CN108927812A - Robot and method are detected in magnetic-type substation room - Google Patents
Robot and method are detected in magnetic-type substation room Download PDFInfo
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- CN108927812A CN108927812A CN201810680494.0A CN201810680494A CN108927812A CN 108927812 A CN108927812 A CN 108927812A CN 201810680494 A CN201810680494 A CN 201810680494A CN 108927812 A CN108927812 A CN 108927812A
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- robot
- magnetic
- detected
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- substation room
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses robot and system are detected in a kind of magnetic-type substation room, including robot body, the robot body includes mobile platform, the mobile platform is adsorbed on substation's indoor roof by adjustable magnetic haustorium, three-dimensional motion mechanism is set on the mobile platform, detection device is carried on three-dimensional motion mechanism, enables detection device movable to area to be tested.The present invention is attracted by simple electromagnetism and movement mechanism with multiple degrees of freedom realizes detection in the lower substation room of robot high efficiency, high-precision, and structure is simply, reliably.
Description
Technical field
The invention belongs to automate and manufacturing field, and in particular to detect robot and side in a kind of magnetic-type substation room
Method.
Background technique
The normal operation of electric system indoor equipment is most important, on the one hand needs enough reliabilities, on the other hand
Timely inspection is also required to find simultaneously potential risk existing for repair apparatus in time, it is ensured that system operates normally.Indoor power
Its reliable and secure operation is significant to guarantee for the real-time detection of equipment.It is laid out by the interior space and other monitored equipments
Limitation, will realize the function to the comprehensive detection of equipment, need robot that can be able to achieve in horizontal space and vertical space
The movement of larger stroke, it is clear that existing in-wheel driving or crawler type driving method are difficult to realize.
In addition to this, device location to be checked is higher in part substation room, is also required to inspection (such as right above equipment component
Valve hall water cooling chamber, the room GIS), existing routine inspection mode is even more to hang back.
In addition, track machine people in the substation room promoted and applied at present, mostly uses greatly single track bridge joint liftable machine
The mode of device people can not solve switchgear although the detection in particular switch cabinet (positive/negative face) region can be efficiently completed
The detection demand of cabinet top bus part, and if there is multiple rows of switchgear in this switch cabinet chamber, it is limited to track, then needs to install more
The platform machine talent is achievable, and so not only cost greatly improves, and robot utilization rate is not also high, limits the big rule of robot
Mould promotes and applies.
Summary of the invention
The present invention to solve the above-mentioned problems, proposes and detects robot and method in a kind of magnetic-type substation room, this
Invention can be completed in the projecting walking of switchgear indoor roof to substation room by the electromagnetic absorption device on robot body
The detection of interior gamut, robot overall operation efficiency is high, and relative cost is low.
To achieve the goals above, the present invention adopts the following technical scheme:
Robot, including robot body are detected in a kind of magnetic-type substation room, the robot body includes movement
Platform, the mobile platform are adsorbed on substation's indoor roof by adjustable magnetic haustorium, are arranged three on the mobile platform
Movement mechanism is tieed up, carries detection device on three-dimensional motion mechanism, enables detection device movable to area to be tested.
Further, the three-dimensional motion mechanism includes Telescopic lifting machanism, holder, horizontal rotary mechanism and vertical rotation
Rotation mechanism, on a mobile platform, the other end connects holder by horizontal rotary mechanism for Telescopic lifting machanism one end setting,
The detection device is set on holder by vertical rotating mechanism.
Further, the vertical rotating mechanism is arranged in holder side.
Further, the adjustable magnetic haustorium includes adjustable electromagnet and the magnetic for being set to top in substation room
Network, magnetic connects between the adjustable electromagnet and magnetic network.
Further, the magnetic network includes multiple magnetic stripes, and the magnetic stripe is laid staggeredly in roof.
Further, the magnetic network includes multiple adsorbable metal strips, the adsorbable metal strip be laid staggeredly in
Roof.
Further, the robot body is hung upside down by mobile platform is detected in detection zone.
Further, navigation positional device is configured on the robot body.
Further, wireless charging system or plug-in type charging system are provided on the robot body.
Based on the working method of above-mentioned detection robot, when robot needs to detect switchgear, robot sheet
Body is adsorbed on indoor roof by adjustable magnetic haustorium, optimal detection path of the robot body according to planning, robot sheet
Body is travelled to corresponding switchgear region, robot body passes through telescopic lifting under the driving of robot moving platform
Holder is dropped to the height for needing to detect by mechanism, then will test equipment by horizontal rotary mechanism and vertical rotating mechanism
Alignment needs the position detected, and is detected.
Based on the working method of above-mentioned detection robot, when robot needs to detect switch cabinet top portion bus-bar area
When, holder and detection device are raised to switch cabinet body height or more by Telescopic lifting machanism by robot, according to robot
The path of backstage planning moves to the upside for preparing the switch cabinet body of detection, and robot is by horizontal rotary mechanism and hangs down
Direct rotary rotation mechanism will test the position that equipment alignment needs to detect, and will test equipment by Telescopic lifting machanism and is reduced to detection
Highly, detection is completed.
Compared with prior art, the invention has the benefit that
The configuration of the present invention is simple does not need to be transformed substation's indoor environment, practical, it is easy to accomplish；
The present invention is attracted by simple electromagnetism and movement mechanism with multiple degrees of freedom realizes robot high efficiency, high-precision
Under substation room in detect, structure is simple, reliable.
Two rotary freedoms of horizontal/vertical are increased on robot detection device of the present invention, ensure that robot into
Stabilization, safe and accurate when row equipment detects.
Robot of the invention is hung upside down by devices such as adjustable magnetic haustoriums on roof, and passes through common mobile chassis
The movement in full roof expanse is completed, to realize the detection of equipment in full indoor range.
The present invention can meet the application problem of robot under different loads by adjusting the suction of adjustable magnetic haustorium；
The present invention can be applied in other indoor similar GIS devices etc. in addition to it can apply the detection in switchgear
In detection, use scope is wide.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.
Fig. 1 is overall structure of the present invention；
Fig. 2 is robot body structure schematic diagram of the present invention；
Fig. 3 is magnetic stripe schematic network structure of the present invention；
Fig. 4 is the positive/negative face robot detection schematic diagram of switch cabinet body of the present invention；
Fig. 5 is robot detection schematic diagram on the upside of switch cabinet body of the present invention.
Wherein, 1, robot body, 2, switchgear, 3, magnetic stripe network, 4, adjustable electromagnet, 5, robot it is mobile flat
Platform, 6, Telescopic lifting machanism, 7, horizontal rotary mechanism, 8, holder, 9, vertical rotating mechanism, 10, detection device.
Specific embodiment:
The invention will be further described with embodiment with reference to the accompanying drawing.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
In the present invention, term for example "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", " side ",
The orientation or positional relationship of the instructions such as "bottom" is to be based on the orientation or positional relationship shown in the drawings, only to facilitate describing this hair
Bright each component or component structure relationship and the relative of determination, not refer in particular to either component or element in the present invention, cannot understand
For limitation of the present invention.
In the present invention, term such as " affixed ", " connected ", " connection " be shall be understood in a broad sense, and indicate may be a fixed connection,
It is also possible to be integrally connected or is detachably connected；It can be directly connected, it can also be indirectly connected through an intermediary.For
The related scientific research of this field or technical staff can determine the concrete meaning of above-mentioned term in the present invention as the case may be,
It is not considered as limiting the invention.
Robot system is detected in a kind of magnetic-type substation room, comprising: robot body, switchgear, magnetic stripe network three
Part forms；
The robot body includes adjustable electromagnet, robot moving platform, Telescopic lifting machanism, horizontal rotation
Mechanism, holder, vertical rotating mechanism and detection device；
Magnetic stripe network staggeredly can be laid on roof by single magnetic stripe, other adsorbable metal material pre-pluggeds can also be used
Inside roof, this mode can increase indoor beauty degree, and magnetic stripe bonding will not occur and do not cause tightly the accident of robot to fall；
Robot body provides adsorption capacity by adjustable electromagnet, allow robot body it is firm be suspended on room
Top；
The frictional force that robot moving platform is generated by the way that the adsorption capacity that electromagnet provides is adjusted, leads in laser navigation etc.
Under positioning method of navigating, it can be moved in switchgear indoor roof gamut；
Differential or omni-directional wheel movement side can be used in road conditions more smooth for roof, good, robot moving platform
Formula；
Robot can rest in corner in switch cabinet chamber when standby automatically, be either inserted by wireless charging system
Formula charging system charges, and does not interfere walking about for personnel；
When needing the positive/negative face specific region of robot detection switch cabinet, robot backstage plan first one it is optimal
Operating path, then robot starts adjustable electromagnet, and firm is adsorbed on roof, is accurately moved by robot moving platform
Target switch cabinet cabinet body front/reverse side is moved, holder is dropped to the region for needing switchgear to need to detect by Telescopic lifting machanism,
Detection device direction is adjusted by horizontal and vertical rotating mechanism, completes the detection to the positive/negative face of switchgear；
When needing the regions such as robot detection switch cabinet top bus bar, robot first will by Telescopic lifting machanism
Holder and detection device are raised to highest point completely, the path then planned according to backstage, on the upside of smooth motion to switch cabinet body,
Then holder and detection device are dropped at switchgear top bus bar by Telescopic lifting machanism, passes through horizontal and vertical rotation
The detection to switch cabinet top portion bus is completed in institutional adjustment detection device direction.
As a kind of exemplary embodiments, as shown in Figure 1, robot body 1 is inhaled by self-contained adjustable electromagnet 4
It is attached on the bonding of substation's indoor roof or pre- inbuilt magnetic stripe network, under the drive of robot body mobile platform 5, from
And can be moved in substation's indoor roof gamut, reach the detection covering to armamentarium in substation room.
Specifically, as shown in Figure 1, robot body 1 is adsorbed on magnetic stripe net by self-contained adjustable electromagnet 4
On network 3, magnetic stripe network 3 can be fixed on switchgear indoor roof by bonding or the pre- modes such as embedded, to make robot
Ontology 1 can be firm be fitted on indoor roof；
As shown in Fig. 2, the robot moving platform 5 that can drive robot ambulation is arranged at 1 bottom of robot body, for power transformation
Differential or omni-directional wheel (Mecanum wheel) can be used in the better road environment of indoor roof of standing, robot moving platform 5
Etc. modes realize the movement in roof gamut, the walking frictional force of mobile platform 5 is mentioned by the adsorption capacity that electromagnet 4 is adjusted
For；
As shown in figure 3, magnetic stripe network 3 can be spliced by the staggered single magnetic stripe of a plurality of transverse and longitudinal, other can also be used can
The material (such as steel bar) being attracted by the magnetic force is routed to inside roof, in advance to reach brief introduction, beauty in switch cabinet chamber construction
Effect；
As shown in Fig. 4 (a), when robot needs to detect 2 front of switchgear, robot body 1 is connected adjustable
The power supply of economize on electricity magnet 4, makes robot body 1 is firm to be adsorbed on magnetic stripe network 3, then robot backstage planning optimal detection
Path, robot body 1 come corresponding 2 region of switchgear, at this time robot under the driving of robot moving platform 5
Holder 8 is dropped to the height region for needing to detect by Telescopic lifting machanism 6 by ontology 1, then passes through horizontal rotary mechanism 7
And vertical rotating mechanism 9 will test the position that the alignment of equipment 10 needs to detect, and complete detection；
As shown in Fig. 4 (b), when robot needs to detect 2 reverse side of switchgear, robot detect with front
Detection is completed in similar movement；
As shown in figure 5, robot is logical first when robot needs to detect the regions such as 2 top bus bar of switchgear
Cross Telescopic lifting machanism 6 and holder 8 and detection device 10 be raised to 2 cabinet body height of switchgear or more, then according to robot after
The path of platform planning moves to the upside for preparing the switch cabinet body 2 of detection, at this time robot by robot moving platform 5
It will test the position that the alignment of equipment 10 needs to detect by horizontal rotary mechanism 7 and vertical rotating mechanism 9, then by flexible
Formula elevating mechanism 6 will test equipment 10 and be reduced to detection height, complete detection.
The present invention is attracted by simple electromagnetism and movement mechanism with multiple degrees of freedom realizes robot high efficiency, high-precision
Under substation room in detect, structure is simple, reliable.
Two rotary freedoms of horizontal/vertical are increased on robot detection device of the present invention, ensure that robot into
Stabilization, safe and accurate when row equipment detects.
This invention contemplates a kind of novel magnetic-type robot detection mode, robot is by electromagnet and is embedded in room
The magnetic stripe on top is hung upside down on roof, and completes the movement in full roof expanse by common mobile chassis, to realize complete indoor
The detection of equipment in range.
The present invention can meet the application problem of robot under different loads by the suction of regulating magnet；
The present invention can be applied in other indoor similar GIS devices etc. in addition to it can apply the detection in switchgear
In detection, use scope is wide.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (10)
1. robot is detected in a kind of magnetic-type substation room, it is characterized in that: including robot body, the robot body packet
Mobile platform is included, the mobile platform is adsorbed on substation's indoor roof by adjustable magnetic haustorium, on the mobile platform
Three-dimensional motion mechanism is set, carries detection device on three-dimensional motion mechanism, enables detection device movable to area to be detected
Domain.
2. robot is detected in a kind of magnetic-type substation room as described in claim 1, it is characterized in that: the three-dimensional motion machine
Structure includes Telescopic lifting machanism, holder, horizontal rotary mechanism and vertical rotating mechanism, and described Telescopic lifting machanism one end is set
It sets on a mobile platform, the other end connects holder by horizontal rotary mechanism, and the detection device is set by vertical rotating mechanism
It is placed on holder.
3. robot is detected in a kind of magnetic-type substation room as claimed in claim 2, it is characterized in that: the vertical rotary machine
Structure is arranged in holder side.
4. robot is detected in a kind of magnetic-type substation room as described in claim 1, it is characterized in that: the adjustable magnetic
Device includes the magnetic network that electromagnet is adjusted and is set to top in substation room, the adjustable electromagnet and magnetic network
Between magnetic connection.
5. robot is detected in a kind of magnetic-type substation room as described in claim 1, it is characterized in that: the magnetic network packet
Multiple magnetic stripes are included, the magnetic stripe is laid staggeredly in roof.
6. robot is detected in a kind of magnetic-type substation room as described in claim 1, it is characterized in that: the magnetic network packet
Multiple adsorbable metal strips are included, the adsorbable metal strip is laid staggeredly in roof.
7. robot is detected in a kind of magnetic-type substation room as described in claim 1, it is characterized in that: the robot body
It is upper to be configured with navigation positional device.
8. robot is detected in a kind of magnetic-type substation room as described in claim 1, it is characterized in that: the robot body
On be provided with wireless charging system or plug-in type charging system.
9. based on the working method of detection robot such as of any of claims 1-8, it is characterized in that: when robot needs
When detecting to switchgear, robot body is adsorbed on indoor roof by adjustable magnetic haustorium, robot body root
According to the optimal detection path of planning, robot body is under the driving of robot moving platform, traveling to corresponding switchgear
Holder is dropped to the height for needing to detect by Telescopic lifting machanism, then passes through horizontal rotation by region, robot body
Mechanism and vertical rotating mechanism will test the position that equipment alignment needs to detect, and be detected.
10. based on the working method of detection robot such as of any of claims 1-8, it is characterized in that: working as robot
When needing to detect switch cabinet top portion bus-bar area, robot passes through Telescopic lifting machanism for holder and detection device liter
To more than switch cabinet body height, according to the path of robot backstage planning, the upper of the switch cabinet body for preparing detection is moved to
Side, robot will test the position that equipment alignment needs to detect by horizontal rotary mechanism and vertical rotating mechanism, by stretching
Contracting formula elevating mechanism will test equipment and be reduced to detection height, complete detection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810680494.0A CN108927812A (en) | 2018-06-27 | 2018-06-27 | Robot and method are detected in magnetic-type substation room |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810680494.0A CN108927812A (en) | 2018-06-27 | 2018-06-27 | Robot and method are detected in magnetic-type substation room |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108927812A true CN108927812A (en) | 2018-12-04 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810680494.0A Pending CN108927812A (en) | 2018-06-27 | 2018-06-27 | Robot and method are detected in magnetic-type substation room |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114550335A (en) * | 2022-02-23 | 2022-05-27 | 安徽飞晶电气设备有限公司 | Inspection device for internal faults of transformer substation and implementation method thereof |
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| CN105945900A (en) * | 2016-06-03 | 2016-09-21 | 国网宁夏电力公司检修公司 | Indoor inspection robot for transformer substation |
| CN106976491A (en) * | 2017-04-18 | 2017-07-25 | 成都圭目机器人有限公司 | A kind of lightweight magnetic roller adsorption type wall climbing robot |
| CN107065864A (en) * | 2017-03-20 | 2017-08-18 | 北京石油化工学院 | The list of magnetic stripe navigation drives unidirectional automatical pilot transportation vehicle deviation correction control system and method |
| CN107416062A (en) * | 2017-06-28 | 2017-12-01 | 成都圭目机器人有限公司 | The climbing robot and its detection method of a kind of restructural |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS56140418A (en) * | 1980-04-02 | 1981-11-02 | Hitachi Ltd | Plant monitor inspecting system |
| JPH0569350A (en) * | 1991-09-11 | 1993-03-23 | Toshiba Corp | Maintenance device for track traveling type robot equipment |
| CN102673671A (en) * | 2012-06-07 | 2012-09-19 | 中国东方电气集团有限公司 | Composite magnetic adsorption visual detection climbing robot |
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| CN105945900A (en) * | 2016-06-03 | 2016-09-21 | 国网宁夏电力公司检修公司 | Indoor inspection robot for transformer substation |
| CN107065864A (en) * | 2017-03-20 | 2017-08-18 | 北京石油化工学院 | The list of magnetic stripe navigation drives unidirectional automatical pilot transportation vehicle deviation correction control system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114550335A (en) * | 2022-02-23 | 2022-05-27 | 安徽飞晶电气设备有限公司 | Inspection device for internal faults of transformer substation and implementation method thereof |
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| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 274000 No. 199 Zhonghua Road, Shandong, Heze Applicant after: Heze Power Supply Company, State Grid Shandong Electric Power Co., Ltd. Applicant after: National Network Intelligent Technology Co., Ltd. Address before: 274000 No. 199 Zhonghua Road, Shandong, Heze Applicant before: Heze Power Supply Company, State Grid Shandong Electric Power Co., Ltd. Applicant before: Shandong Luneng Intelligent Technology Co., Ltd. |
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| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20201030 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Applicant after: National Network Intelligent Technology Co.,Ltd. Address before: 274000 No. 199 Zhonghua Road, Shandong, Heze Applicant before: State Grid Shandong Electric Power Company Heze Power Supply Co. Applicant before: National Network Intelligent Technology Co.,Ltd. |
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181204 |