CN114102627A - Electric power machine room inspection robot - Google Patents
Electric power machine room inspection robot Download PDFInfo
- Publication number
- CN114102627A CN114102627A CN202111449135.2A CN202111449135A CN114102627A CN 114102627 A CN114102627 A CN 114102627A CN 202111449135 A CN202111449135 A CN 202111449135A CN 114102627 A CN114102627 A CN 114102627A
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- CN
- China
- Prior art keywords
- data
- machine room
- inspection
- sliding
- functional module
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/10544—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum
- G06K7/10821—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum further details of bar or optical code scanning devices
- G06K7/10861—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum further details of bar or optical code scanning devices sensing of data fields affixed to objects or articles, e.g. coded labels
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
Abstract
The invention discloses an electric power machine room inspection robot, relates to a machine room inspection device, and aims to overcome the problems that the existing inspection robot is arranged on the ground for inspection, and not only needs to overcome various fixed obstacles and untimely conflicts with other operators and operating equipment on a traveling path, but also comprises a slide rail and a slide inspection device; the sliding rail is fixed at the top in the electric machine room; the slip inspection device includes: the sliding mechanism is embedded into a sliding groove of the sliding rail; the supporting mechanism is used for connecting the sliding mechanism and the functional module container; the functional module container is provided with a plurality of functional module slots; the polling functional modules are inserted into and fixed in the functional module slots one to one and are used for acquiring polling data in the machine room and transmitting the polling data to the control unit; the control unit is arranged in the functional module container body and used for sending the received patrol data to the upper computer and controlling the sliding mechanism to move according to a preset patrol circuit and a control signal sent by the upper computer.
Description
Technical Field
The invention relates to a machine room inspection device.
Background
The main effect of the electric power machine room is to maintain the stable operation of the electric power system, and inspection personnel need to complete the inspection and patrol of the electric power machine room all the time. Because the electric power computer lab constantly enlarges, the manual work is patrolled and examined the task volume greatly, and is inefficient. Therefore, the inspection robot is adopted to replace an inspection worker to inspect gradually, but the existing inspection robot is arranged on the ground to inspect, so that various fixed obstacles and untimely conflicts with other operators and operating equipment on a traveling path are overcome, the suspension, the traveling path and the inspection time are modified as required, and the inspection completion can not be guaranteed or the time for equally dividing the inspection completion to the remaining inspection area can be reduced within the specified time.
Disclosure of Invention
The invention aims to overcome the problems that various fixed obstacles need to be overcome and the irregular conflict with other operators and operating equipment on a travel path is caused when the conventional inspection robot is arranged on the ground for inspection, and provides an inspection robot for an electric power machine room.
The invention discloses an electric power machine room inspection robot, which comprises a slide rail and a slide inspection device;
the sliding rail is fixed at the top in the electric machine room;
the sliding inspection device comprises a sliding mechanism, a supporting mechanism, a functional module container, an inspection functional module and a control unit;
the sliding mechanism is embedded into the sliding groove of the sliding rail and can move along the sliding groove of the sliding rail;
the supporting mechanism is used for connecting the sliding mechanism and the functional module container body, so that the sliding mechanism drives the functional module container body to move when moving;
the functional module container is provided with a plurality of functional module slots, and the openings of the functional module slots face downwards;
the polling functional modules are inserted into and fixed in the functional module slots one to one and are used for acquiring polling data in the machine room and transmitting the polling data to the control unit;
the control unit is arranged in the functional module container body and used for sending the received patrol data to the upper computer and controlling the sliding mechanism to move according to a preset patrol circuit and a control signal sent by the upper computer.
The invention has the beneficial effects that:
the inventor uses the robot system of patrolling and examining to replace the manual work to patrol and examine, through the slide rail that the top was erect, the electric power computer lab patrols and examines the robot and can patrol and examine according to the route of patrolling and examining of freedom and patrol and examine the settlement time all the time, need not overcome multiple fixed barrier and with other operation personnel, operation equipment untimely conflict on the route of marcing, need time to pause, to the route of marcing and patrol and examine the time and modify, improved and patrolled and examined efficiency.
Drawings
Fig. 1 is a schematic structural diagram of an electric power machine room inspection robot of the invention;
FIG. 2 is a schematic view of the slide inspection device of FIG. 2;
fig. 3 is a schematic view of a bottom view structure of a functional module container in the inspection robot for an electric power machine room according to the present invention;
fig. 4 is an electrical structure schematic diagram of the inspection robot for the electric power machine room.
Detailed Description
In a first specific embodiment, the inspection robot for the electric power machine room comprises a slide rail 1 and a slide inspection device 2;
the sliding rail 1 is fixed at the top in the electric machine room;
the sliding inspection device 2 comprises a sliding mechanism 2-1, a supporting mechanism 2-2, a functional module container 2-3, an inspection functional module 2-4 and a control unit 2-5;
the sliding mechanism 2-1 is embedded into the sliding groove of the sliding rail 1 and can move along the sliding groove of the sliding rail 1;
the supporting mechanism 2-2 is used for connecting the sliding mechanism 2-1 and the functional module container 2-3, so that the sliding mechanism 2-1 drives the functional module container 2-3 to move when moving;
the functional module container 2-3 is provided with a plurality of functional module slots 2-3-1, and the openings of the functional module slots 2-3-1 face downwards;
the polling functional modules 2-4 are inserted into and fixed in the functional module slots 2-3-1 one by one and used for acquiring polling data in the machine room and transmitting the polling data to the control unit 2-5;
the control unit 2-5 is positioned in the functional module container 2-3 and used for sending the received polling data to an upper computer and controlling the sliding mechanism 2-1 to move according to a preset polling line and a control signal sent by the upper computer.
Specifically, as shown in fig. 1, the electric power room inspection robot in the embodiment is an electric power room inspection device including a sliding rail 1, and the sliding rail 1 needs to be erected above a room by the device, so that all devices in the electric power room can be accommodated in the field range of the image acquisition module including cables and the like.
Each machine room can be provided with an independent inspection robot, but for economic consideration, the inspection robots can be shared in a set area (such as the same floor), and the slide rails 1 in the machine rooms are connected through the slide rails with the same specification.
Through the slide rail 1 that the top was erect, the electric power computer lab inspection robot of this embodiment can patrol and examine according to the route of patrolling and examining of freedom and set time all the time and patrol and examine, and set up and patrol and examine subaerial not only need overcome multiple fixed barrier and with other operation personnel, the untimely conflict on the route of marcing of operation equipment, need to suspend occasionally, to marcing the route and patrol and examine the time and modify, and then can't guarantee to patrol and examine the completion or equally divide the time of remaining district of patrolling and examining and reduce in the specified time.
Each structure of patrolling and examining robot is preferred little volume during manufacturing, because it is nearer apart from the distance of patrolling and examining the detection, also need not the equipment of high accuracy (having the large volume usually), little volume can make each computer lab only set up the through-hole that can make the robot of patrolling and examining pass through on the height of the configuration of patrolling and examining the robot, this through-hole can be equipped with electronic pass-gate, it gets into or leaves the computer lab when the robot is patrolled and examined and open according to the procedure of setting for, and can only supply to patrol and examine the robot current, just so can guarantee that the normal pass-gate of computer lab only supplies the operation personnel current, the management of not only being convenient for, also can prevent simultaneously that the people from for following to patrol and examine the robot and get into the computer lab.
As shown in fig. 3, the functional module slots 2-3-1 of the functional module container 2-3 can be pre-designed to have the same size, the functional module slots 2-3-1 are provided with data transmission interfaces, each inspection functional module 2-4 can be matched with the functional module slots 2-3-1 according to the specification of the functional module slots 2-3-1 during production and manufacture, so as to be convenient for replacement and disassembly, and the data lines (including power transmission lines) of the data output ends of the inspection functional modules 2-4 are connected with the control unit 2-5 through the data transmission interfaces, so as to transmit data.
It is specially described that the inspection robot only has the inspection function, the inspection of the inspection robot also depends on the collection of inspection data of the machine room of each inspection functional module 2-4, and the data is analyzed to obtain various results, and the results are obtained by processing the inspection data according to a set program or manually and remotely identifying the inspection data.
Best embodiment, this embodiment is a further description of the first embodiment, in this embodiment, the sliding mechanism 2-1 includes two sliding wheels 2-1-1, two sliding wheel brackets 2-1-2, two cylindrical roller bearings 2-1-3 and a connecting support column 2-1-4;
the two sliding wheels 2-1-1 are in one-to-one rotation fit with the two sliding wheel brackets 2-1-2;
two sliding wheel brackets 2-1-2 are respectively provided with a cylindrical roller bearing 2-1-3;
the connecting support column 2-1-4 simultaneously penetrates through the inner rings of the two cylindrical roller bearings 2-1-3, so that the two sliding wheel supports 2-1-2 are hinged.
Specifically, since each structure of the inspection robot is preferably small in size during manufacturing, but each inspection functional module 2-4 also has a certain weight, if a large-sized sliding wheel is used for supporting and sliding, the sliding rail 1 also turns within a certain radian due to limited space in a machine room, and the slightly larger sliding wheel may fail to pass or cause seizure and abrasion.
As shown in figure 2, the sliding wheel 2-1-1 is adopted, which can be adapted to the turning radian of the sliding rail 1, but the smaller sliding wheel may be skewed or have increased friction force when being manufactured into other parts due to the size of the configured motor and the volume of the sliding wheel, so that the two sliding wheels 2-1-1 are arranged in a hinged structure in the middle, which is convenient for turning.
In the present embodiment, the supporting mechanism 2-2 includes a square supporting frame;
the lower surface of the top plate of the square frame support frame 2-2-1 is fixed with the top end of the connecting support column 2-1-4;
the sliding mechanism 2-1 and the sliding rail 1 are longitudinally surrounded by the space surrounded by the square frame supporting frame 2-2-1, so that the bottom plate of the square frame supporting frame 2-2-1 is positioned below the sliding rail 1.
Specifically, as shown in fig. 2, the structure of the supporting mechanism 2-2 is not unique, the supporting frame does not have to adopt a square frame supporting frame 2-2-1, and the functional module container 2-3 and the inspection functional module 2-4 can be located on the same side of the sliding rail 1 on the premise of ensuring balance, which means that the structure of the supporting frame needs to be changed, for example, a counterweight is added on one side, and the functional module container 2-3 and the inspection functional module 2-4 are fixed on one side.
Best embodiment, this embodiment is a further description of the first embodiment, in this embodiment, the supporting mechanism 2-2 further includes a universal ball wheel 2-2-2;
the universal ball wheel 2-2-2 is arranged at the bottom of the connecting support column 2-1-4, and the lowest point of the universal ball wheel 2-2-2 and the lowest points of the two sliding wheels 2-1-1 are all positioned on the same plane.
Specifically, the supporting mechanism 2-2, the functional module container 2-3 and the inspection functional module 2-4 all apply pressure to the sliding mechanism 2-1, so that the universal ball wheel 2-2-2 arranged below the connecting supporting column 2-1-4 can share the pressure, and the universal ball wheel 2-2-2 can follow the sliding wheel 2-1-1.
In the embodiment, the inspection function modules 2 to 4 are one or more of an image acquisition module, a temperature acquisition module, a humidity acquisition module and an RFID tag identification module;
the inspection data comprises equipment image data, temperature data, humidity data and machine room equipment information data;
the image acquisition module is used for acquiring equipment image data of the same position in the machine room within set interval time and sending the equipment image data to the upper computer through the control unit 2-5;
the temperature acquisition module is used for acquiring temperature data in the machine room according to a set acquisition point and sending the temperature data to the upper computer through the control unit 2-5;
the humidity acquisition module is used for acquiring humidity data in the machine room according to a set acquisition point and sending the humidity data to the upper computer through the control unit 2-5;
and the RFID tag identification module is used for identifying RFID tags pre-configured in the machine room equipment to obtain machine room equipment information data and sending the machine room information data to the upper computer through the control unit 2-5.
Specifically, the image acquisition module acquires the image data of the equipment at the same position in the machine room within the interval time, and the image acquisition module can compare the image data with the upper computer to identify whether the equipment in the machine room is changed or not and judge whether the change is normal or not according to manual records (such as manual machine room maintenance records and manual machine room routing inspection records).
The temperature acquisition module acquires temperature data in the machine room, can acquire whether the average temperature of the machine room is at a set value, and judges whether a fire hazard or equipment temperature risk exists according to the temperature in a certain acquisition point.
The humidity acquisition module acquires humidity data in the machine room, can acquire whether the average humidity of the machine room is at a set value or not, and judges whether a fire or overhigh humidity condition exists or not according to the humidity in a certain acquisition point.
And the RFID tag identification module is used for acquiring equipment information of the machine room and uploading the information to the upper computer so as to count the assets in the machine room.
In the embodiment, the control unit 2-5 includes a data processing unit 2-5-1, a bus unit 2-5-2 and a data transmission unit 2-5-3;
the inspection data output end of the bus unit 2-5-2 is electrically connected with the inspection data input end of the data processing unit 2-5-1;
the number of the routing inspection data input ends of the bus unit 2-5-2 is equal to that of the functional module slots 2-3-1, and the routing inspection data input ends of the bus unit 2-5-2 are arranged in the functional module slots 2-3-1 in a one-to-one manner;
the patrol data output end of the patrol functional module 2-4 is electrically connected with the patrol data input end of the bus unit 2-5-2 in the corresponding functional module slot 2-3-1;
the data output end of the data processing unit 2-5-1 is electrically connected with the data input end of the upper computer through the data transmission unit 2-5-3.
Specifically, the data processing unit 2-5-1 packages various polling data to conform to the standard adapted by the data transmission unit 2-5-3, and then sends out the polling data.
Or receiving a control signal of the upper computer and converting the control signal into a driving signal of the sliding mechanism 2-1.
Claims (6)
1. The inspection robot for the electric power machine room is characterized by comprising a slide rail (1) and a slide inspection device (2);
the sliding rail (1) is fixed at the top in the electric power machine room;
the sliding inspection device (2) comprises a sliding mechanism (2-1), a supporting mechanism (2-2), a functional module container body (2-3), an inspection functional module (2-4) and a control unit (2-5);
the sliding mechanism (2-1) is embedded into a sliding groove of the sliding rail (1) and can move along the sliding groove of the sliding rail (1);
the supporting mechanism (2-2) is used for connecting the sliding mechanism (2-1) and the functional module container body (2-3), so that the sliding mechanism (2-1) drives the functional module container body (2-3) to move when moving;
the functional module container (2-3) is provided with a plurality of functional module slots (2-3-1), and the openings of the functional module slots (2-3-1) face downwards;
the patrol inspection functional modules (2-4) are inserted into and fixed in the functional module slots (2-3-1) one to one, and are used for acquiring patrol inspection data in a machine room and sending the patrol inspection data to the control unit (2-5);
the control unit (2-5) is positioned in the functional module container body (2-3) and used for sending received inspection data to an upper computer and controlling the sliding mechanism (2-1) to move according to a preset inspection line and a control signal sent by the upper computer.
2. The inspection robot for the electric power machine room according to claim 1, wherein the sliding mechanism (2-1) comprises two sliding wheels (2-1-1), two sliding wheel brackets (2-1-2), two cylindrical roller bearings (2-1-3) and a connecting support column (2-1-4);
the two sliding wheels (2-1-1) are in one-to-one rotation fit with the two sliding wheel brackets (2-1-2);
two sliding wheel brackets (2-1-2) are respectively provided with a cylindrical roller bearing (2-1-3);
the connecting support column (2-1-4) simultaneously penetrates through the inner rings of the two cylindrical roller bearings (2-1-3), so that the two sliding wheel supports (2-1-2) are hinged.
3. The inspection robot for the electric power machine room according to claim 2, wherein the supporting mechanism (2-2) comprises a square frame-shaped supporting frame;
the lower surface of the top plate of the square frame support frame (2-2-1) is fixed with the top end of the connecting support column (2-1-4);
the sliding mechanism (2-1) and the sliding rail (1) are longitudinally surrounded by the space surrounded by the square frame support frame (2-2-1), so that the bottom plate of the square frame support frame (2-2-1) is positioned below the sliding rail (1).
4. The inspection robot for the electric power machine room according to claim 3, wherein the supporting mechanism (2-2) further comprises universal ball wheels (2-2-2);
the universal ball wheel (2-2-2) is arranged at the bottom of the connecting support column (2-1-4), and the lowest point of the universal ball wheel (2-2-2) and the lowest points of the two sliding wheels (2-1-1) are all located on the same plane.
5. The inspection robot for the power machine room according to claim 1, wherein the inspection functional modules (2-4) are one or more of an image acquisition module, a temperature acquisition module, a humidity acquisition module and an RFID tag identification module;
the inspection data comprises equipment image data, temperature data, humidity data and machine room equipment information data;
the image acquisition module is used for acquiring equipment image data of the same position in the machine room within set interval time and sending the equipment image data to the upper computer through the control unit (2-5);
the temperature acquisition module is used for acquiring temperature data in the machine room according to a set acquisition point and sending the temperature data to an upper computer through a control unit (2-5);
the humidity acquisition module is used for acquiring humidity data in the machine room according to a set acquisition point and sending the humidity data to the upper computer through the control unit (2-5);
the RFID tag identification module is used for identifying RFID tags pre-configured in the machine room equipment to obtain machine room equipment information data and sending the machine room information data to the upper computer through the control unit (2-5).
6. The inspection robot for the electric power machine room according to claim 5, characterized in that the control unit (2-5) comprises a data processing unit (2-5-1), a bus unit (2-5-2) and a data transmission unit (2-5-3);
the inspection data output end of the bus unit (2-5-2) is electrically connected with the inspection data input end of the data processing unit (2-5-1);
the number of the routing inspection data input ends of the bus units (2-5-2) is equal to that of the functional module slots (2-3-1), and the routing inspection data input ends of the bus units (2-5-2) are arranged in the functional module slots (2-3-1) in a one-to-one manner;
the patrol data output end of the patrol functional module (2-4) is electrically connected with the patrol data input end of the bus unit (2-5-2) in the corresponding functional module slot (2-3-1);
the data output end of the data processing unit (2-5-1) is electrically connected with the data input end of the upper computer through the data transmission unit (2-5-3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111449135.2A CN114102627A (en) | 2021-11-30 | 2021-11-30 | Electric power machine room inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111449135.2A CN114102627A (en) | 2021-11-30 | 2021-11-30 | Electric power machine room inspection robot |
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| CN114102627A true CN114102627A (en) | 2022-03-01 |
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| CN202111449135.2A Pending CN114102627A (en) | 2021-11-30 | 2021-11-30 | Electric power machine room inspection robot |
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| CN106393060A (en) * | 2016-12-05 | 2017-02-15 | 合肥市信同信息科技有限公司 | Suspension type inspection robot device |
| CN107688349A (en) * | 2017-08-17 | 2018-02-13 | 武汉大学 | A kind of crusing robot tele-control system and control method |
| KR20190036387A (en) * | 2017-09-27 | 2019-04-04 | 한국전력공사 | Apparatus for monitoring underground tunnel and control method thereof |
| CN208896085U (en) * | 2018-08-16 | 2019-05-24 | 国网江西省电力有限公司检修分公司 | A kind of indoor Gua Gui robot being easily installed |
| CN210476940U (en) * | 2019-06-28 | 2020-05-08 | 天津市三源电力设备制造有限公司 | Charging station track robot |
| CN111791214A (en) * | 2020-07-03 | 2020-10-20 | 北京海益同展信息科技有限公司 | Inspection robot and inspection system for inspecting construction tunnel |
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2021
- 2021-11-30 CN CN202111449135.2A patent/CN114102627A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101259614A (en) * | 2008-04-11 | 2008-09-10 | 上海中为智能机器人有限公司 | Portable multiple freedom small-sized explosive process intelligent mobile robot system |
| CN106393060A (en) * | 2016-12-05 | 2017-02-15 | 合肥市信同信息科技有限公司 | Suspension type inspection robot device |
| CN107688349A (en) * | 2017-08-17 | 2018-02-13 | 武汉大学 | A kind of crusing robot tele-control system and control method |
| KR20190036387A (en) * | 2017-09-27 | 2019-04-04 | 한국전력공사 | Apparatus for monitoring underground tunnel and control method thereof |
| CN208896085U (en) * | 2018-08-16 | 2019-05-24 | 国网江西省电力有限公司检修分公司 | A kind of indoor Gua Gui robot being easily installed |
| CN210476940U (en) * | 2019-06-28 | 2020-05-08 | 天津市三源电力设备制造有限公司 | Charging station track robot |
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