CN110154055A - A kind of crusing robot - Google Patents
A kind of crusing robot Download PDFInfo
- Publication number
- CN110154055A CN110154055A CN201910519802.6A CN201910519802A CN110154055A CN 110154055 A CN110154055 A CN 110154055A CN 201910519802 A CN201910519802 A CN 201910519802A CN 110154055 A CN110154055 A CN 110154055A
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- Prior art keywords
- wheel
- traveling wheel
- axle center
- rotation section
- crusing robot
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- 230000008878 coupling Effects 0.000 claims abstract description 15
- 238000010168 coupling process Methods 0.000 claims abstract description 15
- 238000005859 coupling reaction Methods 0.000 claims abstract description 15
- 238000010438 heat treatment Methods 0.000 claims description 35
- 239000003921 oil Substances 0.000 claims description 5
- 239000010687 lubricating oil Substances 0.000 claims description 3
- 230000006835 compression Effects 0.000 claims 1
- 238000007906 compression Methods 0.000 claims 1
- 230000004888 barrier function Effects 0.000 abstract description 7
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 5
- 230000001360 synchronised effect Effects 0.000 description 4
- 238000007689 inspection Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 239000004065 semiconductor Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 208000005168 Intussusception Diseases 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- 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
-
- 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
-
- 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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of crusing robots, it include running gear, actuating unit and control system, running gear includes traveling wheel and walking wheel support, traveling wheel is supported in walking wheel support by live axle, the live axle is connected after being connected with gimbal coupling with line shaft, the line shaft is supported on connecting plate, it further include having traveling wheel weave control component, the contact roller being used cooperatively with traveling wheel is provided with below traveling wheel, contact roller, which is supported on, to be compressed on wheel support, further includes having contact roller wobble component.The present invention is due to being provided with traveling wheel wobble component, it is swung in a certain range using the center of Hooks coupling universal coupling as the center of circle so that machine can be realized in the process of walking, it is also provided with contact roller wobble component simultaneously, so that contact roller, which can synchronize, realizes a certain range of swing, to realize that this crusing robot running gear adaptively swung barrier.
Description
Technical field
The present invention relates to a kind of robot, especially a kind of crusing robot.
Background technique
Crusing robot various structures on existing line, function and purposes are also variant, and this field uses folded arm knot at present
Based on structure and hanger structure, walking is pressed on conducting wire by traveling wheel on line, the friction Lixing between traveling wheel and conducting wire
It walks, the walking mechanism of existing robot, since the frictional force by traveling wheel and conducting wire is walked, traveling wheel is rigidity
It is fixedly connected, adaptive adjustment flexibly can not be carried out according to the practical scene on conducting wire, so that crusing robot makes
It is greatly influenced with efficiency and effect.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art places, and provide one kind and can be improved raising line walking machine
The adaptability of people, improve the flexibility of traveling wheel, can be according to the inspection machine of the self-service adjustment of barrier situation on conducting wire
People.
A kind of crusing robot includes running gear, actuating unit and control system, and structural feature is:
The running gear includes that traveling wheel, walking wheel support, traveling wheel are supported in walking wheel support by live axle,
The live axle is connected after being connected with gimbal coupling with line shaft, and the line shaft is supported on connecting plate, also
It include traveling wheel weave control component, the traveling wheel wobble component includes rotation section and fixed part, and fixed part is fixed
In on fixed frame, rotation section it is movable be supported on fixed part, rotation section, which connects walking wheel support traveling wheel is driven to realize, to be swung,
Rotation section is also connected with limited block, and limited block follows rotation section to rotate, in the position of the front and rear sides of the rotation direction of limited block
Place is provided with limit spring for limiting the rotational angle of limited block, and limited block and limit spring are all set in and are fixed on connecting plate
On limit base in, the contact roller being used cooperatively with traveling wheel is provided with below traveling wheel, contact roller is supported on contact roller
It further include having contact roller wobble component on bracket, the contact roller wobble component includes fixed part and rotation section, described
Rotation section is covered in fixed part periphery, the periphery of fixed part is provided with a positioning block, the inner circumferential in rotation section is provided with a limit
Block is provided with limit spring between the limited block and locating piece between fixed part and rotation section, compresses wheel support and is connected to rotation
Portion follows rotation section to move, and the fixed part is installed on fixed frame, and fixed frame is installed on connecting plate.
The control system of crusing robot of the invention is described for controlling running gear and actuating unit movement
Running gear, be connected with actuating unit again after live axle is connected with Hooks coupling universal coupling, it can be achieved that traveling wheel is being sent out
Raw certain angle is still able to maintain good transmission when swinging, simultaneously because traveling wheel wobble component is provided with, so that walking
Wheel can be realized in the process of walking to be swung using the center of Hooks coupling universal coupling as the center of circle in a certain range, while also being set
Contact roller wobble component is set, so that contact roller, which can synchronize, realizes a certain range of swing, to realize this crusing robot row
Walking apparatus adaptively swung barrier.
The fixed frame is layer structure, and upper layer is for installing traveling wheel wobble component, and lower layer is for installing contact roller
Wobble component, fixed frame are connected with connecting plate.
It is easy for installation using this structure, it can be achieved that modularization is installed.
The rotation section of the traveling wheel wobble component is a swinging disc, and swinging disc is connected with the outer ring of bearing, bearing
Inner ring connecting portion.
The rotation section of the contact roller wobble component is a sleeve, and sleeve is connected with the outer ring of blowout patche, the inner ring of bearing
It is connect with fixed part.
The traveling wheel includes hollow support axle center, the friction pulley outside support axle center, is located at outside friction pulley
Outboard wheel, bearing axle center, friction pulley and outboard wheel be made of the left and right two halves being arranged symmetrically, symmetrical friction pulley and
It further includes having a conducting ring for accommodating the arc or v-depression of conducting wire that one is formed between outboard wheel two halves, the conduction
The inner ring of ring is embedded into support axle center, and the outer ring of conducting ring constitutes the slot bottom of groove, further include there are two lateral strut members, two
The both ends that lateral strut members are separately positioned on traveling wheel will support axle center, friction pulley and outboard wheel to be pressed in centre, lateral strut members
Include horizontal part, positioning protrusion be provided in the middle part of horizontal part, is provided with through-hole in the middle part of horizontal part and positioning protrusion,
The positioning protrusion be directly against support axle center end face, between friction pulley and the horizontal part of lateral strut members, outboard wheel with
Elastic connection is used between the horizontal part of lateral strut members.
The traveling wheel of crusing robot of the invention, using by axle center, friction pulley, outboard wheel layer by layer intussusception mode carry out
Design, and axle center, friction pulley and outboard wheel are designed to the mould of the groove of formation arc at contact surface that bilateral symmetry arranges
Formula is positioned so that device can be used from traveling wheel both ends, and use is flexibly positioned, changes each component of previous traveling wheel
To be rigidly connected, brought disadvantage increases trackability using flexible design.
The elastic connection is using screw and to cover the spring progress elastic connection outside screw.
Axle center bushing is additionally provided between support axle center and friction pulley.
The purpose that axle center bushing is arranged is to support friction pulley to slide in bushing axis direction.
The axle center bushing is the axle center bushing of I-shaped structure.
I-shaped axle center bushing can to cover its periphery friction pulley its to positioning action.
The friction pulley is the friction pulley of I-shaped structure.
The friction pulley of I-shaped structure, which can be realized, plays positioning action to the outboard wheel covered in its periphery.
The conducting ring is conductive metal.
The face of the friction pulley and conductive contact is imitation profile.
The imitation profile refers to that one is formed between symmetrical friction pulley and outboard wheel two halves leads for accommodating
The arc or v-depression of line.Benefit is to become line from point contact with the contact area of conducting wire to contact, and increases contact area, from
And increasing friction force.
Design has the oil storage tank of storage lubricating oil between support axle center and hollow support axle center.
If lubricity can be improved in oil storage tank.
The actuating unit includes stepper motor, synchronous pulley, synchronous belt, idle pulley.
The control system includes control circuit, and the control circuit includes mainboard automatic heating circuit, institute
The external motherboard power supply of mainboard automatic heating circuit stated, mainboard automatic heating circuit include the switch of heating module, low temperature guarantor
Control module, heating module and mainboard power on/off module are protected, low-temperature protection control module incudes the temperature of mainboard, the master
Plate power supply is connected to low-temperature protection control module by the switch of heating module, and the heating module heats mainboard, low temperature
Control module output end is protected to connect heating module, low-temperature protection control module also sends trigger signal control mainboard on-off simultaneously
Electric module realizes the power on/off of mainboard.
The crusing robot mainboard active heater circuit, when low-temperature protection control module senses that mainboard is in low temperature
When state, low-temperature protection control module control heating module electrified regulation, low-temperature protection control module also simultaneously occur signal to
Mainboard power on/off module makes mainboard no power, after temperature increases, the control heating module power-off stopping of low-temperature protection control module
Heating, while signal occurs and is powered to mainboard.
The heating module is adding thermal resistance.
In summary, the present invention following advantage compared with prior art:
The running gear of crusing robot of the invention, after live axle is connected with Hooks coupling universal coupling again with actuating unit
It is connected, it can be achieved that traveling wheel is occurring still to be able to maintain good transmission when certain angle is swung, simultaneously because being provided with traveling wheel
Wobble component, so that traveling wheel can be realized in a certain range in the process of walking using the center of Hooks coupling universal coupling as the center of circle
It swings, while being also provided with contact roller wobble component, so that contact roller, which can synchronize, realizes a certain range of swing, from
And it realizes this crusing robot running gear and adaptively swung barrier.Traveling wheel of the invention simultaneously, due to traveling wheel of the present invention
Using flexible design, increase trackability, when traveling wheel breaks the barriers, external traveling wheel sector-meeting opens one with barrier width
Fixed displacement reduces the degree of jolting to reduce the height that traveling wheel is lifted with barrier.In addition, internal friction portion
Divide and use contoured design, the contact area of friction part and conducting wire is increased, thus increasing friction force.The mainboard adds automatically
Heater circuit heats mainboard in low temperature environment, to make it in suitable temperature starting up, avoids low temperature to plate
Son starting damages.
Detailed description of the invention
Fig. 1 is the running gear schematic diagram of crusing robot of the invention.
Fig. 2 is traveling wheel weave control component diagram of the invention.
Fig. 3 is contact roller wobble component schematic diagram of the invention.
Fig. 4 is the transmission schematic diagram of traveling wheel weave control component of the invention.
Fig. 5 is the transmission schematic diagram of contact roller wobble component of the invention.
Fig. 6 is traveling wheel structural schematic diagram of the invention.
Fig. 7 is mainboard automatic heating circuit figure of the invention.
Fig. 8 is the schematic diagram of crusing robot of the present invention.
1 traveling wheel 11 of label declaration supports outside 111 oil storage tank of axle center, 12 friction pulley, 13 outboard wheel, 15 groove, 16 conducting ring 17
21 actuating unit of side support 171 horizontal part, 172 positioning protrusion, 18 elastic connection, 19 axle center bushing, 2 walking wheel support, 3 row
Walk 7 traveling wheel weave control component of wheel shaft 4 gimbal coupling, 5 line shaft, 6 connecting plate, 71 traveling wheel fixed part 72 walking rotation
Dynamic 73 limited block of portion, 74 limit spring, 75 limit base, 8 contact roller, 81 contact roller wobble component, 811 contact roller fixed part, 812 contact roller
813 locating piece of rotation section, 814 contact roller limited block 9 compresses 10 fixed frame of wheel support.
Specific embodiment
Embodiment 1
The present invention is described in more detail below with reference to embodiment.Following instance will be helpful to those skilled in the art into
One step understands that plate is invented, but the invention is not limited in any way.It should be pointed out that coming to those skilled in the art
It says, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to protection of the invention
Range.
A kind of crusing robot includes running gear, actuating unit 21, control system and inspection device, control
System for control running gear, actuating unit and inspection device movement, the running gear, include traveling wheel 1,
Walking wheel support 2, traveling wheel are supported in walking wheel support by live axle, the live axle 3 and universal joint shaft coupling
Device 4 is connected after being connected with line shaft 5, and the line shaft is supported on connecting plate 6, further includes having traveling wheel weave control component
7, the traveling wheel wobble component includes rotation section 71 and fixed part 72, and fixed part is fixed on fixed frame 10, rotation section
Movable to be supported on fixed part, rotation section, which connects walking wheel support traveling wheel is driven to realize, to be swung, rotation section also with limited block
73 are connected, and limited block follows rotation section to rotate, and limit bullet is provided at the position of the front and rear sides of the rotation direction of limited block
Spring 74 is used to limit the rotational angle of limited block, and limited block and limit spring are all set in the limit base 75 being fixed on connecting plate
It is interior, the contact roller 8 being used cooperatively with traveling wheel is provided with below traveling wheel, contact roller, which is supported on, to be compressed on wheel support 9, also
It include contact roller wobble component, the contact roller wobble component 81 includes fixed part 811 and rotation section 812, described
Rotation section is covered in fixed part periphery, the periphery of fixed part is provided with a positioning block 813, the inner circumferential in rotation section is provided with a limit
Position block 814, limit spring is provided between the limited block and locating piece between fixed part and rotation section, is compressed wheel support and is connected to
Rotation section follows rotation section to move, and the fixed part is installed on fixed frame, and fixed frame is installed on connecting plate.Described consolidates
Determining frame is layer structure, and upper layer is for installing traveling wheel wobble component, and for installing contact roller wobble component, fixed frame is solid for lower layer
It is scheduled on connecting plate.The rotation section of the traveling wheel wobble component is a swinging disc, and swinging disc is connected with the outer ring of bearing, axis
The inner ring connecting portion held.The rotation section of the contact roller wobble component is a sleeve, and sleeve is connected with the outer ring of blowout patche,
The inner ring of bearing is connect with fixed part.
The traveling wheel includes hollow support axle center 11, the friction pulley 12 outside support axle center, is located at friction
Outboard wheel 13 outside wheel, bearing axle center, friction pulley and outboard wheel are made of the left and right two halves being arranged symmetrically, symmetrical to rub
Wiping and forming one between wheel and outboard wheel two halves further includes having a conducting ring 16 for accommodating the arc or v-depression 15 of conducting wire,
The inner ring of the conducting ring is embedded into support axle center, and the outer ring of conducting ring constitutes the slot bottom of groove, further include there are two it is outer
Side support 17, the both ends that two lateral strut members are separately positioned on traveling wheel will support during axle center, friction pulley and outboard wheel be pressed in
Between, lateral strut members include horizontal part 171, positioning protrusion 172 are provided in the middle part of horizontal part, in horizontal part and convex
The middle part risen is provided with through-hole, and the positioning protrusion is directly against the end face in support axle center, friction pulley and lateral strut members
Between horizontal part, elastic connection 18 is used between outboard wheel and the horizontal part of lateral strut members.The elastic connection is to use
Screw and the spring covered outside screw carry out elastic connection.Axle center bushing 19 is additionally provided between support axle center and friction pulley.
The axle center bushing is the axle center bushing of I-shaped structure.The friction pulley is the friction pulley of I-shaped structure.Described
Conducting ring is copper.The face of the friction pulley and conductive contact is imitation profile.It is set between support axle center and hollow support axle center
In respect of the oil storage tank 111 of storage lubricating oil.
The control system includes control circuit, and the control circuit includes mainboard automatic heating circuit, institute
The external motherboard power supply of mainboard automatic heating circuit stated, mainboard automatic heating circuit include the switch of heating module, low temperature guarantor
Control module, heating module and mainboard power on/off module are protected, low-temperature protection control module incudes the temperature of mainboard, the master
Plate power supply is connected to low-temperature protection control module by the switch of heating module, and the heating module heats mainboard, low temperature
Control module output end is protected to connect heating module, low-temperature protection control module also sends trigger signal control mainboard on-off simultaneously
Electric module realizes the power on/off of mainboard.
The switch of the heating module includes triode Q10 and metal-oxide-semiconductor Q6, and the heating module is heating electricity
Resistance, the mainboard power on/off module includes triode Q11 and metal-oxide-semiconductor Q5.
Such as Fig. 1, triode Q10 base stage pulls up high level, and collector and emitter conducting makes the metal-oxide-semiconductor Q6 grid of P-channel
Pole drags down, source electrode and drain electrode conducting.When low temperature, temperature control heating module that J7 is connect is closed the switch, and power supply DCIN-12V connects
It is connected in the external adding thermal resistance of J8, resistance heats mainboard, and the collector and emitter of Q11 disconnects at this time, the grid of Q5
Pole pulls up high level, and source electrode and drain electrode disconnects, and mainboard DC-12V is not powered on.After heating increases mainboard temperature, temperature control adds
The switch of thermal modules disconnects, and adding thermal resistance power-off is not heated, the grid drop-down of Q5, source electrode and drain electrode conducting, and DC-12V is powered.
After mainboard is powered, control pin CTR-POWER-R is drawn high, and drags down Q11 base stage, and collector and emitter conducting makes Q5's
Grid drags down always, prevents the switch false triggering of temperature control heating module from power off mainboard.
The actuating unit includes stepper motor, synchronous pulley, synchronous belt, idle pulley.
When the running gear work of crusing robot provided by the invention, include the following steps:
Step 1: after this crusing robot is online, when detecting damper, the power transmission part is slowed down；
Step 2: after crusing robot slows down, when damper to be passed through, traveling wheel is directly pressed through above damper, logical
While crossing damper, the contact roller part can passively be arranged because of the contact with damper；
Step 3: when crusing robot passes through damper, the contact roller swing part can be contacted because losing with damper,
By the internal adjustment institutional adjustment playback that swings inside the contact roller swing part, normal speed row is carried out later
It sails；
Step 4: described dynamic when detecting gap bridge fitting (fitting that crossing tower is built) after this crusing robot is online
Power hop slows down；
Step 5: after crusing robot slows down, when will be by gap bridge fitting, traveling wheel be directly pressed through above gap bridge fitting,
While gap bridge fitting in pressure, the traveling wheel part can be because passively arranging certain angle with the contact of gap bridge fitting
Degree, the contact roller part also can be because passively arranging with the contact of gap bridge fitting；
Step 6: when crusing robot passes through gap bridge fitting, the contact roller swing part can connect because losing with gap bridge fitting
Touching, the traveling wheel part can passively swing return because of traveling wheel swing mechanism, and the contact roller swing part also can
Contacts because being lost with gap bridge fitting, because the internal adjustment mechanism that swings of contact roller part passively swings return, it is laggard
Row normal speed traveling；
The not described part of the present embodiment is same as the prior art.
Claims (10)
1. a kind of crusing robot includes running gear, actuating unit and control system, it is characterised in that: described
Running gear includes that traveling wheel, walking wheel support, traveling wheel are supported in walking wheel support by live axle, described
Live axle is connected after being connected with gimbal coupling with line shaft, and the line shaft is supported on connecting plate, further includes having
Traveling wheel weave control component, the traveling wheel wobble component includes rotation section and fixed part, and fixed part is fixed on fixation
On frame, rotation section it is movable be supported on fixed part, rotation section, which connects walking wheel support traveling wheel is driven to realize, to be swung, rotation section
Also it is connected with limited block, limited block follows rotation section to rotate, and is arranged at the position of the front and rear sides of the rotation direction of limited block
There is limit spring for limiting the rotational angle of limited block, limited block and limit spring are all set in the limit being fixed on connecting plate
In the seat of position, the contact roller being used cooperatively with traveling wheel is provided with below traveling wheel, contact roller, which is supported on, to be compressed on wheel support,
It further include having contact roller wobble component, the contact roller wobble component includes fixed part and rotation section, the rotation section
It covers in fixed part periphery, the periphery of fixed part is provided with a positioning block, the inner circumferential in rotation section is provided with a limited block, fixed
Limit spring is provided between limited block and locating piece between portion and rotation section, compression wheel support, which is connected to rotation section and follows, to be turned
Dynamic portion's movement, the fixed part are installed on fixed frame, and fixed frame is installed on connecting plate.
2. crusing robot according to claim 1, it is characterised in that: the rotation section of the traveling wheel wobble component is
One swinging disc, swinging disc are connected with the outer ring of bearing, the inner ring connecting portion of bearing.
3. crusing robot according to claim 2, it is characterised in that: the rotation section of the contact roller wobble component is
One sleeve, sleeve are connected with the outer ring of blowout patche, and the inner ring of bearing is connect with fixed part.
4. according to claim 1 to crusing robot described in 3 any one, it is characterised in that: the traveling wheel includes
Hollow support axle center, the friction pulley outside support axle center, the outboard wheel outside friction pulley, bearing axle center, friction pulley and
Outboard wheel is made of the left and right two halves being arranged symmetrically, and is formed one between symmetrical friction pulley and outboard wheel two halves and is used for
The arc or v-depression for accommodating conducting wire, further include having a conducting ring, and the inner ring of the conducting ring is embedded into support axle center, are led
The outer ring of electric ring constitutes the slot bottom of groove, further include there are two lateral strut members, two lateral strut members are separately positioned on walking
The both ends of wheel will support axle center, friction pulley and outboard wheel to be pressed in centre, and lateral strut members include horizontal part, in horizontal part
Portion is provided with positioning protrusion, and through-hole is provided in the middle part of horizontal part and positioning protrusion, and the positioning protrusion is directly against branch
The end face for supportting axle center, is adopted between friction pulley and the horizontal part of lateral strut members, between outboard wheel and the horizontal part of lateral strut members
Use elastic connection.
5. crusing robot according to claim 4, it is characterised in that: the elastic connection is using screw and to cover
Spring outside screw carries out elastic connection.
6. crusing robot according to claim 5, it is characterised in that: be additionally provided between support axle center and friction pulley
Axle center bushing.
7. crusing robot according to claim 6, it is characterised in that: the axle center bushing and friction pulley are I-shaped
The axle center bushing of structure.
8. crusing robot according to claim 7, it is characterised in that: the face of the friction pulley and conductive contact is imitative
Shape face.
9. crusing robot according to claim 1, it is characterised in that: set between support axle center and hollow support axle center
In respect of the oil storage tank of storage lubricating oil.
10. crusing robot according to claim 1, it is characterised in that: the control system includes control circuit,
The control circuit includes mainboard automatic heating circuit, the external motherboard power supply of mainboard automatic heating circuit, mainboard
Automatic heating circuit includes the switch of heating module, low-temperature protection control module, heating module and mainboard power on/off module,
Low-temperature protection control module incudes the temperature of mainboard, and the motherboard power supply is connected to low-temperature protection by the switch of heating module
Control module, the heating module heat mainboard, and low-temperature protection control module output end connects heating module, low-temperature protection
Control module also sends the power on/off that trigger signal control mainboard power on/off module realizes mainboard simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910519802.6A CN110154055B (en) | 2019-06-17 | 2019-06-17 | Inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910519802.6A CN110154055B (en) | 2019-06-17 | 2019-06-17 | Inspection robot |
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| Publication Number | Publication Date |
|---|---|
| CN110154055A true CN110154055A (en) | 2019-08-23 |
| CN110154055B CN110154055B (en) | 2024-05-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910519802.6A Active CN110154055B (en) | 2019-06-17 | 2019-06-17 | Inspection robot |
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| CN201415716Y (en) * | 2009-06-12 | 2010-03-03 | 中国电力科学研究院 | Robot walking device capable of surmounting lead obstacles |
| CN102315609A (en) * | 2011-05-17 | 2012-01-11 | 福建省电力有限公司泉州电业局 | Unmanned automatic inspection device for transmission line |
| CN105552780A (en) * | 2016-01-29 | 2016-05-04 | 国家电网公司 | Power patrol robot capable of riding over obstacle |
| US20180050448A1 (en) * | 2016-08-18 | 2018-02-22 | State Grid Hunan Electric Power Company Live Working Center | Live working robot |
| CN208630737U (en) * | 2018-08-13 | 2019-03-22 | 国网江苏省电力有限公司检修分公司 | A kind of self-regulation walking mechanism and the crusing robot with self-regulation walking mechanism |
| CN109244934A (en) * | 2018-09-18 | 2019-01-18 | 国电南瑞科技股份有限公司 | A kind of ground wire suspension crusing robot |
| CN109301753A (en) * | 2018-11-15 | 2019-02-01 | 山东科技大学 | It is a kind of along overhead transmission line walk climbing robot |
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| CN110154055B (en) | 2024-05-17 |
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