CN101604825B - Robot used for intelligent substation patrol - Google Patents
Robot used for intelligent substation patrol Download PDFInfo
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- CN101604825B CN101604825B CN2009100167812A CN200910016781A CN101604825B CN 101604825 B CN101604825 B CN 101604825B CN 2009100167812 A CN2009100167812 A CN 2009100167812A CN 200910016781 A CN200910016781 A CN 200910016781A CN 101604825 B CN101604825 B CN 101604825B
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Abstract
The invention discloses a robot used for intelligent substation patrol, comprising a moving car as a vehicle; the front part of the moving car is provided with a navigation system; the moving car is provided with a power supply, an electronic element enclosure, a mechanical arm and an information processing system; wherein, the mechanical arm is arranged on a cabin on the upper part of the enclosure and is mainly composed of a basic arm, a median arm and a forearm; the basic arm has two degrees of freedom including axial movement and circumferential rotation and has a cavity inside; the median arm has a moving pin shaft which can operate along the cavity so as to ensure that a body shrinks into the cavity and has one rotational degree of freedom around the moving pin shaft when extending out of the cavity; the forearm is arranged at the end of the median arm via a pin shaft; the cross section of the cavity is larger than the cross sections of the median arm and the forearm under folding state. The robot based on the technical proposal of the invention has high degree of functionalization and high safety.
Description
(1) technical field
The present invention relates to a kind of robot used for intelligent substation patrol, belong to the industrial robot technical field, it has the moving body as carrier, mechanical arm and drive moving body and the drive system of mechanical arm, and the information processing system that the matches navigation system of unifying.
(2) background technology
In electric power system, because the continuity of electrical energy production, conveying, distribution and use, the safe and reliable operation of each unit in the system all there is very high requirement.Particularly along with power industry towards the developing rapidly of big unit, big capacity, high voltage direction, the support equipment reliability of operation more becomes the outstanding problem of safety in production.Therefore, the patrolling and examining of power equipment, particularly some sophisticated equipments, method also more and more are subjected to general attention in Applications for Device Fault Diagnosis.At present, 35KV, 110KV transformer station realize unattended substantially, and the unattendedization development of 220KV transformer station is also very fast.But existing routine inspection mode is compared with the security requirement of electrical production with technology and is still had suitable distance.In order to substitute the intelligent mobile robot routine inspection mode of manual inspection, can increase work efficiency and quality, really play the effect of personnel reduction and enlargement, can accelerate the unattended process of transformer station faster.
The existing robot that is used for substation inspection all has the car body as carrier, the drive unit of the mechanical arm that is used to overhaul and described car body of driving and mechanical arm, and coupling has information processing system (controller) and navigation system.No. 200410024231 patent of invention of China Intellectual Property Office discloses a kind of crusing robot, but do not have mechanical arm; The in addition existing robot that is provided with mechanical arm is provided with at least one mechanical arm more, but said mechanical arm all is arranged on the robot body outside, and the space that occupies is bigger, is unfavorable for that patrolling and examining of robot kept away barrier and to the protection of mechanical arm.
(3) summary of the invention
Therefore; the present invention is in order to overcome the above-mentioned defective of prior art; a kind of transformer station's function crusing robot with mechanical arm is provided; it adopts stretching structure; can be under the mechanical arm non-working condition with in the device of its income to its protection, be beneficial to that patrolling and examining of robot kept away barrier and to the protection of mechanical arm self.
The present invention is by the following technical solutions:
This invention robot used for intelligent substation patrol, comprise travelling car as carrier, its front portion is provided with navigation system, and on this travelling car, be provided with power supply, the guard shield of electronic component and mechanical arm, and information processing system, described mechanical arm is installed on the cabin on described guard shield top, and it mainly comprises having and moves axially and circumferentially rotate two degrees of freedom and innerly be the basic arm of cavity, have mobile bearing pin can make the described cavity of body retraction along the operation of described cavity and when stretching out cavity, have around described mobile bearing pin rotate the middle arm of one degree of freedom and be installed on by bearing pin described in the forearm of arm end, wherein cavity cross section is greater than the cross section of described middle arm and forearm folded state.
Robot used for intelligent substation patrol according to technical solution of the present invention is provided with mechanical arm; and this mechanical arm can the cabin on retraction guard shield top on; can effectively protect mechanical arm; and in the process of patrolling and examining, do not need under the situation of mechanical arm participation; with its retraction cabin; reduce spatial volume, be beneficial to it and patrol and examine.
The existence of mechanical arm can make things convenient for the detection in some narrow and small zones, space, and it is divided into three sections overall structure and the motion mode of each section makes forearm can obtain 5 degrees of freedom in the space, makes things convenient for its detection in each orientation.
Above-mentioned robot used for intelligent substation patrol, described mobile bearing pin is installed on the slide block, the track linear running that this slide block constitutes along described basic arm cavity by the worm mechanism driving, cavity is circumferentially spacing to this slide block simultaneously; Described basic arm links by the sleeve of feather key with a driven by servomotor, the axial freedom that makes its circumferential degree of freedom with described splined transmission and move along the feather key keyway.
The end that described middle arm is connected with forearm is provided with the magnetic card sensing chip that is used for the described cabin of the complete retraction of detector.
Described mobile bearing pin and bearing pin are by driven by servomotor, and arm and forearm respectively have a rotational freedom in making.
Described forearm end sides is provided with ultrasonic probe, minisize pick-up head and the laser acquisition head that is used for information gathering, and is provided with the frock manipulator.
Described cabin upside is provided with a bracing frame that is used for supporting main video acquisition assembly by The Cloud Terrace, and wherein main video acquisition assembly is visible light camera and the thermal camera of device in protective cover.
It further comprises network system and the auxiliary information processor that is used for by antenna and user end computer communication, be used to set up linking of user end computer and the information acquisition system that comprises mechanical arm information gathering, main video acquisition, wherein information acquisition system also comprises the transducer that is used to gather temperature, humidity in the described guard shield, gather the transducer of external environment condition temperature, humidity, network system is handled and be transferred to institute's Information Monitoring by information processor.
Described travelling car has two trailing wheels and two front-wheels that are used for as driving wheel, and wherein trailing wheel is a universal wheel.
The power supply of this robot is arranged on described travelling car middle part, and is provided with automatic charge device, and the charging screw mandrel of this automatic charge device is parallel to the travelling car transversal line.
(4) description of drawings
Below in conjunction with Figure of description technical scheme of the present invention is further elaborated, makes those skilled in the art better understand the present invention, wherein:
Fig. 1 is the main TV structure schematic diagram of embodiment of the invention power plant crusing robot.
Fig. 2 is the dolly and the right TV structure layout of main accessories of embodiment of the invention power plant crusing robot.
Fig. 3 is the structural representation of embodiment of the invention mechanical arm.
Fig. 4 is the forearm and the middle arm folded state diagram of mechanical arm.
Fig. 5 is mechanical arm retraction cabin state diagram.
Among the figure: 1, protective cover, 2, visible light camera, 3, thermal camera, 4, bracing frame, 5, The Cloud Terrace, 6, the cabin, 7, the base arm, 8, middle arm, 9, forearm, 10, the guard shield protecgulum, 11, the charging screw mandrel, 12, the charging end, 13, trailing wheel, 14, information processor, 15, drive unit, 16, front-wheel, 17, guard shield, 18, temperature sensor, 19, driving mechanism, 20, antenna, 21, working station indicator, 22, power supply, 23, travelling car, 24, network system, 25, slide rail, 26, the magnetic card sensing chip, 27, bearing pin, 28, ultrasonic probe, 29, microcam, 30, the laser acquisition head, 31, the frock manipulator, 32, mobile bearing pin.
(5) embodiment
Below technical scheme of the present invention is made exemplary illustration:
With reference to Figure of description 1 to 5, the present embodiment robot used for intelligent substation patrol, comprise travelling car 23 as carrier, its front portion is provided with navigation system, and on this travelling car, be provided with power supply, the guard shield 17 and the mechanical arm of electronic component, and information processing system, described mechanical arm is installed on the cabin 6 on described guard shield top, and it mainly comprises having and moves axially and circumferentially rotate two degrees of freedom and innerly be the basic arm 7 of cavity, have mobile bearing pin 32 can make the described cavity of body retraction along the operation of described cavity and when stretching out cavity, have around described mobile bearing pin rotate the middle arm 8 of one degree of freedom and be installed on by bearing pin 27 described in the forearm 9 of arm end, wherein cavity cross section is greater than the cross section of described middle arm and forearm folded state.
The main maneuver of robot used for intelligent substation patrol can be controlled by self controller, and the said information processing system of this programme just also can be by Radio Network System to its Long-distance Control.For said navigation system, then be mainly used to handle the mobile alignment information of travelling car, set the travelling car mobile route.
Described mobile bearing pin is installed on the slide block, track 25 linear runnings that this slide block constitutes along described basic arm cavity by the worm mechanism driving, and cavity is circumferentially spacing to this slide block simultaneously; Described basic arm links by the sleeve of feather key with a driven by servomotor, the axial freedom that makes its circumferential degree of freedom with described splined transmission and move along the feather key keyway.As for the rectilinear motion of described slide block, also can adopt the chain transmission, structure is relatively simple, and certainly, there is the defective on transmission accuracy ground in the chain transmission.
The transmission mechanism that can realize above-mentioned motion mode is varied, all is the conventional kind of drive on theory of mechanics, realizes that easily manufacturing cost is also lower.Those skilled in the art motion mode that this programme provides and the enlightenment of concrete real mechanical structure under done be equal to improvement and should fall within protection scope of the present invention.
For the ease of detecting in the complete retraction of the mechanical arm cabin, the end that described middle arm is connected with forearm is provided with the magnetic card sensing chip 26 that is used for the described cabin of the complete retraction of detector.Certainly, also can adopt other mode, such as above-mentioned position the one stroke switch is set, the triggering by travel switch obtains retracted position accurately.
Described mobile bearing pin and bearing pin are by driven by servomotor, and arm and forearm respectively have a rotational freedom in making.Because the function of mechanical arm has determined that its structure is compact, weight is low weight, so relative also smaller corresponding to the servomotor power of arm in described and forearm, device is at corresponding bearing pin place, and is little to the overall dimensions influence.
For the acquisition data message of wide area, described forearm end sides is provided with ultrasonic probe 28, minisize pick-up head 29 and the laser acquisition 30 that is used for information gathering, and is provided with frock manipulator 31.Can compare simple frock operation for the frock manipulator.
Described cabin upside is provided with a bracing frame 4 that is used for supporting main video acquisition assembly by The Cloud Terrace 5, and wherein main video acquisition assembly is visible light camera and the thermal camera 3 of device in protective cover 1.Patrolling and examining mainly is to obtain video information, therefore, mainly, it is arranged on the top of the easier control of detection angles separately, and controls the pitching and the rotation of described support by this accurate control element of The Cloud Terrace, to obtain precise position information.
Present embodiment further comprises and being used for by network system 24 and the auxiliary information processor 14 of antenna 20 with the user end computer communication, be used to set up linking of user end computer and the information acquisition system that comprises mechanical arm information gathering, main video acquisition, wherein information acquisition system also comprises the transducer that is used to gather temperature, humidity in the described guard shield, gather the transducer of external environment condition temperature, humidity, network system is handled and be transferred to institute's Information Monitoring by information processor.
For the ease of the control of moving of dolly, described travelling car has two trailing wheels 13 and two front-wheels 16 that are used for as driving wheel, and wherein trailing wheel is a universal wheel.Adopt forerunner's the easier obstacle detouring of mode.
The power supply of this robot is arranged on described travelling car middle part, and is provided with automatic charge device, and the charging screw mandrel 11 of this automatic charge device is parallel to the travelling car transversal line, is convenient to charging.
Claims (8)
1. robot used for intelligent substation patrol, comprise travelling car (23) as carrier, its front portion is provided with navigation system, and on this travelling car, be provided with power supply, guard shield of electronic component (17) and mechanical arm, and information processing system, it is characterized in that: described mechanical arm is installed on the cabin (6) on described guard shield top, and it mainly comprises having and moves axially and circumferentially rotate two degrees of freedom and innerly be the basic arm (7) of cavity, have mobile bearing pin (32) can make the described cavity of body retraction along the operation of described cavity and when stretching out cavity, have around described mobile bearing pin rotate the middle arm (8) of one degree of freedom and be installed on by bearing pin (27) described in the forearm (9) of arm end, wherein cavity cross section is greater than the cross section of described middle arm and forearm folded state.
2. robot used for intelligent substation patrol according to claim 1, it is characterized in that: described mobile bearing pin is installed on the slide block, track (25) linear running that this slide block constitutes along described basic arm cavity by the worm mechanism driving, cavity is circumferentially spacing to this slide block simultaneously; Described basic arm links by the sleeve of feather key with a driven by servomotor, the axial freedom that makes its circumferential degree of freedom with described splined transmission and move along the feather key keyway.
3. robot used for intelligent substation patrol according to claim 2 is characterized in that: described mobile bearing pin and bearing pin are by driven by servomotor, and arm and forearm respectively have a rotational freedom in making.
4. robot used for intelligent substation patrol according to claim 1, it is characterized in that: described forearm end sides is provided with ultrasonic probe (28), minisize pick-up head (29) and the laser acquisition head (30) that is used for information gathering, and is provided with frock manipulator (31).
5. robot used for intelligent substation patrol according to claim 1, it is characterized in that: described cabin upside is provided with a bracing frame (4) that is used for supporting main video acquisition assembly by The Cloud Terrace (5), and wherein main video acquisition assembly is visible light camera and the thermal camera (3) of device in protective cover (1).
6. according to the described robot used for intelligent substation patrol of one of claim 1 to 5, it is characterized in that: it further comprises and being used for by network system (24) and the auxiliary information processor (14) of antenna (20) with the user end computer communication, be used to set up user end computer and comprise the mechanical arm information gathering, the link of the information acquisition system of main video acquisition, wherein information acquisition system also comprises and is used to gather temperature in the described guard shield, the transducer of humidity, collection external environment condition temperature, the transducer of humidity, network system is handled and be transferred to institute's Information Monitoring by information processor.
7. robot used for intelligent substation patrol according to claim 6 is characterized in that: described travelling car has two trailing wheels (13) and two front-wheels (16) that are used for as driving wheel, and wherein trailing wheel is a universal wheel.
8. robot used for intelligent substation patrol according to claim 7, it is characterized in that: the power supply of this robot is arranged on described travelling car middle part, and be provided with automatic charge device, and the charging screw mandrel (11) of this automatic charge device is parallel to the travelling car transversal line.
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| CN2009100167812A CN101604825B (en) | 2009-07-14 | 2009-07-14 | Robot used for intelligent substation patrol |
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| CN2009100167812A CN101604825B (en) | 2009-07-14 | 2009-07-14 | Robot used for intelligent substation patrol |
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Inventor after: Cao Tao Inventor after: Fu Mengchao Inventor after: Han Lei Inventor after: Wang Mingrui Inventor after: Guo Rui Inventor after: Cao Lei Inventor after: Zhao Jinlong Inventor after: Lu Shouyin Inventor after: Li Tongzhi Inventor after: Li Hongmei Inventor after: Mu Shiyou Inventor before: Cao Tao Inventor before: Wang Mingrui Inventor before: Guo Rui Inventor before: Cao Lei Inventor before: Zhao Jinlong |
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Free format text: CORRECT: INVENTOR; FROM: CAO TAO WANG MINGRUI GUO RUI CAO LEI ZHAO JINLONG TO: CAO TAO WANG MINGRUI GUO RUI CAO LEI ZHAO JINLONG LU SHOUYIN LI TONGZHI LI HONGMEI MU SHIYOU FU MENGCHAO HAN LEI |
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Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co., Ltd. Address before: 250002 Shandong Electric Power Research Institute, Middle East, 2nd Ring Road, sixteen Li Town, Ji'nan City, Shandong Patentee before: Shandong Luneng Intelligent Technology Co., Ltd. |
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| CP03 | Change of name, title or address |