CN102756741A - Orbital transfer type carrier loader for inspection robot in transformer substation - Google Patents
Orbital transfer type carrier loader for inspection robot in transformer substation Download PDFInfo
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- CN102756741A CN102756741A CN2012102149219A CN201210214921A CN102756741A CN 102756741 A CN102756741 A CN 102756741A CN 2012102149219 A CN2012102149219 A CN 2012102149219A CN 201210214921 A CN201210214921 A CN 201210214921A CN 102756741 A CN102756741 A CN 102756741A
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- 238000007689 inspection Methods 0.000 title claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims abstract description 25
- 230000005693 optoelectronics Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000001141 propulsive effect Effects 0.000 description 2
- 230000009183 running Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005347 demagnetization Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Abstract
An orbital transfer type carrier loader for an inspection robot in a transformer substation is characterized in that a driving chain wheel and a first chain wheel are fixed in the middle of a transmission shaft hinged with a loader body, a pair of fourth chain wheels are fixed at the two ends of the transmission shaft, the driving chain wheel of the transmission shaft is connected with the driving chain wheel coaxially fixed with a driving motor; a single track and double tracks are arranged below the loader body, a support base fixed below the loader body is contacted and matched with the single track by a horizontal limiting guide wheel and a horizontal limiting guide wheel hinge hinged with the support base, a single track driving wheel hinged on the support base is arranged on the surface of the single track, and a second chain wheel coaxially fixed on the single track driving wheel is connected with the first chain wheel fixed on the transmission shaft; four double-track driving wheels are hinged at the lower end of a support arm fixed on the loader body, the front pair of double-track driving wheel and the rear pair of double-track driving wheel are respectively arranged on the surfaces of the double tracks, and a third chain wheel coaxially with the double-track driving wheels is connected with the fourth chain wheel fixed on the transmission shaft. The loader body is fixedly connected with a photoelectric sensor, and a plurality of positioning pins are fixed on the single track.
Description
Technical field
The present invention relates to the substation inspection robot, more particularly, is that a kind of substation inspection robot is with becoming rail formula carrier loader.
Background technology
The use of substation inspection robot has replaced the artificial work of patrolling and examining to all kinds of electrical equipments of substation and circuit, and actv. has guaranteed the positive safe operation of substation.Existing substation inspection robot generally includes one and on the construction road at substation scene, goes; By motor-driven four-wheel carrier loader; Computing machine, vehicle power are installed on the four-wheel carrier loader; One cover is suitable for the battery charger of being made up of feeder ear and mobile receiving end under the outdoor various weather condition; One by the global positioning system navigation information transfer unit that laser range sensor forms of unifying, and a distribution equipment detecting unit that is made up of noctovisor, the main check implement of high-definition camera comprises the Temperature Detector to electrical equipment, equipment point of connection and electric power circuit; The vision system collector of electrical equipment, instrument and meter, the sound collector of electrical equipment noise.Because the carrier loader of existing substation inspection robot adopts the four wheel drive structure; And need on the construction road at substation scene, go, navigate and patrol and examine operation; Exist following deficiency: 1. the driving path of robot receives the limitation of site road; Make some epi-position of robot observed the visual angle preferably, Information Monitoring is affected; 2. when the sleety weather covering path, if untimely cleaning can cause robot malfunctioning; 3. site operation personnel, vehicle occupy road when passing in and out, and can impact system; 4. the navigation information transmission is to bury bar magnet underground on the ground on the scene road; The magnetic strength sensor is installed on the robot; Utilize bar magnet to lay the track guided robot that forms and go, its accuracy of positioning is poor, and this can influence the accuracy of observation of robot to all kinds of electrical equipments of substation and circuit; Long-time bar magnet has the demagnetization phenomenon, causes locate failure.
Summary of the invention
The objective of the invention is, prior art is carried out substantial improvements and innovation, provide a kind of rational in infrastructure; Become rail running along setting the orientation, self-align precision is high, not influenced by harsh environment; Can realize omnibearing observation, the substation inspection robot of long service life is with becoming rail formula carrier loader.
The objective of the invention is to be realized by following technical scheme: a kind of substation inspection robot is with becoming rail formula carrier loader; It comprises car body; It is characterized in that: car body front and back driver train is set on car body; Car body front and back driver train 20 has identical structure and is, on car body, is hinged with transmission shaft, is fixed with the drive sprocket and first sprocket wheel at the middle part of transmission shaft; Be fixed with a pair of the 4th sprocket wheel at the two ends of transmission shaft, the drive sprocket of transmission shaft is connected with the co-axially fixed drive sprocket of drive motor; Center below car body is provided with single track; The both sides of center are provided with double track below car body; Below car body, be equipped with former and later two single track traveling geaies; Two single track traveling geaies have identical structure and are, below car body, are fixed with supporting seat, supporting seat through with its pivotally attached cross spacing track adjusting wheel and vertical spacing track adjusting wheel and single track contact matching; Place on the rail level of single track at pivotally attached single track drive wheel on the supporting seat, first fixing on co-axially fixed second sprocket wheel of single track drive wheel and the transmission shaft sprocket wheel is connected; Lower end at the fixing support arm of car body is hinged with four double track drive wheels, and two pairs of front and back in four double track drive wheels place respectively on the double track rail level separately, and co-axially fixed the 3rd sprocket wheel of double track drive wheel is connected with the 4th sprocket wheel of on transmission shaft, fixing.
On car body, be fixed with opto-electronic pickup, on single track, be fixed with several pilot pins.
Substation inspection robot of the present invention is with becoming rail formula carrier loader; Owing to adopted along becoming the rail move mode; Single track, two kinds of track complementations of double track are installed on the substation scene, and the substation inspection robot is ridden in the track that becomes rail, has solved the site road limitation and has caused the not good problem of some epi-position observation; Also overcome the influence of complicated site environment, reduced because of laying the effect on structure of track to the place.Owing on car body, be fixed with opto-electronic pickup, on single track, be fixed with the high precision self locating device that several pilot pins constitute, the accurate positioning that the substation inspection robot is moved along track, thus realize accurate identification to meter reading.Have rational in infrastructurely, can realize advantages such as omnibearing observation, long service life.
Description of drawings
Fig. 1 looks scheme drawing for the substation inspection robot with becoming rail formula carrier loader structure master;
Fig. 2 is the schematic side view of Fig. 1;
Fig. 3 is the schematic top plan view of Fig. 1;
Fig. 4 for the substation inspection robot with becoming the rail formula carrier loader view of on single track, going;
Fig. 5 uses for the substation inspection robot and becomes rail formula carrier loader at single, double rail switching place motoring condition scheme drawing;
Fig. 6 for the substation inspection robot with becoming the rail formula carrier loader view of on double track, going.
Among the figure: 1 single track, 2 double tracks, 3 single track drive wheels, 4 double track drive wheels, 5 drive sprockets; 6 drive sprockets, 7 car bodies, 8 opto-electronic pickups, 9 pilot pins, 10 first sprocket wheels; 11 second sprocket wheels, 13 the 3rd sprocket wheels, 14 drive motor, 15 transmission shafts, 16 cross spacing track adjusting wheels; 17 vertical spacing track adjusting wheels, 18 supporting seats, driver train before and after 19 support arms, 20 car bodies, 21 single track traveling geaies.
With reference to Fig. 1-Fig. 3, substation inspection robot of the present invention comprises car body 7 and car body front and back driver train 20 with becoming rail formula carrier loader.Car body front and back driver train 20 has identical structure and is; On car body 7, be hinged with transmission shaft 15; Be fixed with the drive sprocket 5 and first sprocket wheel 10 at the middle part of transmission shaft 15; Be fixed with a pair of the 4th sprocket wheel 12 at the two ends of transmission shaft 15, the drive sprocket 5 of transmission shaft 15 is connected with drive motor 14 co-axially fixed drive sprockets 6.Drive motor 14 adopts DC servo motor.Center below car body 7 is provided with single track 1, and the both sides of center are provided with double track 2 below car body 7.Below car body 7, be equipped with former and later two single track traveling geaies 21; Two single track traveling geaies 21 have identical structure and are; Below car body 7, be fixed with supporting seat 18; Supporting seat 18 through with its pivotally attached cross spacing track adjusting wheel 16 and vertical spacing track adjusting wheel 17 and single track 1 contact matching, place on the rail level of single track 1 at pivotally attached single track drive wheel 3 on the supporting seat 18, first sprocket wheel of fixing on single track drive wheel 3 co-axially fixed second sprocket wheels 11 and the transmission shaft 15 10 is connected.Lower end at the fixing support arm 19 of car body 7 is hinged with four double track drive wheels 4; Two pairs of front and back in four double track drive wheels 4 place respectively on double track 2 rail level separately, and double track drive wheel 4 co-axially fixed the 3rd sprocket wheels 13 are connected with the 4th fixing on transmission shaft 15 sprocket wheel 12.On car body 7, be fixed with opto-electronic pickup 8, on single track 1, be fixed with several pilot pins 9.
Each single track traveling gear 21 two on cross spacing track adjusting wheel 16 and two vertical spacing track adjusting wheels 17 and single track 1 contact matching; Two cross spacing track adjusting wheels 16 respectively have certain clearance with the single track 1 track outside respectively; Adapting to the camber of track, two vertical spacing track adjusting wheels 17 also respectively have certain clearance with the lower end of single track 1 track upper surface, prevent car body 7 rollovers; Cross spacing track adjusting wheel 16 and two vertical spacing track adjusting wheels 17 do not have propulsive effort, are follow mechanism; All go along single track 1 track upper surface before two single track drive wheels 3 one, after one, the width of single track drive wheel 3 is that 40mm is slightly narrower than single track 1 track end face width degree.
Be equipped with the rigidity rib in the inboard of four double track drive wheels 4, be used for being stuck in double track 2 tracks when double track drive wheel 4 goes, the width of double track drive wheel 4 is slightly narrower than the width of double track 2 rail levels.
With reference to Fig. 4, when car body 7 went on single track 1, the single track drive wheel 3 of single track traveling gear 21 moved ahead at the spacing of cross spacing track adjusting wheel 16 and two vertical spacing track adjusting wheels 17 and guiding lower edge single track 1, driving car body 7, and the double track track adjusting wheel is unsettled 4 this moments.
With reference to Fig. 5, when car body 7 went to single double track switching place, single track drive wheel 3 was on single track 1, and simultaneously, double track drive wheel 4 is on double track 2 tracks, and single, double rail drive wheel all has propulsive effort, drive car body 7 goes; Car body 7 continues to move ahead, and goes when double track drive wheel 4 all goes to double track 2 tracks, drives car body 7, and single track drive wheel 3 is unsettled.
With reference to Fig. 6,, be above-mentioned anti-process when car body 7 is also gone to the process of single track 1 by double track 2 rail runnings to single, double rail switching place thus.
Specific embodiment of the present invention is also non exhaustive, and those skilled in the art should belong to the scope that claim of the present invention is protected without creative work carried out duplicate and improve.
Claims (2)
1. a substation inspection robot is with becoming rail formula carrier loader; It comprises car body, it is characterized in that: car body front and back driver train is set on car body, and car body front and back driver train has identical structure and is; On car body, be hinged with transmission shaft; Be fixed with the drive sprocket and first sprocket wheel at the middle part of transmission shaft, be fixed with a pair of the 4th sprocket wheel at the two ends of transmission shaft, the drive sprocket of transmission shaft is connected with the co-axially fixed drive sprocket of drive motor; Center below car body is provided with single track; The both sides of center are provided with double track below car body; Below car body, be equipped with former and later two single track traveling geaies; Two single track traveling geaies have identical structure and are, below car body, are fixed with supporting seat, supporting seat through with its pivotally attached cross spacing track adjusting wheel and vertical spacing track adjusting wheel and single track contact matching; Place on the rail level of single track at pivotally attached single track drive wheel on the supporting seat, first fixing on co-axially fixed second sprocket wheel of single track drive wheel and the transmission shaft sprocket wheel is connected; Lower end at the fixing support arm of car body is hinged with four double track drive wheels, and two pairs of front and back in four double track drive wheels place respectively on the double track rail level separately, and co-axially fixed the 3rd sprocket wheel of double track drive wheel is connected with the 4th sprocket wheel of on transmission shaft, fixing.
2. substation inspection robot according to claim 1 is characterized in that: on described car body, be fixed with opto-electronic pickup, on single track, be fixed with several pilot pins with becoming rail formula carrier loader.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012102149219A CN102756741A (en) | 2012-06-27 | 2012-06-27 | Orbital transfer type carrier loader for inspection robot in transformer substation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012102149219A CN102756741A (en) | 2012-06-27 | 2012-06-27 | Orbital transfer type carrier loader for inspection robot in transformer substation |
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| CN102756741A true CN102756741A (en) | 2012-10-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2012102149219A Pending CN102756741A (en) | 2012-06-27 | 2012-06-27 | Orbital transfer type carrier loader for inspection robot in transformer substation |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110090806A (en) * | 2019-05-30 | 2019-08-06 | 中邮科技有限责任公司 | A kind of tilting pan type sorter |
| CN110703784A (en) * | 2019-11-19 | 2020-01-17 | 国家电网有限公司 | Automatic tracking obstacle avoidance method suitable for transformer substation inspection robot |
| CN111605572A (en) * | 2020-07-17 | 2020-09-01 | 合肥科大智能机器人技术有限公司 | Rail mounted patrols and examines robot with autonomic become rail function |
| CN113276086A (en) * | 2021-05-31 | 2021-08-20 | 深圳市金乾象科技有限公司 | Interchangeable rail piping lane patrols and examines camera device |
| CN115214592A (en) * | 2022-07-13 | 2022-10-21 | 北京主导时代科技有限公司 | Rail vehicle brake detection device |
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| US5351621A (en) * | 1992-02-17 | 1994-10-04 | Hitachi, Ltd. | Traveling inspection robot system |
| JPH08108381A (en) * | 1994-10-06 | 1996-04-30 | Rootsue Kk | Travel guide device of traveling robot |
| JP2002120717A (en) * | 2000-10-13 | 2002-04-23 | Bio Oriented Technol Res Advancement Inst | Monorail type transporting/working device |
| CN101254593A (en) * | 2008-04-11 | 2008-09-03 | 山东电力研究院 | Vision navigated converting station patrolling robot |
| CN201442264U (en) * | 2009-07-14 | 2010-04-28 | 山东鲁能智能技术有限公司 | Intelligent inspection robot in transformer station |
| CN102501861A (en) * | 2011-11-15 | 2012-06-20 | 上海交通大学 | Single and double-rail dual-purpose rail car mechanism based on chain driving |
| CN202686368U (en) * | 2012-06-27 | 2013-01-23 | 吉林省电力有限公司辽源供电公司 | Various track type carrier cart for transformer substation patrolling robot |
-
2012
- 2012-06-27 CN CN2012102149219A patent/CN102756741A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5351621A (en) * | 1992-02-17 | 1994-10-04 | Hitachi, Ltd. | Traveling inspection robot system |
| JPH08108381A (en) * | 1994-10-06 | 1996-04-30 | Rootsue Kk | Travel guide device of traveling robot |
| JP2002120717A (en) * | 2000-10-13 | 2002-04-23 | Bio Oriented Technol Res Advancement Inst | Monorail type transporting/working device |
| CN101254593A (en) * | 2008-04-11 | 2008-09-03 | 山东电力研究院 | Vision navigated converting station patrolling robot |
| CN201442264U (en) * | 2009-07-14 | 2010-04-28 | 山东鲁能智能技术有限公司 | Intelligent inspection robot in transformer station |
| CN102501861A (en) * | 2011-11-15 | 2012-06-20 | 上海交通大学 | Single and double-rail dual-purpose rail car mechanism based on chain driving |
| CN202686368U (en) * | 2012-06-27 | 2013-01-23 | 吉林省电力有限公司辽源供电公司 | Various track type carrier cart for transformer substation patrolling robot |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110090806A (en) * | 2019-05-30 | 2019-08-06 | 中邮科技有限责任公司 | A kind of tilting pan type sorter |
| CN110090806B (en) * | 2019-05-30 | 2024-04-30 | 中邮科技股份有限公司 | Tray-turning type sorting machine |
| CN110703784A (en) * | 2019-11-19 | 2020-01-17 | 国家电网有限公司 | Automatic tracking obstacle avoidance method suitable for transformer substation inspection robot |
| CN111605572A (en) * | 2020-07-17 | 2020-09-01 | 合肥科大智能机器人技术有限公司 | Rail mounted patrols and examines robot with autonomic become rail function |
| CN111605572B (en) * | 2020-07-17 | 2021-07-27 | 合肥科大智能机器人技术有限公司 | Rail mounted patrols and examines robot with autonomic become rail function |
| WO2022011781A1 (en) * | 2020-07-17 | 2022-01-20 | 合肥科大智能机器人技术有限公司 | Track-type inspection robot with autonomous track changing function |
| CN113276086A (en) * | 2021-05-31 | 2021-08-20 | 深圳市金乾象科技有限公司 | Interchangeable rail piping lane patrols and examines camera device |
| CN115214592A (en) * | 2022-07-13 | 2022-10-21 | 北京主导时代科技有限公司 | Rail vehicle brake detection device |
| CN115214592B (en) * | 2022-07-13 | 2024-05-10 | 北京主导时代科技有限公司 | Rail vehicle brake detection device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| ASS | Succession or assignment of patent right |
Owner name: STATE GRID CORPORATION OF CHINA Effective date: 20121126 |
|
| C10 | Entry into substantive examination | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20121126 Address after: 130001 Jilin province Liaoyuan Dongji Road No. 281 Applicant after: LIAOYUAN POWER SUPPLY CO., LTD. OF JILIN ELECTRICPOWER Co.,Ltd. Applicant after: State Grid Corporation of China Address before: 130001 Jilin province Liaoyuan Dongji Road No. 281 Applicant before: LIAOYUAN POWER SUPPLY CO., LTD. OF JILIN ELECTRICPOWER Co.,Ltd. |
|
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20121031 |