CN106826754A - Examination intelligently tracked vehicle is patrolled and examined in a kind of substation cable raceway groove remote control - Google Patents
Examination intelligently tracked vehicle is patrolled and examined in a kind of substation cable raceway groove remote control Download PDFInfo
- Publication number
- CN106826754A CN106826754A CN201710178260.1A CN201710178260A CN106826754A CN 106826754 A CN106826754 A CN 106826754A CN 201710178260 A CN201710178260 A CN 201710178260A CN 106826754 A CN106826754 A CN 106826754A
- Authority
- CN
- China
- Prior art keywords
- driving motor
- mechanical arm
- stainless steel
- 51druino
- vehicular platform
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
Abstract
Examination intelligently tracked vehicle is patrolled and examined the invention discloses a kind of substation cable raceway groove remote control, it is characterised in that it includes stainless steel vehicular platform（3）, 51druino exploitation mainboard（1）, crawler driving whell（4）, driven pulley（8）, the crawler driving whell per one end（4）And driven pulley（8）On be surrounded with crawler belt（6）, stainless steel vehicular platform（3）Front portion is provided with mechanical arm base（9）, mechanical arm expandable part（10）, mechanical arm rotating part（11）, gripper（18）, infrared camera（13）It is fixed by snap in camera head（12）On, 51druino exploitation mainboards（1）WiFi transmission of video and control module are connected respectively（7）, left driving motor（14）, right driving motor（15）, 3 steering wheel, control antennas（5）, simple and practical, highly versatile of the invention is easy to manage and can improve conscientiously examination and patrols and examines efficiency, reduces operating risk, it is to avoid personal injury occur, reduce labor intensity and bear.
Description
Technical field：
Examination intelligently tracked vehicle is patrolled and examined the present invention relates to a kind of substation cable raceway groove remote control, belongs to power system power transformation O＆M skill
Art field.
Background technology：
In transformer station once, secondary cable raceway groove is numerous and inner space is narrow and small, environment is complicated.According to operating standard, cable duct
Road should also carry out corresponding walkaround inspection when making an inspection tour, including after rain drainage situation inspection, cable bearer whether firmly, insulating sleeve
Whether clean and tidy, terminals whether oil leak etc., while constantly extended with transformer station and transformed, to the corresponding construction of cable duct
Afterwards, should also be by the examination of operation maintenance personnel, but so numerous raceway groove, the size of hole, position are all different, are tested with existing
Means and methodses are received to be limited by landform and equipment construction and can not effectively found.
It is common to patrol and examine and examination means have problems, by taking daily walkaround inspection after cable duct construction as an example, make an inspection tour
When need under to inside cable duct, cable duct inner space is narrow and small, easily meets and discusses, and in ditch depths, staff is not easy to operate, to checking and accepting
Personnel have certain danger, and ventilation is not smooth, and illumination is not enough, and observation is also inconvenient, it is necessary to the time is long, makes an inspection tour process efficiency low
Under.
Likewise, wiring is complicated in cable interlayer, hole is numerous, is needed to be very careful when checking and accepting its closure situation, slightly
Do not note colliding with.
How to develop a set of with examination intelligently tracked vehicle is patrolled and examined extensively using the small space telecontrol of transformer station of value, improve
Patrol and examine efficiency, reduce operating risk, be the important topic of power transformation operation management.
The content of the invention：
A kind of simple and practical, highly versatile is provided it is an object of the invention to overcome the shortcomings of above-mentioned prior art, just
Efficiency, reduction operating risk are patrolled and examined in managing and can conscientiously improve examination, it is to avoid personal injury occur, reduce labor intensity and bear
Examination intelligently tracked vehicle is patrolled and examined in the substation cable raceway groove remote control of load.
The purpose of the present invention can be reached by following measure：Examination intelligence is patrolled and examined in a kind of substation cable raceway groove remote control
Creeper truck, it is characterised in that it includes stainless steel vehicular platform, 51druino exploitation mainboards are fixed on stainless by nylon column
On steel vehicular platform, control antenna is fixed on the rear portion of stainless steel vehicular platform, and it is vehicle-mounted flat that track drive shaft is connected to stainless steel
The rear portion of platform, the rear portion both sides of stainless steel vehicular platform are respectively symmetrically one track drive shaft of connection, outside each track drive shaft
End is all connected with a crawler driving whell, and the middle front part both sides of stainless steel vehicular platform are respectively symmetrically 5 groups of driven shafts of connection, and each is driven
The outer end of axle is all connected with a driven pulley, and crawler belt is surrounded with the crawler driving whell and driven pulley per one end, left driving motor and
Right driving motor is fixed on stainless steel vehicular platform bottom rear, is directly connected to crawler driving whell, and crawler driving whell drives to be carried out
Band and driven pulley are operated, and are integrally advanced so as to order about vehicle, are retreated, and are stalled by controlling left driving motor or right driving motor
Realize the left-hand bend and right-hand bend of vehicle；Stainless steel vehicular platform bottom is fixed with WiFi transmission of video and control module, stainless
Steel vehicular platform front portion is provided with mechanical arm base, and mechanical arm expandable part is screwed on mechanical arm base, mechanical arm
Rotating part is connected by screw with mechanical arm expandable part, and mechanical arm rotating part front end connection gripper, mechanical arm stretches
Partly, mechanical arm rotating part, gripper are acted by 3 servos control mechanical arm each several parts respectively, for picking up small space
Interior small articles；Infrared camera is fixed by snap on camera head, and 51druino exploitation mainboards connect WiFi and regard respectively
Defeated and control module, left driving motor, right driving motor, 3 steering wheels, control antennas are kept pouring in, by vehicle power module for power supply,
51druino exploitation mainboard be connected with WiFi transmission of video and control module by the pin pcb terminal line of standard three, left driving motor,
Right driving motor, 3 steering wheels are developed mainboard and are connected by standard PCB power lines with 51druino, and control antenna passes through
The standard remote communication interface carried on 51druino exploitation mainboards is connected, and 51druino exploitation mainboards are connect by controlling antenna
Receive the guidance command that computer or mobile phone A PP send, control WiFi transmission of video is connected with control module, left driving motor, the right side
Motor, 3 steering wheels complete corresponding instruction；WiFi transmission of video and control module are used for collect infrared camera
Image, video and acoustic information are transferred to mobile phone or notebook computer using 2.4GHz frequencies.
The present invention can produce following good effect compared with the prior art：The present invention patrols and examines and checks and accepts work as a kind of raceway groove
Make general synthesis tool, collection conduit line Daily Round Check, exception check that positioning, the detection of holes blocking situation, equipment inspection are read
Various functions such as number, facilitate unified management of the Work tool in teams and groups' aspect, it is ensured that operation is smoothed out, significantly
The working time is reduced, efficiency is improve, Labor Risk is reduced.It has：
1. compact, easy to carry.Each module degree of integration of the present invention is very high, and uses wireless way for transmitting image harmony
Sound, does not have cable to fetter.
2. applied widely, ability of getting rid of poverty is strong.The present invention uses track drive pattern, and obstacle climbing ability is intrepid, can adapt to
Multiple road and landform, its high power direct-current motor for using are enough to ensure its own ability of getting rid of poverty under complex environment.
3. function is complete, and science and technology configuration is high.Equipped with infrared camera and adjustable camera head and WiFi transmission of video
And control module, can be realized to intelligent shoe by mobile phone A PP or notebook computer with mobile phone A PP or notebook computer connection
Real-time control with car, can reach corresponding position under most of the circumstances, camera under dim light and no light conditions according to
Clearly detection image can be so obtained, mobile phone can receive the clear figure that camera sends in any place for having network
Picture, and possess take pictures, record a video, the function of sound collection.
Brief description of the drawings：
Fig. 1 is Split type structure schematic diagram of the invention；
Fig. 2 is polycrystalline substance schematic diagram of the invention.
Specific embodiment：
Specific embodiment of the invention is elaborated below in conjunction with the accompanying drawings：
Embodiment：Examination intelligently tracked vehicle is patrolled and examined in a kind of substation cable raceway groove remote control（Referring to Fig. 1）, it includes that stainless steel is vehicle-mounted
Platform 3,51druino exploitation mainboards 1 are fixed on stainless steel vehicular platform 3 by nylon column 2, and control antenna 5 passes through M3 spiral shells
Silk is fixed on the rear portion of stainless steel vehicular platform 3, and the rear portion both sides of stainless steel vehicular platform 3 are respectively symmetrically one track drive of connection
Axle 16, the outer end of each track drive shaft 16 is all connected with a crawler driving whell 4, the middle front part both sides point of stainless steel vehicular platform 3
Do not connect 5 groups of driven shafts 17 not symmetrically, the outer end of each driven shaft 17 is all connected with a driven pulley 8, crawler driving whell 4 per one end and
Crawler belt 6 is surrounded with driven pulley 8, left driving motor 14 and right driving motor 15 are screwed in stainless steel vehicular platform
3 bottom rears (referring to Fig. 2), are directly connected to crawler driving whell 4, and crawler driving whell 4 drives crawler belt 6 and driven pulley 8 to operate, from
And order about vehicle and integrally advance, retreat, stall the left side for realizing vehicle by controlling left driving motor 14 or right driving motor 15
Turn and turn right.The bottom of stainless steel vehicular platform 3 has been screwed WiFi transmission of video and control module 7, stainless steel
The front portion of vehicular platform 3 is provided with mechanical arm base 9, and mechanical arm expandable part 10 is fixed on mechanical arm base 9 by M3 screws, machine
Tool arm rotating part 11 is connected by screw with mechanical arm expandable part 10, the front end of mechanical arm rotating part 11 connection gripper
18, mechanical arm expandable part 10, mechanical arm rotating part 11, gripper 18 pass through 3 servos control mechanical arm each several parts respectively
Action.Infrared camera 13 is fixed by snap on camera head 12, and camera head 12 is screwed in stainless steel car
The front of carrying platform 3.51druino exploitation mainboards 1 connect WiFi transmission of video and control module 7, left driving motor respectively
14th, 15,3 steering wheels of right driving motor, control antenna 5, by vehicle power module for power supply, 51druino exploitation mainboards 1 are by mark
Accurate three pin pcb terminal lines are connected with WiFi transmission of video and control module 7, left driving motor 14,15,3 rudders of right driving motor
Machine is developed mainboard 1 and is connected by standard PCB power lines with 51druino, and control antenna 5 is developed on mainboard 1 by 51druino
The standard remote communication interface for carrying is connected, and 51druino develops mainboard 1 and receives computer or mobile phone by controlling antenna 5
The guidance command that APP sends, control WiFi transmission of video is connected with control module 7, left driving motor 14, right driving motor 15,3
Individual steering wheel completes corresponding instruction.Image that WiFi transmission of video and control module 7 collect infrared camera 13, video and
Acoustic information is transferred to mobile phone or notebook computer using 2.4GHz frequencies, and position situation is checked and accepted in observation, it is to avoid operating risk, is carried
Height checks and accepts efficiency.The expandable part of mechanical arm, rotating part, gripper interoperation pick up the small sky such as substation cable raceway groove
Between station in rubbish, leave the small articles such as Work tool.
Embodiment above is only that the preferred embodiment of the present invention is described, and other preferred embodiments are herein
Do not tire out one by one and state, and not the scope of the present invention is defined, on the premise of design spirit of the present invention is not departed from, this area
Various modifications and improvement that ordinary skill technical staff makes to technical scheme, all should fall within right of the invention will
Ask in the protection domain of book determination.
Claims (1)
1. examination intelligently tracked vehicle is patrolled and examined in a kind of substation cable raceway groove remote control, it is characterised in that it includes that stainless steel is vehicle-mounted flat
Platform（3）, 51druino exploitation mainboards（1）By nylon column（2）It is fixed on stainless steel vehicular platform（3）On, control antenna（5）
It is fixed on stainless steel vehicular platform（3）Rear portion, track drive shaft（16）It is connected to stainless steel vehicular platform（3）Rear portion, no
Rust steel vehicular platform（3）Rear portion both sides be respectively symmetrically connection one track drive shaft（16）, each track drive shaft（16）It is outer
End is all connected with a crawler driving whell（4）, stainless steel vehicular platform（3）Middle front part both sides be respectively symmetrically connection 5 groups of driven shafts
（17）, each driven shaft（17）Outer end be all connected with a driven pulley（8）, the crawler driving whell per one end（4）And driven pulley（8）On
It is surrounded with crawler belt（6）, left driving motor（14）And right driving motor（15）It is fixed on stainless steel vehicular platform（3）Behind bottom
Side, with crawler driving whell（4）It is directly connected to, crawler driving whell（4）Drive crawler belt（6）And driven pulley（8）Operating, so as to order about car
It is overall to advance, retreat, by controlling left driving motor（14）Or right driving motor（15）The left-hand bend of vehicle is realized in stalling
And right-hand bend；Stainless steel vehicular platform（3）Bottom is fixed with WiFi transmission of video and control module（7）, stainless steel vehicular platform
（3）Front portion is provided with mechanical arm base（9）, mechanical arm expandable part（10）It is screwed in mechanical arm base（9）On, machinery
Arm rotating part（11）By screw and mechanical arm expandable part（10）It is connected, mechanical arm rotating part（11）Front end connection machinery
Pawl（18）, mechanical arm expandable part（10）, mechanical arm rotating part（11）, gripper（18）Pass through 3 servos control machines respectively
Tool arm each several part is acted, for picking up the small articles in small space；Infrared camera（13）It is fixed by snap in camera head
（12）On, 51druino exploitation mainboards（1）WiFi transmission of video and control module are connected respectively（7）, left driving motor（14）, it is right
Motor（15）, 3 steering wheel, control antennas（5）, by vehicle power module for power supply, 51druino exploitation mainboards（1）By mark
Accurate three pin pcb terminal lines and WiFi transmission of video and control module（7）Connected, left driving motor（14）, right driving motor（15）、
3 steering wheels develop mainboard by standard PCB power lines with 51druino（1）Connection, controls antenna（5）Opened by 51druino
Hair mainboard（1）On the standard remote communication interface that carries be connected, 51druino exploitation mainboards（1）By controlling antenna（5）Connect
The guidance command that computer or mobile phone A PP send is received, WiFi transmission of video and control module is controlled（7）Connected, left driving motor
（14）, right driving motor（15）, 3 steering wheels complete corresponding instruction；WiFi transmission of video and control module（7）For will be infrared
Camera（13）Image, video and the acoustic information for collecting are transferred to mobile phone or notebook computer using 2.4GHz frequencies.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710178260.1A CN106826754A (en) | 2017-03-23 | 2017-03-23 | Examination intelligently tracked vehicle is patrolled and examined in a kind of substation cable raceway groove remote control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710178260.1A CN106826754A (en) | 2017-03-23 | 2017-03-23 | Examination intelligently tracked vehicle is patrolled and examined in a kind of substation cable raceway groove remote control |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106826754A true CN106826754A (en) | 2017-06-13 |
Family
ID=59131177
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710178260.1A Pending CN106826754A (en) | 2017-03-23 | 2017-03-23 | Examination intelligently tracked vehicle is patrolled and examined in a kind of substation cable raceway groove remote control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106826754A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108044631A (en) * | 2017-12-13 | 2018-05-18 | 国网浙江新昌县供电有限公司 | A kind of cable duct status checkout robot |
| CN108303921A (en) * | 2018-01-29 | 2018-07-20 | 中国南方电网有限责任公司超高压输电公司南宁局 | A kind of power cable ditch tracked remote-control mobile monitoring device |
| CN109842784A (en) * | 2017-11-29 | 2019-06-04 | 马鞍山市科泰电气科技有限公司 | A kind of automatic patrol monitoring system of intelligence |
| CN110034511A (en) * | 2019-04-23 | 2019-07-19 | 国网安徽省电力有限公司电力科学研究院 | A kind of method of the miniature inspection device of cable duct of substation and its long-range monitoring cable duct |
| CN111571555A (en) * | 2020-04-07 | 2020-08-25 | 安徽宏源电力设计咨询有限责任公司 | Transformer substation cable releasing robot |
| CN112536806A (en) * | 2020-11-30 | 2021-03-23 | 广东电网有限责任公司电力科学研究院 | Robot for inspecting cable trench and control system thereof |
| CN112571427A (en) * | 2020-12-01 | 2021-03-30 | 山东中烟工业有限责任公司 | Power cable trench inspection robot and operation method thereof |
| CN113371545A (en) * | 2021-05-20 | 2021-09-10 | 三一海洋重工有限公司 | Vehicle-mounted cable anti-pulling control method and system and tracked vehicle |
| CN110034511B (en) * | 2019-04-23 | 2024-04-30 | 国网安徽省电力有限公司电力科学研究院 | Miniature inspection device for transformer substation cable trench and method for remotely monitoring cable trench |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109842784A (en) * | 2017-11-29 | 2019-06-04 | 马鞍山市科泰电气科技有限公司 | A kind of automatic patrol monitoring system of intelligence |
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| CN108303921A (en) * | 2018-01-29 | 2018-07-20 | 中国南方电网有限责任公司超高压输电公司南宁局 | A kind of power cable ditch tracked remote-control mobile monitoring device |
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| CN110034511B (en) * | 2019-04-23 | 2024-04-30 | 国网安徽省电力有限公司电力科学研究院 | Miniature inspection device for transformer substation cable trench and method for remotely monitoring cable trench |
| CN111571555A (en) * | 2020-04-07 | 2020-08-25 | 安徽宏源电力设计咨询有限责任公司 | Transformer substation cable releasing robot |
| CN112536806A (en) * | 2020-11-30 | 2021-03-23 | 广东电网有限责任公司电力科学研究院 | Robot for inspecting cable trench and control system thereof |
| CN112536806B (en) * | 2020-11-30 | 2022-03-29 | 广东电网有限责任公司电力科学研究院 | Robot for inspecting cable trench and control system thereof |
| CN112571427A (en) * | 2020-12-01 | 2021-03-30 | 山东中烟工业有限责任公司 | Power cable trench inspection robot and operation method thereof |
| CN113371545A (en) * | 2021-05-20 | 2021-09-10 | 三一海洋重工有限公司 | Vehicle-mounted cable anti-pulling control method and system and tracked vehicle |
| CN113371545B (en) * | 2021-05-20 | 2023-03-03 | 三一海洋重工有限公司 | Vehicle-mounted cable anti-pulling control method and system and tracked vehicle |
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Application publication date: 20170613 |