CN103913243A - Suspending automatic-patrol robot - Google Patents

Suspending automatic-patrol robot Download PDF

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Publication number
CN103913243A
CN103913243A CN201410146985.9A CN201410146985A CN103913243A CN 103913243 A CN103913243 A CN 103913243A CN 201410146985 A CN201410146985 A CN 201410146985A CN 103913243 A CN103913243 A CN 103913243A
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China
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track
lift
track machine
rail
type automatic
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Granted
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CN201410146985.9A
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Chinese (zh)
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CN103913243B (en
Inventor
杨志强
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Yado Monitoring Technology Co., Ltd.
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杨志强
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Priority to CN201410146985.9A priority Critical patent/CN103913243B/en
Publication of CN103913243A publication Critical patent/CN103913243A/en
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Publication of CN103913243B publication Critical patent/CN103913243B/en
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Abstract

The invention discloses a suspending automatic-patrol robot, and aims to provide a suspending automatic-patrol robot which can replace workers and save labor. The suspending automatic-patrol robot comprises a rail mechanism and a rail machine system and is characterized in that the rail machine system is matched with the rail mechanism, the lower side of the rail machine system is connected with a mechanical arm mechanism, the lower side of the mechanical arm mechanism is connected with a temperature picture monitoring system, and the rail machine system is connected with a wireless transmission system. The suspending automatic-patrol robot is mainly used for power security monitoring and control.

Description

A kind of lift-on/lift-off type automatic crusing robot
Technical field
The present invention relates to a kind of safety patrol inspection device, relate in particular to lift-on/lift-off type automatic crusing robot.
Background technology
The power grid accident cumulative year after year that electrical equipment faults itself causes, accounts for about the half of all power grid accidents every year.Make a general survey of the world, situation too, also shows from the analysis result of overseas power networks large area blackout reason, and not only electrical equipment faults itself is the main cause that jeopardizes electric power netting safe running always, and proportion is also quite large in electric network fault.
Mostly existing device temperature monitoring is based on modes such as thermopair, thermal resistance, fiber optic conduction, this thermometric mode is subject to the impact of the factor such as transmission range, conductor resistance, and which need be close to temperature-sensing element measured object surface, belong to contact temperature-measuring, can cause undoubtedly certain hidden danger for the safe operation of most of equipment.With contactless temperature-measuring method, operational outfit and environment thereof are carried out to temperature detection by infrared detector, and by means of visible light monitor, accident defect part is positioned, to the defect of equipment and environment is carried out to long-range judgement and prompting; The Cloud Terrace and the lens focus of, visible light monitor infrared by controlling, carry out uninterrupted, round-the-clock (have light and without under luminous environment) temperature monitoring and to the anti-invasion of work condition environment, theftproof monitoring and warning to equipment.
Therefore, the present invention has adopted a kind of contactless temperature monitoring technology, and it is one develops rapidly and the technology being favourably welcome, and is not only the needs of enterprise safety operation, is also the needs that Enterprises ' Modern operation management level improves.Along with China's economic scale is increasing, production level is more and more higher, and the condition monitoring and fault diagnosis technology of equipment more and more comes into one's own, and temperature pattern supervisory system robot also has boundless market outlook.
Summary of the invention
The invention discloses a kind of lift-on/lift-off type automatic crusing robot, combine lifting track robot manipulating task and image bilinear interpolation, improve infrared image identification, realize autonomous type and move thermal image routing inspection measurement.Adopt infrared image and visual image fusion technology, accurately tracking target abnormal conditions.Wireless transmission protocol has guaranteed stability and the reliability of signal transmission reliably.
For addressing the above problem, technical solution of the present invention is:
A kind of lift-on/lift-off type automatic crusing robot, comprise rail mechanism, track machine system, it is characterized in that: described track machine system matches with rail mechanism, under track machine system, be connected with mechanical arm mechanism, under mechanical arm mechanism, be connected with temperature pattern supervisory system, track machine system is connected with wireless transmitting system.
Further, described rail mechanism comprises track, track be " work " and word shape, the vertical edge side of track is provided with slip mechanism, the both ends, left and right of the following upper surface of track are provided with end fixed block, and the following lower surface of track is provided with end limited block and interfix piece.
Further, track machine system includes track machine shell, side plate, in track machine shell, be fixed with current-collector fixed head, current-collector web joint, adjustable plate is connected on hub web joint by the slotted eye arranging on it, slipper is connected with adjustable plate, the slip mechanism Elastic Contact of slipper by adjustable plate and the track vertical edge side of rail mechanism or separate, drive unit is fixed in track machine shell, and be connected by wire with slipper, under track shell, inner face is provided with two groups of end stroke switches and one group of middle of stroke switch.
Further, described mechanical arm mechanism is lifted under track machine system by hoisting bracket, and hoisting bracket is arranged with bearing support, bearing support two ends are provided with end cap, infrared induction, infrared tube are installed in end cap, and connecting rod is installed and bearing support lower end, and connecting rod lower end is elasticly connected with support in succession.
Further, described temperature pattern supervisory system is made up of housing, case cover, and supervisory system is installed in housing, and housing side is provided with watch window.
Further, described wireless transmitting system includes wireless transmission antenna, wireless bridge composition, wireless transmission antenna is connected by wire with wireless bridge, and wireless transmission antenna is placed on the set hole of track machine shell, and wireless bridge is arranged in track machine system.
The invention has the beneficial effects as follows:
1, the alternative artificial execute-in-place of the present invention, increases work efficiency.Especially under the severe working environment such as work high above the ground, high pressure, danger, whether duty, the surface temperature that need to monitor main equipment be normal, can realize automatic monitoring device with the present invention.
2, the present invention, by lifting track robot manipulating task and image bilinear interpolation, adopts infrared image and visual image fusion technology, and accurately tracking target abnormal conditions, improve infrared image identification, realize autonomous and patrol and examine measurement.
3, the present invention adopts automatic telescopic mechanical arm, is located by travel switch and corresponding travel switch limited block, is combined down with digitial controller technology, can below lifting track, do accurate lifting, stop.Thereby can be according to user's needs, closely, more accurately embody the temperature rise situation of measured body.
4, the present invention uses infrared human body induction, when under darkness, night, narrow space environment automatically when operation, if personnel need through below the track machine of lifting, when personnel are when apart 2-3 rice is far away with this device, apparatus of the present invention can send red flash of light and chimes of doom, and halt simultaneously.Can remind like this through personnel careful attention, avoid bumping and cause unexpected injury, guarantee personnel's safety.
5, service-strong wireless transmission protocol of the present invention, has guaranteed stability and the reliability of video data wireless transmission; Realize and patrolling and examining online.
6, the balanced structure of robot and automatic changeover are designed to one by the present invention, not only greatly simplifies the structure, reduces costs, and can also in curved straight rail, replace normally and accurately operation.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is front view of the present invention;
Fig. 3 is left view of the present invention;
Fig. 4 is the left view that mechanical arm of the present invention extends hand;
In figure: 1-rail mechanism, 11-slick line device, 12-track, 13-end fixed block, 14-end limited block, 15-interfix piece, 2-track machine system, 21-track machine shell, 211-hole, 22-side plate, 23-current-collector fixed head, 24-current-collector web joint, 25-adjustable plate, 251-slotted eye, 26-slipper, 27-drive unit, 28a-end stroke switch, 28b-middle of stroke switch, 3-mechanical arm mechanism, 31-bearing support, 32-end cap, 33-connecting rod, 34-is support in succession, 35-infrared induction, 36-infrared tube, 37-hoisting bracket, 4-temperature pattern supervisory system, 41-housing, 411-watch window, 42-case cover, 5-wireless transmitting system, 51-wireless transmission antenna, 52-wireless bridge.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in further detail.
Referring to accompanying drawing, the present invention includes rail mechanism 1, track machine system 2, it is characterized in that: described track machine system 2 matches with rail mechanism 1, track machine system is connected with mechanical arm mechanism 32 times, mechanical arm mechanism is connected with temperature pattern supervisory system 43 times, and track machine system 2 is connected with wireless transmitting system 5.
Described rail mechanism 1 comprises track 12, track 12 is " work " word shape, the vertical edge side of track 12 is provided with slip mechanism 11, and the both ends, left and right of track 12 following upper surfaces are provided with end fixed block 13, and the following lower surface of track 12 is provided with end limited block 14 and interfix piece 15.
Track machine system 2 includes track machine shell 21, side plate 22, in track machine shell 21, be fixed with current-collector fixed head 23, current-collector web joint 24, adjustable plate 25 is connected on hub web joint 24 by the slotted eye 251 arranging on it, slipper 26 is connected with adjustable plate 25, slip mechanism 11 Elastic Contact by adjustable plate 25 and the track 12 vertical edge sides of rail mechanism 1 of slipper 26 or separate, drive unit 27 is fixed in track machine shell 21, and be connected by wire with slipper 26, 21 times inner faces of track shell are provided with two groups of end stroke switch 28a and one group of middle of stroke switch 28b.
Described mechanical arm mechanism 3 is lifted on track machine system 2 times by hoisting bracket 37, hoisting bracket is arranged with bearing support 31, bearing support 31 two ends are provided with end cap 32, infrared induction 35, infrared tube 36 are installed in end cap 32, connecting rod 33 is installed and bearing support 31 lower ends, and connecting rod 33 lower ends are elasticly connected with support 34 in succession.
Described temperature pattern supervisory system 4 is made up of housing 41, case cover 42, and supervisory system is installed in housing 41, and housing 41 sides are provided with watch window 411.
Described wireless transmitting system 5 includes wireless transmission antenna 51, wireless bridge 52 forms, wireless transmission antenna 51 is connected by wire with wireless bridge 52, wireless transmission antenna 51 is placed on the set hole of track machine shell 21 211, and wireless bridge 52 is arranged in track machine system 2.
In use, first according to demand rail mechanism 1 is layed in to desired location, by the mechanical arm mechanism 3 of track machine system 2 and lifting, temperature monitoring system 4, wireless transmitting system 5 is installed on rail mechanism 1, after Installation and Debugging, open switch, the adjustable plate 25 of track machine system 2 interior settings is fixing left, slipper 26 is connected with slick line device 11 elasticity, drive unit 27 obtains electric, track machine system 2 starts to slide on track 12, after arrival has set in advance interfix piece 15 positions, middle of stroke switch 28b connects, control system in mechanical arm mechanism 3 makes connecting rod Shang Xia 33, telescopic band dynamic temperature frequency image monitoring system 4 is flexible to formulate position temperature with monitoring.Complete monitoring after by wireless transmitting system 5 by data back control center with analyze.
Described temperature pattern supervisory system 4 is used image bilinear interpolation, adopts infrared image and visual image fusion technology, and accurately tracking target abnormal conditions, improve infrared image identification.Described temperature pattern supervisory system 4 can be installed two covers simultaneously, and watch window is respectively in the other direction to be installed, and can monitor like this equipment running status on both sides simultaneously, thus the monitoring efficiency doubling.
In the time that rail mechanism 1 is folding, end fixed block 13 and end limited block 14 are set in the end of track 12, thereby end fixed block 13 can force to limit track machine system 2 and skid off track 12 and guaranteed track machine system and staff's safety, can be reverse the end limited block 14 arranging coordinates control track machine system 2 to arrive end during with end stroke switch 28a.
And in the time that rail mechanism 1 is closure, interfix piece 15 only need be set in track 12 lower surfaces, it can make the 2 kinematic error zero clearings of track machine system and preset position can be set through rest point.
The infrared induction 35 and the infrared tube 36 that arrange form human body sensing system, when having personnel through out-of-date, can feed back to control system, thus provide according to the demand of setting stop, the corresponding instruction such as warning, flashing light or operation.
Above-mentioned embodiment is the preferred embodiments of the present invention, can not limit the present invention, and other any change or other equivalent substitute mode that does not deviate from technical scheme of the present invention and make, within being included in protection scope of the present invention.

Claims (6)

1. a lift-on/lift-off type automatic crusing robot, comprise rail mechanism (1), track machine system (2), it is characterized in that: described track machine system (2) matches with rail mechanism (1), under track machine system (2), be connected with mechanical arm mechanism (3), under mechanical arm mechanism (3), be connected with temperature pattern supervisory system (4), track machine system (2) is connected with wireless transmitting system (5).
2. lift-on/lift-off type automatic crusing robot according to claim 1, it is characterized in that: described rail mechanism (1) comprises track (12), track (12) is " work " word shape, the vertical edge side of track (12) is provided with slip mechanism (11), track (12) the below both ends, left and right of upper surface is provided with end fixed block (13), and track (12) below lower surface is provided with end limited block (14) and interfix piece (15).
3. lift-on/lift-off type automatic crusing robot according to claim 1, it is characterized in that: track machine system (2) includes track machine shell (21), side plate (22), in track machine shell (21), be fixed with current-collector fixed head (23), current-collector web joint (24), adjustable plate (25) is connected on hub web joint (24) by the slotted eye (251) arranging on it, slipper (26) is connected with adjustable plate (25), slip mechanism (11) Elastic Contact of slipper (26) by adjustable plate (25) and track (12) the vertical edge side of rail mechanism (1) or separate, drive unit (27) is fixed in track machine shell (21), and be connected by wire with slipper (26), the lower inner face of track shell (21) is provided with two groups of end stroke switches (28a) and one group of middle of stroke switch (28b).
4. lift-on/lift-off type automatic crusing robot according to claim 1, it is characterized in that: described mechanical arm mechanism (3) is lifted under track machine system (2) by hoisting bracket (37), hoisting bracket is arranged with bearing support (31), bearing support (31) two ends are provided with end cap (32), infrared induction (35), infrared tube (36) are installed in end cap (32), connecting rod (33) is installed and bearing support (31) lower end, and connecting rod (33) lower end is elasticly connected with support (34) in succession.
5. lift-on/lift-off type automatic crusing robot according to claim 1, it is characterized in that: described temperature pattern supervisory system (4) is made up of housing (41), case cover (42), supervisory system is installed in housing (41), and housing (41) side is provided with watch window (41) (1).
6. lift-on/lift-off type automatic crusing robot according to claim 1, it is characterized in that: described wireless transmitting system (5) includes wireless transmission antenna (51), wireless bridge (52) composition, wireless transmission antenna (51) is connected by wire with wireless bridge (52), it is upper that wireless transmission antenna (51) is placed on the set hole (211) of track machine shell (21), and wireless bridge (52) is arranged in track machine system (2).
CN201410146985.9A 2014-04-13 2014-04-13 Suspending automatic-patrol robot Active CN103913243B (en)

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104959986A (en) * 2015-05-29 2015-10-07 南京理工大学 Combined track type automatic inspection robot
CN106239515A (en) * 2016-09-19 2016-12-21 上海永乾机电有限公司 A kind of power distribution station intelligent inspection robot
CN106393054A (en) * 2016-11-21 2017-02-15 山东大学 Line patrol robot for comprehensively monitoring power lines and method thereof
WO2017133245A1 (en) * 2016-02-03 2017-08-10 深圳市施罗德工业测控设备有限公司 Support for rail
TWI602721B (en) * 2015-08-26 2017-10-21 松下知識產權經營股份有限公司 Collector device and power transmission system
CN108247642A (en) * 2017-11-29 2018-07-06 白劲实 Suspension type assists robot in
CN108563148A (en) * 2018-03-29 2018-09-21 西安科技大学 A kind of kinematic system and method for single track lifting crusing robot
CN108627196A (en) * 2017-03-23 2018-10-09 台湾积体电路制造股份有限公司 Environmental monitoring system
CN108919590A (en) * 2018-09-13 2018-11-30 襄阳市雄狮光电科技有限公司 A kind of band debates visual function camera lens

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102562154A (en) * 2010-12-29 2012-07-11 沈阳新松机器人自动化股份有限公司 Cable tunnel routing inspection robot
CN203112028U (en) * 2013-03-08 2013-08-07 湖北华昌达智能装备股份有限公司 Rail and self-propelled trolley conveying system
CN203772421U (en) * 2014-04-13 2014-08-13 杨志强 Hoisting type automatic tour inspection robot

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102562154A (en) * 2010-12-29 2012-07-11 沈阳新松机器人自动化股份有限公司 Cable tunnel routing inspection robot
CN203112028U (en) * 2013-03-08 2013-08-07 湖北华昌达智能装备股份有限公司 Rail and self-propelled trolley conveying system
CN203772421U (en) * 2014-04-13 2014-08-13 杨志强 Hoisting type automatic tour inspection robot

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104959986A (en) * 2015-05-29 2015-10-07 南京理工大学 Combined track type automatic inspection robot
TWI602721B (en) * 2015-08-26 2017-10-21 松下知識產權經營股份有限公司 Collector device and power transmission system
WO2017133245A1 (en) * 2016-02-03 2017-08-10 深圳市施罗德工业测控设备有限公司 Support for rail
CN106239515A (en) * 2016-09-19 2016-12-21 上海永乾机电有限公司 A kind of power distribution station intelligent inspection robot
CN106393054A (en) * 2016-11-21 2017-02-15 山东大学 Line patrol robot for comprehensively monitoring power lines and method thereof
CN108627196A (en) * 2017-03-23 2018-10-09 台湾积体电路制造股份有限公司 Environmental monitoring system
CN108247642A (en) * 2017-11-29 2018-07-06 白劲实 Suspension type assists robot in
CN108247642B (en) * 2017-11-29 2020-11-24 白劲实 Suspension type supporting robot
CN108563148A (en) * 2018-03-29 2018-09-21 西安科技大学 A kind of kinematic system and method for single track lifting crusing robot
CN108919590A (en) * 2018-09-13 2018-11-30 襄阳市雄狮光电科技有限公司 A kind of band debates visual function camera lens
CN108919590B (en) * 2018-09-13 2020-12-29 襄阳市雄狮光电科技有限公司 Lens with visual function

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Effective date of registration: 20170510

Address after: 519000 No. 8, No. 9 Road, hi tech Zone, Guangdong, Zhuhai

Patentee after: Yado Monitoring Technology Co., Ltd.

Address before: 516000 hi tech nine road, Zhuhai, Guangdong

Patentee before: Yang Zhiqiang

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