CN113459113A - Intelligent inspection robot with object-shaped recognition photoelectric sensor - Google Patents
Intelligent inspection robot with object-shaped recognition photoelectric sensor Download PDFInfo
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- CN113459113A CN113459113A CN202010242883.2A CN202010242883A CN113459113A CN 113459113 A CN113459113 A CN 113459113A CN 202010242883 A CN202010242883 A CN 202010242883A CN 113459113 A CN113459113 A CN 113459113A
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- fixedly installed
- intelligent inspection
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- seat
- photoelectric sensor
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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
- 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
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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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Abstract
本发明属于光伏电场智能巡检机器人技术领域，尤其是一种带有物状识别光电传感器的智能巡检机器人，现提出如下方案，其包括移动座，所述移动座的底部中间位置上固定安装有旋转电机，所述旋转电机的输出轴上固定安装有旋转杆，所述旋转杆的底部延伸至移动座的下方并固定安装有固定架，所述固定架上转动连接有转向轮，所述移动座的底部固定安装有对称设置的两个支撑杆，且两个支撑杆分别位于固定架的两侧，所述支撑杆的底部固定安装有支撑轴承；本发明的智能巡检机器人整体结构安装简单，制造难度低，同时机械故障低，生产成本低，导致其售价低廉，大大提高了智能巡检机器人普及率，具有广阔的市场推广前景。
The invention belongs to the technical field of intelligent inspection robots for photovoltaic electric fields, in particular to an intelligent inspection robot with a photoelectric sensor for object recognition. The following solution is now proposed, which includes a movable seat, which is fixedly installed at the middle position of the bottom of the movable seat There is a rotary motor, a rotary rod is fixedly installed on the output shaft of the rotary motor, and the bottom of the rotary rod extends to the bottom of the moving seat and is fixedly installed with a fixed frame, and a steering wheel is rotatably connected to the fixed frame. Two symmetrically arranged support rods are fixedly installed at the bottom of the movable seat, and the two support rods are respectively located on both sides of the fixed frame, and support bearings are fixedly installed at the bottom of the support rods; the overall structure of the intelligent inspection robot of the present invention is installed Simple, low manufacturing difficulty, low mechanical failure and low production cost, resulting in a low price, greatly improving the penetration rate of intelligent inspection robots, and having broad market promotion prospects.
Description
Technical Field
The invention relates to the technical field of photovoltaic electric field intelligent inspection robots, in particular to an intelligent inspection robot with a physical identification photoelectric sensor.
Background
With the rapid development of photovoltaic power generation, the safety operation of a photovoltaic cell panel system is ensured, and the power equipment is ensured to be in a stable and good state all the time, so that the outstanding problem of power station management is solved. In addition, with the improvement of the automation level of the photovoltaic electric field and the popularization of unattended or unattended operation, the safety of equipment operation is tested more strictly, and the routing inspection of the photovoltaic electric field is paid more attention. The traditional patrol can not meet the requirements of modern development, and the robot replacing manual patrol is a main development direction in the future.
The photovoltaic electric field intelligent inspection robot can replace manpower to complete all inspection operations of electric field equipment. The inspection robot inspects outdoor equipment in an unattended or unattended electric field in an autonomous or remote control mode, and can find abnormal phenomena of equipment such as thermal defects, foreign matter suspension and the like of photovoltaic equipment in time. The system can automatically plan the global path in the photovoltaic electric field according to the task operation or the preset task of an operator in a base station, completes image inspection of photovoltaic electric field equipment, automatic identification of equipment instruments, infrared detection of primary equipment and the like through various sensors carried by the operator, records equipment information, and provides an abnormal alarm. The operator can complete the patrol work of the equipment only by the real-time data, images and other information received by the background centralized control center computer. Utilize intelligent movement robot to accomplish patrolling and examining of photovoltaic electric field equipment, can improve work efficiency and quality, really play the effect of subtracting the staff and increasing effects, can promote photovoltaic electric field unmanned on duty's process more fast.
The existing intelligent inspection robot is complex in overall structure installation, easy to cause mechanical failure, high in failure rate, high in production cost, high in price and low in popularization rate, and therefore the intelligent inspection robot with the object identification photoelectric sensor is provided and used for solving the problems.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides an intelligent inspection robot with a physical identification photoelectric sensor.
In order to achieve the purpose, the invention adopts the following technical scheme:
an intelligent inspection robot with a material shape recognition photoelectric sensor comprises a moving seat, wherein a rotating motor is fixedly mounted at the middle position of the bottom of the moving seat, a rotating rod is fixedly mounted on an output shaft of the rotating motor, the bottom of the rotating rod extends to the lower part of the moving seat and is fixedly provided with a fixing frame, a steering wheel is rotatably connected to the fixing frame, two symmetrical supporting rods are fixedly mounted at the bottom of the moving seat and are respectively positioned at two sides of the fixing frame, supporting bearings are fixedly mounted at the bottoms of the supporting rods, a same driving rod is fixedly sleeved on the inner rings of the two supporting bearings, driving wheels are fixedly mounted at two ends of the driving rod, a power assembly for driving the driving rod to rotate is fixedly mounted at the bottom of the moving seat, a fixing frame is fixedly mounted at the top of the moving seat, fixed mounting has the robot on the mount, the annular fixed mounting in the outside of robot has a plurality of radars, the top fixed mounting of robot has the mounting panel, the top of mounting panel is rotated and is connected with the axis of rotation, fixed mounting has drive assembly in the axis of rotation, the top fixed mounting of axis of rotation has the fixing base, the top of fixing base is rotated and is connected with universal ball, the top fixed mounting of universal ball has the high definition camera, the top fixed mounting of fixing base has the adjusting part that is used for carrying out the regulation to the high definition camera, the equal fixed mounting in both sides of fixing base has infrared thermal imager.
Preferably, the driving assembly comprises two driving motors which are fixedly installed at the bottom of the movable seat and symmetrically arranged, the output shaft of each driving motor is fixedly provided with a second bevel gear, the outer side of each driving rod is fixedly sleeved with two first bevel gears which are symmetrically arranged, the two first bevel gears are respectively meshed with the two second bevel gears, and the driving rods can be driven to rotate under the transmission of the first bevel gears and the second bevel gears by starting the two driving motors, so that the driving motors can be used for providing driving force for the driving rods.
Preferably, the number of the radars is eight to fifteen, and the radars are annularly and equidistantly arranged on the outer side of the robot, and the number of the radars can be adjusted according to the actual use condition.
Preferably, power component establishes the first double gear in the axis of rotation outside including fixed cover, the top fixed mounting of mounting panel has the band-type brake motor, fixed mounting has the second double gear on the output shaft of band-type brake motor, and first double gear and the meshing of the double gear of second mutually, when starting the band-type brake motor, can drive the axis of rotation and rotate under the transmission of first double gear and the double gear of second, and then can provide drive power for the axis of rotation.
Preferably, the adjusting assembly comprises a mounting groove formed in the fixing seat, a moving plate is connected to the inner wall of the bottom of the mounting groove in a sliding manner, a strip-shaped hole is formed in the inner wall of the top of the mounting groove, the top of the moving plate penetrates through the strip-shaped hole and extends to the position above the fixing seat, a connecting shaft is rotatably mounted at the top of the moving plate, the top of the connecting shaft is rotatably connected with one side of the high-definition camera, a nut is fixedly embedded in the moving plate, a stepping motor is fixedly mounted on the inner wall of one side of the mounting groove, a screw rod is fixedly mounted on an output shaft of the stepping motor and penetrates through the nut and is in threaded connection with the nut, the screw rod can be driven to rotate by starting the stepping motor, the screw rod is in threaded connection with the nut on the moving plate, the moving plate can be driven to move, and the moving plate can rotate at the top of the fixing seat by pushing the camera through the connecting shaft when moving plate moves, therefore, the purpose of adjusting the angle of the camera can be achieved.
Preferably, be provided with a plurality of strengthening ribs of transversely arranging on the mount, and the one end of strengthening rib and the outside fixed connection of robot utilize the strengthening rib can strengthen the fastness that the mount is fixed to the robot.
Preferably, a rotating bearing is fixedly mounted in the middle of the top of the mounting plate, the bottom of the rotating shaft extends to the inner ring of the rotating bearing and is fixedly connected with the inner ring of the rotating bearing, and the rotating bearing can be used for reducing the rotating friction force of the rotating shaft.
Preferably, the bottom of the moving plate is fixedly provided with a sliding block, the inner wall of the bottom of the mounting groove is fixedly provided with a sliding rail, the sliding block is connected with the sliding rail in a sliding manner, and the sliding block and the sliding rail can be used for keeping the moving plate to be linear and free from deviation when the moving plate moves transversely.
In the invention, the robot can inspect the outdoor equipment of the photovoltaic electric field, the problem of thermal defect of the photovoltaic equipment can be found in time by using the infrared thermal imager, the outdoor equipment of the photovoltaic power plant can be shot by using the high-definition camera, and the recorded image can be transmitted to a computer of a worker so as to check the outdoor equipment of the power plant in real time,
according to the robot moving seat, when the robot needs to be moved, the two driving motors are started at the same time, the driving rod can be driven to rotate under the transmission of the first bevel gear and the second bevel gear, so that the driving motor can provide driving force for the driving rod, the moving seat can be driven to move, the robot can be driven to move by the moving seat, and in the moving process of the moving seat, the steering wheel can be driven to rotate by the rotating motor, so that the robot in the moving process can be conveniently steered, and the robot can be accurately moved to a specified position.
According to the invention, the band-type brake motor is started to drive the rotating shaft to rotate under the transmission of the first double-row gear and the second double-row gear, so that a driving force can be provided for the rotating shaft, the rotating shaft can drive the fixing seat to rotate, and the fixing seat can drive the infrared imager and the high-definition camera to rotate when rotating, so that the infrared imager and the high-definition camera can rotate by three hundred sixty degrees, and the purpose of checking power plant equipment without dead angles of a robot is achieved.
According to the invention, the screw rod can be driven to rotate by starting the stepping motor, and the screw rod is in threaded connection with the nut on the movable plate, so that the movable plate can be driven to move, and when the movable plate moves, the camera can be pushed by the connecting shaft to rotate at the top of the fixed seat, so that the purpose of adjusting the angle of the camera can be achieved, and the high-definition camera can be adjusted at any time according to the actual use condition.
The intelligent inspection robot has the advantages of simple whole structure installation, low manufacturing difficulty, low mechanical failure and low production cost, so that the intelligent inspection robot has low selling price, greatly improves the popularization rate of the intelligent inspection robot, and has wide market popularization prospect.
Drawings
Fig. 1 is a schematic overall structure diagram of an intelligent inspection robot with a physical shape recognition photoelectric sensor according to the present invention;
fig. 2 is a partial structural schematic view of the intelligent inspection robot with the object-shape recognition photoelectric sensor in fig. 1 according to the present invention;
fig. 3 is a schematic diagram of a partial side view of the intelligent inspection robot with the object shape recognition photoelectric sensor in fig. 1 according to the present invention;
fig. 4 is an enlarged schematic structural diagram of a portion a in fig. 1 of the intelligent inspection robot with the object-shape recognition photoelectric sensor according to the present invention;
fig. 5 is a schematic structural diagram of the working principle of the intelligent inspection robot in the prior art.
In the figure: the device comprises a moving seat 1, a rotating motor 2, a rotating rod 3, a fixing frame 4, a steering wheel 5, a supporting rod 6, a supporting bearing 7, a driving rod 8, a driving wheel 9, a first bevel gear 10, a driving motor 11, a second bevel gear 12, a fixing frame 13, a robot 14, a radar 15, a mounting plate 16, a rotating shaft 17, a fixing seat 18, a first double-row gear 19, a band-type brake motor 20, a second double-row gear 21, an infrared thermal imager 22, a universal ball 23, a high-definition camera 24, a mounting groove 25, a moving plate 26, a nut 27, a stepping motor 28, a screw 29, an adjusting plate 30 and a connecting shaft 31.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Examples
Referring to fig. 1-5, an intelligent inspection robot with an object-shaped recognition photoelectric sensor comprises a moving seat 1, a rotating motor 2 is fixedly installed at the middle position of the bottom of the moving seat 1, a rotating rod 3 is fixedly installed on an output shaft of the rotating motor 2, the bottom of the rotating rod 3 extends to the lower part of the moving seat 1 and is fixedly installed with a fixed frame 4, a steering wheel 5 is rotatably connected with the fixed frame 4, two symmetrically arranged support rods 6 are fixedly installed at the bottom of the moving seat 1, the two support rods 6 are respectively positioned at the two sides of the fixed frame 4, a support bearing 7 is fixedly installed at the bottom of each support rod 6, a same drive rod 8 is fixedly sleeved on the inner ring of each support bearing 7, drive wheels 9 are fixedly installed at the two ends of each drive rod 8, and a power assembly for driving the drive rods 8 to rotate is fixedly installed at the bottom of the moving seat 1, remove the top fixed mounting of seat 1 has mount 13, fixed mounting has robot 14 on mount 13, the annular fixed mounting in outside of robot 14 has a plurality of radars 15, 14's of robot top fixed mounting has mounting panel 16, mounting panel 16's top is rotated and is connected with axis of rotation 17, fixed mounting has drive assembly in the axis of rotation 17, axis of rotation 17's top fixed mounting has fixing base 18, fixing base 18's top is rotated and is connected with universal ball 23, universal ball 23's top fixed mounting has high definition camera 24, fixing base 18's top fixed mounting has the adjusting part that is used for adjusting high definition camera 24, the equal fixed mounting in both sides of fixing base 18 has infrared thermal imager 22.
In the present invention, the driving assembly comprises two driving motors 11 which are fixedly installed at the bottom of the movable seat 1 and symmetrically arranged, the output shaft of the driving motor 11 is fixedly installed with the second bevel gear 12, the outer side of the driving rod 8 is fixedly sleeved with two first bevel gears 10 which are symmetrically arranged, and the two first bevel gears 10 are respectively engaged with the two second bevel gears 12, by starting the two driving motors 11, the driving rod 8 can be driven to rotate under the transmission of the first bevel gear 10 and the second bevel gear 12, so that the driving motor 11 can be used for providing driving force for the driving rod 8.
In the present invention, the number of the radars 15 is eight to fifteen, and the radars 15 are annularly and equidistantly arranged on the outer side of the robot 14, and the number of the radars 15 can be adjusted according to the actual use condition.
In the invention, the power assembly comprises a first double-row gear 19 fixedly sleeved outside the rotating shaft 17, a band-type brake motor 20 is fixedly installed at the top of the installation plate 16, a second double-row gear 21 is fixedly installed on an output shaft of the band-type brake motor 20, the first double-row gear 19 is meshed with the second double-row gear 21, and when the band-type brake motor 20 is started, the rotating shaft 17 can be driven to rotate under the transmission of the first double-row gear 19 and the second double-row gear 21, so that the driving force can be provided for the rotating shaft 17.
In the present invention, the adjusting assembly includes an installation slot 25 formed on the fixed seat 18, a moving plate 26 is slidably connected to the bottom inner wall of the installation slot 25, a strip-shaped hole is formed on the top inner wall of the installation slot 25, the top of the moving plate 26 penetrates through the strip-shaped hole and extends to the upper side of the fixed seat 18, a connecting shaft 31 is rotatably installed on the top of the moving plate 26, the top of the connecting shaft 31 is rotatably connected to one side of the high-definition camera 24, a nut 27 is fixedly embedded in the moving plate 26, a stepping motor 28 is fixedly installed on the inner wall of one side of the installation slot 25, a screw 29 is fixedly installed on an output shaft of the stepping motor 28, the screw 29 penetrates through the nut 27 and is in threaded connection with the nut 27, the screw 29 can be driven to rotate by starting the stepping motor 28, the screw 29 is in threaded connection with the nut 27 on the moving plate 26, so that the moving plate 26 can be driven to move, and when the moving plate 26 moves, the camera 24 can be pushed to the top of the fixed seat 18 by the connecting shaft 31 And the angle of the camera 24 can be adjusted by rotating the camera.
In the invention, the fixing frame 13 is provided with a plurality of reinforcing ribs which are transversely arranged, one end of each reinforcing rib is fixedly connected with the outer side of the robot 14, and the firmness of the fixing frame 13 for the robot 14 can be enhanced by using the reinforcing ribs.
In the present invention, a rotary bearing is fixedly installed at the middle position of the top of the mounting plate 16, and the bottom of the rotary shaft 17 extends to and is fixedly connected with the inner ring of the rotary bearing, so that the rotary bearing can reduce the friction force of the rotary shaft 17.
In the present invention, the bottom of the moving plate 26 is fixedly installed with a slide block, the bottom inner wall of the installation groove 25 is fixedly installed with a slide rail, and the slide block and the slide rail are slidably connected, so that the moving plate 26 can keep a straight line and can not be deviated when moving transversely by using the slide block and the slide rail
In the invention, the robot 14 can inspect outdoor equipment of a photovoltaic electric field, the problem of thermal defects of the photovoltaic equipment can be found in time by using the infrared thermal imager 22, the outdoor equipment of the photovoltaic power plant can be shot by using the high-definition camera 24, and the recorded images can be transmitted to a computer of a worker so as to inspect the outdoor equipment of the power plant in real time,
in the invention, when the robot 14 needs to be moved, the two driving motors 11 are started at the same time, the driving rod 8 can be driven to rotate under the transmission of the first bevel gear 10 and the second bevel gear 12, so that the driving motor 11 can provide driving force for the driving rod 8, the moving seat 1 can be driven to move, the moving seat 1 can drive the robot 14 to move, and in the moving process of the moving seat 1, the rotating motor 2 can be used for driving the steering wheel 5 to rotate, so that the robot 14 in the moving process can be conveniently steered, and the robot 14 can be accurately moved to a specified position.
According to the invention, the band-type brake motor 20 is started to drive the rotating shaft 17 to rotate under the transmission of the first double-row gear 19 and the second double-row gear 21, so that a driving force can be provided for the rotating shaft 17, the rotating shaft 17 can drive the fixing seat 18 to rotate, the fixing seat 18 can drive the infrared imager 22 and the high-definition camera 24 to rotate when rotating, the infrared imager 22 and the high-definition camera 24 can rotate at three hundred sixty degrees, and the purpose that the robot 14 can check power plant equipment without dead angles is achieved.
In the invention, the stepping motor 28 is started to drive the screw 29 to rotate, and the screw 29 is in threaded connection with the nut 27 on the movable plate 26, so that the movable plate 26 can be driven to move, and when the movable plate 26 moves, the connecting shaft 31 can be used for pushing the camera 24 to rotate at the top of the fixed seat 18, so that the purpose of adjusting the angle of the camera 24 can be achieved, and the high-definition camera 24 can be adjusted at any time according to the actual use condition.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010242883.2A CN113459113A (en) | 2020-03-31 | 2020-03-31 | Intelligent inspection robot with object-shaped recognition photoelectric sensor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010242883.2A CN113459113A (en) | 2020-03-31 | 2020-03-31 | Intelligent inspection robot with object-shaped recognition photoelectric sensor |
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| CN113459113A true CN113459113A (en) | 2021-10-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010242883.2A Pending CN113459113A (en) | 2020-03-31 | 2020-03-31 | Intelligent inspection robot with object-shaped recognition photoelectric sensor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115179249A (en) * | 2022-07-04 | 2022-10-14 | 国家能源集团国源电力有限公司 | Multi-scene universal inspection robot |
| CN115665554A (en) * | 2022-10-28 | 2023-01-31 | 贵州电网有限责任公司 | Transformer substation inspection robot |
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| US20150142250A1 (en) * | 2013-11-20 | 2015-05-21 | Rowbot Systems Llc | Robotic platform and method for performing multiple functions in agricultural systems |
| CN107046252A (en) * | 2017-04-14 | 2017-08-15 | 国网吉林省电力有限公司经济技术研究院 | An intelligent inspection robot for cable trenches |
| CN109079740A (en) * | 2018-09-04 | 2018-12-25 | 南京理工大学 | A kind of Intelligent Mobile Robot |
| CN109483508A (en) * | 2018-12-20 | 2019-03-19 | 福建（泉州）哈工大工程技术研究院 | A kind of electric inspection process robot |
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2020
- 2020-03-31 CN CN202010242883.2A patent/CN113459113A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150142250A1 (en) * | 2013-11-20 | 2015-05-21 | Rowbot Systems Llc | Robotic platform and method for performing multiple functions in agricultural systems |
| CN107046252A (en) * | 2017-04-14 | 2017-08-15 | 国网吉林省电力有限公司经济技术研究院 | An intelligent inspection robot for cable trenches |
| CN109079740A (en) * | 2018-09-04 | 2018-12-25 | 南京理工大学 | A kind of Intelligent Mobile Robot |
| CN109483508A (en) * | 2018-12-20 | 2019-03-19 | 福建（泉州）哈工大工程技术研究院 | A kind of electric inspection process robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115179249A (en) * | 2022-07-04 | 2022-10-14 | 国家能源集团国源电力有限公司 | Multi-scene universal inspection robot |
| CN115665554A (en) * | 2022-10-28 | 2023-01-31 | 贵州电网有限责任公司 | Transformer substation inspection robot |
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Application publication date: 20211001 |