CN112828906A - Indoor electric power inspection operation robot - Google Patents
Indoor electric power inspection operation robot Download PDFInfo
- Publication number
- CN112828906A CN112828906A CN202110080553.2A CN202110080553A CN112828906A CN 112828906 A CN112828906 A CN 112828906A CN 202110080553 A CN202110080553 A CN 202110080553A CN 112828906 A CN112828906 A CN 112828906A
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- Prior art keywords
- servo motor
- indoor
- power inspection
- clamping
- inspection operation
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Classifications
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- 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
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
Abstract
The invention discloses an indoor electric power inspection operation robot, which comprises a walking mechanism, a robot body and a robot body, wherein the walking mechanism comprises a vehicle body and a roller wheel, and is provided with two modes of automatic walking and manual walking; the system also comprises an identification control mechanism which is used for shooting and processing the indoor conditions; which is mounted on the vehicle body; a movement mechanism including a plurality of driving units for controlling movement of the robot; the manipulator comprises a clamping part and a telescopic part, wherein the clamping part comprises a plurality of clamping claws which are symmetrically arranged and used for clamping a knob; the pars contractilis used for operating push type button and starting circuit breaker, and complicated and unusual joint point structure is cut away to this scheme, when patrolling and examining needs to operate automatically, mainly takes the mode that the hydraulic stem goes up and down, reduces the required joint position that goes up and down, operates rotation and swing through a plurality of servo motor, makes the work of whole indoor electric power inspection robot more have stability.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to an indoor electric power inspection operation robot.
Background
The mobile inspection is an inspection task which can be completed only in moving by utilizing modern technologies such as a modern mobile terminal technology, a mobile communication technology, a computer technology and the like. The patrolling and defect patrolling management work of lines, pipelines and equipment of petroleum, gas, tap water and electric power in China mainly depends on the manual patrolling and examining of patrolling and examining personnel regularly. The traditional inspection work mainly adopts a hand-made paper recording mode, so that the workload is huge, the efficiency is low, and a paper defect report is not easy to store, retrieve and perform statistical analysis.
However, in order to achieve the multi-angle rotation effect, the conventional power inspection robot can set more joints on an operation mechanical arm, and once the joints are too many, the structural complexity on the mechanical arm is increased, and the working time of the inspection robot is longer, so that the service life of a complex mechanical electronic structure can be influenced by long-time operation, continuous maintenance and repair in a short-period process are needed, the use efficiency is low, and manual operation cannot be replaced for a long time.
The mechanical arm is also generally of a clamping structure, the hand structures of some mechanical arms are arranged in an up-and-down parallel clamp mode in order to guarantee clamping force, when the mechanical arm faces to a plastic knob, the clamping force cannot be controlled, the surface of the plastic knob is easy to damage and abrade, when the mechanical arm faces to a push type button, the accuracy of pressing can be affected, if an emergency situation occurs, such as electric leakage or short circuit, an internal short-circuiting device needs to be manually separated, the mechanical arm cannot be inserted into a hole of a mechanical brake to brake according to requirements, the mechanical arm still needs to be manually braked in a cranking bar mode, and the processing operation of a danger source cannot be completed under the emergency situation.
Disclosure of Invention
In order to solve the problems, the invention provides an indoor power inspection operation robot which is applied to inspection and operation of a switch room and a screen cabinet of a machine room of a transformer substation, omits a complex and uncommon joint structure, and ensures that the whole indoor power inspection robot has more stable work.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
an indoor electric power inspection operation robot comprises a walking mechanism, a walking mechanism and a control mechanism, wherein the walking mechanism comprises a vehicle body and rollers,
the walking mechanism is provided with two modes of automatic walking and manual walking;
further comprising:
the recognition control mechanism is used for shooting and processing the indoor conditions; which is mounted on the vehicle body;
one end of the movement mechanism is rotationally fixed on the vehicle body, and the other end of the movement mechanism is rotationally connected with a manipulator; the motion unit comprises a plurality of driving components for controlling the motion of the manipulator;
the manipulator comprises a clamping part and a telescopic part, wherein the clamping part comprises a plurality of clamping claws which are symmetrically arranged and used for clamping a knob; the telescopic part is used for operating a push type button and starting the circuit breaker and comprises a telescopic driving assembly and a starting block, wherein the telescopic driving assembly is arranged in the clamping part, and the starting block is detachably arranged at the end part of the telescopic driving assembly; the flexible drive assembly control the starting block stretches out the clamping part or withdraws to the clamping part in, the starting block cooperates with circuit breaker mechanical interface.
Furthermore, the traveling mechanism is an AVG trolley, a sensing module is arranged on the side surface of one end of the trolley body, and a route mark is attached to the indoor ground; the sensing module identifies the route marker to automatically walk; and an operation device is arranged on the AVG trolley body and is used for manually controlling the AVG trolley to walk and control the direction.
Furthermore, the identification control mechanism is a camera which is divided into a color camera and an infrared camera and is used for shooting indoor conditions and indoor thermal imaging respectively.
Further, the movement mechanism comprises a rotary seat, a hydraulic rod, a first servo motor, a first connecting rod, a second servo motor, a second connecting rod and a third servo motor; one end of the rotary seat is rotatably arranged on the top surface of the vehicle, the other end of the rotary seat is provided with a fixed end of the hydraulic rod, and the moving end of the hydraulic rod is provided with a first servo motor; the first servo motor is vertically connected with one end of the first connecting rod, and the other end of the first connecting rod is connected with a second servo motor; the second servo motor is hinged with one end of the second connecting rod; the other end of the second connecting rod is connected with a third servo motor; the third servo motor is rotationally connected with the manipulator; the rotation axis of the manipulator is perpendicular to the rotation axes of the first connecting rod and the second connecting rod.
Furthermore, the gripper jaw is an arc-shaped plate, an elastic block is arranged on the inner side of the gripping end of the gripper jaw, and the elastic block is arc-shaped.
Furthermore, the telescopic driving assembly is arranged inside the clamping part and comprises a screw rod, a first micro motor, a brake, a rotating nut, a sliding sleeve and a fixed block; the screw rod penetrates through the brake and the rotating nut respectively and then is in transmission connection with the first micro motor, the rotating nut is fixedly connected with one end of the sliding sleeve, and the other end of the sliding sleeve is provided with a fixing head; the fixed head internal fixation is provided with the second micro motor, start piece and second micro motor fixed connection, start piece and the fixed head disconnect-type setting of telling.
Furthermore, the whole body of the vehicle body is of an octahedral structure, and the surfaces of the bevel edges at two sides of the vehicle body are provided with illuminating lamps; and the top end of the vehicle body is provided with a skid-proof plate which is positioned at the rear end of the operating device.
Furthermore, the antiskid plate is made of stainless steel metal materials, metal bulges are arranged on the surface of the antiskid plate and are uniformly distributed in a cross shape, and a baffle is arranged at the rear end of the antiskid plate.
Furthermore, a touch screen is arranged on the inner surface of the operating device, and control buttons are arranged on the periphery of the touch screen; and a steering wheel is arranged at the bottom side of the touch screen.
Furthermore, the operating device also comprises a control system, wherein the control system comprises an MCU micro-control chip, a current controller, a contactor and a circuit breaker, and the control system controls the motion state of the travelling mechanism.
Has the advantages that:
first, through the implementation of above scheme, according to the purpose and the requirement of indoor inspection, delete complicated and unusual joint point structure, when automatic inspection needs operation, mainly take the mode that the hydraulic stem goes up and down, reduce the required joint position of lift, operate rotation and swing through a plurality of servo motor, make the work of whole indoor electric power inspection robot more have stability.
The second, use the AVG dolly, accomplish automatic work of patrolling and examining through response module, also be equipped with the operating means that the interior electric power of manual operation patrolled and examined the operation robot simultaneously, make things convenient for the staff to regularly patrol and examine work.
Third, clamping part set up to the curved gripper jaw of splayed, and when snatching the knob, the pressure of gripper jaw to the knob can be shared to the inboard elastic block, reduces the surface wear to the knob under the same circumstances of revolving force, and its splayed structure also has the slope and grabs power, more convenient operation.
Fourth, the inside pars contractilis that increases of manipulator, the pars contractilis is provided with flexible drive assembly and starting block, installs the starting block that corresponds with equipment cabinet circuit breaker on flexible drive assembly, consequently can be under emergency, carries out mechanical type short circuit operation alone to equipment cabinet to need not the manual work and be close to the danger source, but its structure also can assist the arm to the operation of push type switch, increases its accuracy simultaneously.
Fifthly, the antiskid plate and the baffle plate can be used for standing to the antiskid plate to manually inspect indoor equipment cabinets on site when workers are on site, and the baffle plate can be used for avoiding double pedals to be empty, so that the manual inspection efficiency is improved.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the operating device of the present invention shown in view A in FIG. 1;
FIG. 3 is a schematic view of an enlarged view of the structure of portion B of FIG. 1;
FIG. 4 is a sectional view showing the structure of the bellows part of the present invention;
description of the symbols:
1, an AVG trolley and 2, a trolley body; 3. a sensing module; 4. a roller; 5. an anti-skid plate; 6. an operating device; 7. a camera; 8. a touch screen; 9. a control button; 10. a steering wheel; 11. a rotating base; 12. a hydraulic lever; 13. a first servo motor; 14. a first connecting rod; 15. a second servo motor; 16. a third servo motor; 17. a manipulator; 18. a gripper jaw; 19. an elastic block; 20. a telescopic part; 21. a first micro motor; 22. a brake; 23. a screw rod; 24. rotating the nut; 25. a sliding sleeve; 26. a fixed block; 27. a second micro motor; 28. a start block; 29. a baffle plate; 30. a second connecting rod.
Detailed Description
Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the specific embodiments.
As shown in fig. 1, an indoor electric power inspection operation robot comprises a walking mechanism, a robot body and rollers, wherein the walking mechanism comprises a vehicle body and the rollers; the running mechanism is an AVG trolley 1 in the embodiment and comprises a trolley body 2 and rollers 4, the whole trolley body 2 is of an octahedral structure, the surfaces of the oblique edges at two sides of the trolley body are provided with illuminating lamps, and the rollers 4 are arranged at the bottom end of the trolley body 2; an induction module 3 is installed on one side face of the AVG trolley 1, when indoor power inspection is carried out, a route mark is pasted on the indoor ground, and the induction module 3 automatically walks after recognizing the route mark; an operation device 6 is installed on the body 2 of the AVG trolley 1, as shown in figure 2, the operation device 6 is used for manually controlling the AVG trolley to walk and control the direction, a touch screen 8 is arranged on the inner surface of the operation device 6, and control buttons 9 are arranged on the periphery of the touch screen; a steering wheel 10 is arranged at the bottom side of the touch screen; the top end of the vehicle body 2 is provided with an antiskid plate 5 which is positioned at the rear end of the operating device 6; the antiskid plate 5 is preferably made of stainless steel metal materials, metal protrusions are arranged on the surface of the antiskid plate, the metal protrusions are evenly distributed in a cross shape, and a baffle 29 is arranged at the rear end of the antiskid plate 5.
As shown in fig. 1-2, when the worker is on site, the worker can stand on the antiskid plate 5, the control button 9 is adjusted to be manually driven, then the worker can turn indoors according to the steering wheel 10, the worker can go forward or backward under the control of the control button 9, the worker can manually inspect the indoor equipment cabinet on site, the baffle 29 can avoid double feet from being empty, and the manual inspection efficiency is improved.
The operating device 6 also comprises a control system, and the control system consists of an MCU micro-control chip, a current controller, a contactor and a circuit breaker.
The top end of the operating device 6 is provided with a recognition control mechanism which is a camera 7, preferably, the recognition control mechanism is divided into a color camera and an infrared camera, the color camera and the infrared camera are used for respectively shooting indoor conditions and indoor thermal imaging, picture data of the picture data are transmitted to a central console through a touch screen 8, and when a worker is at the central console, the remote monitoring can be directly carried out.
As shown in fig. 1, a movement mechanism is mounted on the vehicle body 2, and is located at the front end of the vehicle body 2, one end of the movement mechanism is rotationally fixed on the vehicle body 2, and the other end of the movement mechanism is rotationally connected with a manipulator 17; the movement mechanism comprises a rotary seat 11, a hydraulic rod 12, a first servo motor 13, a first connecting rod 14, a second servo motor 15, a second connecting rod 30 and a third servo motor 16; one end of the rotary seat 11 is rotatably mounted on the upper top surface of the vehicle body 2, the other end of the rotary seat is mounted with a fixed end of the hydraulic rod 12, a first servo motor 13 is mounted at the moving end of the hydraulic rod 12, the rotation of the rotary seat 11 controls the rotation of the hydraulic rod 12, and the hydraulic rod 12 controls the height lifting action of the manipulator 17; the first servo motor 13 is vertically connected with one end of the first connecting rod 14, the other end of the first connecting rod 13 is connected with a second servo motor 14, the second servo motor 14 is hinged with one end of the second connecting rod 30, and the second servo motor 15 controls the second servo motor 15 to be used as an axis to adjust the vertical swing angle of the manipulator 17; the other end of the second connecting rod 30 is connected with a third servo motor 16; the third servo motor 16 is rotatably connected with the manipulator 17; the rotation axis of the manipulator 17 is perpendicular to the rotation axis of the second connecting rod 30, the third servo motor 16 mainly controls the rotation of the manipulator 17, and the rotation of the knob can be guaranteed according to the braking rotation of the third servo motor 16 after the manipulator 17 clamps the knob.
As shown in fig. 3 and 4, the manipulator 17 includes a gripping part and a telescopic part, wherein the gripping part includes a plurality of gripping claws 18 symmetrically arranged for gripping a knob; gripper jaw 18 is the arc, and the inboard of its exposed core is installed and is had elasticity piece 19, elasticity piece 19 is the arc, and when snatching the knob, the pressure of gripper jaw 18 to the knob can be shared to the inboard elasticity piece, reduces the surface wear to the knob under the same circumstances of revolving force, and its splayed structure also has the slope and grabs power, more convenient operation.
As shown in fig. 3 and 4, the telescopic portion 20 is used for operating a push button and starting a circuit breaker, and includes a telescopic driving assembly and a starting block 28, wherein the telescopic driving assembly is disposed inside the clamping portion, the starting block 28 is detachably mounted at an end of the telescopic driving assembly, the starting block 28 is located at a center of a shape formed by a plurality of clamping jaws 18, and the telescopic driving assembly controls the starting block 28 to extend out of the clamping portion or retract into the clamping portion; preferably, a monitoring camera is arranged on the manipulator 17, so that when the structure of the expansion part 20 needs to be aligned with the push button, the target position can be accurately aligned; the telescopic driving assembly comprises a screw rod 23, a first micro motor 21, a brake 22, a rotating nut 24, a sliding sleeve 25 and a fixed block 26; the screw 23 penetrates through the brake 22 and the rotating nut 24 respectively and then is in transmission connection with the first micro motor 21, the rotating nut 24 is fixedly connected with one end of the sliding sleeve 25, and the other end of the sliding sleeve 25 is provided with a fixed block 26; fixed block 26 internal fixation is provided with second micro motor 27, start block 28 and second micro motor 27 fixed connection, start block 28 with fixed block 26 can dismantle the setting, start block 28 and power equipment's circuit breaker mechanical interface cooperation, consequently if power equipment is inside when forming the hazard source because of the fault, staff control pars contractilis 20's flexible drive assembly stretches out under the gripper jaw 18 of manipulator 17 opens the condition, makes start block 28 aim at power equipment's circuit breaker mechanical interface, and synchronous start first micro motor 21 and second micro motor 27 thereupon again, can be at the rotatory circuit breaker of mechanical braking, the danger source is kept away from to the staff to staff's personal safety has been guaranteed.
The foregoing embodiments are provided merely to illustrate the principles of the invention and their advantages, rather than to limit the invention, and it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (10)
1. An indoor electric power inspection operation robot, which comprises a walking mechanism, a vehicle body and rollers, and is characterized in that,
the walking mechanism is provided with two modes of automatic walking and manual walking;
further comprising:
the recognition control mechanism is used for shooting and processing the indoor conditions; which is mounted on the vehicle body;
one end of the movement mechanism is rotationally fixed on the vehicle body, and the other end of the movement mechanism is rotationally connected with a manipulator; the motion unit comprises a plurality of driving components for controlling the motion of the manipulator;
the manipulator comprises a clamping part and a telescopic part, wherein the clamping part comprises a plurality of clamping claws which are symmetrically arranged and used for clamping a knob; the telescopic part is used for operating a push type button and starting the circuit breaker and comprises a telescopic driving assembly and a starting block, wherein the telescopic driving assembly is arranged in the clamping part, and the starting block is detachably arranged at the end part of the telescopic driving assembly; the flexible drive assembly control the starting block stretches out the clamping part or withdraws to the clamping part in, the starting block cooperates with the mechanical interface of circuit breaker.
2. The indoor power inspection operation robot according to claim 1, wherein the traveling mechanism is an AVG trolley, an induction module is installed on one side surface of a trolley body of the AVG trolley, and a route mark is attached to the indoor ground; the sensing module identifies the route marker to automatically walk; and an operation device is arranged on the AVG trolley body and is used for manually controlling the AVG trolley to walk and control the direction.
3. The indoor power inspection operation robot according to claim 1, wherein the identification control mechanism is a camera, which is divided into a color camera and an infrared camera, and captures indoor conditions and indoor thermal images, respectively.
4. The indoor power inspection operation robot according to claim 1, wherein the movement mechanism includes a rotary base, a hydraulic rod, a first servo motor, a first connecting rod, a second servo motor, a second connecting rod, and a third servo motor; one end of the rotary seat is rotatably arranged on the top surface of the vehicle, the other end of the rotary seat is provided with a fixed end of the hydraulic rod, and the moving end of the hydraulic rod is provided with a first servo motor; the first servo motor is vertically connected with one end of the first connecting rod, and the other end of the first connecting rod is connected with a second servo motor; the second servo motor is hinged with one end of the second connecting rod; the other end of the second connecting rod is connected with a third servo motor; the third servo motor is rotationally connected with the manipulator; the rotation axis of the manipulator is perpendicular to the rotation axes of the first connecting rod and the second connecting rod.
5. The indoor power inspection operation robot according to claim 4, wherein the clamping jaws are arc-shaped plates, elastic blocks are mounted on the inner sides of the clamping ends of the clamping jaws, and the elastic blocks are arc-shaped.
6. The indoor power inspection operation robot according to claim 5, wherein the telescopic driving assembly is arranged inside the clamping portion and comprises a screw rod, a first micro motor, a brake, a rotating nut, a sliding sleeve and a fixing block; the screw rod penetrates through the brake and the rotating nut respectively and then is in transmission connection with the first micro motor, the rotating nut is fixedly connected with one end of the sliding sleeve, and the other end of the sliding sleeve is provided with a fixing head; the fixed head internal fixation is provided with the second micro motor, start piece and second micro motor fixed connection, start piece and the fixed head disconnect-type setting of telling.
7. The indoor power inspection operation robot according to claim 2, wherein the whole body of the vehicle body is of an octahedral structure, and the surfaces of the oblique edges at two sides of the vehicle body are provided with illuminating lamps; and the top end of the vehicle body is provided with a skid-proof plate which is positioned at the rear end of the operating device.
8. The indoor power inspection operation robot according to claim 7, wherein the anti-skid plate is made of stainless steel metal material, metal protrusions are arranged on the surface of the anti-skid plate and are evenly distributed in a cross shape, and a baffle is arranged at the rear end of the anti-skid plate.
9. The indoor power inspection operation robot according to claim 2, wherein a touch screen is arranged on the inner surface of the operation device, and control buttons are arranged on the periphery of the touch screen; and a steering wheel is arranged at the bottom side of the touch screen.
10. The indoor power inspection operation robot according to claim 2, wherein the operation device further comprises a control system, the control system comprises an MCU micro-control chip, a current controller, a contactor and a circuit breaker, and the control system controls the motion state of the traveling mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110080553.2A CN112828906A (en) | 2021-01-21 | 2021-01-21 | Indoor electric power inspection operation robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110080553.2A CN112828906A (en) | 2021-01-21 | 2021-01-21 | Indoor electric power inspection operation robot |
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| CN112828906A true CN112828906A (en) | 2021-05-25 |
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| CN202110080553.2A Pending CN112828906A (en) | 2021-01-21 | 2021-01-21 | Indoor electric power inspection operation robot |
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| CN (1) | CN112828906A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114505868A (en) * | 2022-02-17 | 2022-05-17 | 祁宏烽 | Based on intelligence fortune dimension detects trouble suggestion alarm device |
| CN114542922A (en) * | 2022-04-26 | 2022-05-27 | 国网山东省电力公司潍坊市寒亭区供电公司 | Transformer substation inspection device |
| CN115366158A (en) * | 2022-10-24 | 2022-11-22 | 四川易华智源科技有限公司 | Manipulator based on image recognition technology and control method |
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Application publication date: 20210525 |