CN114474033A - Crawler-type electric power inspection robot - Google Patents
Crawler-type electric power inspection robot Download PDFInfo
- Publication number
- CN114474033A CN114474033A CN202011148177.8A CN202011148177A CN114474033A CN 114474033 A CN114474033 A CN 114474033A CN 202011148177 A CN202011148177 A CN 202011148177A CN 114474033 A CN114474033 A CN 114474033A
- Authority
- CN
- China
- Prior art keywords
- microcomputer
- platform
- fixedly provided
- mounting
- inspection robot
- Prior art date
- 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.)
- Pending
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 33
- 238000001931 thermography Methods 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 abstract 1
- 238000005286 illumination Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention discloses a crawler-type electric power inspection robot in the technical field of inspection robots, which comprises a moving platform and a crawler, wherein the upper surface of the moving platform is fixedly provided with a cross-shaped mounting groove, mounting plates are symmetrically arranged in the cross-shaped mounting groove, a sliding groove is formed between the mounting plates and the cross-shaped mounting groove, a sliding block is movably connected in the sliding groove, the upper end of the sliding block is fixedly provided with a supporting plate, the upper surface of the supporting plate is fixedly provided with an electric telescopic rod, the upper end of the electric telescopic rod is fixedly provided with a mounting platform, a motor is fixedly arranged in the mounting platform, the output end of the motor is fixedly provided with a rotating shaft, the upper end of the rotating shaft is fixedly provided with a microcomputer, two sides on the microcomputer are rotatably provided with mechanical upper arms, one end of each mechanical upper arm, which is far away from the microcomputer, is rotatably provided with one end of a mechanical lower arm through a hinge, the other end of each mechanical lower arm is fixedly provided with a manipulator, and the device can improve the efficiency of cable inspection, the labor is saved, and the conditions of missing detection, less picking and the like are avoided.
Description
Technical Field
The invention relates to the technical field of inspection robots, in particular to a crawler-type electric inspection robot.
Background
Along with the development in city, demand to electric power is bigger and bigger, and distribution station room and equipment quantity increase fast, and have a large amount of underground cable ditches in large-scale alternating current-direct current conversion station, the space of cable ditch is very narrow and small, and the electric power personnel have a lot of potential safety hazards to the maintenance difficulty of cable moreover.
In the prior art, the inspection of the cable duct generally adopts the mode of a handheld thermal imaging detector, but the mode needs to lift the cement cover of the underground cable duct firstly, so that the efficiency is low, the manpower is consumed, and the conditions of missed inspection, less inspection and the like of the cable are easy to appear because the cables are generally multi-row and multi-root. Accordingly, one skilled in the art provides a tracked power inspection robot to solve the problems set forth in the background above.
Disclosure of Invention
The invention aims to provide a crawler-type electric power inspection robot to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a crawler-type electric power inspection robot comprises a mobile platform and a crawler, wherein a cross-shaped mounting groove is fixedly arranged on the upper surface of the mobile platform, the mounting plates are symmetrically arranged in the cross mounting groove, a sliding groove is formed between the mounting plates and the cross mounting groove, a slide block is movably connected in the chute, a support plate is fixedly arranged at the upper end of the slide block, an electric telescopic rod is fixedly arranged on the upper surface of the support plate, the upper end of the electric telescopic rod is fixedly provided with a mounting platform, a motor is fixedly arranged in the mounting platform, the output end of the motor is fixedly provided with a rotating shaft, the upper end of the rotating shaft is fixedly provided with a microcomputer, the upper mechanical arms are rotatably mounted on two sides of the microcomputer, one end, far away from the microcomputer, of each upper mechanical arm is rotatably mounted with one end of a lower mechanical arm through a hinge, and the other end of each lower mechanical arm is fixedly mounted with a manipulator.
As a further scheme of the invention: the track includes front axle, rear axle and drive roller, the drive is connected between front axle, rear axle and the drive roller, the fixed surface of track installs a plurality of antislip strips, mutually supports between front axle, rear axle and the antislip strip, makes to patrol and examine the robot and remove the in-process more stable.
As a still further scheme of the invention: the cable fault point marking device is characterized in that a thermal imaging camera is fixedly mounted on one side of the microcomputer, a visible light infrared camera is arranged on one side of the thermal imaging camera, an alarm system is arranged below the visible light infrared camera, the thermal imaging camera can accurately sense the surface temperature of the cable, the visible light infrared camera can comprehensively observe the appearance integrity of the cable, and the alarm system is started to mark a cable fault point when detected unstable information exists.
As a still further scheme of the invention: one side fixed mounting of mounting platform has infrared obstacle sensor of keeping away, the adapter is installed to one side of infrared obstacle sensor of keeping away, and adapter and infrared sensor cooperation of keeping away detect the surrounding environment, for patrolling and examining the reasonable route of patrolling and examining of robot planning.
As a still further scheme of the invention: the mechanical upper arm and the microcomputer are fixedly provided with a bearing at the joint.
As a still further scheme of the invention: fixed mounting has the motor in the moving platform, the motor is connected with the track drive, one side fixed mounting of moving platform has the light, the light is equipped with two sets of symmetries and installs moving platform's one side guarantees to patrol and examine the robot and also can normally work under the environment of no natural illumination.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, through the matching between the electric telescopic rod and the rotating shaft, the height of the inspection robot can be freely adjusted by the electric telescopic rod, and meanwhile, the rotating shaft can be driven by the motor to movably adjust the angles of the thermal imaging camera and the visible light infrared camera, so that the inspection robot can more comprehensively adjust the surface temperature and the surface abrasion condition of a cable, the inspection efficiency is improved, and the conditions of missing inspection, few inspection and the like are avoided.
2. According to the invention, through the cooperation of the microcomputer and the manipulators, when the inspection robot inspects the cable fault, the microcomputer can operate the manipulators on two sides to repair the fault cable fault incoming line, so that the inspection efficiency is improved, and manpower and material resources are saved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a top view of the structure of the present invention;
FIG. 3 is a side view of the structure of the present invention;
fig. 4 is a front view of the structure of the present invention.
In the figure: 1. a mobile platform; 2. a rear axle; 3. a front axle; 4. a transmission roller; 5. a microcomputer; 6. a thermal imaging camera; 7. an alarm system; 8. a manipulator; 9. a support plate; 10. a mechanical upper arm; 11. a bearing; 12. an electric telescopic rod; 13. mounting a platform; 14. a lower mechanical arm; 15. an infrared obstacle avoidance sensor; 16. a cross-shaped mounting groove; 17. a chute; 18. mounting a plate; 19. a crawler belt; 20. an illuminating lamp; 21. a rotating shaft; 22. a sound pickup; 23. a visible light infrared camera; 24. anti-slip strips; 25. a slide block.
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. 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.
Referring to fig. 1 to 4, in the embodiment of the invention, a crawler-type electric power inspection robot includes a moving platform 1 and a crawler 19, a cross-shaped mounting groove 16 is fixedly installed on an upper surface of the moving platform 1, mounting plates 18 are symmetrically installed inside the cross-shaped mounting groove 16, a sliding groove 17 is formed between the mounting plates 18 and the cross-shaped mounting groove 16, a sliding block 25 is movably connected inside the sliding groove 17, a supporting plate 9 is fixedly installed on an upper end of the sliding block 25, an electric telescopic rod 12 is fixedly installed on an upper surface of the supporting plate 9, a mounting platform 13 is fixedly installed on an upper end of the electric telescopic rod 12, a motor is fixedly installed inside the mounting platform 13, a rotating shaft 21 is fixedly installed on an output end of the motor, a microcomputer 5 is fixedly installed on an upper end of the rotating shaft 21, upper mechanical arms 10 are rotatably installed on two sides of the microcomputer 5, one end of the upper mechanical arms 10, which is far away from the microcomputer 5, is rotatably installed on one end of a lower mechanical arm 14 through a hinge, the other end of the lower arm 14 is fixedly attached with the robot arm 8.
The track 19 comprises a front shaft 3, a rear shaft 2 and a transmission roller 4, the front shaft 3, the rear shaft 2 and the transmission roller 4 are in driving connection, a plurality of anti-slip strips 24 are fixedly mounted on the outer surface of the track 19, and the front shaft 3, the rear shaft 2 and the anti-slip strips 24 are matched with each other, so that the inspection robot is more stable in the moving process; a thermal imaging camera 6 is fixedly installed on one side of the microcomputer 5, a visible light infrared camera 23 is arranged on one side of the thermal imaging camera 6, an alarm system 7 is arranged below the visible light infrared camera 23, the thermal imaging camera 6 can accurately sense the surface temperature of the cable, the visible light infrared camera 23 can comprehensively observe the appearance integrity of the cable, and the alarm system 7 is started to mark a cable fault point when unstable information is detected; an infrared obstacle avoidance sensor 15 is fixedly installed on one side of the installation platform 13, a sound pickup 22 is installed on one side of the infrared obstacle avoidance sensor 15, the sound pickup 22 is matched with the infrared obstacle avoidance sensor 15 to detect the surrounding environment, and a reasonable inspection route is planned for the inspection robot; a bearing 11 is fixedly arranged at the connection part of the upper mechanical arm 10 and the microcomputer 5; the motor is fixedly installed in the mobile platform 1, and the motor is connected with the drive of track 19, and one side fixed mounting of mobile platform 1 has light 20, and light 20 is equipped with two sets of symmetries and installs in one side of mobile platform 1, guarantees to patrol and examine the robot and also can normally work under the environment of no natural illumination.
The working principle of the invention is as follows: before using the device, whether parts of the device are complete or not is firstly checked, and the inspection robot is used after the parts are checked to be correct. The upper surface of a moving platform 1 of the crawler-type electric power inspection robot is fixedly provided with a cross-shaped mounting groove 16, mounting plates 18 are symmetrically arranged in the cross-shaped mounting groove 16, a sliding groove 17 is formed between the mounting plates 18 and the cross-shaped mounting groove 16, a sliding block 25 is movably connected in the sliding groove 17, the upper end of the sliding block 25 is fixedly provided with a supporting plate 9, the upper surface of the supporting plate 9 is fixedly provided with an electric telescopic rod 12, the upper end of the electric telescopic rod 12 is fixedly provided with a mounting platform 13, a motor is fixedly arranged in the mounting platform 13, the output end of the motor is fixedly provided with a rotating shaft 21, the upper end of the rotating shaft 21 is fixedly provided with a microcomputer 5, the electric telescopic rod 12 can freely adjust the height of the inspection robot, meanwhile, the rotating shaft 21 can be driven by the motor to movably adjust the angles of a thermal imaging camera 6 and a visible light infrared camera 23, and the inspection robot can more comprehensively adjust the surface temperature and the surface wear condition of a cable, the efficiency of patrolling and examining is improved, both sides are rotated and are installed mechanical upper arm 10 on avoiding the situation microcomputer 5 such as the hourglass of appearing examining, examining less, mechanical upper arm 10 keeps away from the one end of microcomputer 5 and rotates through the hinge and install 14 one end of mechanical lower arm, 14 other end fixed mounting of mechanical lower arm have manipulator 8, through the cooperation of microcomputer 5 and manipulator 8, when patrolling and examining the robot and examining the cable fault, to some simple and easy trouble problems, the manipulator 8 that microcomputer 5 can control both sides is restoreed trouble cable fault inlet wire, the efficiency of patrolling and examining is improved, manpower and materials are saved.
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 (6)
1. The utility model provides a robot is patrolled and examined to crawler-type electric power, includes moving platform (1) and track (19), its characterized in that: the upper surface of the moving platform (1) is fixedly provided with a cross mounting groove (16), the mounting plates (18) are symmetrically mounted in the cross mounting groove (16), a sliding groove (17) is formed between the mounting plates (18) and the cross mounting groove (16), a sliding block (25) is movably connected in the sliding groove (17), a supporting plate (9) is fixedly mounted at the upper end of the sliding block (25), an electric telescopic rod (12) is fixedly mounted at the upper surface of the supporting plate (9), a mounting platform (13) is fixedly mounted at the upper end of the electric telescopic rod (12), a motor is fixedly mounted in the mounting platform (13), a rotating shaft (21) is fixedly mounted at the output end of the motor, a microcomputer (5) is fixedly mounted at the upper end of the rotating shaft (21), and mechanical upper arms (10) are rotatably mounted at two sides on the microcomputer (5), one end, far away from the microcomputer (5), of the upper mechanical arm (10) is rotatably provided with one end of a lower mechanical arm (14) through a hinge, and the other end of the lower mechanical arm (14) is fixedly provided with a manipulator (8).
2. The tracked power inspection robot according to claim 1, wherein: the crawler belt (19) comprises a front shaft (3), a rear shaft (2) and transmission rollers (4), the front shaft (3), the rear shaft (2) and the transmission rollers (4) are in driving connection, and a plurality of anti-slip strips (24) are fixedly mounted on the outer surface of the crawler belt (19).
3. The tracked power inspection robot according to claim 1, wherein: a thermal imaging camera (6) is fixedly mounted on one side of the microcomputer (5), a visible light infrared camera (23) is arranged on one side of the thermal imaging camera (6), and an alarm system (7) is arranged below the visible light infrared camera (23).
4. The tracked power inspection robot according to claim 1, wherein: one side fixed mounting of mounting platform (13) has infrared obstacle-avoiding sensor (15), adapter (22) is installed to one side of infrared obstacle-avoiding sensor (15).
5. The tracked power inspection robot according to claim 1, wherein: a bearing (11) is fixedly arranged at the joint of the upper mechanical arm (10) and the microcomputer (5).
6. The tracked power inspection robot according to claim 1, wherein: the utility model discloses a mobile platform, including moving platform (1), motor, track (19), light (20) are installed to one side fixed mounting of moving platform (1), light (20) are equipped with two sets of symmetries and install one side of moving platform (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011148177.8A CN114474033A (en) | 2020-10-23 | 2020-10-23 | Crawler-type electric power inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011148177.8A CN114474033A (en) | 2020-10-23 | 2020-10-23 | Crawler-type electric power inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114474033A true CN114474033A (en) | 2022-05-13 |
Family
ID=81470792
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011148177.8A Pending CN114474033A (en) | 2020-10-23 | 2020-10-23 | Crawler-type electric power inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114474033A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114918949A (en) * | 2022-06-20 | 2022-08-19 | 国网江苏省电力有限公司徐州供电分公司 | High-stability special robot for power inspection |
-
2020
- 2020-10-23 CN CN202011148177.8A patent/CN114474033A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114918949A (en) * | 2022-06-20 | 2022-08-19 | 国网江苏省电力有限公司徐州供电分公司 | High-stability special robot for power inspection |
| CN114918949B (en) * | 2022-06-20 | 2024-06-14 | 国网江苏省电力有限公司徐州供电分公司 | High-stability special robot for electric power inspection |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11940811B2 (en) | Cleaning system and cleaning method | |
| CN210233046U (en) | Rail mounted utility tunnel patrols and examines robot and system | |
| CN205691521U (en) | Tunnel lining concrete crack detection device | |
| CN205310243U (en) | Robot is patrolled and examined to rail mounted | |
| CN111498425A (en) | Steel wire rope traction type coal mine underground belt conveyor circulation detection system | |
| CN102562154A (en) | Cable tunnel routing inspection robot | |
| CN102922530B (en) | Inspection robot platform of 500kV split conductors | |
| CN102938544B (en) | A kind of transmission line active obstacle travelling robot | |
| CN109494617B (en) | Obstacle clearing inspection robot and obstacle clearing method thereof | |
| CN114474033A (en) | Crawler-type electric power inspection robot | |
| CN102922529B (en) | Inspection robot system along split conductors | |
| CN111203902A (en) | Special all-round detection arm of mining robot | |
| CN215037663U (en) | A robot patrols and examines for utility tunnel | |
| CN205685324U (en) | A kind of gantry truss-like indoor substation crusing robot | |
| CN211827023U (en) | All-round monitoring robot of cable tunnel environment | |
| CN210806572U (en) | GIL pipeline inspection robot | |
| CN206439636U (en) | A kind of oil-gas pipeline intelligent cruise detecting system | |
| CN112623660A (en) | Belt conveyor inspection robot | |
| CN217453898U (en) | Track type tunnel inspection robot | |
| CN210115910U (en) | Double-cantilever hanger rail type tunnel inspection robot | |
| CN214384823U (en) | Wire arranging robot | |
| CN209945948U (en) | Detector for construction management | |
| CN112405564A (en) | Automatic inspection robot for vehicle base comprehensive pipe gallery | |
| CN208780191U (en) | The mining image measurement target of dust removal | |
| CN213890037U (en) | Automatic inspection robot for vehicle base comprehensive pipe gallery |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20220513 |
|
| WD01 | Invention patent application deemed withdrawn after publication |