CN113110454B - Rail type inspection robot for electric power system - Google Patents
Rail type inspection robot for electric power system Download PDFInfo
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- CN113110454B CN113110454B CN202110405937.7A CN202110405937A CN113110454B CN 113110454 B CN113110454 B CN 113110454B CN 202110405937 A CN202110405937 A CN 202110405937A CN 113110454 B CN113110454 B CN 113110454B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The invention discloses a rail type inspection robot for an electric power system, which comprises an inspection robot, an inspection rail and a master control center, wherein the inspection rail provides a running track for the inspection robot; the main control center is in communication connection with the inspection robot and is used for monitoring the running state of the inspection robot in real time and analyzing and storing data information acquired by the inspection robot; the inspection robot is hoisted on the inspection rail and comprises a driving module, a clamping module, a direction adjusting module and a detecting module, wherein the driving module is used for driving, the clamping module is used for adjusting the clamping force between the rail and the robot, the direction adjusting module is used for adjusting the position and the direction of the detecting module, and the detecting module is used for detecting. The invention has the beneficial effects that: the detection module can realize the free motion in the front-back direction, the up-down direction and the left-right direction, the detection range is wide, the running state of the robot is detected in real time, the friction force between the track and the driving wheel is automatically adjusted in work, and the slipping phenomenon is avoided.
Description
Technical Field
The invention relates to the technical field of inspection robots, in particular to a rail type inspection robot for an electric power system.
Background
With the increasing of the number of electricity users in China, the requirements of the users on the electricity quality are continuously improved, and the guarantee of the normal operation of the electricity utilization equipment is very important. Power distribution is the link in an electrical power system that connects directly with and distributes power to users. As the power distribution system as the last link of the power system is directly oriented to the end users, the perfection of the power distribution system is directly related to the power utilization reliability and the power utilization quality of the majority of users. Therefore, the inspection work of the equipment in the power system is a basic work for ensuring the safe operation of the power distribution equipment and improving the power supply reliability. Early inspection was manually performed on foot, but manual inspection is susceptible to various factors. With the development of times, a plurality of power system factories adopt rail-type inspection robots to inspect.
The existing inspection robot is mostly driven by wheels or crawler belts, carries a detection device through a holder, and inspects in an unattended or unattended power equipment area in an autonomous or remote control mode. The portable power equipment image inspection system can finish image inspection, infrared detection and the like of power equipment through various sensors. The operation personnel only need to pass through information such as data, image that background computer received, can accomplish the work of patrolling and examining of power equipment.
Chinese patent with patent publication No. CN112318525A discloses a track robot of patrolling and examining, including advancing the track and along the gliding movable base of track of advancing, the top of movable base is provided with automatically controlled positioning mechanism, automatically controlled positioning mechanism is installed in the lever and the automatically controlled telescopic machanism of movable base up end and lay the brake block on the lever one end side and constitute in the lever of movable base up end and the automatically controlled telescopic machanism and through the support rotation respectively by laying the brake strip of advancing the track up end, the output of automatically controlled telescopic machanism and lever are kept away from brake block one end relative sliding connection.
This track robot among the prior art fixes the relative position of movable base on the track of marcing through automatically controlled positioning mechanism when carrying out information acquisition, and is more stable, and the practicality is stronger. However, the information collecting device in the prior art detects the information at a certain fixed height by adjusting the pitch angle, and can not realize all-around detection in the front and back direction, the up and down direction and the left and right direction, and the detection data range is limited.
The patent publication No. CN111216743A, it discloses a climbing auxiliary device of a mining track type inspection robot, including a pinch roller used for mounting on a robot frame and matching with a robot walking wheel and an adjusting device used for adjusting the pinch roller, wherein the adjusting device makes the pinch roller close to a track and press on the bottom of a track wing plate when the robot climbs or descends, and makes the pinch roller far away from the track to release the pressing force on the bottom of the track wing plate when the robot walks horizontally; the climbing auxiliary device can adaptively change the positive pressure of the walking wheels pressing on the track according to the road condition of the robot walking, when the robot climbs or descends, the friction force between the walking wheels and the track can be increased through the pressing wheels, the driving force output of the robot is improved, and the climbing or descending performance of the inspection robot is improved; when the robot walks on the track horizontal segment, the pinch roller is kept away from the track, reduces the positive pressure that the walking wheel pressed in the rail pterygoid lamina, reduces the frictional resistance and the energy consumption that the robot walked.
However, the clamping scheme provided in the prior art has the problem that the clamping force cannot be adjusted timely along with the change of the track, when multiple inclination angles occur on the same track, the clamping force cannot be changed accordingly, the robot needs to increase the clamping force to the state capable of adapting to the maximum inclination angle in the section of track, and therefore the robot needs to be in a state of powerful tightening in the whole course in order to adapt to a short section of track with a large inclination angle, and energy waste is caused.
In summary, the prior art has the following disadvantages:
1. the information collecting device can not realize all-round detection, and the data range of detection is limited.
2. The clamping force adjustment mechanism cannot be adjusted in real time according to changes in the track inclination angle.
Therefore, there is a need for a rail-type inspection robot for an electric power system, which can perform all-around detection in front and back, up and down, and left and right directions and can adjust clamping force between a rail and the robot in real time according to changes in the inclination angle of the rail.
Disclosure of Invention
The invention aims to improve the problems and provides a track type inspection robot for an electric power system.
In order to achieve the purpose, the invention adopts the following technical scheme:
a rail type inspection robot for an electric power system comprises an inspection robot, an inspection rail and a master control center; the inspection track is arranged in a power system factory and provides a running track for the inspection robot; the master control center is in communication connection with the inspection robot; the inspection robot is hoisted on the inspection rail and comprises a driving module, a clamping module, a direction adjusting module and a detection module; the driving module is connected with the inspection track and conveys the inspection robot to the front of the equipment to be inspected; the clamping module is arranged below the inspection track and used for adjusting the clamping force between the inspection track and the inspection robot; the direction adjusting module is arranged below the driving module and the clamping module and used for adjusting the position and the direction of the detection module; the detection module is carried at the lower part of the direction adjustment module and is used for detecting equipment in the power system.
Preferably, the driving module comprises a bottom plate, four driving motors and four driving wheels, the driving wheels are connected with the driving motors in a one-to-one correspondence manner, each driving motor is arranged outside each driving wheel, the bottom plate is arranged below the driving wheel, a motor fixing column is arranged at the bottom of each driving motor, the bottom plate is fixedly connected with the driving motors through the motor fixing columns, and two through grooves are formed in the bottom plate;
preferably, the clamping module comprises a plurality of linkage compression wheels, a plurality of compression connecting rods, an auxiliary compression wheel and an auxiliary compression piece, the compression connecting rods are Y-shaped structures, two sides of each through groove in the length direction are respectively provided with a compression fixing plate, each compression connecting rod is hinged to the upper end of the compression fixing plate, two short edges of each compression connecting rod are respectively connected with one linkage compression wheel, a long edge of each compression connecting rod penetrates through the through groove to extend downwards, the auxiliary compression piece is arranged above the bottom plate and is rotatably connected with the upper end of the auxiliary compression piece, a hydraulic column is arranged at the lower part of the auxiliary compression piece, the bottom of the hydraulic column is connected with the middle part of the bottom plate, a horizontal inclination angle sensor is arranged in the bottom plate, and the horizontal inclination angle sensor is connected with the hydraulic column;
preferably, the direction adjusting module comprises a base, a horizontal connecting rod, a rotating disk, a vertical column and a lifting platform, wherein a plurality of swing connecting rods are arranged between the base and the bottom plate, two ends of each swing connecting rod are respectively movably connected with the side edge of the base and the side edge of the bottom plate, and the upper end surface of the base is connected with the bottoms of the pressing connecting rods; the lower part of the base is provided with a plurality of slide rails, each slide rail comprises a plurality of longitudinal slide rails and a plurality of transverse slide rails, the intersection point of each longitudinal slide rail and each transverse slide rail is an observation stop point, the horizontal connecting rod is arranged below the base, the upper end of the horizontal connecting rod is connected with a horizontal stepping motor, the horizontal stepping motor can move along each slide rail, and the horizontal connecting rod can move to each observation stop point along each slide rail under the action of the horizontal stepping motor; the rotating disc is arranged below the horizontal connecting rod and is rotationally connected with the horizontal connecting rod, a circumferential stepping motor is arranged in the rotating disc, and the rotating disc can do circular motion by taking the horizontal connecting rod as a shaft under the action of the circumferential stepping motor; the lifting platform is arranged on the vertical column, a lifting stepping motor is arranged on one side of the lifting platform, and the lifting platform can move up and down along the vertical guide rail under the action of the lifting stepping motor;
preferably, the detection module is arranged on the side of the lifting platform far away from the lifting stepping motor, and the detection module comprises a visible light camera and an infrared camera.
Preferably, a control box is arranged above the base and is respectively in electric signal connection with the driving motor, the horizontal stepping motor, the circumferential stepping motor, the lifting stepping motor and the detection module.
Preferably, a wireless module is arranged in the control box, and the control box is in real-time communication connection with the master control center through the wireless module.
Preferably, the detection module further comprises a positioning device, and the positioning device is in electrical signal connection with the control box.
Preferably, a plurality of groups of limiting blocks are arranged on the side face of the bottom plate, and each group of limiting blocks are arranged on two sides of the swing connecting rod. The limiting block plays a limiting role in the swing connecting rod, and the swing amplitude of the swing connecting rod is prevented from being too large.
Preferably, be connected through the drive shaft between drive wheel and the driving motor, the drive shaft periphery is provided with the protective cover, and the protective cover protects the drive shaft, the protective cover is connected with driving motor.
Preferably, the hinged point of the upper end of the pressing connecting rod and the upper end of the pressing fixing plate is arranged at the intersection point of the three sides of the Y-shaped structure of the pressing connecting rod.
Preferably, the polling track is a drum track.
Preferably, the main control center is a PC terminal, and is used for monitoring the current running state of the inspection robot in real time, controlling the running of the inspection robot, and analyzing and storing data information acquired by the inspection robot.
In conclusion, the beneficial technical effects of the invention are as follows:
1. the horizontal stepping motor horizontally displaces along a plurality of sliding rails arranged on the lower portion of the base so as to drive the horizontal connecting rod to horizontally displace, and the horizontal connecting rod horizontally displaces back and forth and left and right so as to drive other components connected below the horizontal connecting rod to horizontally displace, so that the detection module horizontally displaces; the circular stepping motor enables the rotating disc to do circular motion by taking the horizontal connecting rod as an axis, and drives other components connected below the rotating disc to do circular motion, so that the detection module can adjust the angle in the horizontal direction; the lifting stepping motor drives the lifting platform to move up and down along the vertical guide rail, so as to drive the detection module arranged on the lifting platform to move up and down. Through the parts, the detection module can move front and back, left and right, circumferentially and up and down, so that all-dimensional detection is realized, and the detection data range is greatly improved.
2. When the inclination angle of the patrol track appears, the base and the part below the base displace relative to the bottom plate under the action of gravity, and the pressing connecting rod swings with the swinging connecting rod. The upper end of the pressing connecting rod rotates by taking the middle point of the T-shaped structure as an axis, so that the linkage pressing wheel rotates to be in contact with the track, and the friction force between the track and the driving wheel is increased. The horizontal inclination angle sensor in the bottom plate detects the horizontal inclination angle of the robot in real time, when the inclination angle exceeds a set threshold value, the auxiliary pressing piece works, the auxiliary pressing piece rises under the action of the hydraulic column, and the auxiliary pressing wheel is driven to rise to be in contact with the rail, so that the friction force between the rail and the driving wheel is further increased.
3. The control box that sets up on the base communicates with the master control center in real time to the realization is patrolled and examined the motion state of robot self and the data of gathering and is monitored in time and handle and feed back to the staff.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a side view of the inspection robot of the present invention;
fig. 3 is a partial structural plan view of the inspection robot of the present invention;
FIG. 4 is a bottom view of the base of the present invention;
FIG. 5 is an enlarged view of FIG. 1 at A;
FIG. 6 is an enlarged view of FIG. 1 at B;
FIG. 7 is an enlarged view at C of FIG. 1;
fig. 8 is a block diagram showing a block configuration of the system of the present invention.
Reference numerals are as follows:
1 main control center 2 bottom plate 3 driving motor
4 drive wheel 5 linkage pinch roller 6 compresses tightly the connecting rod
7 auxiliary pinch roller 8 auxiliary pinch piece 9 motor fixing column
10 lead to groove 11 and compress tightly 12 hydraulic column of fixed plate
13 horizontal tilt angle sensor 14 swing connecting rod 15 stopper
16 shield 17 drive shaft 18 base
19 horizontal connecting rod 20 rotating disc 21 vertical column
22 elevating platform 23 observation stop point 24 horizontal stepping motor
25 circumference stepping motor 26 lifting stepping motor 27 visible light camera
28 infrared camera 29 control box 30 positioning device
31 inspection track 32 vertical guide rail
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
Examples
As shown in fig. 1, 2, 3, 4, 5, 6, 7 and 8, a rail type inspection robot for an electric power system includes an inspection robot, an inspection rail 31 and a main control center 1. The inspection track 31 is arranged in a power system factory and provides a running track for the inspection robot, and the inspection track 31 is an I-shaped track; the master control center 1 is in communication connection with the inspection robot; the inspection robot is hung on the inspection rail 31.
The inspection robot comprises a driving module, a clamping module, a direction adjusting module and a detection module; the driving module is connected with the inspection track 31 and conveys the inspection robot to the front of the equipment to be inspected; the clamping module is arranged below the inspection rail 31 and used for adjusting the clamping force between the inspection rail 31 and the inspection robot; the direction adjusting module is arranged below the driving module and the clamping module and used for adjusting the position and the direction of the detection module; the detection module is carried at the lower part of the direction adjustment module and is used for detecting equipment in the power system.
Referring to fig. 1 and 5, the driving module includes a bottom plate 2, four driving motors 3 and four driving wheels 4, the driving wheels 4 are connected with the driving motors 3 in a one-to-one correspondence manner, each driving motor 3 is respectively arranged outside each driving wheel 4, the driving wheels 4 are connected with the driving motors 3 through driving shafts 17, a protective cover 16 is arranged on the periphery of each driving shaft 17, the protective cover 16 protects the driving shafts 17, and the protective cover 16 is connected with the driving motors 3.
Referring to fig. 3, the bottom plate 2 is provided with two through slots 10.
Referring to fig. 1 and 6, the clamping module includes a plurality of linkage pressing wheels 5, a plurality of pressing connecting rods 6, an auxiliary pressing wheel 7, and an auxiliary pressing member 8.
The pressing connecting rod 6 is of a Y-shaped structure.
Two sides of the length direction of the single through groove 10 are respectively provided with a pressing fixing plate 11, each pressing connecting rod 6 is hinged to the upper end of the pressing fixing plate 11, and the hinged point of the upper ends of the pressing connecting rods 6 and the pressing fixing plates 11 is arranged at the intersection point of the three edges of the Y-shaped structure of the pressing connecting rod 6.
Two minor faces of the pressing connecting rod 6 are respectively connected with a linkage pressing wheel 5, and a long edge of the pressing connecting rod 6 penetrates through the through groove 10 and extends downwards. Supplementary pinch roller 8 sets up in bottom plate 2 top, and supplementary pinch roller 7 rotates with supplementary pinch roller 8 upper end to be connected, and supplementary pinch roller 8 lower part is provided with hydraulic column 12, and hydraulic column 12 bottom is connected with bottom plate 2 middle part.
A horizontal inclination angle sensor 13 is arranged in the bottom plate 2, and the horizontal inclination angle sensor 13 is connected with the hydraulic column 12 in a control mode.
Referring to fig. 1, 2 and 7, the direction adjustment module includes a base 18, a horizontal connecting rod 19, a rotating plate 20, a vertical column 21 and a lifting platform 22. A plurality of swing connecting rods 14 are arranged between the base 18 and the bottom plate 2, and two ends of each swing connecting rod 14 are respectively movably connected with the side edge of the base 18 and the side edge of the bottom plate 2. The upper end surface of the base 18 is connected with the bottom of the compressing connecting rod 6.
As shown in fig. 4, the lower portion of the base 18 is provided with a plurality of slide rails, each slide rail comprises a plurality of longitudinal slide rails and a plurality of transverse slide rails, the intersection point of the longitudinal slide rails and the transverse slide rails is an observation stop point 23, the horizontal connecting rod 19 is arranged below the base 18, the upper end of the horizontal connecting rod 19 is connected with the horizontal stepping motor 24, the horizontal stepping motor 24 can move along each slide rail, and the horizontal connecting rod 19 can move along each slide rail to each observation stop point under the action of the horizontal stepping motor 24.
The rotating disc 20 is arranged below the horizontal connecting rod 19, the rotating disc 20 is rotatably connected with the horizontal connecting rod 19, a circumferential stepping motor 25 is arranged inside the rotating disc 20, and the rotating disc 20 can do circular motion by taking the horizontal connecting rod 19 as an axis under the action of the circumferential stepping motor 25.
The vertical column 21 is fixedly arranged at the bottom of the rotating disc 20, a vertical guide rail 32 is arranged on the vertical column 21, the lifting table 22 is arranged on the vertical column 21, a lifting stepping motor 26 is arranged on one side of the lifting table 22, and the lifting table 22 can move up and down along the vertical guide rail 32 under the action of the lifting stepping motor 26.
The detection module is disposed on a side of the lifting platform 22 away from the lifting stepping motor 26, and includes a visible light camera 27 and an infrared camera 28.
Referring to fig. 2, the side of the bottom plate 2 is provided with a plurality of sets of limiting blocks 15, and each set of limiting blocks 15 is arranged on two sides of the swing connecting rod 14. The limiting block 15 limits the swing connecting rod 14, and the swing amplitude of the swing connecting rod 14 is prevented from being too large.
Referring to fig. 1 and 8, a control box 29 is disposed above the base 18, and the control box 29 is electrically connected to the driving motor 3, the horizontal stepping motor 24, the circumferential stepping motor 25, the lifting stepping motor 26, and the detection module respectively.
The control box 29 is internally provided with a wireless module, and the control box 29 is in real-time communication connection with the main control center 1 through the wireless module.
The detection module further comprises a positioning device 30, and the positioning device 30 is in electrical signal connection with the control box 29.
The main control center 1 is a PC terminal and is used for monitoring the current running state of the inspection robot in real time, controlling the running of the inspection robot and analyzing and storing data information acquired by the inspection robot.
The working principle and the beneficial effects of the invention are as follows:
according to the distribution of the power equipment at the location of the power system equipment, the patrol rail 31 is laid, and the patrol robot is hung on the patrol rail 31 to start patrol. The control box 29 arranged on the base 18 is in real-time communication with the main control center 1, so that the motion state of the inspection robot and the acquired data can be monitored, processed and fed back in time. The main control center 1 realizes the regulation and control of the driving motor 3, the horizontal stepping motor 24, the circumferential stepping motor 25, the lifting stepping motor 26 and the detection module through the real-time communication with the control box 29.
The inspection work includes the operation of moving the inspection robot along the inspection rail 31 and the operation of detecting a specific point. In the operation process of the inspection robot, when the inspection track 31 has an inclination angle, the base 18 and the parts below the base 18 displace relative to the bottom plate 2 under the action of gravity, and the pressing connecting rod 6 and the swinging connecting rod 14 swing. The upper end of the pressing connecting rod 6 rotates by taking the middle point of the T shape as an axis, so that the linkage pressing wheel 5 rotates to be in contact with the track, and the friction force between the track and the driving wheel 4 is increased. Horizontal inclination sensor 13 real-time detection robot's in bottom plate 2 horizontal inclination, when the inclination exceeded the threshold value of settlement, supplementary compressing tightly 8 work, supplementary compressing tightly 8 rises under the effect of hydraulic pressure post 12, drives supplementary pinch roller 7 and rises and the track contact to further increase the frictional force between track and the drive wheel 4, avoid appearing the phenomenon of skidding, the robot motion is patrolled and examined in the influence.
When the inspection robot performs detection operation, the horizontal stepping motor 24 horizontally displaces along a plurality of sliding rails arranged on the lower portion of the base 18 according to information such as the position of equipment to be detected, so that the horizontal connecting rod 19 is driven to horizontally displace, and the horizontal connecting rod 19 displaces front and back and left and right to drive other components including the detection module connected below the horizontal connecting rod 19 to horizontally displace; the circular stepping motor 25 enables the rotating disc 20 to do circular motion by taking the horizontal connecting rod 19 as an axis, and drives other components including the detection module connected below the rotating disc 20 to do circular motion, so that the detection module can adjust the angle in the horizontal direction; the elevating stepping motor 26 drives the elevating platform 22 to move up and down along the vertical guide rail 32, so as to drive the detecting module disposed on the elevating platform 22 to move up and down. Through the parts, the detection module can move front and back, left and right, circumferentially and up and down, so that all-dimensional detection is realized, and the detection data range is greatly improved.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. The utility model provides a robot is patrolled and examined to rail mounted for electric power system which characterized in that: comprises an inspection robot, an inspection track (31) and a master control center (1); the inspection track (31) is arranged in a power system factory and provides a running track for the inspection robot; the master control center (1) is in communication connection with the inspection robot; the inspection robot is hung on an inspection rail (31) and comprises a driving module, a clamping module, a direction adjusting module and a detection module; the driving module is connected with the inspection track (31) and conveys the inspection robot to the front of the equipment to be detected; the clamping module is arranged below the inspection track (31) and used for adjusting the clamping force between the inspection track (31) and the inspection robot; the direction adjusting module is arranged below the driving module and the clamping module and used for adjusting the position and the direction of the detection module; the detection module is carried at the lower part of the direction adjustment module and is used for detecting equipment in the power system;
the driving module comprises a bottom plate (2), four driving motors (3) and four driving wheels (4), the driving wheels (4) are connected with the driving motors (3) in a one-to-one correspondence manner, each driving motor (3) is arranged on the outer side of each driving wheel (4), the bottom plate (2) is arranged below each driving wheel (4), a motor fixing column (9) is arranged at the bottom of each driving motor (3), the bottom plate (2) is fixedly connected with the driving motors (3) through the motor fixing columns (9), and two through grooves (10) are formed in the bottom plate (2);
the clamping module comprises a plurality of linkage pressing wheels (5), a plurality of pressing connecting rods (6), auxiliary pressing wheels (7) and auxiliary pressing pieces (8), the pressing connecting rods (6) are Y-shaped structures, two sides of a single through groove (10) in the length direction are respectively provided with a pressing fixing plate (11), each pressing connecting rod (6) is hinged to the upper end of the corresponding pressing fixing plate (11), two short sides of each pressing connecting rod (6) are respectively connected with one linkage pressing wheel (5), the auxiliary pressing pieces (8) are arranged above a bottom plate (2), the auxiliary pressing wheels (7) are rotatably connected with the upper ends of the auxiliary pressing pieces (8), the lower portions of the auxiliary pressing pieces (8) are provided with hydraulic columns (12), the bottoms of the hydraulic columns (12) are connected with the middle portions of the bottom plates (2), horizontal inclination angle sensors (13) are arranged in the bottom plates (2), and the horizontal inclination angle sensors (13) are in control connection with the hydraulic columns (12);
the direction adjusting module comprises a base (18), a horizontal connecting rod (19), a rotating disk (20), a vertical column (21) and a lifting platform (22), a plurality of swing connecting rods (14) are arranged between the base (18) and the bottom plate (2), two ends of each swing connecting rod (14) are movably connected with the side edge of the base (18) and the side edge of the bottom plate (2) respectively, and the long edge of the pressing connecting rod (6) penetrates through the through groove (10) to be connected with the upper end face of the base (18); a plurality of slide rails are arranged on the lower portion of the base (18), each slide rail comprises a plurality of longitudinal slide rails and a plurality of transverse slide rails, the intersection points of the longitudinal slide rails and the transverse slide rails are observation stopping points (23), the horizontal connecting rod (19) is arranged below the base (18), the upper end of the horizontal connecting rod (19) is connected with a horizontal stepping motor (24), the horizontal stepping motor (24) can move along the slide rails, and the horizontal connecting rod (19) can move to each observation stopping point (23) along each slide rail under the action of the horizontal stepping motor (24); the rotating disc (20) is arranged below the horizontal connecting rod (19), the rotating disc (20) is rotatably connected with the horizontal connecting rod (19), a circumferential stepping motor (25) is arranged inside the rotating disc (20), and the rotating disc (20) can do circular motion by taking the horizontal connecting rod (19) as an axis under the action of the circumferential stepping motor (25); the lifting device comprises a rotating disc (20), a vertical column (21), a lifting platform (22), a lifting stepping motor (26), a lifting guide rail (32), a lifting guide rail (22), a lifting guide rail (32), a lifting guide rail (22), a lifting guide rail (26), a lifting guide rail (22) and a lifting guide rail (32), wherein the lifting guide rail (26) is arranged on the vertical column (21);
the detection module is arranged on one side, far away from the lifting stepping motor (26), of the lifting table (22), and comprises a visible light camera (27) and an infrared camera (28).
2. The track type inspection robot for the power system according to claim 1, characterized in that: a control box (29) is arranged above the base (18), and the control box (29) is respectively in electric signal connection with the driving motor (3), the horizontal stepping motor (24), the circumferential stepping motor (25), the lifting stepping motor (26) and the detection module.
3. The track type inspection robot for the power system according to claim 2, characterized in that: the wireless module is arranged in the control box (29), and the control box (29) is in real-time communication connection with the main control center (1) through the wireless module.
4. The orbital inspection robot for the power system according to claim 2, characterized in that: the detection module further comprises a positioning device (30), and the positioning device (30) is in electric signal connection with the control box (29).
5. The track type inspection robot for the power system according to claim 1, characterized in that: the side face of the bottom plate (2) is provided with a plurality of groups of limiting blocks (15), and each group of limiting blocks (15) is arranged on two sides of the swing connecting rod (14).
6. The track type inspection robot for the power system according to claim 1, characterized in that: be connected through drive shaft (17) between drive wheel (4) and driving motor (3), drive shaft (17) periphery is provided with protective cover (16), protective cover (16) are connected with driving motor (3).
7. The track type inspection robot for the power system according to claim 1, characterized in that: and the hinged point of the upper ends of the pressing connecting rod (6) and the pressing fixing plate (11) is arranged at the intersection point of the three sides of the Y-shaped structure of the pressing connecting rod (6).
8. The rail-mounted inspection robot for the power system according to claim 1, characterized in that: the inspection track (31) is an I-shaped track.
9. The rail-mounted inspection robot for the power system according to claim 1, characterized in that: the main control center (1) is a PC terminal and is used for monitoring the current running state of the inspection robot in real time, controlling the running of the inspection robot and analyzing and storing data information acquired by the inspection robot.
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| CN114348898B (en) * | 2021-11-30 | 2023-07-11 | 杭州申昊科技股份有限公司 | Maintenance lifting device for rail hanging robot |
| CN114919944A (en) * | 2022-05-31 | 2022-08-19 | 华电重工股份有限公司 | Inspection system and material conveying system |
| CN116846084A (en) * | 2023-09-01 | 2023-10-03 | 国网河南省电力公司新乡供电公司 | Rail-mounted inspection operation and maintenance device for transformer substation |
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