet or power supply box; Between each described casing upper plane that all chassis non-corrosive metal (NCM) crawler belt is formed in creeper undercarriage and lower plane, and four of casing angles are equipped with chamfering; Tensioning apparatus is provided with between the upper plane that described casing and chassis non-corrosive metal (NCM) crawler belt are formed, described tensioning apparatus comprises " U " font tensioning plate and is fixedly mounted on the slide rail plate of casing both sides, the flat board of described tensioning plate is arranged on roof box by tensioning spring, and the biside plate of tensioning plate is slidably mounted in slide rail plate respectively.
Further, described cabin, chassis body is provided with cooling water tank, and the bottom of cooling water tank is provided with draining sewage draining exit; The water inlet of described cooling water tank is communicated with the water inlet be located on the body of cabin, chassis, and the delivery port of cooling water tank is communicated with the delivery port be located on the body top board of cabin, chassis.
Further, the chassis driven pulley that described creeper undercarriage comprises chassis non-corrosive metal (NCM) crawler belt, chassis driving wheel and is rotationally connected with side, cabin, chassis panel, described chassis non-corrosive metal (NCM) crawler belt is sleeved on chassis driving wheel, chassis driven pulley; Described chassis driving wheel is connected with the hoofing part reductor be located in the body rear deck of cabin, chassis by driving shaft, and hoofing part reductor is connected with travel driving motor.
Further, two symmetrical metal fin arms are provided with outside creeper undercarriage described in two, described metal fin arm comprises fin arm non-corrosive metal (NCM) crawler belt, fin arm metallic support, the fin arm driving wheel be connected with chassis driven pulley and the fin arm driven pulley be rotationally connected with fin arm metallic support, and described fin arm non-corrosive metal (NCM) crawler belt is sleeved on fin arm driving wheel, fin arm driven pulley; The front deck middle position of described cabin, chassis body is provided with fin arm angle-controlled motor, and described fin arm angle-controlled motor is connected with fin arm rotary actuation reductor, and fin arm rotary actuation reductor is plugged with rotating shaft; The two ends of described rotating shaft are stretched out the Cang Ti left and right sides, chassis panel respectively and are connected with fin arm metallic support through after chassis driven pulley and fin arm driving wheel.
Further, manual rotation axle is provided with in the delivery outlet of described fin arm rotary actuation reductor.
Further, described fin arm non-corrosive metal (NCM) crawler belt and chassis non-corrosive metal (NCM) crawler belt are the crawler belt with holes that can increase tooth block or rubber blanket.
Further, the front and back position place of the left and right sides panel of described cabin, chassis body is provided with handle of raising one's hand, and this handle of raising one's hand is hollow pipe, and the opening part of hollow pipe has been threaded end cap.
3. beneficial effect
Adopt technical scheme provided by the invention, compared with existing known technology, there is following beneficial effect:
(1) the pernicious gas detection robot of a kind of independent navigation of the present invention, its cabin, chassis body top board is provided with gas detector, each gas detector is all connected with alarm, and each gas detector is connected with robot controller, people can be replaced to enter hazardous environment and to carry out detection, whether there is toxic and harmful by gas detector detection of fires scene, then pointed out by alarm equipment alarm, guarantee the safety problem of the fireman being about to enter scene of fire;
(2) the pernicious gas detection robot of a kind of independent navigation of the present invention, the front end of its cabin, chassis body top board is provided with laser radar, this laser radar is connected with robot controller by navigating processor, without any need for light, laser radar only need be utilized to generate map, and then manipulation robot advances according to map, guarantee that robot can execute the task under the extreme environment such as dense smoke thick fog no light conditions at night, and return smoothly;
(3) the pernicious gas detection robot of a kind of independent navigation of the present invention, its cabin, chassis body top board is provided with monitor, monitor is arranged on the body top board of cabin, chassis by stretchable mast, camera angle is more comprehensive, monitor is the two light integrated monitoring instrument of infrared visible ray, can investigate at a distance at high visual angle, monitor is monopod video camera, be convenient to understand on-the-spot instant situation, monitor is thermal infrared imager, enemy weapon equipment or vehicle or personnel can be found by trickle variations in temperature, monitor is the two light integrated monitoring instrument of infrared visible ray, high-performance infrared thermal imaging module and visible ray module is equipped with in the two light integrated monitoring instrument of infrared visible ray, can 360 ° of all-directional rotations, visible image capturing and the dual imaging function of infra-red thermal imaging can be realized, realize the work double tides of robot, utilize infrared imaging to add visible light camera simultaneously, detection pipeline leakage point, ignition point or personnel to be rescued, can be judged by trickle variations in temperature, determine best track route and rescue method, and monitor is monitor when being monopod video camera, site environment can be understood,
(4) the pernicious gas detection robot of a kind of independent navigation of the present invention, front side and the left and right sides of cabin, the chassis body described in it are provided with temperature sensor, can monitor the temperature conditions of wheel-pedrail robot platform front and left and right sides side;
(5) the pernicious gas detection robot of a kind of independent navigation of the present invention, the left and right sides panel of its cabin, chassis body is provided with the casing that can be used as control cabinet or power supply box, four angles of this casing are equipped with chamfering, substituting control circuit or battery in tradition is arranged in the body of cabin, chassis, cabin, chassis body internal reservation is made to go out usage space more, also maintenance personal is made directly to carry out outside keeping in repair or safeguarding, easy to maintenance, time saving and energy saving, between each casing upper plane that all chassis non-corrosive metal (NCM) crawler belt is formed in creeper undercarriage and lower plane, and four of casing angles are equipped with chamfering, chassis non-corrosive metal (NCM) crawler belt is played to the effect supporting and lead, for chassis non-corrosive metal (NCM) crawler belt provides run trace, guarantee that chassis non-corrosive metal (NCM) crawler belt will make crawler belt lose guiding because of the paralysis of suspended structure,
(6) the pernicious gas detection robot of a kind of independent navigation of the present invention, tensioning apparatus is provided with between the upper plane that in its casing and creeper undercarriage, chassis non-corrosive metal (NCM) crawler belt is formed, for compensating the gap of non-corrosive metal (NCM) crawler belt owing to producing after service wear, chassis, tensioning apparatus comprises " U " font tensioning plate and be fixedly mounted on the slide rail plate of casing both sides, the flat board of tensioning plate is arranged on roof box by tensioning spring, structure is simple, the spacing being different from conventional track system fading margin front axle or rear axle realizes traditional handicraft and the technology of track tensioning, the elastic force of tensioning spring is utilized to promote tensioning plate is lifted, the gap of auto-compensation crawler belt owing to producing after service wear, realize the object non-maintaining to chassis non-corrosive metal (NCM) crawler belt, greatly improve the reliability service time of robot platform, reduce the difficulty that robot platform is safeguarded, reduce use cost, the biside plate of tensioning plate is slidably mounted in slide rail plate respectively, limit tensioning plate can only move up and down, avoid tensioning plate double swerve,
(7) the pernicious gas detection robot of a kind of independent navigation of the present invention, its cabin, chassis body is provided with cooling water tank, the water inlet of cooling water tank is communicated with the water inlet be located on the body of cabin, chassis, the delivery port of cooling water tank is communicated with the delivery port be located on the body top board of cabin, chassis, anti-freeze cooling liquid can be perfused with in cooling water tank, in high temperature environments, evaporated by liquid, the emergent robot constant temperature that provides ensures, the side plate of cooling water tank offers draining sewage draining exit, for draining or blowdown;
(8) the pernicious gas detection robot of a kind of independent navigation of the present invention, two symmetrical metal fin arms are provided with outside its two creeper undercarriage, creeper undercarriage is in conjunction with metal fin arm, wheel-pedrail robot platform both can be moved forward backward, climbing obstacle climbing ability can be improved again, flexible and convenient operation, in addition due to fin arm non-corrosive metal (NCM) crawler belt and chassis non-corrosive metal (NCM) crawler belt, have high temperature resistant, corrosion resistant advantage, has the ability of secondary existence under high temperature, blast and strong corrosive environment.
Accompanying drawing explanation
Fig. 1 is the stereogram of the pernicious gas detection robot of a kind of independent navigation of the present invention;
Fig. 2 is the side view of the pernicious gas detection robot of a kind of independent navigation of the present invention;
Fig. 3 is the sectional view of wheel-pedrail robot platform in the present invention;
Fig. 4 is the side view of cabin, chassis body in the present invention.
Label declaration in schematic diagram: 1, cabin, chassis body; 101, casing; 102, tensioning plate; 103, tensioning spring; 104, slide rail plate; 201, chassis non-corrosive metal (NCM) crawler belt; 202, chassis driving wheel; 203, chassis driven pulley; 301, fin arm non-corrosive metal (NCM) crawler belt; 302, fin arm driving wheel; 303, fin arm driven pulley; 304, fin arm metallic support; 4, fin arm angle-controlled motor; 5, rotating shaft; 6, hoofing part reductor; 7, travel driving motor; 8, fin arm rotary actuation reductor; 9, manual rotation axle; 10, to raise one's hand handle; 11, cooling water tank; 12, draining sewage draining exit; 13, gas detector; 14, alarm; 15, laser radar; 16, stretchable mast; 17, monitor; 18, temperature sensor.
Detailed description of the invention
For understanding content of the present invention further, the present invention is described in detail in conjunction with the accompanying drawings and embodiments.
Embodiment 1
Composition graphs 1, Fig. 2 and Fig. 3, the pernicious gas detection robot of a kind of independent navigation of the present embodiment, comprise wheel-pedrail robot platform, comprise cabin, chassis body 1 and the creeper undercarriage being located at body 1 left and right sides, cabin, chassis, in the present embodiment, the two sides, front and back of cabin, chassis body 1 are intilted inclined-plane, improve the obstacle climbing ability of robot platform; For the ease of carrying cabin, chassis body 1, the front and back position place of the left and right sides panel of cabin, chassis body 1 is provided with handle 10 of raising one's hand, and conveniently carrying fuse, emergency drug and urgent equipment, handle 10 of raising one's hand is for hollow pipe, and the opening part of hollow pipe has been threaded end cap; The chassis driven pulley 203 that creeper undercarriage comprises chassis non-corrosive metal (NCM) crawler belt 201, chassis driving wheel 202 and is rotationally connected with cabin, chassis body 1 side panel, chassis non-corrosive metal (NCM) crawler belt 201 has high temperature resistant, corrosion resistant advantage, there is the ability of secondary existence under high temperature, blast and strong corrosive environment, in the present embodiment, chassis non-corrosive metal (NCM) crawler belt 201 is the crawler belt with holes that can increase tooth block or rubber blanket, according to the difference of environment for use, increase tooth block and be used for the environment such as stair climbing, or rubber blanket is installed for noise reduction or the increase ground connection frictional force of walking; Chassis non-corrosive metal (NCM) crawler belt 201 is sleeved on chassis driving wheel 202, chassis driven pulley 203, and chassis driving wheel 202 is connected with the hoofing part reductor 6 be located in body 1 rear deck of cabin, chassis by driving shaft, and hoofing part reductor 6 is connected with travel driving motor 7;
Be provided with two symmetrical metal fin arms outside two creepers undercarriage, creeper undercarriage, in conjunction with metal fin arm, makes wheel-pedrail robot platform both can move backward forward, can improve climbing obstacle climbing ability again, flexible and convenient operation, metal fin arm comprises fin arm non-corrosive metal (NCM) crawler belt 301, fin arm metallic support 304, the fin arm driving wheel 302 be connected with chassis driven pulley 203 and the fin arm driven pulley 303 be rotationally connected with fin arm metallic support 304, fin arm non-corrosive metal (NCM) crawler belt 301 has high temperature resistant, corrosion resistant advantage, at high temperature, blast and strong corrosive environment under have secondary survive ability, in the present embodiment, fin arm non-corrosive metal (NCM) crawler belt 301 is crawler belt with holes, be convenient to the difference according to environment for use, increase tooth block and be used for the environment such as stair climbing, or rubber blanket is installed for noise reduction or the increase ground connection frictional force of walking, fin arm driving wheel 302 and chassis driven pulley 203 are connected, so that fin arm driving wheel 302 and chassis driven pulley 203 rotate simultaneously, receive the power of the chassis driving wheel 202 that chassis non-corrosive metal (NCM) crawler belt 201 passes over, fin arm non-corrosive metal (NCM) crawler belt 301 is sleeved on fin arm driving wheel 302, fin arm driven pulley 303, and fin arm non-corrosive metal (NCM) crawler belt 301 is in the outer rim of fin arm metallic support 304, for kiss the earth, realizes the functions such as climbing obstacle detouring, the front deck middle position of cabin, chassis body 1 is provided with fin arm angle-controlled motor 4, and fin arm angle-controlled motor 4 is connected with fin arm rotary actuation reductor 8, and fin arm rotary actuation reductor 8 is plugged with rotating shaft 5, the two ends of rotating shaft 5 stretch out body 1 left and right sides, cabin, chassis panel respectively and through after chassis driven pulley 203 and fin arm driving wheel 302 and fin arm metallic support 304 be connected, two ends and the fin arm metallic support 304 of rotating shaft 5 are connected the object realizing synchronous rotary, the anglec of rotation of rotating shaft 5 is regulated by fin arm rotary actuation reductor 8, and the rotation of fin arm rotary actuation reductor 8 can be driven by fin arm angle-controlled motor 4, also by being plugged with manual rotation axle 9 on fin arm rotary actuation reductor 8, manually can drive, fin arm driving wheel 302 passes through two bearing outsides in rotating shaft 5 with chassis driven pulley 203 particularly, when not connecting base plate non-corrosive metal (NCM) crawler belt 201, can rotate freely, after connecting base plate non-corrosive metal (NCM) crawler belt 201, become and transmit the transition apparatus of chassis driving wheel 202 power to fin arm driven pulley 303,
The left and right sides panel of cabin, chassis body 1 is provided with the casing 101 that can be used as control cabinet or power supply box, substituting control circuit or battery in tradition is arranged in cabin, chassis body 1, cabin, chassis body 1 internal reservation is made to go out usage space more, also maintenance personal is made directly to carry out outside keeping in repair or safeguarding, easy to maintenance, time saving and energy saving, between each casing 101 upper plane that all chassis non-corrosive metal (NCM) crawler belt 201 is formed in creeper undercarriage and lower plane, and four of casing 101 angles are equipped with chamfering, chassis non-corrosive metal (NCM) crawler belt 201 is played to the effect supporting and lead, for chassis non-corrosive metal (NCM) crawler belt 201 provides run trace, guarantee that chassis non-corrosive metal (NCM) crawler belt 201 will make crawler belt lose guiding because of the paralysis of suspended structure, tensioning apparatus is provided with between the upper plane that casing 101 and chassis non-corrosive metal (NCM) crawler belt 201 are formed, for compensating the gap of chassis non-corrosive metal (NCM) crawler belt 201 owing to producing after service wear, tensioning apparatus comprises " U " font tensioning plate 102 and be fixedly mounted on the slide rail plate 104 of casing 101 both sides, the flat board of tensioning plate 102 is arranged on casing 101 top board by tensioning spring 103, structure is simple, the spacing being different from conventional track system fading margin front axle or rear axle realizes traditional handicraft and the technology of track tensioning, the elastic force of tensioning spring 103 is utilized to promote tensioning plate 102 is lifted, the gap of auto-compensation crawler belt owing to producing after service wear, realize the object non-maintaining to chassis non-corrosive metal (NCM) crawler belt 201, greatly improve the reliability service time of robot platform, reduce the difficulty that robot platform is safeguarded, reduce use cost, the biside plate of tensioning plate 102 is slidably mounted in slide rail plate 104 respectively, limit tensioning plate 102 can only move up and down, avoid tensioning plate 102 double swerve,
Cabin, chassis body 1 is provided with cooling water tank 11, and the bottom of cooling water tank 11 is provided with draining sewage draining exit 12, and for draining or blowdown, in the present embodiment, cooling water tank 11 is arranged at bottom cabin, chassis body 1 (shown in Figure 4); The water inlet of cooling water tank 11 is communicated with the water inlet be located on cabin, chassis body 1, the delivery port of cooling water tank 11 is communicated with the delivery port be located on body 1 top board of cabin, chassis, anti-freeze cooling liquid can be perfused with in cooling water tank 11, in high temperature environments, evaporated by liquid, the emergent robot constant temperature that provides ensures, prevents robot in high temperature environments by heat damage, allow robot within a certain period of time temperature control below 100 degree, thus realize walking out the effect of high temperature fire field environment;
Cabin, chassis body 1 top board is provided with gas detector 13, each gas detector 13 is all connected with alarm 14, and each gas detector 13 is connected with robot controller, people can be replaced to enter hazardous environment and to carry out detection, whether toxic and harmful is there is by gas detector 13 detection of fires scene, again by alarm 14 alarm, guarantee the safety problem of the fireman being about to enter scene of fire; The front end of cabin, chassis body 1 top board is provided with laser radar 15, this laser radar 15 is connected with robot controller by navigating processor, need any light, only laser radar 15 need be utilized to generate map, and then manipulation robot advances according to map, guarantee that robot can execute the task under the extreme environment such as dense smoke thick fog no light conditions at night, and return smoothly; Cabin, chassis body 1 top board is provided with monitor 17, monitor 17 is arranged on body 1 top board of cabin, chassis by stretchable mast 16, monitoring visual angle is more comprehensive, monitor 17 is the two light integrated monitoring instrument of infrared visible ray, visible image capturing and the dual imaging function of infra-red thermal imaging can be realized, realize the work double tides of robot, simultaneously, infrared imaging is utilized to add visible light camera, detection pipeline leakage point, ignition point or personnel to be rescued, can be judged by trickle variations in temperature, determine best track route and rescue method; Front side and the left and right sides of cabin, chassis body 1 are provided with temperature sensor 18, can monitor the temperature conditions of wheel-pedrail robot platform front and left and right sides side.
Embodiment 2
The basic structure of the pernicious gas detection robot of a kind of independent navigation of the present embodiment is with embodiment 1, and difference is: monitor 17 is thermal infrared imager, can find pipeline leakage point, ignition point or personnel to be rescued by trickle variations in temperature.
Embodiment 3
The basic structure of the pernicious gas detection robot of a kind of independent navigation of the present embodiment is with embodiment 1, and difference is: monitor 17 is monopod video camera.
The pernicious gas detection robot of a kind of independent navigation of the present invention, powerful, practical, obstacle climbing ability is strong, adapt to high and low temperature environment and poisonous and harmful strong acid and strong base environmental performance strong, not only can detect Leakage Gas situation, more directly can search leakage failure point, there is very high practical value.
Schematically above be described the present invention and embodiment thereof, this description does not have restricted, and also just one of the embodiments of the present invention shown in accompanying drawing, actual structure is not limited thereto.So, if those of ordinary skill in the art enlightens by it, when not departing from the invention aim, designing the frame mode similar to this technical scheme and embodiment without creationary, all should protection scope of the present invention be belonged to.
Claims (10)
1. the pernicious gas detection robot of an independent navigation, comprise wheel-pedrail robot platform, described wheel-pedrail robot platform comprises cabin, chassis body (1) and is located at the creeper undercarriage of body (1) left and right sides, cabin, chassis, it is characterized in that: described cabin, chassis body (1) top board is provided with gas detector (13), each gas detector (13) is all connected with alarm (14), and each gas detector (13) is connected with robot controller; The front end of described cabin, chassis body (1) top board is provided with laser radar (15), and this laser radar (15) is connected with robot controller by navigating processor; Described cabin, chassis body (1) top board is provided with monitor (17), and monitor (17) is arranged on body (1) top board of cabin, chassis by stretchable mast (16).
2. the pernicious gas detection robot of a kind of independent navigation according to claim 1, is characterized in that: described monitor (17) is monopod video camera or thermal infrared imager or the two light integrated monitoring instrument of infrared visible ray.
3. the pernicious gas detection robot of a kind of independent navigation according to claim 2, is characterized in that: front side and the left and right sides in described cabin, chassis body (1) are provided with temperature sensor (18).
4. the pernicious gas detection robot of a kind of independent navigation according to claim 3, is characterized in that: the left and right sides panel in described cabin, chassis body (1) is provided with the casing (101) that can be used as control cabinet or power supply box; Each described casing (101) be all arranged in that creeper undercarriage chassis non-corrosive metal (NCM) crawler belt (201) formed between upper plane and lower plane, and four angles of casing (101) are equipped with chamfering; Tensioning apparatus is provided with between the upper plane that described casing (101) and chassis non-corrosive metal (NCM) crawler belt (201) are formed, described tensioning apparatus comprises " U " font tensioning plate (102) and is fixedly mounted on the slide rail plate (104) of casing (101) both sides, the flat board of described tensioning plate (102) is arranged on casing (101) top board by tensioning spring (103), and the biside plate of tensioning plate (102) is slidably mounted in slide rail plate (104) respectively.
5. the pernicious gas detection robot of a kind of independent navigation according to claim 4, it is characterized in that: described cabin, chassis body (1) is provided with cooling water tank (11), the bottom of cooling water tank (11) is provided with draining sewage draining exit (12); The water inlet of described cooling water tank (11) is communicated with the water inlet be located on cabin, chassis body (1), and the delivery port of cooling water tank (11) is communicated with the delivery port be located on body (1) top board of cabin, chassis.
6. the pernicious gas detection robot of a kind of independent navigation according to claim 5, it is characterized in that: the chassis driven pulley (203) that described creeper undercarriage comprises chassis non-corrosive metal (NCM) crawler belt (201), chassis driving wheel (202) and is rotationally connected with cabin, chassis body (1) side panel, described chassis non-corrosive metal (NCM) crawler belt (201) is sleeved on chassis driving wheel (202), chassis driven pulley (203); Described chassis driving wheel (202) is connected with the hoofing part reductor (6) be located in body (1) rear deck of cabin, chassis by driving shaft, and hoofing part reductor (6) is connected with travel driving motor (7).
7. the pernicious gas detection robot of a kind of independent navigation according to claim 6, it is characterized in that: outside the creeper undercarriage described in two, be provided with two symmetrical metal fin arms, described metal fin arm comprises fin arm non-corrosive metal (NCM) crawler belt (301), fin arm metallic support (304), the fin arm driving wheel (302) be connected with chassis driven pulley (203) and the fin arm driven pulley (303) be rotationally connected with fin arm metallic support (304), described fin arm non-corrosive metal (NCM) crawler belt (301) is sleeved on fin arm driving wheel (302), on fin arm driven pulley (303), the front deck middle position in described cabin, chassis body (1) is provided with fin arm angle-controlled motor (4), described fin arm angle-controlled motor (4) is connected with fin arm rotary actuation reductor (8), fin arm rotary actuation reductor (8) is plugged with rotating shaft (5), the two ends of described rotating shaft (5) are stretched out body (1) left and right sides, cabin, chassis panel respectively and are connected with fin arm metallic support (304) afterwards through chassis driven pulley (203) and fin arm driving wheel (302).
8. the pernicious gas detection robot of a kind of independent navigation according to claim 7, is characterized in that: be provided with manual rotation axle (9) in the delivery outlet of described fin arm rotary actuation reductor (8).
9. the pernicious gas detection robot of a kind of independent navigation according to claim 8, is characterized in that: described fin arm non-corrosive metal (NCM) crawler belt (31) and chassis non-corrosive metal (NCM) crawler belt (21) are the crawler belt with holes that can increase tooth block or rubber blanket.
10. the pernicious gas detection robot of a kind of independent navigation according to claim 9, it is characterized in that: the front and back position place of the left and right sides panel in described cabin, chassis body (1) is provided with handle of raising one's hand (10), this handle of raising one's hand (10) is hollow pipe, and the opening part of hollow pipe has been threaded end cap.
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