CN104881031B - A kind of electric system rail mounted automatic crusing robot - Google Patents
A kind of electric system rail mounted automatic crusing robot Download PDFInfo
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- CN104881031B CN104881031B CN201510288479.8A CN201510288479A CN104881031B CN 104881031 B CN104881031 B CN 104881031B CN 201510288479 A CN201510288479 A CN 201510288479A CN 104881031 B CN104881031 B CN 104881031B
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Abstract
The present invention proposes a kind of electric system rail mounted automatic crusing robot.The robot body run including running track, in running track, the multiple detection sensors being mounted on robot body；The robot body includes small rail car, the linear module of the first synchronous belt, the linear module of the second synchronous belt；The small rail car is lifted in running track；The linear module of first synchronous belt is mounted on small rail car and vertically and ground；The linear module of second synchronous belt is mounted on the linear module of the first synchronous belt.Present invention movement orientation is accurate, can realize free movement on front and rear, upper and lower and three directions in left and right；Detection range is wide, can complete the detection information including shelf depreciation information；The monitoring information of displacement information and equipment under test can be real-time transmitted to PC terminals.
Description
Technical field
This hair belongs to technical field of electric power, and in particular to a kind of electric system rail mounted automatic crusing robot.
Background technology
With being continuously increased for China's electricity consumption number of users, requirement of the user to power quality is constantly promoted, and ensures electricity consumption
The normal operation of equipment is most important.Distribution is the link for being directly connected and being distributed to user electric energy in electric system with user.
Since the last one link of distribution system as electric system is directly facing terminal user, it perfect whether, is directly related to
The electricity consumption reliability and power quality of users.Therefore, the equipment in power distribution room, such as the inspection work of switchgear is to ensure
Controller switching equipment safe operation improves an element task of power supply reliability.
With the raising of Automation of Electric Systems level and unattended universal, the safety of equipment operation is by more
Add stringent test, power distribution room inspection also just receives the attention of bigger.At present, most domestic power distribution room is using traditional
Manual inspection mode, due to by factors systems such as patrol officer's labor intensity, professional skill, sense of responsibility and the state of mind
About, missing inspection, flase drop situation happen occasionally, and heavy economic losses can be caused when serious.Therefore, traditional manual inspection cannot
It can not meet the requirement of electric system modernization development, manual inspection is gradually replaced by crusing robot.
Existing crusing robot is mostly driven using wheeled or crawler type, and detection device is carried by holder, with autonomous or
The mode of remote control carries out inspection in unattended or few man on duty power equipment region.It can pass through the various biographies of carrying
Sensor completes image tour, infrared detection of power equipment etc..Operating personnel only need to by data that background computer receives,
The information such as image, you can complete the inspection work of power equipment.At present, it is existing that the electric power in outdoor locations such as substations is applied to set
Standby crusing robot, and apply the indoor spaces such as power distribution room crusing robot then not yet, and there are following in inspection
Shortcoming：
Existing crusing robot is mostly driven using wheeled or crawler type, due to power equipment layout and space in power distribution room
Limitation, it has not been convenient to which operation reaches equipment to be detected, is also inconvenient to carry out detection work；Due on the power equipments such as switchgear
Instrument and meter is large number of, is at different positions, the information of these instruments is detected, need crusing robot energy
It is enough realize it is front and rear, up and down and the comprehensive operation in three directions in left and right, so as to accurately reach immediately ahead of corresponding instrument and meter with
Detection is completed, and existing crusing robot can only adjust pitch angle by holder in a certain fixed height and be detected, and examine
The data area of survey is limited；Existing crusing robot function is single, can be only done the acquisition of photo and video, can not be to switch
Partial discharge phenomenon inside the power equipments such as cabinet is detected；Existing crusing robot does not have to carry out in real time with PC terminals
The function of communication, the motion state of itself and collected data cannot be monitored and be handled in time and feed back to work people
Member.
Invention content
It is an object of the invention to overcome above-mentioned the deficiencies in the prior art, a kind of electric system rail mounted automatic detecting is provided
Robot, movement orientation is accurate, can realize free movement on front and rear, upper and lower and three directions in left and right；Detection range is wide, can be complete
Into the detection information including shelf depreciation information；During inspection, robot can be by displacement information and equipment under test
Monitoring information be wirelessly real-time transmitted to PC terminals.
In order to solve the above technical problem, the present invention provides a kind of electric system rail mounted automatic crusing robot, including
Running track, the robot body run in running track, the multiple detection sensors being mounted on robot body；It is described
Running track is mounted on the oblique upper for being located at measurement equipment to be checked at the top of power distribution room, and running orbit is provided for robot body；It is described
Robot body includes small rail car, the linear module of the first synchronous belt, the linear module of the second synchronous belt；The small rail car lifting
In running track, robot body is transported to the front of measurement equipment to be checked；The linear module of first synchronous belt is mounted on
Small rail car and vertically and ground, for moving the detection sensor of its carrying in above-below direction；Second synchronous belt is linear
Module is mounted on the linear module of the first synchronous belt, and vertical with the linear module of the first synchronous belt, for interior shifting in the horizontal direction
Move its detection sensor carried；The multiple detection sensor is mounted in the linear module of the first synchronous belt and second and synchronizes respectively
With on linear module.
Further, the small rail car includes bottom plate, one or more pairs of wheels, direct current generator；The wheel is mounted on fortune
On row track, rotation axis is fixed on by connector on the bottom plate；The direct current generator is used to drive the vehicle wheel rotation.
Further, the linear module of the first synchronous belt includes the first straight-bar, the first stepper motor, the first conveyer belt and the
The linear module sliding block of one synchronous belt；One end of first straight-bar is fixed with the small rail car, for being synchronized for described first
The path to move up and down in vertical direction with the offer of linear module sliding block；The linear module sliding block of first synchronous belt with
First conveyer belt is connected and is sleeved on the first straight-bar, and the first conveyer belt both ends are fixed on the first straight-bar；The first step
Stepper motor is mounted on one end of the first straight-bar for first conveyer belt to be driven to move；It is described that be mounted in the first synchronous belt linear
Detection sensor on module is fixed on the linear module sliding block of the first synchronous belt.
Further, the linear module of the second synchronous belt includes the second straight-bar, the second stepper motor, the second conveyer belt and the
The linear module sliding block of two synchronous belts；Second straight-bar is fixed on the linear module sliding block of first synchronous belt, for
The movement of the linear module sliding block of two synchronous belts in the horizontal plane provides path；The linear module sliding block of second synchronous belt and second
Conveyer belt is connected and is sleeved on the second straight-bar, and the second conveyer belt both ends are fixed on the second straight-bar；The second stepping electricity
Machine is mounted on one end of the second straight-bar, for second conveyer belt to be driven to move；It is described to be mounted in the linear mould of the second synchronous belt
Detection sensor in group is fixed on the linear module sliding block of the second synchronous belt.
Further, the small rail car further includes the first encoder, two the first limit switches；Described two first limits
Bit switch is one in front and one in back mounted in small rail car case surface, for providing reset signal to first encoder；It is described
First encoder is co-axially mounted with direct current generator, is rotated with the movement of small rail car, and the angle of rotation is converted into pulse
It counts and feeds back to microcontroller, the current position of acquisition small rail car and velocity information after the processing of pulse number, and according to
The position and velocity information send control signal to direct current generator, and control direct current generator completion starts, stops, accelerating, slowing down and move
Work is accurately positioned so as to fulfill small rail car；The linear module of first synchronous belt further includes second encoder and two second limits
Bit switch；Described two second limit switches are separately mounted to the both ends of the first straight-bar, for being provided to the second encoder
Reset signal；The second encoder is co-axially mounted with the first stepper motor, is rotated as the first stepper motor rotates, and will be turned
Dynamic angle is converted into umber of pulse and feeds back to the microcontroller, and it is same that the pulse number obtains first after being handled
Step sends control signal to first with the current position of linear module sliding block and velocity information, and according to the position and velocity information
Stepper motor, the first stepper motor of control complete startup, stopping, acceleration, speed-down action so as to fulfill the first ball screw linear
Module sliding block is accurately positioned；The linear module of second synchronous belt further includes third encoder and two third limit switches；Institute
The both ends that two third limit switches are separately mounted to the second straight-bar are stated, for providing reset signal to the third encoder；
The third encoder is co-axially mounted with the second stepper motor, is rotated as the second stepper motor rotates, by the angle of rotation
It is converted into umber of pulse and feeds back to the microcontroller, it is linear that the pulse number obtains the second synchronous belt after being handled
The current position of module sliding block and velocity information, and control signal is sent according to the position and velocity information and gives the second stepping electricity
Machine, control the second stepper motor completion starts, stops, accelerating, speed-down action is slided so as to fulfill the first ball screw linear module
Block is accurately positioned.
Further, the crusing robot further includes control cabinet, insulation board is equipped in the control cabinet, by monolithic mechanism
Into control circuit board, three motor drivers；The control circuit board, three motor drivers are all mounted on insulation board；
The microcontroller is used for the information control crusing robot movement provided according to each encoder, is provided according to each detection sensor
Information completes the acquisition and analysis of detection data；Three motor drivers, respectively drive under the control of the microcontroller
Direct current generator, the first stepper motor and second stepper motor.
Further, the battery that electric energy is provided for crusing robot is further included；It is also equipped on the insulation board of the control cabinet
Voltage sensor, for monitoring the voltage of battery.
Further, communication protocols converter is also equipped on the insulation board of the control cabinet, by the string in control circuit board
Line interface communication Protocol Conversion is ethernet communication protocol.
Further, well including PC terminals, for monitoring the current operating status of crusing robot in real time and controlling robot
Operation, analysis and storage the collected data information of crusing robot.
Further, wireless router is also equipped with, the wireless communication being used to implement between crusing robot and PC terminals.
Compared with prior art, the present invention its remarkable advantage is, electric system rail mounted automatic detecting machine of the present invention
People, can be front and rear in electric system, such as power distribution room, up and down and free movement on three directions in left and right, fortune in the front-back direction
Dynamic robot body to be driven to be translated up in predetermined trajectory side by small rail car, up and down and the movement in the both direction of left and right is by machine
The upper and lower and left and right two axle movement mechanism of device human body completes, can be accurately fixed by robot by the accurate control of control system
Before position to each equipment under test；Crusing robot can be accurately completed to equipment under test by a variety of detection sensors of carrying
The information such as upper cabinet body number, indicator light, switch button, instrument registration, apparatus body temperature, shelf depreciation automatically extract and therefore
The tasks such as barrier anticipation and alarm；After PC terminals obtain the information that crusing robot uploads, further it can be pre-processed and be deposited
Background control center is transmitted to by the Intranet of electric system after deposit part, so that operation maintenance personnel grasps the feelings at inspection scene in time
Condition is simultaneously adopted an effective measure, and then completes entire patrol task.
Description of the drawings
Fig. 1 is the structure diagram of electric system rail mounted automatic crusing robot side of the present invention.
Fig. 2 is the structure diagram of electric system rail mounted automatic crusing robot opposite side of the present invention.
Fig. 3 is the small rail car structure diagram of electric system rail mounted automatic crusing robot of the present invention.
Fig. 4 is composition schematic diagram inside the control cabinet of electric system rail mounted automatic crusing robot of the present invention.
Fig. 5 is the charging box schematic diagram of electric system rail mounted automatic crusing robot of the present invention.
Fig. 6 is the modular structure block diagram that electric system rail mounted automatic crusing robot system of the present invention is formed.
Fig. 7 is the structure diagram of electric system rail mounted automatic crusing robot kinetic control system of the present invention.
Fig. 8 is the schematic diagram of electric system rail mounted automatic crusing robot PC terminal monitoring software interfaces of the present invention.
Fig. 9 is the schematic diagram of electric system rail mounted automatic crusing robot PC terminals of the present invention.
Specific embodiment
It is readily appreciated that, technical solution according to the present invention, in the case of the connotation for not changing the present invention, this field
Those skilled in the art can imagine the numerous embodiments of electric system rail mounted automatic crusing robot of the present invention.Cause
This, detailed description below and attached drawing are only the exemplary illustrations to technical scheme of the present invention, and are not to be construed as this hair
Bright whole is considered as limitation or restriction to technical solution of the present invention.
With reference to Fig. 1, in the present embodiment including robot running track 1, the robot body run in running track,
The detection sensor and PC terminals 48 that robot body carries.The running track 1 is used for realizing robot body in power train
The front and back of equipment are run up in system such as power distribution room, the robot body are enable to be reached along running track to be detected
The equipment cabinet body position of detection.In this way, the detection sensor that robot body is just carried, which is transported to, treats equipment cabinet to be detected
Immediately ahead of body.
As shown in Figure 1, the robot body includes small rail car 2, the linear module 3 of the first synchronous belt, the second synchronous belt
Linear module 4 and backboard 5.The linear module 4 of second synchronous belt is mounted on the linear module 3 of the first synchronous belt, and described first
The linear module 3 of synchronous belt is fixed on by backboard 5 on small rail car 2, and crusing robot is made to form an entirety.
The small rail car 2 is sleeved in running track 1, is passed through from 2 inside of small rail car.As shown in figure 3, the track is small
Vehicle 2 includes 6, four wheels of bottom plate, two direct current generators 7,8, two the first limit switches 9 of the first encoder, small rail car electricity
Pole 11 and lifting bolt 14, wherein, 8, two first 6, four wheels of bottom plate, two direct current generators 7, the first encoder limitings are opened
It closes 9 to be mounted in the shell of small rail car 2, bottom plate 6 can also be a part for shell.Four wheels include two actives
Wheel 12 and two driven wheels 13, are fixed by the bracket on the bottom plate 6, and 1 left and right sides of separation running track runs rail
Road 1 can just pass through among two pairs of wheels, and four wheels are tightly attached on I-steel lower surface, described four vehicle wheel rotations
So that small rail car 2 moves.Described two direct current generators 7 are connected respectively with two driving wheels 12, for providing power.It is described
The first encoder 8 be fixed by the bracket on bottom plate 6, rotated with the rotation of 2 wheel of small rail car, for recording
The angle and the number of turns of 2 vehicle wheel rotation of small rail car, and microcontroller 30 is fed back to, the microcontroller 30 obtains small rail car after handling
2 current running positions and speed, and according to current running position and speed control direct current generator 7 complete to start, stop plus
Speed, speed-down action are accurately positioned so as to fulfill small rail car 2.Described two first limit switches 9 are one in front and one in back installed in-orbit
Trolley 2 upper surface of outer cover in road arranges sheet metal to trigger first limit switch 9 before the equipment cabinet for needing to detect,
For providing reset signal to first encoder 8 with the angle and the number of turns of 2 vehicle wheel rotation of track record trolley of starting from scratch.
Lithium battery 10 is also equipped on the small rail car 2, the lithium battery 10 is placed in battery case as entire inspection
Robot provides electric energy, and the battery case is mounted on the side of 2 shell of small rail car.The 2 case surface cloth of small rail car
The small rail car electrode 11 being connected with 10 positive and negative anodes of lithium battery is equipped with, convenient on the small rail car electrode 11 and charging box 40
The docking charging of charging box electrode 41.The lifting bolt 14 is mounted on 6 lower section of bottom plate, when the crusing robot is due to various events
Hinder reason can not autonomous operation when, staff can with rope pass through the lifting bolt 14, pull small rail car manually
2, the robot is moved to the maintenance of maintenance place.
As depicted in figs. 1 and 2, the linear module 3 of the first synchronous belt is fixed by screws on backboard 5, and the backboard 5 is perpendicular
Below the straight bottom plate 6 mounted on small rail car 2, so as to make the linear module 3 of first synchronous belt vertical.Shown first synchronizes
With the movement that linear module 3 is used for that detection sensor is driven to realize upper and lower directions, it is located at not on detection device cabinet so as to treat
Level instrument and meter is detected.
The linear module 3 of first synchronous belt includes the first straight-bar 15, the first stepper motor 16, second encoder 17, two
A second limit switch 18, the first conveyer belt 19 and the linear module sliding block 20 of the first synchronous belt.The linear mould of first synchronous belt
Group 3 is fixed on by first straight-bar 15 on backboard 5.First straight-bar 15 forms the master of the linear module 3 of the first synchronous belt
Body, for providing the path to move up and down to the linear module sliding block 20 of first synchronous belt.The linear mould of first synchronous belt
Group sliding block 20 is connected with the first conveyer belt 19 and is sleeved on the first straight-bar 15, and it is straight that 19 both ends of the first conveyer belt are fixed on first
On bar 15, first stepper motor 16 is mounted on 15 upper end of the first straight-bar for first conveyer belt 19 to be driven to move.Institute
State the movement that the linear module sliding block 20 of the first synchronous belt realizes upper and lower directions in the dragging of first conveyer belt 19.The detection
Sensor is fixed on the linear module sliding block 20 of the first synchronous belt.First stepper motor 16 is using the stepping electricity with band-type brake
Machine has the function of power-off locking, can be after crusing robot system powers off suddenly, and first stepper motor 16 loses guarantor
Locking during holding force square, the band-type brake are mounted on the tail end of the first stepper motor 16, prevent the linear module of first synchronous belt from sliding
Block 20 is along 15 free-falling of the first straight-bar so as to impaired.When 16 normal operation of the first stepper motor, the band-type brake is in
Powered open state, when unexpected break down leads to power-off, the band-type brake can locking immediately, firmly lock described first
Stepper motor 16 avoids linear 20 free-falling of module sliding block of first synchronous belt, so as to protect the detection entrained by it
The equipment such as sensor.The band-type brake is by a control in relay 32.17 and first stepper motor of second encoder
16 are coaxially mounted to its offside, move and rotate with the linear module sliding block 20 of first synchronous belt, record the first stepping electricity
The angle and the number of turns of the rotation of machine 16 simultaneously feed back to the microcontroller 30, and it is linear that the microcontroller 30 obtains the first synchronous belt after handling
The running position of module sliding block 20 and speed, and it is complete according to current running position and speed control 16 motors of the first stepper motor
It is accurately positioned into startup, stopping, acceleration, speed-down action so as to fulfill the linear module sliding block 20 of the first synchronous belt.It is described two
Second limit switch 18 is mounted on the both ends of the first straight-bar 15 one on the other, limits the linear module sliding block 20 of the first synchronous belt
Motion range and for the second encoder 17 provide reset signal with start from scratch record 16 turns of the first stepper motor
Dynamic angle and the number of turns.As shown in Fig. 2, the first drag chain 42 is also equipped on the linear module 3 of the first synchronous belt, for cabling.Institute
It states 42 one end of the first drag chain to be fixed on backboard 5, the other end is fixed on the linear module 4 of second synchronous belt.Described second
The cable that all needs being associated with the linear module 3 of the first synchronous belt move up and down in the linear module 4 of synchronous belt all enters the
One drag chain 42.
As depicted in figs. 1 and 2, the linear module 4 of second synchronous belt is mounted on the linear module sliding block 20 of the first synchronous belt
On, and it is vertical with the linear module 3 of first synchronous belt, for detection sensor is driven to realize a left side before equipment cabinet to be detected
The movement of right direction can be realized to the detection of partial discharge phenomenon in equipment under test cabinet and positioned at setting cabinet or so
The detection of instrument and meter on different location.The linear module 4 of second synchronous belt includes the second straight-bar 21, the second stepper motor
22nd, 23, two third limit switches 24 of third encoder, the second conveyer belt 25 and the linear module sliding block 26 of the second synchronous belt.Institute
It states the second straight-bar 21 to be fixed on the linear module sliding block 20 of first synchronous belt, forms the master of the linear module 4 of the second synchronous belt
Body, for providing path to the side-to-side movement of the linear module sliding block 26 of the second synchronous belt.The linear module of second synchronous belt is slided
Block 26 is connected with the second conveyer belt 25 and is sleeved on the second straight-bar 21, and 25 both ends of the second conveyer belt are fixed on the second straight-bar 21
On.Second stepper motor 22 is mounted on the second straight-bar 21 far from equipment under test cabinet endmost surface side, described for driving
Second conveyer belt 25 moves.The linear module sliding block 26 of second synchronous belt realizes right and left under the dragging of the second conveyer belt 25
To movement.The detection sensor is fixed on the linear module sliding block 26 of the second synchronous belt.The third encoder 23 and
Two stepping motor 22 is coaxially mounted to its offside, moves and rotates with the linear module sliding block 26 of second synchronous belt, records
The angle and the number of turns of second stepper motor 22 rotation feed back to the microcontroller 30, and the is controlled after the microcontroller 30 processing
Two stepping motor 22 is completed to act being accurately positioned so as to fulfill the linear module sliding block 26 of the second synchronous belt accordingly.It is described two
24 1 the first from left right side of third limit switch is mounted on the both ends of the second straight-bar 21, is slided for limiting the linear module of second synchronous belt
The motion range of block 26 and for the third encoder 23 provide reset signal with start from scratch record rotation angle and
The number of turns.As shown in Figure 1, the second drag chain 43 is also equipped on the linear module 4 of the second synchronous belt, for cabling.Partial Discharge Detection
The power cord and signal wire of device 46 enter the second drag chain 43.
Such as Fig. 1 and Fig. 2, the backboard 5 is used for connecting the linear module 3 of 2 and first synchronous belt of small rail car, and described first
The linear module 3 of synchronous belt is fixed to by screw on backboard 5, and the backboard 5 is fixed to the bottom of small rail car 2 by screw again
On plate 6, so as to which the robot be made to become an entirety.The backboard 5 is installed in the vertical direction, perpendicular to the ground.
As depicted in figs. 1 and 2, the detection sensor includes high-definition camera 44, thermal infrared imager 45, temperature and humidity sensing
Device 39 and partial discharge detector 46.The high-definition camera 44 and thermal infrared imager 45 are mounted on the first synchronous belt by stent
On linear module sliding block 20, the stent can be adjusted arbitrarily, change its pitch angle.The high-definition camera 44 passes through shooting
The information such as photo and recorded video collecting device cabinet number, indicator light, switch button, instrument registration.The high-definition camera 44
LED light supplement lamp is further equipped with, can be automatically opened with light filling when ambient enviroment brightness declines.The thermal infrared imager 45 is used for examining
The temperature of measurement equipment ontology.The Temperature Humidity Sensor 39 is mounted on robot body, such as may be mounted at control cabinet 27
On bottom surface, for detecting the temperature and humidity of ambient indoor environment.The partial discharge detector 46 is mounted on the second synchronous belt
On linear module sliding block 26, for whetheing there is partial discharge phenomenon inside detection device cabinet.The partial discharge detector 46 is logical
Stent is crossed on the linear module sliding block 26 of the second synchronous belt, can be realized close to and far from equipment under test cabinet surface.Work as institute
When stating partial discharge detector 46 and being attached to equipment under test cabinet surface, equipment under test cabinet metal is sucked by the magnet of its front end
Surface, internal emission ultrasonic wave and transient state ground electric wave, have with reference to detection scheme of its setting to detect inside equipment under test cabinet
Without leaky.
Wireless router box 47 is also equipped on the robot body, wherein being equipped with wireless router, realizes inspection
Communication between robot and PC terminals 48.The high-definition camera 44, thermal infrared imager 45 are all connected to nothing by cable
On the LAN mouths of line router, control and the transmitting-receiving of data are realized using Ethernet.
Shown PC terminals 48 can simultaneously control the fortune of robot for monitoring the current operating status of crusing robot in real time
Row, while the collected data information of institute can also be analyzed and store, the result that analysis obtains is sent to staff.Lead to simultaneously
It crosses state when Ethernet receives robot operation and sends the action of order control robot.
I-steel can be used in the crusing robot running track 1, and the I-steel is horizontally arranged in power distribution room and wants
The equipment cabinet oblique upper of detection, can make the robot body along running track 1 reach it is all need detection device cabinet before
It puts in orientation.
As shown in figure 3, four wheels of small rail car 2, two wheels being connected with the direct current generator 7 is actively
Wheel 12, other two wheel are the driven wheel 13.The driving wheel 12 and driven wheel 13 is installed on respectively by stent
At left and right sides of the I-steel.At runtime, the wheel of the left and right sides is tightly attached to the work to the small rail car 2 respectively
Word steel lower surface.Using the structure of driving wheel 12 one in front and one in back described in two, can run out of steam in a wheel, it is such as hanging
Or when being suppressed by bend, another wheel can provide power in time, and the small rail car 2 is driven to continue to run with.Described
2 body material of small rail car uses surface-treated Steel material, strong, on-deformable with wear-resisting, anticorrosion, load-bearing capacity
Advantage.There is shell 2 periphery of small rail car, and the shell is made of baking vanish iron plate, preferably protects internal portion
Part, and it is beautiful.
As shown in Figure 1, the crusing robot further includes control cabinet 27, control cabinet 27 contains the main body of control system,
In order to not influence working sensor, control cabinet 27 may be mounted at 5 grade positions of backboard.Control cabinet 27 includes insulation board 28, control
Circuit board 29, microcontroller 30, motor driver 31, relay 32, voltage sensor 33, communication protocols converter 34, power supply mould
Block 35, aviation plug 36, master switch 37 and emergency stop switch 38.The control circuit board 29, motor driver 31, relay
32nd, voltage sensor 33, communication protocols converter 34, power module 35 are all mounted on insulation board 28, play the work of insulation
With and it is easy to disassemble.The control circuit board 29 controls the movement of robot and completes the acquisition and analysis of data.The monolithic
Machine 30 is arranged in control circuit board 29, can be carried out high speed processing and the analysis of data, be made entire robot control system
Operation without any confusion.The microcontroller 30 receives the data that PC terminals 48, each encoder and limit switch etc. send over
Information specifically includes the location information for the target device that the PC terminals 13-1 is sent, and includes the position of front and rear, upper and lower left and right
Coordinate, the umber of pulse of each encoder feedback, the trigger signal that each limit switch is sent, the microcontroller 30 are right
Data information can control each motor to complete to start, stop, accelerating, speed-down action after being handled, by the robot motion
To immediately ahead of target device, realizing the communication of the robot, motion control and be accurately positioned.The motor driver 31 has
Three, for receiving the control signal of the transmission of microcontroller 30 so as to respectively drive direct current generator 7,16 and of the first stepper motor
Second stepper motor 22.There are three the relays 32, is respectively intended to control circuit, the first stepping of the motor driver 31
The band-type brake circuit of motor 16 and the break-make of charging circuit.The voltage sensor 33 is used for the voltage feelings of monitoring lithium battery 10 in real time
Condition prevents its too low or too high for voltage.The communication protocols converter 34 is used for assisting serial communication protocol and ethernet communication
View carries out mutually dress and changes, and realizes the real-time Communication for Power of the crusing robot and PC terminals 48.The power module 35 is by lithium battery
10 voltage is converted to the different voltages of other component needs.The aviation plug 36 is mounted on 27 top surface of control cabinet, described total
Switch 37 and emergency stop switch 38 are mounted on 27 bottom surface of control cabinet.The aviation plug 36 be used for connect 27 internal part of control cabinet with
External component, it is convenient and efficient by pluggable mode and engagement thread, and securely.The master switch 37 controls inspection machine
Total power supply circuit of people is directly in series with the lithium battery 10, when cutting off the master switch 37, that is, has cut off described
The circuit of 10 supply equipment people of lithium battery, robot will be unable to work, when only opening the master switch 37, the machine talent
It is possible that normal work.The emergency stop switch 38 has the function of to meet emergency case emergency stops robot operation.It is patrolled when described
When the stopping in time of unusual condition needs occurs in the process of running in inspection robot, staff can take the emergency stop immediately
Switch 38, the robot described at this time can stop running immediately.
The direct current generator 7 uses the brushed DC motor with reduction box.The reduction box selects planetary reduction box, can
To increase the torque of the direct current generator 7, heavier load can be driven.
The control circuit board 29 is pcb board.According to the function that crusing robot needs are realized, appropriate electronic member device is chosen
Part designs the schematic diagram of the control circuit board 29 and PCB figures, so as to produce the control circuit board 29.
The program for realizing robot basic function and the journey of intelligent control machine people movement are loaded under in the microcontroller 30
Sequence.The program for realizing robot basic function includes realizing robot normal operation, stopping, data acquisition with sending, filling
The program of electricity.The program of the intelligent control machine people movement is write using intelligent control algorithm, can be with described in intelligent control
Direct current generator 7, the first stepper motor 16 and the second stepper motor 22.The segmented PID that the direct current generator 7 is detached using integration
Closed loop algorithm controls, while also carries saturation limiting link.By choosing suitable parameter, with reference to first encoder 8
With the first limit switch 9, the small rail car 2 can be controlled steadily, quickly to start, it can intelligent control speed in operational process.
First stepper motor, 16 and second stepper motor 22 is controlled using trapezoidal acceleration/deceleration control algorithm, with reference to the described second coding
Device 17, the second limit switch 18, third encoder 23 and third limit switch 24 can make 16 He of the first stepper motor
Second stepper motor, 22 smooth starting and stopping, there is preferable control effect.
There are three the motor drivers 31, respectively drives direct current generator 7, the first stepper motor 16 and the second step
Stepper motor 22.The motor control square-wave signal that the microcontroller 30 generates can be converted by the driver of the direct current generator 7
The preferable PWM wave of waveform controls the operation of the direct current generator 7；Can also by different enable signals, direction signal,
The regenerative braking signal control direct current generator 7 carries out different actions.The driver of first stepper motor 16 and
The driver of two stepping motor 22 only has difference in driving power, is respectively provided with status indicator lamp, can indicate current drive
With motor circuit state.The motor driver 31 can be segmented with the running current of regulation motor and subdivision and be set as 256.
By the pulse signal, direction signal, enable signal of the offer of microcontroller 30, first stepper motor can be controlled
16 and second stepper motor 22 operation.
Shown relay 32 is using the solid-state relay of DC control direct current, the control provided by the microcontroller 30
Signal can control 31 circuit of motor driver, the band-type brake circuit of the first stepper motor 16 and the break-make of charging circuit.
The voltage sensor 33 uses Hall voltage sensor, can detect the voltage of the lithium battery 10 in real time,
Measured voltage value is timely feedbacked to the microcontroller 30, it, can after the microcontroller 30 handles voltage value
It is whether too low or excessively high with 10 voltage of lithium battery for judging described：If too low, illustrate that 10 electricity of lithium battery is insufficient,
It needs to charge, the robot can be controlled to charge；If excessively high, illustrate that the lithium battery 10 has overcharged, need
Stop charging.
Serial interface communication protocol conversion in control circuit board 29 is ether Netcom by the communication protocols converter 34
Believe agreement, will the information that transmitted by Ethernet be converted to by the information that serial line interface transmits.The communication Protocol Conversion
Device 34 has bi-directional conversion ability, and ethernet communication protocol can also be converted to serial interface communication agreement.
The effect of the power module 35 is that the voltage 24VDC that lithium battery 10 provides is converted to other equipment to need not
Same voltage value, such as 12VDC.
The charging box 40 is mounted on the wall of 1 starting point of robot running track, height and the robot
Running track 1 it is highly consistent.Be disposed with the charger of lithium battery 10 in the charging box 40, positive and negative anodes respectively with it is described
The positive and negative anodes of charging box copper electrodes 41 be connected.When the robot will be charged, run to the starting point, institute
The small rail car electrode 11 stated can just be docked with charging box electrode 41, and charging is realized in the case where the relay 32 controls.
The voltage sensor 33 detects the voltage of lithium battery 10 in real time, when voltage reaches certain value, can be sent to the microcontroller
30 1 signals, the microcontroller 30 correspondingly can disconnect charging circuit by control relay 32, stop charging process.
The PC terminals 48 carry wireless network card using the form of all-in-one machine, as a multiple functional computer, inside.
The PC terminals have PC terminal display screens 49, PC terminal mouses 50 and PC terminal keyboards 51.The PC terminal display screens 49
The operating status for the robot that PC terminals 48 can the be received data information related with collected equipment under test cabinet is real
When be displayed on the screen, checked in time for staff.The PC terminal mouses 50 and PC terminal keyboards 51 can be for work
Personnel operate PC terminals 48, send specific order to the robot to perform specific action.The PC terminals 48 are placed
In the centre position of power distribution room, the transmission of each position data to power distribution room can be preferably completed herein.Meanwhile it should stay herein
There are power outlet and network interface socket, can be that the PC terminals 48 power and communicate with the background control center realization of electric system.
The PC terminal monitorings software interface 52, the PC terminal softwares based on Windows operating system develop, with reference to regarding
The technologies such as defeated, image identification, network communication, computer control are kept pouring in, realize information collection, transmission, control, management and storage.
The information reflected on the PC terminal softwares interface 52 has：Equipment state is shown, velocity information, location information, high-definition camera
Picture, thermal infrared imager picture, partial discharge detector detection data, humiture information, equipment recognition result, patrol mode choosing
It selects, light filling lamp switch and emergency stop switch button.The PC terminal monitorings software interface 52 is shown by equipment state can be real-time
Show the motion state of current machine human body：It is real before showing which equipment under test cabinet presently described robot runs to
When the monitoring robot speed and position.Staff can pass through the PC terminal mouses 50 and PC terminal keyboards 51
Order is sent to control the movement of robot.The PC terminal monitorings software interface 52 can carry out front-end detection sensor
Control and management, real-time display current detection object carry out status assessment, and staff can equally send out command adapted thereto to control
The system sensor carries out corresponding actions.The PC terminal monitorings software can also establish database, record and for work
Personnel provide relevant historical data, and potential danger is carried out to estimate judgement.The patrol mode has customary inspection, spy to patrol
A variety of patrol modes such as inspection, crisis inspection.
Electric system rail mounted automatic crusing robot of the present invention stops at 1 starting point of robot running track before starting to work
Charging box 40 at, 10 electricity of lithium battery is in full state, small rail car copper electrodes 11 and charging box copper electrodes at this time
41 separate.The master switch 37 and emergency stop switch 38 on control cabinet 27 are opened, robot control circuit is connected, control circuit board 29,
Motor driver 31 is both powered up, and the band-type brake of the first stepper motor 16 is closed, and waits patrol task order to be received.Open PC terminals prison
Software interface 52 is controlled, relevant parameter is set with PC terminal mouses 50 and PC terminal keyboards 51, selects patrol mode, give machine human hair
Send control command.After the wireless router of robot receives the order sended over by Ethernet, turned by communication protocol
Ethernet information is converted to Serial Port Information by parallel operation 34, so that microcontroller 30 receives and processes.Microcontroller 30 is controlled according to order
Robot is run.Direct current generator 7 is driven by DC motor driver, small rail car 2 is driven to be transported in robot running track 1
It is dynamic.It, can be real with reference to the first encoder 8 and the first limit switch 9 by the intelligent control algorithm program downloaded in microcontroller 30
Now to the closed loop intelligent control of direct current generator 7, some interference when enabling the robot overcome operation are fast as caused by track injustice
Degree decline etc. is stablized, quickly and accurately arrival is needed in front of equipment under test cabinet.Using the segmented PID closed loops of integration separation
Algorithm, while also, by choosing suitable parameter, small rail car 2 can be controlled steadily, quickly to start with saturation limiting link.
It can be with intelligent control speed, when encountering at track injustice or curve resistance is larger leads to speed in 2 operational process of small rail car
During reduction, the angle for recording rotation and the number of turns can be fed back to microcontroller 30 by the first encoder 8 in time, and microcontroller 30 is received and located
After reason, the duty ratio of output square wave can be increased, so as to increase the rotating speed of direct current generator 7.It is set soon arriving a certain needs detection
Iron plate is arranged on track before standby cabinet, and to trigger the first limit switch 9, when detecting iron plate, it is clear that the first encoder starts 8
Zero angle and the number of turns that simultaneously start recording rotates, stop recording rotates after the angle of record rotation and the number of turns to certain value
Angle and the number of turns simultaneously control direct current generator 7 to stop operating, and robot just moves to the position for needing to detect at this time, so as to fulfill
Being accurately positioned of robot.First stepper motor 16 and the second stepper motor 22 are controlled using trapezoidal acceleration/deceleration control algorithm,
With reference to second encoder 17, the second limit switch 18, third encoder 23 and third limit switch 24, start and stopped process is put down
Surely, registration has preferable control effect.When direct current generator 7 works, the first stepper motor 16 and the second stepper motor 22
It does not work.Stopping when robot motion is to a certain need in front of detected equipment cabinet, the first stepper motor 16 is started to work,
The linear module sliding block 20 of the first synchronous belt is driven to run from top to bottom, before cabinet number, indicator light, switch button, instrument and meter
Stop, by high-definition camera 44 and 45 grabgraf of thermal infrared imager or shooting video.When the first stepper motor 16 is completed from top to bottom
Work after stop, the second stepper motor 22 is started to work, drive partial discharge detector 46 leaned on to equipment under test cabinet surface
Closely until touching completely, the detection of partial discharge phenomenon is carried out.After robot completes the Detection task of current cabinet, it will continue to
To next equipment cabinet running body for needing to detect, continue patrol task.Voltage sensor 33 in control cabinet 27 can supervise in real time
The voltage of lithium battery 10 is surveyed, when there is brownout, robot can be controlled to go at charging box 40 and charged.When voltage passes
After sensor 33 monitors that voltage is sufficiently high, and robot can be controlled to stop charging.Robot is in the process of running in real time by itself
Motion state, the result as detected by location information and velocity information etc., sensor is sent to PC terminals by Ethernet
48, PC terminal monitoring software interfaces 52 can be located received information in advance with these information of real-time display, PC terminals 48
Background control center is transmitted to by the Intranet of electric system after reason and storage backup, so that operation maintenance personnel grasps live feelings in time
Condition is simultaneously adopted an effective measure.
Claims (3)
1. a kind of electric system rail mounted automatic crusing robot, which is characterized in that transported including running track, in running track
Capable robot body, the multiple detection sensors being mounted on robot body；
The running track provides running orbit for robot body；
The robot body includes small rail car, the linear module of the first synchronous belt, the linear module of the second synchronous belt；The track
Trolley is lifted in running track, and robot body is transported to the front of measurement equipment to be checked；The linear mould of first synchronous belt
Group is mounted on small rail car and vertically and ground, for moving the detection sensor that it is carried in above-below direction；Described second is same
Step is mounted on linear module on the linear module of the first synchronous belt, and vertical with the linear module of the first synchronous belt, in level
Side moves inward the detection sensor of its carrying；
The multiple detection sensor is mounted in respectively on the linear module of the first synchronous belt and the linear module of the second synchronous belt；
The small rail car includes bottom plate, one or more pairs of wheels, direct current generator；Running track is I-steel, and wheel passes through branch
Frame is fixed on the bottom plate, and at left and right sides of running track of living apart, and running track can just be worn among every group of wheel
It crosses, wheel is tightly attached on I-steel lower surface, and the vehicle wheel rotation is so that small rail car moves；The direct current generator is used to drive
Move the vehicle wheel rotation；
The small rail car further includes the first encoder, two the first limit switches；Before described two first limit switches one
It is mounted in small rail car case surface after one, for providing reset signal to first encoder；First encoder
It is co-axially mounted with direct current generator；
The linear module of first synchronous belt further includes second encoder and two the second limit switches；Described two second limitings
Switch is separately mounted to the both ends of the first straight-bar, for providing reset signal to the second encoder；The second encoder
It is co-axially mounted with the first stepper motor；
The linear module of second synchronous belt further includes third encoder and two third limit switches；Described two third limitings
Switch is separately mounted to the both ends of the second straight-bar, for providing reset signal to the third encoder；The third encoder
It is co-axially mounted with the second stepper motor；
The crusing robot further includes control cabinet, and insulation board, the control electricity being made of microcontroller are equipped in the control cabinet
Road plate, three motor drivers；The control circuit board, three motor drivers are all mounted on insulation board；
The microcontroller is used for the information control crusing robot movement provided according to each encoder, is carried according to each detection sensor
The information of confession completes the acquisition and analysis of detection data；
Three motor drivers respectively drive the direct current generator, the first stepping electricity under the control of the microcontroller
Machine and the second stepper motor；
Further include the battery that electric energy is provided for crusing robot；Voltage sensor is also equipped on the insulation board of the control cabinet,
For monitoring the voltage of battery；
Communication protocols converter is also equipped on the insulation board of the control cabinet, the serial interface communication in control circuit board is assisted
View is converted to ethernet communication protocol；
PC terminals are further included, for monitoring the current operating status of crusing robot in real time and controlling the operation of robot, analysis
With the storage collected data information of crusing robot；
Wireless router is also equipped with, the wireless communication being used to implement between crusing robot and PC terminals；
The electric system rail mounted automatic crusing robot stops at the charging of robot running track starting point before starting to work
At box, electric quantity of lithium battery is in full state at this time, and small rail car copper electrodes and charging box copper electrodes separate；Open control
Master switch and emergency stop switch on case, robot control circuit are connected, and control circuit board, motor driver are both powered up, the first step
The band-type brake of stepper motor is closed, and waits patrol task order to be received；PC terminal monitoring software interfaces are opened, with PC terminal mouses and PC
Terminal keyboard sets relevant parameter, selects patrol mode, and control command is sent to robot；The wireless router of robot receives
To after the order sended over by Ethernet, Ethernet information is converted to by Serial Port Information by communication protocols converter, with
It is received and processed for microcontroller；Microcontroller is according to the operation of order control robot；Direct current is driven by DC motor driver
Machine drives small rail car to be moved in robot running track；By the intelligent control algorithm program downloaded in microcontroller, with reference to
First encoder and the first limit switch can realize the closed loop intelligent control to direct current generator, when so that the robot is overcome operation
Some interference；Using the segmented PID closed loop algorithms of integration separation, while also closed with saturation limiting link by choosing
Suitable parameter can control small rail car steadily, quickly to start；During track trolley travelling can with intelligent control speed, when
It encounters at track injustice or curve resistance is larger when speed being caused to reduce, the first encoder will record the angle and circle of rotation in time
Number feeds back to microcontroller, after microcontroller receives and processes, can increase the duty ratio of output square wave, so as to increase direct current generator
Rotating speed；, to iron plate is arranged on a certain track needed before detection device cabinet, to trigger the first limit switch, work as detection soon
During to iron plate, the first encoder starts to reset and the angle and the number of turns of start recording rotation, until the angle and circle of record rotation
It counts to the angle and the number of turns that stop recording rotates after certain value and direct current generator is controlled to stop operating, at this time the positive sports-like of robot
The position detected to needs, it is achieved thereby that robot is accurately positioned；First stepper motor and the second stepper motor are using ladder
Shape acceleration/deceleration control algorithm controls, with reference to second encoder, the second limit switch, third encoder and third limit switch；When
When direct current generator works, the first stepper motor and the second stepper motor do not work；When robot motion needs to be detected to a certain
Stop when in front of equipment cabinet, the first stepper motor is started to work, and the linear module sliding block of the first synchronous belt is driven to transport from top to bottom
Row, stops before cabinet number, indicator light, switch button, instrument and meter, by high-definition camera and thermal infrared imager grabgraf or shooting
Video；Stop after the work that the first stepper motor is completed from top to bottom, the second stepper motor is started to work, and drives shelf depreciation
Detector is close up to touching completely to equipment under test cabinet surface, the detection of partial discharge phenomenon is carried out, when robot completes
After the Detection task of current cabinet, it will continue to, to next equipment cabinet running body for needing to detect, continue patrol task；Control cabinet
Interior voltage sensor monitors the voltage of lithium battery in real time, when there is brownout, control robot go at charging box into
Row charging；After voltage sensor monitors that voltage is sufficiently high, control robot stops charging；Robot is real in the process of running
When by the motion state of itself, the result as detected by location information and velocity information, sensor is sent to by Ethernet
PC terminals, PC terminal monitoring software interface real-time display described informations, PC terminals received information is pre-processed and
Background control center is transmitted to by the Intranet of electric system after storage backup, so that operation maintenance personnel grasps field condition simultaneously in time
It adopts an effective measure.
2. electric system rail mounted automatic crusing robot as described in claim 1, which is characterized in that the first synchronous belt line
Property module include the first straight-bar, the first stepper motor, the first conveyer belt and the linear module sliding block of the first synchronous belt；Described first is straight
One end of bar is fixed with the small rail car, for for the linear module sliding block of first synchronous belt provide in vertical direction into
The path that row moves up and down；The linear module sliding block of first synchronous belt is connected with the first conveyer belt and is sleeved on the first straight-bar,
The first conveyer belt both ends are fixed on the first straight-bar；One end that first stepper motor is mounted on the first straight-bar is used for band
The dynamic first conveyer belt movement；The detection sensor being mounted on the linear module of the first synchronous belt is fixed on the first synchronization
With on linear module sliding block.
3. electric system rail mounted automatic crusing robot as claimed in claim 2, which is characterized in that the second synchronous belt line
Property module include the second straight-bar, the second stepper motor, the second conveyer belt and the linear module sliding block of the second synchronous belt；Described second is straight
Bar is fixed on the linear module sliding block of first synchronous belt, for the linear module sliding block of the second synchronous belt in the horizontal plane
Movement provides path；The linear module sliding block of second synchronous belt is connected with the second conveyer belt and is sleeved on the second straight-bar, described
Second conveyer belt both ends are fixed on the second straight-bar；Second stepper motor is mounted on one end of the second straight-bar, for driving
The second conveyer belt movement；The detection sensor being mounted on the linear module of the second synchronous belt is fixed on the second synchronous belt
On linear module sliding block.
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| CN201510288479.8A CN104881031B (en) | 2015-05-29 | 2015-05-29 | A kind of electric system rail mounted automatic crusing robot |
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| CN201510288479.8A CN104881031B (en) | 2015-05-29 | 2015-05-29 | A kind of electric system rail mounted automatic crusing robot |
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| CN106393060A (en) * | 2016-12-05 | 2017-02-15 | 合肥市信同信息科技有限公司 | Suspension type inspection robot device |
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