CN109268657A - A kind of transforming plant protecting device inspecting robot - Google Patents
A kind of transforming plant protecting device inspecting robot Download PDFInfo
- Publication number
- CN109268657A CN109268657A CN201811126337.1A CN201811126337A CN109268657A CN 109268657 A CN109268657 A CN 109268657A CN 201811126337 A CN201811126337 A CN 201811126337A CN 109268657 A CN109268657 A CN 109268657A
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- ontology
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- protecting device
- inspecting robot
- transforming plant
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- 230000001131 transforming effect Effects 0.000 title claims abstract description 11
- 230000005540 biological transmission Effects 0.000 claims description 18
- 230000007246 mechanism Effects 0.000 claims description 13
- 238000012545 processing Methods 0.000 claims description 13
- 239000003638 chemical reducing agent Substances 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 8
- 238000010276 construction Methods 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000007689 inspection Methods 0.000 description 13
- 238000012544 monitoring process Methods 0.000 description 12
- 238000005516 engineering process Methods 0.000 description 6
- 230000003750 conditioning effect Effects 0.000 description 5
- 230000003028 elevating effect Effects 0.000 description 5
- 230000003321 amplification Effects 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000003199 nucleic acid amplification method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000002708 enhancing effect Effects 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical group C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000013475 authorization Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
- F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
- F16M13/027—Ceiling supports
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
- F16M11/38—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other by folding, e.g. pivoting or scissors tong mechanisms
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Power Engineering (AREA)
- Alarm Systems (AREA)
Abstract
The invention belongs to electric intelligent equipment technical fields; especially a kind of lifting, avoid with ground object interfere transforming plant protecting device inspecting robot, including the ontology for equipment-patrolling, the Power Component for being fixed on computer room top plate for providing hung moving for ontology and the hanging component for being suspended on ontology on Power Component.Inspecting robot ontology is arranged in computer room ceiling location the present invention, and space layout of walking is more flexible, and has saved ground space, avoids the phenomenon that colliding with tour personnel；Meanwhile also avoiding for track being placed in ground, interfere pipeline construction and the maintenance of ground lower part.
Description
Technical field
The invention belongs to electric intelligent equipment technical field, especially a kind of lifting, avoid and ground object interference
Transforming plant protecting device inspecting robot.
Background technique
Propulsion with State Grid Corporation of China to smart grid management, how to improve the management level in substation is wherein
One important link, at present the country substation be all made of traditional manual patrol mode, due to by tour personnel's psychological quality,
The restriction of the factors such as professional skill, working experience and the state of mind, missing inspection, erroneous detection, defect leakage heat condition happen occasionally, this
A little reasons cause equipment deficiency that cannot timely handle and detonator circuit accident, and the big safety for becoming substation operation is hidden
Suffer from；In addition, white night takes turns at keeping watch during daily electric power O&M, the biological clock and health of staff also will affect.
It is starting point from improving tour efficiency and ensuring to make an inspection tour the accuracy of result, oneself warp of traditional manual inspection mode is full
The requirement of foot not modern substations safe operation, it will be smart grid that transformer substation robot, which replaces manual inspection job task,
The inexorable trend of development.
Crusing robot combine integrate robot technology, power equipment non-contact detecting technology, multi-sensor fusion technology,
Trackless navigation and conduct programming technology, image recognition technology and technology of Internet of things can replace people to carry out intelligent patrol detection, have red
A series of specialized functions such as outer thermometric, intelligent meter reading, environmental monitoring, partial discharge monitoring, vibration measurement with laser；In addition to this, the survey monitor
The technological innovation of device people is being capable of not parking inspection, the vision compensation of Meter recognition, adaptive bad weather and complicated ring
The intelligence in border is anti-to fall.
The patent document of Authorization Notice No. CN107154591B discloses a kind of Mobile Robot for Substation Equipment Inspection, including this
Body is equipped with walking mechanism, motor, controller and detector on the body, is provided with cavity on the body, cover board is hingedly arranged in
On ontology, the lower end of reel extends through cover board to cavity bottom, and annular groove, the water of T-block are provided on reel lower section inner wall
Flat section both ends are slidably arranged in annular groove, and it further includes center that the output end of cylinder is connect with the bottom of the T-block horizontal segment
Axis, multiple solar battery board groups, central axis are connect with T-block vertical section end.The structure using robot substitute manually into
Row inspection, but crusing robot is not directed to the dependency structure of adjustment track route in real time, road conditions feedback capability Shortcomings.
The patent document of application publication number CN108481295A discloses a kind of intelligent substation supervisory-controlled robot, including bottom
Seat, wheel carrier, driving wheel, driven wheel and camera, wheel carrier are fixed on lifting plate, and elevator is equipped between lifting plate and pedestal
Structure；It is fixed with cabinet in base top, elevating lever is slidably fitted in cabinet, is equipped on driving elevating lever and moves down in cabinet
Dynamic elevating mechanism；It is fixed with vertical bar at the top of elevating lever, camera is fixed at the top of vertical bar, cleaning is equipped on vertical bar
Mechanism；It is fixed with shell in the bottom of lifting plate, float is equipped in shell, is fixed in case top and connects with lifting plate screw thread
The end cap connect, is slidably fitted with contact block in end cap, and connecting rod is hingedly equipped between contact block and float, is set above contact block
There is travel switch, travel switch is connect with the controller signals in pedestal.The focusing on of the structure improves inspecting robot
Adaptive ability, but in actual use, for the blind spot for making up robot tour, staff is still needed to enter it
It is interior, it during which can there is a phenomenon where robot and staff to collide.
The structure of inspecting robot is improved from the angle of robot in above-mentioned two, for improving the intelligence of robot
Degree can be changed, had little effect, manufacture difficulty can also greatly increase, and the inspecting robot of the walking on ground is easy to interfere
Personnel make an inspection tour.
Summary of the invention
In view of this, in view of the deficiencies of the prior art, it is an object of the present invention to provide a kind of tours of transforming plant protecting device
Robot, by the setting of inspecting robot ontology in computer room ceiling location, space layout of walking is more flexible, and has saved ground
Space of planes avoids the phenomenon that colliding with staff；Meanwhile also avoiding for track being placed in ground, interfere the pipe of ground lower part
Line construction and maintenance.
In order to achieve the above objectives, the invention adopts the following technical scheme:
A kind of transforming plant protecting device inspecting robot, including for equipment-patrolling ontology, for providing suspension type for ontology
The mobile Power Component for being fixed on computer room top plate and the hanging component for being suspended on ontology on Power Component.
Further, the Power Component includes driving assembly, transmission component and guidance set, and the driving component includes
The motor and speed reducer of transmission connection, the transmission component include the screw rod and silk braid of transmission connection, the output of the speed reducer
Axis is connect with screw rod transmission, and the guidance set includes the guide rod and guide sleeve being slidably connected, and the silk braid and guide sleeve are equal
It is two.
Further, the hanging component includes scissor-type lifting mechanism, four angles point of the scissor-type lifting mechanism
It is not fixedly connected with guide sleeve and silk braid.
Further, the ontology setting central processing module, image capture module and wireless communication module.
Further, ontology setting is for by the figure in image capture module institute acquired image information and date library
The image comparison module being compared as information.
Further, setting signal conditioning module, signal condition between described image acquisition module and image comparison module
Module includes the successively amplification module of Electricity Federation and A/D conversion module.
Further, further include be arranged in computer room top plate between guide rod and screw rod for protecting electric wire or electricity
The drag chain of cable.
The beneficial effects of the present invention are:
1. the present invention includes being fixed on computer room top plate for the ontology of equipment-patrolling, for provide hung moving for ontology
Power Component and hanging component for being suspended on ontology on Power Component.Pass through mutual group of hanging component and Power Component
It closes, by the setting of inspecting robot ontology in computer room ceiling location, space layout of walking is more flexible, and has saved ground sky
Between, when personnel enter in computer room, avoid the phenomenon that colliding with inspecting robot；Meanwhile also avoiding track being placed in ground,
Interfere pipeline construction and the maintenance of ground lower part.
2. Power Component of the present invention includes driving assembly, transmission component and guidance set, driving assembly includes
The motor and speed reducer of transmission connection, transmission component include the screw rod and silk braid of transmission connection, the output shaft and screw rod of speed reducer
Transmission connection, guidance set includes the guide rod and guide sleeve being slidably connected, and silk braid and guide sleeve are two；It is specifically used
When, it is mounted on start and stop, revolving speed, turnning circle and the steering of the central processing module control motor on inspecting robot, realizes silk
It covers linear motion on screw rod and fixed point stops, when specific works, hanging component is fixed on guide sleeve and silk braid, in silk braid
Drive, guide sleeve stable steering effect under steer a steady course or retreat, realize it is real-time to townhouse protective device in substation
Monitoring.
3. hanging component of the invention uses scissor-type lifting mechanism, the central processing module being mounted on robot body
The hydraulically extensible cylinder for controlling scissor-type lifting mechanism is flexible, realizes the adjustment of robot body vertical height, can expand this hair
Bright monitoring range.
4. when central processing module, image capture module, wireless communication module is arranged in ontology of the present invention, in advance in centre
Setting needs to detect the coordinate (X, Y) of position in reason module, and when specifically making an inspection tour, central processing module makes machine by controlling motor
Human body is moved to X-coordinate in the horizontal direction, and then controlling hydraulically extensible cylinder makes robot body be moved to Y seat along the vertical direction
The image of acquisition or video information are finally passed through channel radio next, control image capture module carries out data acquisition by mark
Letter module is sent to long-range monitoring room, realizes the automatic Intelligent transformer station management maked an inspection tour, remotely monitored.
5. being arranged on the body for by the image information in image capture module institute acquired image information and date library
The image comparison module being compared, such as some signal lamp of protective device is that green indicates that a certain function is normal, number
According to the picture for storing normal condition in library, when this function is abnormal, image capture module monitors the signal designation
Lamp variation is red, feeds back central processing module by the analysis of image comparison module, and by result, by wireless communication module
Be timely transmitted to long-range monitoring room to be warned, such as combined aural and visual alarm be set in long-range monitoring room, realize automatic monitoring and
Alarm.
6. setting signal conditioning module between image capture module and image comparison module, signal conditioning module includes successively
The amplification module and A/D conversion module of Electricity Federation, the intensity of this structure design enhancing analog signal.
7. due to robot body needs move horizontally, power supply line there are bending and pull the phenomenon that, the present invention use
The drag chain of computer room top plate being arranged between guide rod and screw rod for protecting electric wire or cable, be effectively ensured power supply line can
By property.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the embodiment of the present invention one；
Fig. 2 is the backsight structural representation of Fig. 1；
Fig. 3 is the functional block diagram for the automatic control signal transmission that the embodiment of the present invention one makes an inspection tour process automatically；
Fig. 4 is the functional block diagram for the automatic control signal transmission that the embodiment of the present invention two makes an inspection tour process automatically.
Figure label: 1- ontology, 2- central processing module, 3- image capture module, 4- wireless communication module, 5- image ratio
To module, 6- drag chain, 7- motor, 8- speed reducer, 9- screw rod, 10- silk braid, 11- guide rod, 12- guide sleeve, 13- scissor-type liter
Descending mechanism, 14- hydraulically extensible cylinder, 15- amplification module, 16-A/D conversion module.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
Embodiment one
As depicted in figs. 1 and 2, the present invention includes for the ontology 1 of equipment-patrolling, for providing hung moving for ontology 1
It is fixed on the Power Component of computer room top plate and the hanging component for being suspended on ontology 1 on Power Component；
Central processing module 2, image capture module 3, wireless communication module 4 and image comparison module 5, centre is arranged in ontology 1
It manages module 2 and uses programmable processor, image comparison module 5 is used for image capture module institute acquired image information and number
It is compared according to the image information in library；Multiple module for power supply cables on ontology 1 are mounted in drag chain 6, and 6 one end of drag chain is fixed on
On computer room top plate；
Power Component includes driving assembly, transmission component and guidance set, and driving assembly includes the motor 7 of transmission connection and slows down
Machine 8, transmission component include the screw rod 9 and silk braid 10 of transmission connection, and the output shaft and screw rod 9 of speed reducer 8 are sequentially connected, guiding group
Part includes the guide rod 11 and guide sleeve 12 being slidably connected, and guide rod 11 is arranged in parallel with screw rod 9, and silk braid 10 and guide sleeve 12 are equal
It is two；
Hanging component includes scissor-type lifting mechanism 13, four angles of scissor-type lifting mechanism 13 respectively with guide sleeve 11 and silk braid
9 are fixedly connected；
When specifically used, in conjunction with Fig. 3, the coordinate (X, Y) for needing to detect position is set in central processing module 2 in advance, is maked an inspection tour
In the process, central processing module 2 makes ontology 1 be moved to X-coordinate in the horizontal direction by controlling motor 7, then controls scissor-type
Hydraulically extensible cylinder 14 on elevating mechanism 13 makes ontology 1 be moved to Y coordinate along the vertical direction, next, central processing module 2 is controlled
Imaged acquisition module 3 is acquired the image data within the scope of one, and the collected data of image capture module 3 are sent to
In image comparison module 5, the realtime graphic of acquisition will be compared with the image in database in real time for image comparison module 5,
If realtime graphic is normal, real-time image information is sent to through wireless communication module 4 after being handled by central processing module 2
In long-range monitoring room, if image abnormity, realtime graphic and abnormal signal are timely transmitted to remotely by module 4 by wireless communication
Monitoring room is warned, such as combined aural and visual alarm is arranged in long-range monitoring room, realizes automatic monitoring and alarm.
Embodiment two.
The present embodiment and the structure of embodiment one are essentially identical, unlike: as shown in figure 4, image capture module 3 and figure
As setting signal conditioning module between comparison module 5, signal conditioning module includes amplification module 15 and the A/D conversion of successively Electricity Federation
Module 16.The intensity of this structure design enhancing analog signal.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, this field is common
Other modifications or equivalent replacement that technical staff makes technical solution of the present invention, without departing from technical solution of the present invention
Spirit and scope, be intended to be within the scope of the claims of the invention.
Claims (5)
1. a kind of transforming plant protecting device inspecting robot, it is characterised in that: including for equipment-patrolling ontology, for for this
Body provides the Power Component for being fixed on computer room top plate of hung moving and the lifting for being suspended on ontology on Power Component
Component.
2. a kind of transforming plant protecting device inspecting robot according to claim 1, it is characterised in that: the Power Component
Including driving assembly, transmission component and guidance set, the driving component includes the motor and speed reducer of transmission connection, the biography
Dynamic component includes the screw rod and silk braid of transmission connection, and the output shaft of the speed reducer is connect with screw rod transmission, the guidance set
Including the guide rod and guide sleeve being slidably connected, the silk braid and guide sleeve are two.
3. a kind of transforming plant protecting device inspecting robot according to claim 1, it is characterised in that: the hanging component
Including scissor-type lifting mechanism, four angles of the scissor-type lifting mechanism are fixedly connected with guide sleeve and silk braid respectively.
4. a kind of transforming plant protecting device inspecting robot according to claim 1, it is characterised in that: the ontology setting
Central processing module, image capture module and wireless communication module.
5. a kind of transforming plant protecting device inspecting robot according to claim 1, it is characterised in that: the ontology setting
Image comparison module for the image information in image capture module institute acquired image information and date library to be compared.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811126337.1A CN109268657A (en) | 2018-09-26 | 2018-09-26 | A kind of transforming plant protecting device inspecting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811126337.1A CN109268657A (en) | 2018-09-26 | 2018-09-26 | A kind of transforming plant protecting device inspecting robot |
Publications (1)
| Publication Number | Publication Date |
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| CN109268657A true CN109268657A (en) | 2019-01-25 |
Family
ID=65198359
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811126337.1A Pending CN109268657A (en) | 2018-09-26 | 2018-09-26 | A kind of transforming plant protecting device inspecting robot |
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| Country | Link |
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| CN (1) | CN109268657A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109927045A (en) * | 2019-03-15 | 2019-06-25 | 徐秀荣 | A kind of power distribution cabinet crusing robot |
| CN112158732A (en) * | 2020-10-22 | 2021-01-01 | 上海海事大学 | Folding connecting rod mechanism of container safety hoisting monitoring system |
| CN113183126A (en) * | 2021-04-16 | 2021-07-30 | 上海亿为科技有限公司 | Multi-stage lifting type wide-range inspection robot based on machine vision |
| CN113324159A (en) * | 2021-06-04 | 2021-08-31 | 王凯 | Portable live broadcast equipment |
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| CN205244791U (en) * | 2015-12-24 | 2016-05-18 | 安徽恒信通智能科技有限公司 | Camera mount pad |
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| CN105945900A (en) * | 2016-06-03 | 2016-09-21 | 国网宁夏电力公司检修公司 | Indoor inspection robot for transformer substation |
| CN106609894A (en) * | 2017-03-10 | 2017-05-03 | 中南大学 | A power plant boiler pipeline detection robot |
| CN206802711U (en) * | 2017-06-21 | 2017-12-26 | 石东芳 | A kind of Liftable type TV bracket |
| CN207148636U (en) * | 2017-08-08 | 2018-03-27 | 厦门中宝联合智能科技有限公司 | A kind of intelligent domestic system with remote control |
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| CN108529524A (en) * | 2018-07-04 | 2018-09-14 | 安徽原动力生产力促进中心有限公司 | A kind of portable work car of communication |
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| US4123026A (en) * | 1977-01-29 | 1978-10-31 | Kawazoe Michio | Object holding device |
| CN203770991U (en) * | 2014-04-13 | 2014-08-13 | 杨志强 | Automatic telescoping mechanical arm for hoisting mechanism |
| CN204689594U (en) * | 2015-06-15 | 2015-10-07 | 河南省黄河防爆起重机有限公司 | A kind of scissor-type lifting platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109927045A (en) * | 2019-03-15 | 2019-06-25 | 徐秀荣 | A kind of power distribution cabinet crusing robot |
| CN112158732A (en) * | 2020-10-22 | 2021-01-01 | 上海海事大学 | Folding connecting rod mechanism of container safety hoisting monitoring system |
| CN113183126A (en) * | 2021-04-16 | 2021-07-30 | 上海亿为科技有限公司 | Multi-stage lifting type wide-range inspection robot based on machine vision |
| CN113183126B (en) * | 2021-04-16 | 2022-08-05 | 上海亿为科技有限公司 | Robot is patrolled and examined to multistage over-and-under type wide range based on machine vision |
| CN113324159A (en) * | 2021-06-04 | 2021-08-31 | 王凯 | Portable live broadcast equipment |
| CN113324159B (en) * | 2021-06-04 | 2022-10-28 | 上海焕然广告设计制作有限公司 | Portable live broadcast equipment |
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Application publication date: 20190125 |