CN106711823A - Power polling robot - Google Patents
Power polling robot Download PDFInfo
- Publication number
- CN106711823A CN106711823A CN201710175476.2A CN201710175476A CN106711823A CN 106711823 A CN106711823 A CN 106711823A CN 201710175476 A CN201710175476 A CN 201710175476A CN 106711823 A CN106711823 A CN 106711823A
- Authority
- CN
- China
- Prior art keywords
- head
- sole
- wheel assembly
- swing arm
- inspection process
- 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.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 238000007689 inspection Methods 0.000 claims description 23
- 238000000034 method Methods 0.000 claims description 18
- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 2
- 238000001931 thermography Methods 0.000 claims 1
- 230000035939 shock Effects 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 description 4
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 3
- 229910052782 aluminium Inorganic materials 0.000 description 3
- 239000004411 aluminium Substances 0.000 description 3
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 229920001971 elastomer Polymers 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 241001236644 Lavinia Species 0.000 description 1
- 235000004443 Ricinus communis Nutrition 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000002860 competitive effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a power polling robot. The power polling robot comprises a housing, a chassis system and a cloud deck, wherein the chassis system comprises a chassis rack, a front wheel assembly, a back wheel assembly, a suspending mechanism and a driving mechanism; the back wheel assembly is mounted on the chassis rack through the suspending mechanism; the suspending mechanism comprises a fixed supporting rack which is fixedly arranged on the chassis rack; the fixed supporting rack is connected to a swing arm member in a hinged manner; the back wheel assembly comprises a pair of back wheels; the back wheels are mounted on the swing arm member; a shock adsorbing member is also connected between the swing arm member and the fixed supporting rack, and the back wheels are also connected to the driving mechanism; a control electric apparatus is also arranged on the chassis rack, and the control electric apparatus is electrically connected to the driving mechanism; and a laser radar is connected to the front end portion of the chassis rack, and a high definition day and night camera and a thermal infrared imager are mounted in the cloud deck. The power polling robot disclosed by the invention can automatically poll, and is steady to operate and high in polling quality.
Description
Technical field
The invention belongs to patrol robot technical field, and in particular to a kind of electric inspection process robot.
Background technology
Transformer station is the core of power network, is to ensure whole electricity net safety stable to electric station equipment routine patrol and detection
The key technology of operation.With economic fast development, the scale of power system constantly expands, to the stability of power system
Requirement constantly improve.Existing manual inspection mode is big due to labour intensity, detection dispersion, is influenceed larger more difficult by weather
Meet above-mentioned requirements.
The content of the invention
It is an object of the invention to：For problem present in existing electric inspection process, there is provided a kind of electric inspection process machine
People, using crusing robot for manual inspection, the working strength for can effectively improve and patrol and examine detection quality, reducing patrol officer.
Replace manual inspection in the case of atrocious weather, reduce the security risk of patrol officer, be complete autonomous based on crusing robot
Testing equipment running status, it is unattended so as to realize.
To achieve these goals, the technical solution adopted by the present invention is：
A kind of electric inspection process robot, including housing, chassis system and head, described chassis system include sole,
Front component, wheel assembly, hitch and drive mechanism, wheel assembly are arranged on sole by hitch, described
Hitch include being fixedly installed on fixing support rack on sole, fixing support rack is hingedly connected with swing arm arrangements, after
Wheel assembly includes a pair of rear wheels, and trailing wheel is arranged on swing arm arrangements, and damping is also associated between swing arm arrangements and fixing support rack
Component, trailing wheel is also connected with described drive mechanism；Head mounting platform is additionally provided with sole and for supporting head to pacify
The head support base of assembling platform, installs described head on head mounting platform；Control apparatus part is additionally provided with sole, is controlled
Electrical part processed is electrically connected with drive mechanism；The leading section of sole is connected with laser radar, and high definition day and night type is provided with head
Camera and thermal infrared imager.
Preferably, described front component includes a pair of universal wheels.
Preferably, described trailing wheel uses pneumatic tire.
Preferably, described cushioning members use spring.
Preferably, described drive mechanism includes that the brshless DC motor, planetary reducer and the corner that are sequentially connected slow down
Machine, the trailing wheel described in the output end connection of corner reductor, brshless DC motor is electrically connected with described control apparatus part.
By adopting the above-described technical solution, the beneficial effects of the invention are as follows：
The present invention, for manual inspection, can effectively be improved and patrol and examine detection quality, reduce patrol officer using crusing robot
Working strength.Replace manual inspection in the case of atrocious weather, the security risk of patrol officer is reduced, based on inspection machine
People is complete autonomous testing equipment running status, unattended so as to realize.
Trailing wheel of the invention effectively reduces the weight of vehicle using the single transverse arm hang in the independent suspension type for being
The heart improves the stationarity of robot motion, improves the adhesive force of wheel and ground；Two driving wheels can individually beat, and reduce machine
The vibration of device people's vehicle body；With stronger anti-roll capability；Drive mechanism using be brshless DC motor, planetary reducer,
The combining form of corner reductor, this drive system, compact conformation takes up room smaller.
Brief description of the drawings
Fig. 1 is electric inspection process robot architecture schematic diagram of the invention.
Fig. 2 is electric inspection process robot interior structural representation of the invention.
Fig. 3 is the hitch structural representation of electric inspection process robot of the invention.
Fig. 4 is the driving mechanism structure sketch of electric inspection process robot of the invention.
Reference：1- heads, 101- head mounting platforms, 102- head support bases, 2- shells, 3- laser radars, 4-
Chassis system, 41- wheel assemblies, 42- front components, 43- soles, 5- control apparatus parts, 6- drive mechanisms, it is straight that 61- is brushless
Stream motor, 62- planetary reducers, 63- corner reductors, 7- hitches, 71- fixing support racks, 72- swing arm arrangements, 73- subtracts
Shake component.
Specific embodiment
Reference picture 1-4, electric inspection process robot of the invention includes a kind of electric inspection process robot, including housing, chassis
System 4 and head 1, described chassis system 4 include sole 43, front component 42, wheel assembly 41, hitch 7 and drive
Motivation structure 6, wheel assembly 41 is arranged on sole 43 by hitch 7, and described hitch 7 includes being fixedly installed on
Fixing support rack 71 on sole 43, fixing support rack 71 is hingedly connected with swing arm arrangements 72, and wheel assembly 41 includes a pair
Trailing wheel, trailing wheel is arranged on swing arm arrangements 72, and cushioning members 73 are also associated between swing arm arrangements 72 and fixing support rack 71, after
Wheel is also connected with described drive mechanism 6；Head mounting platform 101 is additionally provided with sole 43 and for supporting head to pacify
The head support base 102 of assembling platform 101, installs described head 1 on head mounting platform 101；It is additionally provided with sole 43
Control apparatus part 5, control apparatus part 5 is electrically connected with drive mechanism 6；The leading section of sole 43 is connected with laser radar 3, head
High definition day and night type camera and thermal infrared imager are installed in 1.
The use occasion of electric inspection process robot is transformer station, and road surface is usually concrete floor in transformer station, and robot advances
Speed is 0-1m/s, and chassis system 4 is driven using two wheel guide robot, and two driving wheels are wheel assembly 41, and trailing wheel is from a diameter of
The pneumatic tire of 400mm, driven pulley is universal wheel, is travelled by two driving wheel differentials and realizes turning, and driving wheel is by hanging machine
Structure 7 is arranged on sole 43, can effectively ensure that the stationarity of vehicle body.
Specifically, drive mechanism 6 includes the brshless DC motor 61, planetary reducer 62 and the corner reductor that are sequentially connected
63, the trailing wheel described in the output end connection of corner reductor 63, brshless DC motor 61 is electrically connected with described control apparatus part 5
Connect.Hitch 7 can effectively reduce the center of gravity of vehicle using the single transverse arm mode in the independent suspension type for being, which
The stationarity of robot motion is improved, the adhesive force of wheel and ground is improve；Two driving wheels can individually beat, and reduce machine
The vibration of people's vehicle body；With stronger anti-roll capability.Drive mechanism 6 is using the brshless DC motor 61, planetary reducer for being
62nd, the combining form of corner reductor 63, this drive mechanism 6, compact conformation takes up room smaller.As preferred implementation
Mode, using the detachable rubber wheel of wheel hub, with wear-resisting, impact resistance, long lifespan, obstacle climbing ability is strong, is easy to maintenance for driving wheel
Change.Drive mechanism 6 is arranged on hitch 7, and wherein driving torque axle separately effectively ensures drive mechanism 6 with bearing capacity
Intensity and increase the service life.
Another preferred embodiment of the invention, trailing wheel uses 12 cun of pneumatic tires, bears maximum load high, it is adaptable to cement
Road surface or the complicated ground such as uneven, are made of top-quality rubber, and loading is high, and wear and shock-resistant is anti-puncture, it is excellent to exempt from inflation etc.
Point.Pneumatic tire can be that the equal diameters of two-wheeled can ensure wheel in angular speed one according to the diameter of air pressure adjustment two-wheeled
In the case of cause, it is maintained at linear motion situation under body and moves along a straight line and effectively control in certain error range.
Front component 42 is driven pulley in the present invention, preferably uses polyurethane wheel, disclosure satisfy that requirement, and equipped with dust cap,
Sealing ring and antiwind lid can keep the cleaning of castor rotary part, using floor type, good stability.
High definition day and night type camera and thermal infrared imager are installed, head 1 is due to outer in outside transformer substation work in head 1
Boundary's environment is more severe, and the degree of protection of the part of head 1 reaches IP66, and it is ± 60 ° to meet the angle of pitch of the monitoring without dead angle head 1,
Level angle reaches 0~360 °.Pitching rotating speed is 0.1 °~6 °/S and the speed for horizontally rotating in 0.1 °~8 °/S, it is ensured that shot
Quality and efficiency that the quality and robot of picture are patrolled and examined the fast track of shooting point, raising during traveling.
The support of head 1 uses aluminium section bar and is assembled.Head support base 102 be used for install head 1 and battery and
Related electric components, relatively using steel profile weldment its light weight, can easily be accommodated installation site and low cost.
The structure precision of head support base 102 is high, it is easy to dismount, and determines each the characteristics of modularization and standard accessory are connected
Part is not only easy to dismounting, and has preferably repetition assembly precision.Aluminium section bar is in heated condition with special aluminium alloy bars
It is lower that through mould extrusion forming, with high geometric accuracy and surface smoothness, assembling mode is all connected using standard accessory,
In the absence of the deformation occurred by hot-working；Save labour turnover, aluminium section bar process equipment is simple, attachments standards, cut off, connect
The assembling mode for connecing can also save a large amount of man-hours, make product more competitive, reduce increasingly increased labour cost.
Claims (5)
1. a kind of electric inspection process robot, it is characterised in that including housing (2), chassis system (4) and head (1), described bottom
Disc system (4) includes sole (43), front component (42), wheel assembly (41), hitch (7) and drive mechanism (6), after
By hitch (7) on sole (43), described hitch (7) is including being fixedly installed on bottom for wheel assembly (41)
Fixing support rack (71) on plate rail (43), fixing support rack (71) is hingedly connected with swing arm arrangements (72), wheel assembly (41)
Including a pair of rear wheels, trailing wheel is arranged on swing arm arrangements (72), is also connected between swing arm arrangements (72) and fixing support rack (71)
There are cushioning members (73), trailing wheel is also connected with described drive mechanism (6)；Sole is additionally provided with head mounting platform on (43)
(101) and for supporting the head support base (102) of head mounting platform (101), installed on head mounting platform (101)
Described head (1)；Control apparatus part (5), control apparatus part (5) and drive mechanism (6) electricity are additionally provided with sole (43)
Connection；The leading section of sole (43) is connected with laser radar (3), and high definition day and night type camera and infrared is provided with head (1)
Thermal imaging system.
2. electric inspection process robot according to claim 1, it is characterised in that described front component (42) is including a pair
Universal wheel.
3. electric inspection process robot according to claim 1, it is characterised in that described trailing wheel uses pneumatic tire.
4. electric inspection process robot according to claim 1, it is characterised in that described cushioning members (73) use bullet
Spring.
5. electric inspection process robot according to claim 1, it is characterised in that described drive mechanism (6) is including successively
The brshless DC motor (61) of connection, planetary reducer (62) and corner reductor (63), the output end of corner reductor (63)
The described trailing wheel of connection, brshless DC motor (61) is electrically connected with described control apparatus part (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710175476.2A CN106711823A (en) | 2017-03-22 | 2017-03-22 | Power polling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710175476.2A CN106711823A (en) | 2017-03-22 | 2017-03-22 | Power polling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106711823A true CN106711823A (en) | 2017-05-24 |
Family
ID=58887081
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710175476.2A Pending CN106711823A (en) | 2017-03-22 | 2017-03-22 | Power polling robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106711823A (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107203210A (en) * | 2017-06-09 | 2017-09-26 | 浙江安控科技有限公司 | A kind of AGV mobile robots based on las er-guidance |
| CN107229280A (en) * | 2017-06-09 | 2017-10-03 | 华南理工大学 | A kind of security patrol robot |
| CN107310369A (en) * | 2017-07-26 | 2017-11-03 | 广东电网有限责任公司电力科学研究院 | A kind of crusing robot chassis battery case mounting tool |
| CN108356825A (en) * | 2018-03-23 | 2018-08-03 | 国网上海市电力公司 | A kind of control system of high pressure transformer and distribution power station cleaning auxiliary robot |
| CN108356814A (en) * | 2018-04-10 | 2018-08-03 | 中建地下空间有限公司 | A kind of crusing robot |
| CN108407610A (en) * | 2017-08-14 | 2018-08-17 | 四川阿泰因机器人智能装备有限公司 | A kind of four-wheel drive robot chassis of chain drive |
| CN109202853A (en) * | 2018-11-12 | 2019-01-15 | 国网四川省电力公司电力科学研究院 | A kind of power construction safety supervision robot |
| CN109291063A (en) * | 2018-12-04 | 2019-02-01 | 四川阿泰因机器人智能装备有限公司 | A kind of electric operating site safety supervision machine people |
| CN109664311A (en) * | 2018-12-28 | 2019-04-23 | 深圳市优必选科技有限公司 | Automatic inspection robot |
| CN111376667A (en) * | 2020-04-17 | 2020-07-07 | 甄圣超 | A mobile inspection robot |
| CN112060104A (en) * | 2020-08-21 | 2020-12-11 | 北京全路通信信号研究设计院集团有限公司 | Double-wheel inspection robot |
| CN112276966A (en) * | 2020-10-21 | 2021-01-29 | 苏州索斯曼电气有限公司 | Intelligent robot for inspecting electric power instrument |
| CN112621708A (en) * | 2020-08-21 | 2021-04-09 | 智慧起源机器人(苏州)有限公司 | Steering unit and track robot assembly |
| WO2021087861A1 (en) * | 2019-11-07 | 2021-05-14 | 南京溧航仿生产业研究院有限公司 | Small bionic robot |
| WO2022067456A1 (en) * | 2020-09-29 | 2022-04-07 | 阳光科技企业有限公司 | Smart patrol robot |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107229280B (en) * | 2017-06-09 | 2023-05-23 | 华南理工大学 | A security patrol robot |
| CN107229280A (en) * | 2017-06-09 | 2017-10-03 | 华南理工大学 | A kind of security patrol robot |
| CN107203210A (en) * | 2017-06-09 | 2017-09-26 | 浙江安控科技有限公司 | A kind of AGV mobile robots based on las er-guidance |
| CN107310369A (en) * | 2017-07-26 | 2017-11-03 | 广东电网有限责任公司电力科学研究院 | A kind of crusing robot chassis battery case mounting tool |
| CN108407610A (en) * | 2017-08-14 | 2018-08-17 | 四川阿泰因机器人智能装备有限公司 | A kind of four-wheel drive robot chassis of chain drive |
| CN108356825A (en) * | 2018-03-23 | 2018-08-03 | 国网上海市电力公司 | A kind of control system of high pressure transformer and distribution power station cleaning auxiliary robot |
| CN108356814A (en) * | 2018-04-10 | 2018-08-03 | 中建地下空间有限公司 | A kind of crusing robot |
| CN109202853A (en) * | 2018-11-12 | 2019-01-15 | 国网四川省电力公司电力科学研究院 | A kind of power construction safety supervision robot |
| CN109291063A (en) * | 2018-12-04 | 2019-02-01 | 四川阿泰因机器人智能装备有限公司 | A kind of electric operating site safety supervision machine people |
| CN109664311A (en) * | 2018-12-28 | 2019-04-23 | 深圳市优必选科技有限公司 | Automatic inspection robot |
| WO2021087861A1 (en) * | 2019-11-07 | 2021-05-14 | 南京溧航仿生产业研究院有限公司 | Small bionic robot |
| CN111376667A (en) * | 2020-04-17 | 2020-07-07 | 甄圣超 | A mobile inspection robot |
| CN111376667B (en) * | 2020-04-17 | 2024-02-13 | 合肥中科深谷科技发展有限公司 | Mobile inspection operation robot |
| CN112060104A (en) * | 2020-08-21 | 2020-12-11 | 北京全路通信信号研究设计院集团有限公司 | Double-wheel inspection robot |
| CN112621708A (en) * | 2020-08-21 | 2021-04-09 | 智慧起源机器人(苏州)有限公司 | Steering unit and track robot assembly |
| WO2022067456A1 (en) * | 2020-09-29 | 2022-04-07 | 阳光科技企业有限公司 | Smart patrol robot |
| CN112276966A (en) * | 2020-10-21 | 2021-01-29 | 苏州索斯曼电气有限公司 | Intelligent robot for inspecting electric power instrument |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170524 |
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| RJ01 | Rejection of invention patent application after publication |