CN105730540A - Transformer substation patrol and inspection robot with rod climbing function and drive method for transformer substation patrol and inspection robot - Google Patents
Transformer substation patrol and inspection robot with rod climbing function and drive method for transformer substation patrol and inspection robot Download PDFInfo
- Publication number
- CN105730540A CN105730540A CN201610080462.8A CN201610080462A CN105730540A CN 105730540 A CN105730540 A CN 105730540A CN 201610080462 A CN201610080462 A CN 201610080462A CN 105730540 A CN105730540 A CN 105730540A
- Authority
- CN
- China
- Prior art keywords
- universal wheel
- roofbolt
- arm
- walking
- mobile robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a transformer substation patrol and inspection robot with a rod climbing function and a drive method for the transformer substation patrol and inspection robot. The transformer substation patrol and inspection robot comprises a monitoring device, a drive control module and a climbing mechanism. The monitoring device and the drive control module are arranged on the climbing mechanism. The climbing mechanism comprises multiple sections of body units and body joints. The adjacent body units are connected through the body joints. A body joint motor is arranged between every two adjacent body units. Each body unit is provided with a pair of mechanical arms. The ends of each mechanical arm are provided with walking and rotating universal wheels and universal wheel drive mechanisms. The universal wheel drive mechanisms and the body joint motors are connected with the drive control module. The drive method includes the steps that the transformer substation patrol and inspection robot is driven to move on the ground, move up and down a rod column and climb/rotate/stop along the rod column. By the adoption of the robot and the method, the functions that the robot moves on the ground, moves up and down the rod column and climbs/rotates/stops along the rod column can be achieved, the structure is compact, the control accuracy is high, and the operating state of a power transformation device can be monitored in all directions without a dead zone.
Description
Technical field
The present invention relates to the automatic detecting technology of power system, be specifically related to a kind of Intelligent Mobile Robot with pole-climbing function and driving method thereof.
Background technology
At present, power system transformer substation achieves unmanned substantially, in order to make up the deficiency that human at periodic intervals patrols and examines, all occur in that employing ground mobile robot is patrolled and examined both at home and abroad, obtain converting equipment visible images and infrared thermal-image data and carry out the application report of status monitoring, analysis.Robot can solve equipment automatic detecting problem to a certain extent, but robot runs along fixing path on ground, there is monitoring dead band, the converting equipment high particularly with position or part of appliance, as being positioned at the adnexa of transformer top, line insulator, discharging rod etc., due to distance, visual angle, the impact of the moon complicated environmental condition factor such as mist and night, tend not to clear, detect its state exactly and identify its defect and hidden danger, in addition, robot could need to navigate at embedded underground track, quantities is big, cost is high, and determine once path and just not easily change, it is unfavorable for that robot patrols and examines the application in transformer station.
Summary of the invention
The technical problem to be solved in the present invention: for the problems referred to above of prior art, there is provided one be capable of ground moving, upper and lower roofbolt and along roofbolt creep/rotate/stop function, compact conformation, control accuracy be high, can comprehensive, monitor the Intelligent Mobile Robot with pole-climbing function and the driving method thereof of converting equipment running status without ground, dead band.
In order to solve above-mentioned technical problem, the technical solution used in the present invention is:
The present invention provides a kind of Intelligent Mobile Robot with pole-climbing function, including monitoring device, drive control module and climbing mechanism, described monitoring device, drive control module is installed on climbing mechanism respectively, described climbing mechanism includes more piece body unit and body joint, it is connected by body joint between adjacent body unit, the body joint motor for controlling body articulation state it is provided with between adjacent body unit, the bottom of described body unit is provided with return pulley and at least one pair of is for the robotic arm of pole-climbing and movement, the end of described robotic arm is provided with walking and rotates universal wheel and for driving walking to rotate the universal wheel driving mechanism that universal wheel is walked or rotated, described universal wheel driving mechanism, body joint motor is connected with drive control module respectively.
Preferably, described robotic arm includes the arm prosthomere, arm joint and the arm deutomerite that are sequentially connected, it is provided with arm joint motor between described arm prosthomere and arm deutomerite, the root of described arm deutomerite is provided with arm root joint, described arm deutomerite is connected with body unit by arm root joint, being provided with the root joint motor for controlling arm root joint states between described arm deutomerite and body unit, described arm joint motor, root joint motor are connected with drive control module respectively.
Preferably, described arm prosthomere and arm deutomerite are arc, and the arc center of circle in the arc center of circle of described arm prosthomere, arm deutomerite is positioned at the same side.
Preferably, described monitoring device includes The Cloud Terrace and video detecting module, and described The Cloud Terrace is installed on climbing mechanism, and described video detecting module is installed on The Cloud Terrace.
Preferably, described video detecting module includes infrared camera and high-definition camera.
Preferably, described monitoring device is installed in climbing mechanism and is positioned on a joint body unit at middle part.
Preferably, described return pulley is universal wheel.
The present invention also provides for the driving method of a kind of aforementioned Intelligent Mobile Robot with pole-climbing function, and step includes:
1) when Intelligent Mobile Robot is when ground moving, described robotic arm rotates universal wheel by walking and is supported on ground, drives corresponding walking to rotate universal wheel by the universal wheel driving mechanism of each body unit and moves on the ground and turn to；
2) when Intelligent Mobile Robot is from ground close to roofbolt, body joint motor is driven climbing mechanism to be faced upward and close to roofbolt, first a pair robotic arm of first body unit of control is encircled roofbolt and is made return pulley with rotation universal wheel of walking by roofbolt clamping, and drive walking rotation universal wheel to move along roofbolt by universal wheel driving mechanism, then control a pair robotic arm of each body unit follow-up successively to encircle roofbolt and make return pulley and walking rotate universal wheel to be clamped by roofbolt, and drive walking rotation universal wheel to move along roofbolt by universal wheel driving mechanism, all body unit are finally made to climb up roofbolt；
3) after Intelligent Mobile Robot climbs up roofbolt, when needs continue to climb or decline, control a pair robotic arm of all body unit to encircle roofbolt and make return pulley and walking rotate universal wheel to be clamped by roofbolt, and drive walking to rotate universal wheel by universal wheel driving mechanism to move along roofbolt and climb；When needs are along roofbolt rotary motion, control universal wheel driving mechanism and drive walking to rotate universal wheel to rotate so that walking rotates the direction of travel of universal wheel and roofbolt is mutually perpendicular to, drive walking to rotate universal wheel along roofbolt rotary motion by universal wheel driving mechanism；When needs stop on roofbolt, control universal wheel driving mechanism driving walking rotates universal wheel and rotates so that direction of travel and the roofbolt of rotation universal wheel of walking are mutually perpendicular to, and is clamped stopped on roofbolt by return pulley and walking rotation universal wheel；
4) when upper roofbolt under Intelligent Mobile Robot, control a pair robotic arm of last body unit to encircle roofbolt and make return pulley and walking rotate universal wheel to be clamped by roofbolt, and drive walking rotation universal wheel to move down along roofbolt by universal wheel driving mechanism, simultaneously driving body joint motor makes the front end of climbing mechanism face upward close to ground, start to unclamp robotic arm and be supported on ground by rotation universal wheel of walking from roofbolt successively from first body unit, the robotic arm finally making all body unit rotates universal wheel by walking and is supported on ground.
Preferably, when robotic arm is supported on ground by rotation universal wheel of walking in described step 1), arm joint motor is driven to make the angle between arm prosthomere, arm deutomerite more than 90 °.
Preferably, in described step 1), Intelligent Mobile Robot is when ground moving, described monitoring device (1) gathers roofbolt image, for the roofbolt image collected with the diameter of roofbolt, contour feature to identify roofbolt, when identifying roofbolt, then Intelligent Mobile Robot starts to climb up roofbolt from ground.
The present invention has the Intelligent Mobile Robot of pole-climbing function and has an advantage that
null1、The present invention includes monitoring device、Drive control module and climbing mechanism，By climbing mechanism as the carrier monitoring device，Climbing mechanism includes more piece body unit and body joint，It is connected by body joint between adjacent body unit，The body joint motor for controlling body articulation state it is provided with between adjacent body unit，Body unit is provided with a pair robotic arm for pole-climbing and movement，The end of robotic arm is provided with walking and rotates universal wheel and for driving walking to rotate the universal wheel driving mechanism that universal wheel is walked or rotated，Walking is driven to rotate universal wheel by universal wheel driving mechanism，And in conjunction with the control in body joint、The control of robotic arm，Intelligent Mobile Robot is made to be capable of ground moving、Upper and lower roofbolt and along roofbolt creep/rotate/stop function，There is compact conformation、The advantage that control accuracy is high，Can be comprehensive、Without ground, dead band monitoring converting equipment running status.
2, the present invention realizes monitoring by monitoring the device image recognition to surrounding, energy is comprehensive, include the Monitoring Data of temperature and appearance images without ground, dead band accurate acquisition converting equipment, it is capable of the monitoring of the abnormalities such as converting equipment is overheated, filthy, displacement, blast, leakage of oil, electric discharge, on fire, target intrusion, identifies and position, to power transformation station equipment on-line monitoring accurately, it is possible to comprehensive, without dead band ground monitoring converting equipment running status.
3, the principle of the invention is simple, controls precisely reliable, can be widely used in transformer station replacing manual inspection and existing robot patrols and examines, improve economic and social benefit.
The present invention has the driving method of the Intelligent Mobile Robot of pole-climbing function and has an advantage that the present invention has the driving method of the Intelligent Mobile Robot of pole-climbing function and is based on the application controls method that the present invention has the Intelligent Mobile Robot of pole-climbing function, state by the body joint to Intelligent Mobile Robot, the state of robotic arm, the state controlling walking rotation universal wheel is driven by universal wheel driving mechanism, it is capable of ground moving, upper and lower roofbolt and along roofbolt creep/rotate/stop function, thus to pass through the image recognition realization monitoring monitoring device to surrounding, it is capable of comprehensive, the the patrolling and examining online and monitoring of converting station electric power equipment without dead band.
Accompanying drawing explanation
Fig. 1 is the plan structure schematic diagram of the embodiment of the present invention.
Fig. 2 is the embodiment of the present invention side-looking structural representation when ground moving.
Fig. 3 is the embodiment of the present invention side-looking structural representation when climbing up/climb down roofbolt.
Fig. 4 is embodiment of the present invention side-looking structural representation when creeping on roofbolt.
Fig. 5 is the embodiment of the present invention main TV structure schematic diagram when creeping on roofbolt.
Fig. 6 is embodiment of the present invention plan structure schematic diagram when creeping on roofbolt.
Marginal data: 1, monitoring device；11, The Cloud Terrace；12, video detecting module；2, climbing mechanism；21, body unit；210, return pulley；22, body joint；23, robotic arm；231, arm prosthomere；232, arm joint；233, arm deutomerite；234, arm root joint；24, walking rotates universal wheel.
Detailed description of the invention
nullSuch as Fig. 1、Fig. 2、Fig. 3、Fig. 4、Shown in Fig. 5 and Fig. 6，The present embodiment has the Intelligent Mobile Robot of pole-climbing function and includes monitoring device 1、Drive control module and climbing mechanism 2，Monitoring device 1、Drive control module is installed on climbing mechanism 2 respectively，Climbing mechanism 2 includes more piece body unit 21 and body joint 22，It is connected by body joint 22 between adjacent body unit 21，The body joint motor for controlling body joint 22 rotary state it is provided with between adjacent body unit 21，The bottom of body unit 21 is provided with return pulley 210 and a pair robotic arm 23 for pole-climbing and movement，The end of robotic arm 23 is provided with walking and rotates universal wheel 24 and for driving walking to rotate the universal wheel driving mechanism that universal wheel 24 is walked or rotated，Universal wheel driving mechanism、Body joint motor is connected with drive control module respectively.Walking is driven to rotate universal wheel 24 by universal wheel driving mechanism, and in conjunction with the control in body joint, the control of robotic arm 23, Intelligent Mobile Robot is made to be capable of ground moving, upper and lower roofbolt and along roofbolt creep/rotate/stop function, monitoring is realized by monitoring the device 1 identification to ambient image, it is capable of converting equipment overheated, filthy, displacement, blast, leakage of oil, electric discharge, on fire, the monitoring of the abnormalities such as target intrusion, identify and location, there is compact conformation, the advantage that control accuracy is high, can be comprehensive, without ground, dead band monitoring converting equipment running status.
As shown in Fig. 2, Fig. 3, Fig. 4 and Fig. 6, robotic arm 23 includes the arm prosthomere 231, arm joint 232 and the arm deutomerite 233 that are sequentially connected, arm joint motor it is provided with between arm prosthomere 231 and arm deutomerite 233, the root of arm deutomerite 233 is provided with arm root joint 234, arm deutomerite 233 is connected with body unit 21 by arm root joint 234, being provided with the root joint motor for controlling arm root joint 234 state between arm deutomerite 233 and body unit 21, arm joint motor, root joint motor are connected with drive control module respectively.By arm joint motor, the coordination respectively of root joint motor are controlled, the coordination being capable of robotic arm 23 controls, realize opening and drawing in of a pair robotic arm 23, to control robotic arm 23 to contact with the stable of roofbolt, and stable support on the ground, the coordination rotating universal wheel 24 further combined with body joint 22 and universal wheel driving mechanism, walking controls, it is achieved the present embodiment Intelligent Mobile Robot ground moving, upper and lower roofbolt and along roofbolt creep/rotate/stop function.
As shown in Figure 2, monitoring device 1 includes The Cloud Terrace 11 and video detecting module 12, The Cloud Terrace 11 is installed on climbing mechanism 2, video detecting module 12 is installed on The Cloud Terrace 11, utilize ripe The Cloud Terrace 11 technology, the attitude of video detecting module 12 can be controlled such that it is able to what obtain more perspective and position patrols and examines image information easy to controlly.
In the present embodiment, video detecting module 12 includes infrared camera and high-definition camera.The present embodiment Intelligent Mobile Robot is to the Condition Detection in transformer station, it is carry out image acquisition by infrared camera and high-definition camera, binocular vision based on infrared camera and high-definition camera, infrared camera can detect transformer device of transformer substation temperature, high-definition camera can detect device external shape and basic status, it is thus possible to clearly and easily understand the duty of power equipment, thus improving the accuracy of converting equipment state information acquisition.
It is installed in climbing mechanism 2 is positioned on a joint body unit 21 at middle part as in figure 2 it is shown, the present embodiment is monitored device 1 so that the motion of climbing mechanism 2 is less for the impact monitoring device 1, is conducive to improving the Iimaging Stability of monitoring device 1.
As shown in Figure 6, arm prosthomere 231 and arm deutomerite 233 are arc, and the arc center of circle in the arc center of circle of arm prosthomere 231, arm deutomerite 233 is positioned at the same side.Pass through said structure, enable to a pair robotic arm 23 for pole-climbing and movement when around roofbolt, avoid colliding with roofbolt and rubbing in the middle part of arm prosthomere 231 and arm deutomerite 233, it is possible to promote stability when the present embodiment Intelligent Mobile Robot moves on roofbolt as far as possible.
In the present embodiment, return pulley 210 is universal wheel so that Intelligent Mobile Robot can rotate along roofbolt.
The present embodiment has the driving method of the Intelligent Mobile Robot of pole-climbing function and mainly includes the coordination of the parts such as each universal wheel driving mechanism, body joint motor, arm joint motor, root joint motor and control, and detailed step includes:
1) when Intelligent Mobile Robot is when ground moving, robotic arm 23 rotates universal wheel 24 by walking and is supported on ground (as shown in Figure 2), drives corresponding walking to rotate universal wheel 24 by the universal wheel driving mechanism of each body unit 21 and moves on the ground and turn to；
2) when Intelligent Mobile Robot is from ground close to roofbolt, body joint motor is driven climbing mechanism 2 to be faced upward and close to roofbolt, first a pair robotic arm 23 of first body unit 21 of control is encircled roofbolt and is made return pulley 210 with rotation universal wheel 24 of walking by roofbolt clamping, and drive walking rotation universal wheel 24 to move along roofbolt by universal wheel driving mechanism, then control a pair robotic arm 23 of each body unit 21 follow-up successively to encircle roofbolt and make return pulley 210 and walking rotate universal wheel 24 to be clamped by roofbolt, and drive walking rotation universal wheel 24 to move along roofbolt by universal wheel driving mechanism, all body unit 21 are finally made to climb up roofbolt；
3) after Intelligent Mobile Robot climbs up roofbolt:
1., when needs continue to climb or decline, control a pair robotic arm 23 of all body unit 21 to encircle roofbolt and make return pulley 210 and walking rotate universal wheel 24 to be clamped by roofbolt, and drive walking to rotate universal wheel 24 by universal wheel driving mechanism to move along roofbolt and climb, as shown in Fig. 3, Fig. 4 and Fig. 5；
2., when needs are along roofbolt rotary motion, controlling universal wheel driving mechanism drives walking rotation universal wheel 24 to rotate, the direction of travel and the roofbolt that make walking rotation universal wheel 24 are mutually perpendicular to, walking is driven to rotate universal wheel 24 along roofbolt rotary motion by universal wheel driving mechanism, return pulley 210 is universal wheel, follows walking and rotates universal wheel 24 together along roofbolt rotary motion；
3., when needs stop on roofbolt; controlling universal wheel driving mechanism drives walking rotation universal wheel 24 to rotate; the direction of travel and the roofbolt that make walking rotation universal wheel 24 are mutually perpendicular to and (guarantee that robot can clamp clamping roofbolt restfully; need when starting to climb or decline from halted state walking is rotated universal wheel 24 90-degree rotation; make walking rotate the direction of travel of universal wheel 24 and roofbolt be parallel to each other), and rotate universal wheel 24 clamping by return pulley 210 and walking and stop on roofbolt；
4) when upper roofbolt under Intelligent Mobile Robot, control a pair robotic arm 23 of last body unit 21 to encircle roofbolt and make return pulley 210 and walking rotate universal wheel 24 to be clamped by roofbolt, and drive walking rotation universal wheel 24 to move down along roofbolt by universal wheel driving mechanism, simultaneously driving body joint motor makes the front end of climbing mechanism 2 face upward close to ground, start to unclamp robotic arm 23 and be supported on ground by rotation universal wheel 24 of walking from roofbolt successively from first body unit 21, the robotic arm 23 finally making all body unit 21 rotates universal wheel 24 by walking and is supported on ground.
As in figure 2 it is shown, when robotic arm 23 is supported on ground by rotation universal wheel 24 of walking in the present embodiment step 1), drive arm joint motor to make the angle between arm prosthomere 231, arm deutomerite 233 more than 90 °.Pass through said structure, it is possible to make Intelligent Mobile Robot can support better on the ground and realize the movement on ground.
In the present embodiment step 1), Intelligent Mobile Robot is when ground moving, monitoring device 1 gathers roofbolt image, for the roofbolt image collected with the diameter of roofbolt, contour feature to identify roofbolt, when identifying roofbolt, then Intelligent Mobile Robot starts to climb up roofbolt from ground.Pass through said method, achieve the robot railless movable method based on image-guidance, by the Intelligent Mobile Robot trackless air navigation aid mated with image object based on image characteristics extraction, by to the image recognition of target roofbolt and tracking, it is possible to realize accurate mobile along target roofbolt direction of climbing level robot.
When applying Intelligent Mobile Robot and the driving method thereof that the present embodiment has pole-climbing function, first pass through certain transformer station selected, according to the layout of roofbolt in Substation Station, the size of roofbolt, design comprehensive configuration planning robot's walking path between roofbolt of this monitoring robot, and the relevant parameter of the robot railless movable method based on image-guidance, then research Robot roofbolt is creeped, rotate and at three kinds of kinestates of ground running, control the coordination exercise of each joint motor of Intelligent Mobile Robot, realize the robot on-line monitoring to power transformation station equipment.
The above is only the preferred embodiment of the present invention, and protection scope of the present invention is not limited merely to above-described embodiment, and all technical schemes belonged under thinking of the present invention belong to protection scope of the present invention.It should be pointed out that, for those skilled in the art, some improvements and modifications without departing from the principles of the present invention, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (10)
- null1. an Intelligent Mobile Robot with pole-climbing function，It is characterized in that: include monitoring device (1)、Drive control module and climbing mechanism (2)，Described monitoring device (1)、Drive control module is installed on climbing mechanism (2) respectively，Described climbing mechanism (2) includes more piece body unit (21) and body joint (22)，It is connected by body joint (22) between adjacent body unit (21)，The body joint motor for controlling body joint (22) rotary state it is provided with between adjacent body unit (21)，The bottom of described body unit (21) is provided with return pulley (210) and at least one pair of is for the robotic arm (23) of pole-climbing and movement，The end of described robotic arm (23) is provided with walking and rotates universal wheel (24) and be used for driving walking to rotate the universal wheel driving mechanism that universal wheel (24) is walked or rotated，Described universal wheel driving mechanism、Body joint motor is connected with drive control module respectively.
- 2. the Intelligent Mobile Robot with pole-climbing function according to claim 1, it is characterized in that: described robotic arm (23) includes the arm prosthomere (231) being sequentially connected, arm joint (232) and arm deutomerite (233), it is provided with arm joint motor between described arm prosthomere (231) and arm deutomerite (233), the root of described arm deutomerite (233) is provided with arm root joint (234), described arm deutomerite (233) is connected with body unit (21) by arm root joint (234), the root joint motor for controlling arm root joint (234) state it is provided with between described arm deutomerite (233) and body unit (21), described arm joint motor, root joint motor is connected with drive control module respectively.
- 3. the Intelligent Mobile Robot with pole-climbing function according to claim 2, it is characterized in that: described monitoring device (1) includes The Cloud Terrace (11) and video detecting module (12), described The Cloud Terrace (11) is installed on climbing mechanism (2), and described video detecting module (12) is installed on The Cloud Terrace (11).
- 4. the Intelligent Mobile Robot with pole-climbing function according to claim 3, it is characterised in that: described video detecting module (12) includes infrared camera and high-definition camera.
- 5. the Intelligent Mobile Robot with pole-climbing function according to claim 4, it is characterised in that: described monitoring device (1) is installed in climbing mechanism (2) and is positioned on joint body unit (21) at middle part.
- 6. the Intelligent Mobile Robot with pole-climbing function according to claim 5, it is characterized in that: described arm prosthomere (231) and arm deutomerite (233) are arc, and the arc center of circle in the arc center of circle of described arm prosthomere (231), arm deutomerite (233) is positioned at the same side.
- 7. the Intelligent Mobile Robot with pole-climbing function according to any one in claim 1～6, it is characterised in that: described return pulley (210) is universal wheel.
- 8. a claim 1～7 has described in any one the driving method of the Intelligent Mobile Robot of pole-climbing function, it is characterised in that step includes:1) when Intelligent Mobile Robot is when ground moving, described robotic arm (23) rotates universal wheel (24) by walking and is supported on ground, drives corresponding walking to rotate universal wheel (24) by the universal wheel driving mechanism of each body unit (21) and moves on the ground and turn to；2) when Intelligent Mobile Robot is from ground close to roofbolt, body joint motor is driven climbing mechanism (2) to be faced upward and close to roofbolt, first control first body unit (21) a pair robotic arm (23) encircle roofbolt make return pulley (210) and walking rotate universal wheel (24) by roofbolt clamping, and drive walking rotation universal wheel (24) to move along roofbolt by universal wheel driving mechanism, then control a pair robotic arm (23) of each body unit (21) follow-up successively to encircle roofbolt and make return pulley (210) and walking rotate universal wheel (24) to be clamped by roofbolt, and drive walking rotation universal wheel (24) to move along roofbolt by universal wheel driving mechanism, all body unit (21) are finally made to climb up roofbolt；3) after Intelligent Mobile Robot climbs up roofbolt, when needs continue to climb or decline, control a pair robotic arm (23) of all body unit (21) to encircle roofbolt and make return pulley (210) and walking rotate universal wheel (24) to be clamped by roofbolt, and drive walking to rotate universal wheel (24) by universal wheel driving mechanism to move along roofbolt and climb；When needs are along roofbolt rotary motion, controlling universal wheel driving mechanism drives walking to rotate universal wheel (24) rotation, make walking rotate the direction of travel of universal wheel (24) and roofbolt is mutually perpendicular to, drive walking to rotate universal wheel (24) along roofbolt rotary motion by universal wheel driving mechanism；When needs stop on roofbolt, controlling universal wheel driving mechanism drives walking to rotate universal wheel (24) rotation, the direction of travel and the roofbolt that make walking rotation universal wheel (24) are mutually perpendicular to, and are stopped on roofbolt by return pulley (210) and walking rotation universal wheel (24) clamping；4) when upper roofbolt under Intelligent Mobile Robot, control a pair robotic arm (23) of last body unit (21) to encircle roofbolt and make return pulley (210) and walking rotate universal wheel (24) to be clamped by roofbolt, and drive walking rotation universal wheel (24) to move down along roofbolt by universal wheel driving mechanism, simultaneously driving body joint motor makes the front end of climbing mechanism (2) face upward close to ground, start to unclamp robotic arm (23) and be supported on ground by rotation universal wheel (24) of walking from roofbolt successively from first body unit (21), the robotic arm (23) finally making all body unit (21) rotates universal wheel (24) by walking and is supported on ground.
- 9. there is the driving method of the Intelligent Mobile Robot of pole-climbing function according to claim 8, it is characterized in that, when robotic arm (23) is supported on ground by rotation universal wheel (24) of walking in described step 1), arm joint motor is driven to make the angle between arm prosthomere (231), arm deutomerite (233) more than 90 °.
- 10. there is the driving method of the Intelligent Mobile Robot of pole-climbing function according to claim 9, it is characterized in that, in described step 1), Intelligent Mobile Robot is when ground moving, described monitoring device (1) gathers roofbolt image, for the roofbolt image collected with the diameter of roofbolt, contour feature to identify roofbolt, when identifying roofbolt, then Intelligent Mobile Robot starts to climb up roofbolt from ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610080462.8A CN105730540B (en) | 2016-02-05 | 2016-02-05 | A kind of Intelligent Mobile Robot and its driving method with pole-climbing function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610080462.8A CN105730540B (en) | 2016-02-05 | 2016-02-05 | A kind of Intelligent Mobile Robot and its driving method with pole-climbing function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105730540A true CN105730540A (en) | 2016-07-06 |
| CN105730540B CN105730540B (en) | 2018-09-07 |
Family
ID=56244953
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610080462.8A Active CN105730540B (en) | 2016-02-05 | 2016-02-05 | A kind of Intelligent Mobile Robot and its driving method with pole-climbing function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105730540B (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105947010A (en) * | 2016-07-12 | 2016-09-21 | 浙江工业大学 | Variable-route self-adaption obstacle crossing climbing robot |
| CN106112993A (en) * | 2016-08-22 | 2016-11-16 | 常州信息职业技术学院 | A kind of alternative expression climbing level robot |
| CN106914906A (en) * | 2017-04-16 | 2017-07-04 | 赵洁 | A kind of electric pole repairs robot |
| CN108908375A (en) * | 2018-09-26 | 2018-11-30 | 长沙理工大学 | A kind of adjustable eddy effusion climbing level robot |
| CN109278888A (en) * | 2018-11-09 | 2019-01-29 | 国电锅炉压力容器检验有限公司 | A kind of light pipe lateral surface inspection crawl device |
| CN109367639A (en) * | 2018-11-15 | 2019-02-22 | 国网湖南省电力有限公司 | A kind of climbing level robot and its application method |
| CN110104085A (en) * | 2019-06-10 | 2019-08-09 | 大连民族大学 | A kind of climbing robot for pipe detection |
| CN111204381A (en) * | 2020-02-28 | 2020-05-29 | 成都清妙创意设计有限公司 | Multifunctional inspection robot |
| CN112531569A (en) * | 2020-12-29 | 2021-03-19 | 苏州诺灵顿智能科技有限公司 | Multi-foot switching type cable inspection robot and inspection method thereof |
| CN112873235A (en) * | 2021-01-22 | 2021-06-01 | 中国计量大学 | Climbing mechanism of inspection robot and inspection robot |
| CN113232740A (en) * | 2021-05-08 | 2021-08-10 | 海南大学 | Tree-climbing sampling robot capable of carrying test paper |
| CN113479268A (en) * | 2021-07-19 | 2021-10-08 | 沈阳航空航天大学 | Patrol and examine robot that collects walking, climbing and hinder more in an organic whole |
| CN114012747A (en) * | 2021-06-09 | 2022-02-08 | 中铁五局集团建筑工程有限责任公司 | Pipe truss welding seam surface quality detection robot and control system and method thereof |
| CN115071854A (en) * | 2022-07-05 | 2022-09-20 | 浙江工业大学 | Multifunctional tree-climbing coconut crab-imitating robot |
| CN115158504A (en) * | 2022-06-08 | 2022-10-11 | 国网浙江省电力有限公司 | Wheel type pole-climbing robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5351783A (en) * | 1991-11-15 | 1994-10-04 | Alcegarden S.R.L. | Self-propelled vehicle for climbing along pole-shaped elements, such as tree trunks, poles and the like |
| CN1586965A (en) * | 2004-09-23 | 2005-03-02 | 上海交通大学 | Creeping crawling device for detecting default of marine platform structure |
| CN201721535U (en) * | 2010-07-13 | 2011-01-26 | 张化玲 | Multi-drive bionic robot |
| CN203894352U (en) * | 2014-06-19 | 2014-10-22 | 哈尔滨工程大学 | Insulator detecting robot capable of adapting to various occasions |
| CN204037719U (en) * | 2014-08-12 | 2014-12-24 | 皖西学院 | The outer tube climber device people of two-way wheel type pipe |
| CN105059417A (en) * | 2015-09-02 | 2015-11-18 | 哈尔滨工业大学 | Pole climbing robot based on spring telescopic mechanism |
| CN105253213A (en) * | 2015-10-27 | 2016-01-20 | 昆明理工大学 | Pole-climbing robot |
| CN205469362U (en) * | 2016-02-05 | 2016-08-17 | 国家电网公司 | Transformer station inspection robot with pole -climbing function |
-
2016
- 2016-02-05 CN CN201610080462.8A patent/CN105730540B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5351783A (en) * | 1991-11-15 | 1994-10-04 | Alcegarden S.R.L. | Self-propelled vehicle for climbing along pole-shaped elements, such as tree trunks, poles and the like |
| CN1586965A (en) * | 2004-09-23 | 2005-03-02 | 上海交通大学 | Creeping crawling device for detecting default of marine platform structure |
| CN201721535U (en) * | 2010-07-13 | 2011-01-26 | 张化玲 | Multi-drive bionic robot |
| CN203894352U (en) * | 2014-06-19 | 2014-10-22 | 哈尔滨工程大学 | Insulator detecting robot capable of adapting to various occasions |
| CN204037719U (en) * | 2014-08-12 | 2014-12-24 | 皖西学院 | The outer tube climber device people of two-way wheel type pipe |
| CN105059417A (en) * | 2015-09-02 | 2015-11-18 | 哈尔滨工业大学 | Pole climbing robot based on spring telescopic mechanism |
| CN105253213A (en) * | 2015-10-27 | 2016-01-20 | 昆明理工大学 | Pole-climbing robot |
| CN205469362U (en) * | 2016-02-05 | 2016-08-17 | 国家电网公司 | Transformer station inspection robot with pole -climbing function |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105947010B (en) * | 2016-07-12 | 2017-12-08 | 浙江工业大学 | One kind becomes diameter adaptive obstacle detouring climbing robot |
| CN105947010A (en) * | 2016-07-12 | 2016-09-21 | 浙江工业大学 | Variable-route self-adaption obstacle crossing climbing robot |
| CN106112993A (en) * | 2016-08-22 | 2016-11-16 | 常州信息职业技术学院 | A kind of alternative expression climbing level robot |
| CN106112993B (en) * | 2016-08-22 | 2018-02-06 | 常州信息职业技术学院 | A kind of alternative expression climbing level robot |
| CN106914906A (en) * | 2017-04-16 | 2017-07-04 | 赵洁 | A kind of electric pole repairs robot |
| CN106914906B (en) * | 2017-04-16 | 2018-11-02 | 扬州市杭集创意设计园有限公司 | A kind of electric pole repairing robot |
| CN108908375A (en) * | 2018-09-26 | 2018-11-30 | 长沙理工大学 | A kind of adjustable eddy effusion climbing level robot |
| CN109278888B (en) * | 2018-11-09 | 2024-01-16 | 国能锅炉压力容器检验有限公司 | Crawling device for inspecting outer side surface of light pipe |
| CN109278888A (en) * | 2018-11-09 | 2019-01-29 | 国电锅炉压力容器检验有限公司 | A kind of light pipe lateral surface inspection crawl device |
| CN109367639A (en) * | 2018-11-15 | 2019-02-22 | 国网湖南省电力有限公司 | A kind of climbing level robot and its application method |
| CN109367639B (en) * | 2018-11-15 | 2024-02-23 | 国网湖南省电力有限公司 | Pole climbing robot and application method thereof |
| CN110104085A (en) * | 2019-06-10 | 2019-08-09 | 大连民族大学 | A kind of climbing robot for pipe detection |
| CN111204381A (en) * | 2020-02-28 | 2020-05-29 | 成都清妙创意设计有限公司 | Multifunctional inspection robot |
| CN111204381B (en) * | 2020-02-28 | 2021-07-30 | 广州光泰信息科技有限公司 | Multifunctional inspection robot |
| CN112531569A (en) * | 2020-12-29 | 2021-03-19 | 苏州诺灵顿智能科技有限公司 | Multi-foot switching type cable inspection robot and inspection method thereof |
| CN112873235A (en) * | 2021-01-22 | 2021-06-01 | 中国计量大学 | Climbing mechanism of inspection robot and inspection robot |
| CN113232740A (en) * | 2021-05-08 | 2021-08-10 | 海南大学 | Tree-climbing sampling robot capable of carrying test paper |
| CN114012747A (en) * | 2021-06-09 | 2022-02-08 | 中铁五局集团建筑工程有限责任公司 | Pipe truss welding seam surface quality detection robot and control system and method thereof |
| CN113479268A (en) * | 2021-07-19 | 2021-10-08 | 沈阳航空航天大学 | Patrol and examine robot that collects walking, climbing and hinder more in an organic whole |
| CN115158504A (en) * | 2022-06-08 | 2022-10-11 | 国网浙江省电力有限公司 | Wheel type pole-climbing robot |
| CN115158504B (en) * | 2022-06-08 | 2023-10-20 | 国网浙江省电力有限公司宁波市奉化区供电公司 | Wheel type pole-climbing robot |
| CN115071854A (en) * | 2022-07-05 | 2022-09-20 | 浙江工业大学 | Multifunctional tree-climbing coconut crab-imitating robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105730540B (en) | 2018-09-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105730540A (en) | Transformer substation patrol and inspection robot with rod climbing function and drive method for transformer substation patrol and inspection robot | |
| CN205469362U (en) | Transformer station inspection robot with pole -climbing function | |
| CN104020768B (en) | Infrared temperature measurement track inspection robot | |
| CN106655006B (en) | Transmission line polling robot obstacle-surmounting travelling gear | |
| CN205438531U (en) | Light -duty track robot | |
| CN112414458B (en) | Automatic intelligent inspection method for transformer substation | |
| CN211954433U (en) | Cable automated inspection robot | |
| CN102751669B (en) | Travelling mechanism of inspection robot for realizing obstacle crossing | |
| CN102063746B (en) | Program-controlled patrol machine and program-controlled patrol method for transformer station | |
| CN109877846A (en) | A kind of intelligent inspection robot | |
| CN105835063A (en) | Indoor inspection robot system for substation and inspection method for indoor inspection robot system | |
| Hongguang et al. | Research of power transmission line maintenance robots in SIACAS | |
| CN105242616A (en) | Track type inspection system applied to transformer substation | |
| CN108801340A (en) | A kind of high-voltage line intelligent inspection robot and its method for inspecting | |
| CN211761557U (en) | Comprehensive pipe rack inspection robot | |
| CN203616007U (en) | Automatic temperature patrolling and measuring device for transformer station | |
| CN105977862A (en) | Line inspection robot | |
| CN108528400A (en) | The servicing work method of rolling stock roof | |
| KR102359154B1 (en) | Autonomous robot for diagnosing an electric power facilities | |
| CN103913243A (en) | Suspending automatic-patrol robot | |
| CN207799462U (en) | Intelligent track platform | |
| CN113241667B (en) | Transmission line patrols traditional thread binding putting and control system thereof | |
| CN110640763A (en) | Comprehensive pipe rack inspection robot | |
| CN113777484B (en) | GIS defect detection device and method | |
| CN105022392A (en) | Granary environment trolley control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |