CN109916457A - A kind of deformation method of the miniature crusing robot of cable duct of substation and its inspection cable duct - Google Patents
A kind of deformation method of the miniature crusing robot of cable duct of substation and its inspection cable duct Download PDFInfo
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- CN109916457A CN109916457A CN201910326338.9A CN201910326338A CN109916457A CN 109916457 A CN109916457 A CN 109916457A CN 201910326338 A CN201910326338 A CN 201910326338A CN 109916457 A CN109916457 A CN 109916457A
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- fuselage
- crusing robot
- cable duct
- arm
- miniature
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Abstract
The invention discloses a kind of cable duct of substation crusing robot, including fuselage, the two sides of fuselage are connected separately with traveling arm, are connected between traveling arm and fuselage by link mechanism, and link mechanism is for adjusting the distance between traveling arm and fuselage；The both ends of traveling arm are provided with Athey wheel；U-shaped lifting frame is provided with below fuselage, U-shaped lifting frame is for being lifted and settling crusing robot；Fuselage is connected with detection arm, detection arm is connected with detector, above-mentioned apparatus disclosed by the invention solves the problems, such as to belong to inspection blind area in cable duct, alleviate operation maintenance personnel workload, guarantee personal equipment safety, above-mentioned apparatus, for main path of travel, and has deformation function with gutter, fireproof blocking in ditch can be passed through, work on the spot requirement is adapted to.Meanwhile the invention discloses the deformation method of above-mentioned apparatus inspection cable duct, specifically include conventional inspection, pass through closure, pass through turning radius, obstacle in ditch, emphasis inspection position deformation method.
Description
Technical field
The present invention relates to cable duct inspection machine more particularly to a kind of miniature crusing robot of cable duct of substation and
The deformation method of its inspection cable duct.
Background technique
Currently, detection relies on temperature sensing cable or optical fiber in cable duct of substation, information content is single, and fault location precision is low.
Using intelligent inspection robot, the data such as apparatus body, infrared measurement of temperature, state parameter in ditch are obtained, this control hardly possible can be solved
Topic.
But fireproof blocking is arranged every fixed range in cable duct inner cable cluster laying, narrow space, and traditional intelligence is patrolled
Inspection robot is unsatisfactory for such work on the spot requirement, and main cause is with a varied topography in cable duct, cable cluster laying, and space is narrow
Narrow and fireproof blocking blocking causes traditional intelligent inspection robot that can not carry out effective inspection and effectively acquires cable
Status data in ditch.
Summary of the invention
Technical problem to be solved by the present invention lies in provide a kind of miniature crusing robot of cable duct of substation and its
The deformation method of inspection cable duct.
The present invention is to solve above-mentioned technical problem by the following technical programs:
A kind of miniature crusing robot of cable duct of substation, including fuselage, the two sides of the fuselage are connected separately with traveling
Arm is connected between the traveling arm and fuselage by link mechanism, and the link mechanism is for adjusting between traveling arm and fuselage
Distance；
The both ends of the traveling arm are provided with Athey wheel；
U-shaped lifting frame is provided with below the fuselage, the U-shaped lifting frame is for being lifted and settling crusing robot；
The fuselage is connected with detection arm, and the detection arm is connected with detector.
Preferably, the link mechanism includes first described in first connecting rod, second connecting rod, third connecting rod and fourth link
Connecting rod and fourth link are hinged with the first sliding block, and one end of the second connecting rod and third connecting rod is hinged with the second sliding block, described
First sliding block and the second sliding block are connected with two-way lead screw, and first sliding block and the second sliding block are located at the both ends of two-way lead screw；
The two-way lead screw is connected with deformation driving motor；
The other end of the first connecting rod and third connecting rod is carried out with one end of fuselage two sides traveling arm hingedly respectively, and second
Connecting rod and third connecting rod carry out with the other end of fuselage two sides traveling arm hinged respectively.
Preferably, first sliding block is located at the left-handed portion on the left of two-way lead screw, and the second sliding block is located on the right side of two-way lead screw
Dextrorotation portion.
Preferably, the traveling arm that the link mechanism can adjust two sides carries out 0-250mm distance with fuselage respectively and stretches
With contraction.
Preferably, the U-shaped lifting frame includes drive rod, support plate and follower lever, and drive rod is connected with lifting driving
Motor, the lifting driving motor are fixed in one end of fuselage, one end connection lifting driving motor of the drive rod, the drive
One end of the other end hinged support plate of lever, the hinged follower lever of the other end of the support plate, the follower lever are hinged on machine
The other end of body, the drive rod, support plate, follower lever and fuselage group quadrangularly height adjustment geometry.
Preferably, the lifting driving motor is used to drive the height adjustment geometry for changing quadrangle, realizes machine
The lifting and sedimentation of people's entirety.
Preferably, the detection arm connects fuselage main body top left side, and the detection arm can be with the coplanar progress of fuselage
0-180 ° of angle rotation.
Preferably, the miniature crusing robot of the cable duct of substation further includes that wireless communication controls and receives module, described
Wireless communication controls and receives module for carrying out job control and the transmission of inspection data with ground base station and positioning for inspection.
Present invention simultaneously discloses using the miniature crusing robot inspection cable duct of above-mentioned cable duct of substation deformation method,
Specifically includes the following steps:
(1) conventional inspection: detection arm stretching, extension, link mechanism and U-shaped lifting frame remain retracted state, and crusing robot is advanced
In gutter, data information in the detector acquisition cable duct on detection arm is utilized；
(2) pass through closure: detection arm sedimentation, robot is contracted to section minimum state, complete by reserved gutter hole
At passing through；
(3) the lesser gutter position of turning radius, ditch internal congestion position and emphasis inspection position: inspection machine are passed through
When people receives deformation signal or the close passive RFID tag being arranged, crusing robot carries out following become by the program set
Shape movement:
It is opened positioned at U-shaped lifting frame below fuselage, entire crusing robot is made integrally to be lifted the outer ground of ditch；
Then, link mechanism flexes outward, and makes traveling arm and Athey wheel and gutter other places face contact, and U-shaped lifting frame is slow
Slowly closure, four Athey wheels support robots work and ground outside gutter, complete the deformation to work to outside ditch that works out of ditch；
When working outside ditch, crusing robot completes turning according to site environment, detours or act close to emphasis monitoring device,
It completes after working outside ditch, in the case where wireless communication controls and receives module and passive RFID tag Dual positioning, returns on gutter
Side；
Finally, U-shaped lifting frame is opened, from gutter inner support crusing robot, link mechanism is to contract, inspection machine
People restores to original operating states in ditch, continues inspection work.
The present invention has the advantage that compared with prior art
1. the present invention solves the problems, such as to belong to inspection blind area in cable duct using intelligent robot inspection as means, expand
The content of device status data acquisition, alleviates operation maintenance personnel workload, guarantees personal equipment safety.
2. traditional crusing robot relies on dedicated track or road more, the present invention with gutter for main path of travel, and
Have deformation function, fireproof blocking in ditch can be passed through, adapts to work on the spot requirement.
3. the present invention takes wireless communication and passive RFID technology, cumulative errors present in period inspection are eliminated, are realized
Inspection device is accurately positioned.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of link mechanism in the embodiment of the present invention；
Fig. 3 is the structural schematic diagram of U-shaped lifting frame in the embodiment of the present invention；
Fig. 4 is the state diagram of crusing robot when U-shaped lifting frame is opened in the embodiment of the present invention；
Fig. 5 is the state diagram that traveling arm stretches out crusing robot in the embodiment of the present invention；
Fig. 6 is the state diagram of crusing robot when U-shaped lifting frame is slowly closed in the embodiment of the present invention；
Fig. 7 is the state diagram that crusing robot is turned in the embodiment of the present invention；
Fig. 8 is the state diagram that crusing robot passes through fireproof blocking in the embodiment of the present invention.
Specific embodiment
It elaborates below to the embodiment of the present invention, the present embodiment carries out under the premise of the technical scheme of the present invention
Implement, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to following implementation
Example.
The miniature crusing robot of 1 cable duct of substation of embodiment
As shown in Figure 1-3, the miniature crusing robot of cable duct of substation includes fuselage 6, the front and rear sides difference of fuselage 6
It is connected with traveling arm 4, the left and right end of each traveling arm 4 is provided with Athey wheel 5, and the fortune of fuselage 6 is realized by Athey wheel 5
It is dynamic.Link mechanism 2 is arranged between traveling arm 4 and fuselage 6 to be attached, link mechanism 2 is for adjusting traveling arm 4 and fuselage 6
The distance between, by link mechanism 2, traveling arm 4 and fuselage 6 are able to carry out the stretching, extension of 0-250mm distance and shrink.
The specific structure of link mechanism 2 are as follows: link mechanism 2 include link mechanism 21, second connecting rod 22, third connecting rod 23 with
And fourth link 24, one end of link mechanism 21 and fourth link 24 are hinged with the first sliding block 26 (link mechanism 21 and the 4th company
Bar 24 is respectively hinged at the top of the first sliding block 26), meanwhile, it is sliding that one end of second connecting rod 22 and third connecting rod 23 is hinged with second
Block 27 (top that second connecting rod 22 is respectively hinged at the second sliding block 27 with third connecting rod 23).
First sliding block 26 and the second sliding block 27 are connected with two-way lead screw 25, and (two-way lead screw 25 is connected with deformation driving motor
28, deformation driving motor 28 drives two-way lead screw 25 to rotate), two-way lead screw 25 includes (having lead screw positioned at the left-handed portion of left end
Screw thread), and positioned at the dextrorotation portion (have threads of lead screw) of right end, the first sliding block 26 and the second sliding block 27 respectively at left-handed portion and
Dextrorotation portion is cooperatively connected in left-handed portion and dextrorotation portion.
After link mechanism 21 and hinged first sliding block 26 in one end of fourth link 24, link mechanism 21 and fourth link 24
The other end is respectively hinged at 4 left position of traveling arm positioned at 6 front and rear sides of fuselage, similarly, second connecting rod 22 and third connecting rod
After hinged second sliding block 27 in 23 one end, the other end of second connecting rod 22 and third connecting rod 23 is respectively hinged at before fuselage 6,
4 right end position of two sides traveling arm afterwards.
The lower section of fuselage 6 is provided with U-shaped lifting frame 7, U-shaped lifting frame 7 is for being lifted and settling crusing robot, U-shaped
The specific structure of lifting frame 7 are as follows:
U-shaped lifting frame 7 includes drive rod 72, support plate 73 and follower lever, and lifting driving motor connects drive rod 72, lift
Rise the right end that driving motor is fixed in fuselage 6, one end connection lifting driving motor of drive rod 72, the other end hinge of drive rod 72
The top right end of support plate 73, the hinged follower lever in top left end of support plate 73 are connect, follower lever is hinged on 6 bottom of a fuselage left side
End.Drive rod 72, support plate 73,6 groups of quadrangularlies of follower lever and fuselage height adjustment geometry, specifically, the lift
It rises driving motor to be used to drive the height adjustment geometry for changing quadrangle, realizes the lifting and sedimentation of robot entirety.
The top left side of fuselage 6 is connected with detection arm 3, and detection arm 3 is connected with detector 1, and (detector 1 is that the prior art is public
That opens is able to detect the conventional equipment of cable duct inner cable state, such as infrared camera, Temperature Humidity Sensor), detect 3 energy of arm
Enough and fuselage 6 is coplanar to carry out 0-180 ° of angle rotation.
Traveling arm 4 and the process that fuselage 6 is able to carry out stretching, extension and contraction are as follows:
Deformation driving motor 28 drives two-way lead screw 25 to rotate (left-handed portion and dextrorotation portion), and first connect with left-handed portion is sliding
Horizontal sliding occurs for block 26, and horizontal sliding occurs for the second sliding block 27 connecting with dextrorotation portion, at this point, because of link mechanism 21 and the 4th
Connecting rod 24 and the first sliding block 26 is hinged and the traveling arm 4 of two sides hingedly, second connecting rod 22 and third connecting rod 23 and the second sliding block 27
Hinged and two sides traveling arms 4 are hinged, traveling arm 4 and link mechanism 21, fourth link 24, second connecting rod 22 and third connecting rod 23
Angle change, and then traveling arm 4 and the spacing of fuselage 6 change, and realize stretching, extension and shrink.
The lifting of U-shaped lifting frame 7 and the process of sedimentation crusing robot are as follows:
Drive rod 72, support plate 73,6 groups of quadrangularlies of follower lever and fuselage height adjustment geometry, when lifting drive
When the dynamic rotation of motor 71 (one end of drive rod 72 is connected on lifting driving motor 71), drive rod 72 rotates, because of driving
Bar 72 and support plate 73 are hinged, and drive rod 72 and the angle of support plate 73 change, so by drive rod 72, support plate 73,
The geometry for the height adjustment geometry that follower lever 74 and fuselage 6 form changes (i.e. because the shape of quadrangle occurs
Change, the changing of high yield of quadrangle, i.e. fuselage 6 and the vertical spacing of support plate 73 change), and then realize the lift of robot entirety
It rises and settles.
Embodiment 2
As shown in figures 1-8, the deformation method of the miniature crusing robot inspection cable duct of cable duct of substation, specifically include with
Lower step:
(1) conventional inspection: detection arm 3 stretches, and link mechanism 2 and U-shaped lifting frame 7 remain retracted state, crusing robot
It is traveling in gutter, acquires data information in cable duct using the detector 1 on detection arm 3；
(2) pass through closure: detection arm 3 settles, and robot is contracted to section minimum state, complete by reserved gutter hole
At passing through；
(3) the lesser gutter position of turning radius, ditch internal congestion position and emphasis inspection position: inspection machine are passed through
People receives deformation signal or (passive RFID is mounted on the spies such as cable duct inside turn, closure close to the passive RFID tag being arranged
Different position), crusing robot carries out following deformed movement by the program set；
It is opened positioned at 6 lower section U-shaped lifting frame 7 of fuselage, entire crusing robot is made integrally to be lifted the outer ground of ditch；
Then, link mechanism 2 flexes outward, and makes traveling arm 4 and Athey wheel 5 and gutter other places face contact, U-shaped lifting frame
7 slow closures, four Athey wheels 5 support robots work and the outer ground in gutter, and completion works out of ditch to work to outside ditch
Deformation；
When working outside ditch, crusing robot completes turning according to site environment, detours or act close to emphasis monitoring device,
It completes after working outside ditch, in the case where wireless communication controls and receives module and passive RFID tag Dual positioning, returns on gutter
Side；
Finally, U-shaped lifting frame 7 is opened, from gutter inner support crusing robot, link mechanism 2 is to contract, survey monitor
Device people restores to original operating states in ditch, continues inspection work.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (9)
1. a kind of miniature crusing robot of cable duct of substation, which is characterized in that including fuselage, the two sides of the fuselage connect respectively
Be connected to traveling arm, between the traveling arm and fuselage by link mechanism connect, the link mechanism for adjust traveling arm with
The distance between fuselage；
The both ends of the traveling arm are provided with Athey wheel；
U-shaped lifting frame is provided with below the fuselage, the U-shaped lifting frame is for being lifted and settling crusing robot；
The fuselage is connected with detection arm, and the detection arm is connected with detector.
2. the miniature crusing robot of cable duct of substation according to claim 1, which is characterized in that the link mechanism packet
Include first connecting rod, second connecting rod, third connecting rod and fourth link
The first connecting rod and fourth link are hinged with the first sliding block, and one end of the second connecting rod and third connecting rod is hinged with the
Two sliding blocks, first sliding block and the second sliding block are connected with two-way lead screw, and first sliding block and the second sliding block are located at two-way silk
The both ends of thick stick；
The two-way lead screw is connected with deformation driving motor；
The other end of the first connecting rod and third connecting rod carries out hinged, second connecting rod with one end of fuselage two sides traveling arm respectively
It is carried out respectively with the other end of fuselage two sides traveling arm with third connecting rod hinged.
3. the miniature crusing robot of cable duct of substation according to claim 1, which is characterized in that first sliding block position
Left-handed portion on the left of two-way lead screw, the second sliding block are located at the dextrorotation portion on the right side of two-way lead screw.
4. the miniature crusing robot of cable duct of substation according to claim 3, which is characterized in that the link mechanism energy
The traveling arm for enough adjusting two sides carries out the stretching, extension of 0-250mm distance respectively and is shunk with fuselage.
5. the miniature crusing robot of cable duct of substation according to claim 1, which is characterized in that the U-shaped lifting frame
Including drive rod, support plate and follower lever, drive rod is connected with lifting driving motor；
The lifting driving motor is fixed in one end of fuselage, one end connection lifting driving motor of the drive rod, the drive
One end of the other end hinged support plate of lever, the hinged follower lever of the other end of the support plate, the follower lever are hinged on machine
The other end of body, the drive rod, support plate, follower lever and fuselage group quadrangularly height adjustment geometry.
6. the miniature crusing robot of cable duct of substation according to claim 5, which is characterized in that the lifting driving electricity
Machine is used to drive the height adjustment geometry for changing quadrangle, realizes the lifting and sedimentation of robot entirety.
7. the miniature crusing robot of cable duct of substation according to claim 1, which is characterized in that the detection arm connection
Fuselage main body top left side, the detection arm can be rotated with the coplanar 0-180 ° of angle of progress of fuselage.
8. the miniature crusing robot of cable duct of substation according to claim 1, which is characterized in that the substation cable
The miniature crusing robot of ditch further includes that wireless communication controls and receives module, and the wireless communication controls and receives module and is used for and ground
Base station carries out job control and inspection data are transmitted and positioned for inspection.
9. a kind of miniature crusing robot inspection cable duct of cable duct of substation using as described in claim 1-8 any one
Deformation method, which comprises the following steps:
(1) conventional inspection: detection arm stretching, extension, link mechanism and U-shaped lifting frame remain retracted state, and crusing robot is traveling in row
In ditch, data information in the detector acquisition cable duct on detection arm is utilized；
(2) pass through closure: detection arm sedimentation, robot are contracted to section minimum state, complete to wear by reserved gutter hole
More；
(3) pass through the lesser gutter position of turning radius, ditch internal congestion position and emphasis inspection position: crusing robot connects
When receiving deformation signal or the close passive RFID tag being arranged, crusing robot carries out following deformation by the program set and moves
Make:
It is opened positioned at U-shaped lifting frame below fuselage, entire crusing robot is made integrally to be lifted the outer ground of ditch；
Then, link mechanism flexes outward, and makes traveling arm and Athey wheel and gutter other places face contact, and U-shaped lifting frame is slowly closed
It closes, the deformation to work to outside ditch that works out of ditch is completed on four Athey wheel support robot work and ground outside gutter；
When working outside ditch, crusing robot completes turning according to site environment, detours or act close to emphasis monitoring device, completes
After working outside ditch, in the case where wireless communication controls and receives module and passive RFID tag Dual positioning, back to gutter top；
Finally, U-shaped lifting frame is opened, from gutter inner support crusing robot, for link mechanism to contract, crusing robot is extensive
Again to original operating states in ditch, continue inspection work.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910326338.9A CN109916457B (en) | 2019-04-23 | 2019-04-23 | Miniature inspection robot for cable trench of transformer substation and deformation method for inspection cable trench |
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| CN201910326338.9A CN109916457B (en) | 2019-04-23 | 2019-04-23 | Miniature inspection robot for cable trench of transformer substation and deformation method for inspection cable trench |
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| CN109916457B CN109916457B (en) | 2023-08-22 |
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Cited By (2)
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021259387A1 (en) * | 2020-06-23 | 2021-12-30 | 国网安徽省电力有限公司电力科学研究院 | Cable trench inspection robot |
| CN111799701A (en) * | 2020-07-01 | 2020-10-20 | 广州浰江软件开发有限责任公司 | Underground cable and wire laying robot |
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| Publication number | Publication date |
|---|---|
| CN109916457B (en) | 2023-08-22 |
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