CN113524155A

CN113524155A - GIS equipment room inspection robot with manipulator

Info

Publication number: CN113524155A
Application number: CN202110887598.0A
Authority: CN
Inventors: 陈烨霆; 梁宏池; 严贞生; 陈群伟; 缪健锋; 连晖; 张巧霞; 李忠聚
Original assignee: Ningde Power Supply Co of State Grid Fujian Electric Power Co Ltd
Current assignee: Ningde Power Supply Co of State Grid Fujian Electric Power Co Ltd
Priority date: 2021-08-03
Filing date: 2021-08-03
Publication date: 2021-10-22

Abstract

The invention relates to a GIS equipment room inspection robot with a manipulator, which comprises a vehicle body and six-axis manipulators rotatably fixed at the upper end of the vehicle body; the vehicle body comprises a chassis module, a support frame fixed at the upper end of the chassis module and two driving wheel trains respectively arranged at the lower ends of two sides of the chassis module; the lower end of the six-axis manipulator is rotationally fixed with a base, and a horizontal fixing seat is rotationally fixed on a mechanical arm at the tail end of the six-axis manipulator; a camera is fixed on the fixed seat; a horizontal mounting plate is fixed at the upper end of the supporting frame, and the base is fixed on the mounting plate; a manipulator control cabinet and a PLC (programmable logic controller) are arranged in the supporting frame; the manipulator control cabinet is in electrical signal connection with the PLC; the manipulator control cabinet is used for controlling the six-axis manipulator.

Description

GIS equipment room inspection robot with manipulator

Technical Field

The invention relates to a GIS equipment room inspection robot with a manipulator, and belongs to the technical field of power inspection.

Background

Along with the development of the smart grid system, the coverage range of a transformer substation and a power line is wider and wider, and the intelligent power grid system brings convenience to the life of people and also brings new problems to the overhaul and maintenance of power equipment. Many transformer substations are built in remote suburbs, electrical equipment needs to be checked regularly, and inspection is performed manually, so that the inspection is difficult and time-consuming, and high voltage, high radiation and even chemical pollution of the outdoor environment can cause great threat to the safety of inspection personnel. Meanwhile, due to the particularity of the power equipment, the possibility of failure exists at any time, so that the maintenance cost of the power equipment is high, and the difficulty in handling emergency situations is also high.

In daily maintenance, for the shortcoming that the manpower consumption of traditional artifical mode of patrolling and examining is big, the coverage is little, work efficiency is low, the accuracy of patrolling and examining and the promptness are low, the transformer substation that possesses high accuracy, promptness, high efficiency characteristics patrols and examines the robot and can effectively compensate these defects of artifical in-process of patrolling and examining, utilizes the transformer substation to patrol and examine the robot and replace artifical the patrolling and examining and become a trend that power equipment patrols and examines the mode development gradually.

The patent of the Chinese utility model with the publication number of CN212287644U discloses an inspection robot for a GIS machine room, which provides an inspection robot for a GIS machine room, which can be used for automatic transformer substation inspection, and comprises a control module and a chassis with a traveling mechanism; the chassis is provided with a laser radar and a holder module; when the robot patrols and examines, autonomous navigation is carried out through a laser radar and the robot travels by a chassis, and a control module detects and reads the state of the transformer substation by imaging equipment on a holder module; the utility model discloses can be used to automatic substation seeks and examines. The inspection robot can perform various mark copying and intelligent analysis operations through inspection of the automatic transformer substation, can perform special inspection in environments such as rain, snow, freezing, thunderstorm and weather, and can undertake work such as early-stage inspection and investigation of accident handling, so that labor intensity of manual inspection can be effectively reduced, operation and maintenance cost of the transformer substation is reduced, automation and intelligence levels of inspection operation and management are improved, and innovative technical detection means and comprehensive safety guarantee are provided for the intelligent transformer substation and the unattended transformer substation. However, the inspection robot, and even most existing inspection robots for GIS equipment rooms, generally employs a camera pan-tilt module to detect a target object, and due to the particularity of the GIS equipment room, a lot of equipment to be detected is often installed in a narrow space. The holder module is limited by the degree of freedom and the working range, and many special positions cannot be detected.

Disclosure of Invention

In order to overcome the problems, the invention provides a GIS equipment room inspection robot with a manipulator, which is provided with a six-axis manipulator with ultrahigh flexibility, so that a camera arranged at the tail end of the mechanical arm at the tail end of the six-axis manipulator can realize the arrangement at any angle and the target object detection at the drilling position, and the target object detection in a narrow space can be met.

The technical scheme of the invention is as follows:

a GIS equipment room inspection robot with a manipulator comprises a vehicle body and six-axis manipulators rotationally fixed at the upper end of the vehicle body; the vehicle body comprises a chassis module, a support frame fixed at the upper end of the chassis module and two driving wheel trains respectively arranged at the lower ends of two sides of the chassis module; the lower end of the six-axis manipulator is rotationally fixed with a base, and a horizontal fixing seat is rotationally fixed on a mechanical arm at the tail end of the six-axis manipulator; a camera is fixed on the fixed seat; a horizontal mounting plate is fixed at the upper end of the supporting frame, and the base is fixed on the mounting plate; a manipulator control cabinet and a PLC (programmable logic controller) are arranged in the supporting frame; the manipulator control cabinet is in electrical signal connection with the PLC; the manipulator control cabinet is used for controlling the six-axis manipulator.

Furthermore, the two driving gear trains are respectively arranged at the left side and the right side of the chassis module; the driving wheel train comprises a driving wheel, a suspension frame, a driven wheel, a damping module, a servo motor, a speed reducer and a connecting plate; the driven wheel is rotationally fixed at the lower end of one side of the chassis module; the upper end of the suspension frame is a wheel set base fixed at the lower end of the other side of the chassis module; the upper end of the damping module is fixed at the front end and the rear end below the inner side of the wheel set base respectively, and the lower end of the damping module is fixed with the lower end of the suspension frame; the connecting plate is fixed between the two damping modules of the same driving wheel train; the speed reducer is fixed on one side of the connecting plate and is in transmission connection with the driving wheel which is rotationally fixed on the other side of the connecting plate; the servo motor is fixed at the rear end of the speed reducer; the servo motor is in transmission connection with the speed reducer; the servo motor is in electric signal connection with the PLC.

Further, the damping module comprises a damping spring, an adjusting nut, a guide shaft and a linear bearing; the upper end of a guide shaft is fixed at the front end and the rear end below the inner side of the wheel set base respectively, and the lower end of the guide shaft is fixed with the lower end of the suspension frame; the adjusting nut, the damping spring and the linear bearing are sequentially arranged on the periphery of the guide shaft from top to bottom; the adjusting nut is sleeved outside the guide shaft in a threaded manner; the damping spring and the linear bearing are movably sleeved outside the guide shaft; and one connecting plate is fixed between the two linear bearings of the same driving wheel train.

Further, an anti-collision baffle is fixed at the lower end of the chassis module; the lower end of the anti-collision baffle is provided with a two-dimensional code recognition module; and the PLC is in electric signal connection with the two-dimension code identification module.

Further, a protective shell is covered on the periphery of the vehicle body; the front side and the rear side of the lower end of the protective shell are both fixed with an anti-collision detection belt; a plurality of ultrasonic sensors are respectively arranged on the front side and the rear side of the lower part of the protection shell; a laser radar is arranged on the chassis module; the protective shell is provided with an avoidance hole for the laser emitted by the laser radar to penetrate out; the PLC is respectively connected with the anti-collision detection belt, the ultrasonic sensor and the laser radar electric signal.

Further, an emergency stop switch is arranged on the protection shell; the emergency stop switch is in electric signal connection with the PLC.

The invention has the following beneficial effects:

1. the inspection robot is provided with the six-axis manipulator with ultrahigh flexibility, so that a camera carried by the tail end of the mechanical arm at the tail end of the six-axis manipulator can realize the target object detection at any angle and at any drilling position, and the target detection in a narrow space can be met. The camera is a high-resolution visible light camera, and intelligent identification of various targets such as a pressing plate, an indicator light state, a digital display dial plate, a pointer instrument and the like is realized by adopting a machine vision technology.

2. The inspection robot can realize automatic inspection and autonomous charging through a two-dimensional code navigation technology and a laser positioning technology.

3. Damping spring, adjusting nut, guiding axle, linear bearing constitute the shock attenuation module of train jointly, can change damping spring's compressive capacity through adjusting nut to change damping module's soft or hard degree.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

FIG. 2 is a schematic view of another aspect of the present invention.

Fig. 3 is a schematic view of the internal structure of the present invention.

Fig. 4 is a schematic structural diagram of a drive train.

The reference numbers in the figures denote:

1. a vehicle body; 11. a protective housing; 12. an anti-collision detection belt; 13. a scram switch; 14. an ultrasonic sensor; 15. a laser radar; 2. a six-axis manipulator; 21. a base; 22. a fixed seat; 23. a camera; 3. a chassis module; 31. an anti-collision baffle plate; 32. a two-dimensional code identification module; 4. a support frame; 41. mounting a plate; 42. a manipulator control cabinet; 43. a PLC controller; 5. a drive train; 51. a driving wheel; 52. suspending a frame; 521. a wheel set base; 53. a driven wheel; 54. a servo motor; 55. a damping spring; 56. adjusting the nut; 57. a guide shaft; 58. a linear bearing; 61. a speed reducer; 62. a connecting plate.

Detailed Description

The invention is described in detail below with reference to the figures and the specific embodiments.

Referring to fig. 1-4, a GIS equipment room inspection robot with a manipulator comprises a vehicle body 1 and a six-axis manipulator 2 rotatably fixed at the upper end of the vehicle body 1; the vehicle body 1 comprises a chassis module 3, a support frame 4 fixed at the upper end of the chassis module 3 and two driving gear trains 5 respectively arranged at the lower ends of two sides of the chassis module 3; a base 21 is rotationally fixed at the lower end of the six-axis manipulator 2, and a horizontal fixing seat 22 is rotationally fixed on a mechanical arm at the tail end of the six-axis manipulator 2; a camera 23 is fixed on the fixed seat 22; a horizontal mounting plate 41 is fixed at the upper end of the supporting frame 4, and the base 21 is fixed on the mounting plate 41; a manipulator control cabinet 42 and a PLC (programmable logic controller) 43 are arranged in the supporting frame 4; the manipulator control cabinet 42 is in electrical signal connection with the PLC 43; the manipulator control cabinet 42 is used for controlling the six-axis manipulator 2. The inspection robot is provided with the six-axis manipulator 2 with ultrahigh flexibility, the camera 23 carried by the tail end of the mechanical arm at the tail end of the six-axis manipulator 2 can realize the target object detection at any angle and at any drilling position, and the target detection in a narrow space can be met. The camera 23 is a high-resolution visible light camera, and a machine vision technology is adopted to realize intelligent identification of various targets such as a pressing plate, an indicator light state, a digital display dial plate, a pointer instrument and the like.

Further, the two driving gear trains 5 are respectively arranged at the left side and the right side of the chassis module 3; the driving wheel train 5 comprises a driving wheel 51, a suspension frame 52, a driven wheel 53, a damping module, a servo motor 54, a speed reducer 61 and a connecting plate 62; the driven wheel 53 is rotationally fixed at the lower end of one side of the chassis module 3; the upper end of the suspension frame 52 is a wheel set base 521 fixed at the lower end of the other side of the chassis module 3; the upper end of a damping module is fixed at the front end and the rear end below the inner side of the wheel set base 521, and the lower end of the damping module is fixed with the lower end of the suspension frame 52; one connecting plate 62 is fixed between two damping modules of the same driving wheel train 5; the speed reducer 61 is fixed on one side of the connecting plate 62, and the speed reducer 61 is in transmission connection with the driving wheel 51 which is rotationally fixed on the other side of the connecting plate 62; the servo motor 54 is fixed at the rear end of the speed reducer 61; the servo motor 54 is in transmission connection with the speed reducer 61; the servo motor 54 is electrically connected to the PLC controller 43.

According to the above description, the driving train 5 mainly includes the driving wheel 51, the suspension frame 52, the driven wheel 53, the damping module, the servo motor 54, the reducer 61, and the connecting plate 62. The suspension frame 52 plays a role in fixing; the damping module is arranged on the suspension frame 52 and is fixed with the driving wheel 51, the damping and buffering of the driving wheel 51 can be effectively realized, the structure is compact, the integration level is high, and the installation and the maintenance are convenient; the servo motor 54 and the reducer 61 are used for providing power.

Further, the damping module comprises a damping spring 55, an adjusting nut 56, a guide shaft 57 and a linear bearing 58; the upper end of the guide shaft 57 is fixed to the front end and the rear end of the lower part of the inner side of the wheel set base 521, and the lower end of the guide shaft 57 is fixed to the lower end of the suspension frame 52; the adjusting nut 56, the damping spring 55 and the linear bearing 58 are sequentially arranged on the periphery of the guide shaft 57 from top to bottom; the adjusting nut 56 is sleeved outside the guide shaft 57 in a threaded manner; the damping spring 55 and the linear bearing 58 are movably sleeved outside the guide shaft 57; one connecting plate 62 is fixed between two linear bearings 58 of the same driving wheel train 5. The damping spring 55, the adjusting nut 56, the guide shaft 57 and the linear bearing 58 jointly form a damping module of the wheel train, and the compression amount of the damping spring 55 can be changed through the adjusting nut 56, so that the hardness degree of the damping module is changed.

Further, an anti-collision baffle 31 is fixed at the lower end of the chassis module 3; the lower end of the anti-collision baffle 31 is provided with a two-dimensional code recognition module 32; the PLC controller 43 is electrically connected to the two-dimensional code recognition module 32.

According to the above description, the two-dimensional code recognition module 32 is fixed below the anti-collision baffle 31, and is used for recognizing the two-dimensional code, feeding back the two-dimensional code to the PLC controller 43 according to the navigation information in the recognized two-dimensional code, and controlling the driving gear train 5 to operate through the PLC controller 43, thereby realizing autonomous navigation. The size of the anti-collision baffle 31 should be larger than that of the two-dimensional code recognition module 32, and the anti-collision baffle is used for protecting the two-dimensional code recognition module 32 so as to reduce the influence of scratch and collision on code scanning.

Further, a protective shell 11 is covered on the periphery of the vehicle body 1; the front side and the rear side of the lower end of the protective shell 11 are both fixed with an anti-collision detection belt 12; a plurality of ultrasonic sensors 14 are respectively arranged on the front side and the rear side of the lower part of the protective shell 11; a laser radar 15 is arranged on the chassis module 3; the protective shell 11 is provided with a avoidance hole for the laser emitted by the laser radar 15 to penetrate out; the PLC controller 43 is electrically connected to the anti-collision detection belt 12, the ultrasonic sensor 14, and the laser radar 15, respectively.

According to the above description, the protective casing 11 covers the periphery of the vehicle body 1, and is mainly used for protecting the internal chassis module 3 and the supporting frame 4, so that the inspection robot looks more beautiful; the anti-collision detection belts 12 are positioned at the front side and the rear side of the lower part of the protection shell 11, and can send stop signals when touching objects; the ultrasonic sensors 14 are arranged at the front side and the rear side of the lower part of the protective shell 11 and are arranged at four positions on the front side and the rear side of the inspection robot, so that the barrier distance can be monitored in real time; the laser radar 15 is used for realizing the accurate positioning of the inspection robot.

Further, an emergency stop switch 13 is arranged on the protective shell 11; the emergency stop switch 13 is in electrical signal connection with the PLC controller 43. When the emergency stop switch 13 is triggered, the inspection robot immediately executes the stop action, so that the safety of the whole device is ensured.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. The utility model provides a take GIS equipment room of manipulator to patrol and examine robot which characterized in that: comprises a vehicle body (1) and a six-axis manipulator (2) rotationally fixed at the upper end of the vehicle body (1); the vehicle body (1) comprises a chassis module (3), a supporting frame (4) fixed at the upper end of the chassis module (3) and two driving gear trains (5) respectively arranged at the lower ends of two sides of the chassis module (3); a base (21) is rotationally fixed at the lower end of the six-axis manipulator (2), and a horizontal fixing seat (22) is rotationally fixed on a mechanical arm at the tail end of the six-axis manipulator (2); a camera (23) is fixed on the fixed seat (22); a horizontal mounting plate (41) is fixed at the upper end of the supporting frame (4), and the base (21) is fixed on the mounting plate (41); a manipulator control cabinet (42) and a PLC (programmable logic controller) controller (43) are arranged in the supporting frame (4); the manipulator control cabinet (42) is in electric signal connection with the PLC (43); the manipulator control cabinet (42) is used for controlling the six-axis manipulator (2).

2. The GIS equipment room inspection robot with the manipulator according to claim 1, characterized in that: the two driving wheel trains (5) are respectively arranged at the left side and the right side of the chassis module (3); the driving wheel train (5) comprises a driving wheel (51), a suspension frame (52), a driven wheel (53), a damping module, a servo motor (54), a speed reducer (61) and a connecting plate (62); the driven wheel (53) is rotationally fixed at the lower end of one side of the chassis module (3); the upper end of the suspension frame (52) is a wheel set base (521) fixed at the lower end of the other side of the chassis module (3); the upper end of a damping module is fixed at the front end and the rear end below the inner side of the wheel set base (521), and the lower end of the damping module is fixed with the lower end of the suspension frame (52); a connecting plate (62) is fixed between the two damping modules of the same driving wheel train (5); the speed reducer (61) is fixed on one side of the connecting plate (62), and the speed reducer (61) is in transmission connection with the driving wheel (51) which is rotationally fixed on the other side of the connecting plate (62); the servo motor (54) is fixed at the rear end of the speed reducer (61); the servo motor (54) is in transmission connection with the speed reducer (61); the servo motor (54) is in electric signal connection with the PLC controller (43).

3. The GIS equipment room inspection robot with the manipulator according to claim 2, characterized in that: the damping module comprises a damping spring (55), an adjusting nut (56), a guide shaft (57) and a linear bearing (58); the upper end of a guide shaft (57) is respectively fixed at the front end and the rear end of the lower part of the inner side of the wheel set base (521), and the lower end of the guide shaft (57) is fixed with the lower end of the suspension frame (52); the adjusting nut (56), the damping spring (55) and the linear bearing (58) are sequentially arranged on the periphery of the guide shaft (57) from top to bottom; the adjusting nut (56) is sleeved outside the guide shaft (57) in a threaded manner; the damping spring (55) and the linear bearing (58) are movably sleeved outside the guide shaft (57); and one connecting plate (62) is fixed between the two linear bearings (58) of the same driving gear train (5).

4. The GIS equipment room inspection robot with the manipulator according to claim 1, characterized in that: an anti-collision baffle (31) is fixed at the lower end of the chassis module (3); the lower end of the anti-collision baffle (31) is provided with a two-dimensional code recognition module (32); the PLC controller (43) is in electric signal connection with the two-dimensional code recognition module (32).

5. The GIS equipment room inspection robot with the manipulator according to claim 1, characterized in that: the periphery of the vehicle body (1) is covered with a protective shell (11); the front side and the rear side of the lower end of the protective shell (11) are both fixed with an anti-collision detection belt (12); a plurality of ultrasonic sensors (14) are respectively arranged on the front side and the rear side of the lower part of the protective shell (11); a laser radar (15) is arranged on the chassis module (3); the protective shell (11) is provided with an avoidance hole for the laser emitted by the laser radar (15) to penetrate out; the PLC (43) is respectively connected with the anti-collision detection belt (12), the ultrasonic sensor (14) and the laser radar (15) through electric signals.

6. The GIS equipment room inspection robot with the manipulator according to claim 5, characterized in that: an emergency stop switch (13) is arranged on the protective shell (11); the emergency stop switch (13) is in electric signal connection with the PLC controller (43).