CN114776972B - Split type inspection robot for full-angle image acquisition in power distribution station - Google Patents
Split type inspection robot for full-angle image acquisition in power distribution station Download PDFInfo
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- CN114776972B CN114776972B CN202210707786.5A CN202210707786A CN114776972B CN 114776972 B CN114776972 B CN 114776972B CN 202210707786 A CN202210707786 A CN 202210707786A CN 114776972 B CN114776972 B CN 114776972B
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- inspection robot
- positioning
- camera
- power distribution
- distribution station
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/046—Allowing translations adapted to upward-downward translation movement
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
- F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
- F16M13/027—Ceiling supports
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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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
Abstract
The invention discloses a split type inspection robot for collecting full-angle images in a power distribution station, which comprises a shell, a rotation adjusting unit, a lifting inclination angle adjusting unit and a camera unit, wherein the bottom of the shell is rotationally connected with the rotation adjusting unit, and a positioning pipe is fixedly arranged at the bottom of the shell in a vertical direction; the adjusting end of the rotary adjusting unit rotates in the circumferential direction and is axially limited and sleeved on the positioning pipe, and lifting inclination angle adjusting units are axially symmetrically distributed on the bottom surface of the adjusting end of the rotary adjusting unit; the camera shooting unit is hung on the adjusting end of the lifting inclination angle adjusting unit in a multi-point insulation manner; the bottom end of the positioning tube is axially provided with a positioning taper hole for radially positioning the camera shooting unit, and a charging contact for charging the camera shooting unit is arranged at the bottom of the positioning taper hole. The inspection robot can perform 360-degree surrounding and insulating split inspection on the gap position in the power distribution station, the limitation of the inspection terrain environment is small, the signal receiving and amplifying through the shooting system are realized, and the definition and the timeliness of the inspection image can be effectively guaranteed.
Description
Technical Field
The invention relates to the technical field of intelligent inspection, in particular to a split inspection robot for full-angle image acquisition in a power distribution station.
Background
The power distribution station is a substation with power transformation and distribution functions, wherein various types of distribution boxes, other instruments and meters and power distribution facilities are densely distributed in the substation, the normal operation of the substation is related to the safety of the whole power grid, so that the power distribution station needs to be regularly inspected to eliminate potential safety hazards, in the prior art, the inspection of the internal facilities of the power distribution station is usually implemented by matching manpower with a robot, but because the electromagnetic environment in the power distribution station is complex, the robot can only carry out rough inspection on the external operation surface of the power distribution facilities, such as setting working parameters displayed on a display screen in an electric cabinet to be tested, such as voltage value, current, power, color of an indicator light, on-off state and the like, and whether gaps of a distribution box body or gaps of pipelines are overheated or damaged or not can be found only by manual inspection,
however, in the existing large-scale power distribution station, the number of the electric cabinets to be tested which need to be inspected is large, so that the manual detection mode wastes time and labor very well, and the manual detection time interval is usually long, so that the potential safety hazards existing in each electric cabinet to be tested in the power distribution station can not be found timely.
Therefore, how to design an inspection robot can perform inspection and image return of equal gap positions between a line cable and a power distribution cabinet in a complex electromagnetic environment in a power distribution station, i.e., a technical problem to be solved urgently by the person skilled in the art is solved.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides the split type inspection robot for collecting the full-angle images in the power distribution station, the inspection robot can perform 360-degree surrounding and insulated split type inspection on the gap position in the power distribution station, the limitation on the inspection terrain environment is small, and the definition and the timeliness of the inspection images can be effectively ensured through the signal receiving and amplification of a shooting system.
A split type inspection robot for collecting full-angle images in a power distribution station comprises a guide rail fixedly arranged in the power distribution station and an inspection robot running on the guide rail; the inspection robot comprises a shell, a rotation adjusting unit, a lifting inclination angle adjusting unit and a camera shooting unit, wherein the bottom of the shell is rotatably connected with the rotation adjusting unit, and a positioning pipe is fixedly arranged at the bottom of the shell in a vertical direction; the adjusting end of the rotary adjusting unit rotates in the circumferential direction and is axially limited and sleeved on the positioning pipe, and lifting inclination angle adjusting units are axially symmetrically distributed on the bottom surface of the adjusting end of the rotary adjusting unit; the adjusting end of the lifting inclination angle adjusting unit is connected with the camera shooting unit in a multi-point insulation mode; the bottom end of the positioning tube is axially provided with a positioning taper hole for radially positioning the camera shooting unit, and a charging contact for charging the camera shooting unit is arranged at the bottom of the positioning taper hole.
Preferably, the rotation adjusting unit comprises a first motor, a speed reducer, a driving gear and a driven gear, wherein the first motor and the speed reducer are both fixedly arranged in the shell, the power input end of the speed reducer is connected with the power output end of the first motor, and the power output end of the speed reducer is coaxially and fixedly connected with a gear shaft of the driving gear; the driven gear is meshed with the driving gear, the driven gear rotates in the circumferential direction and is axially limited and sleeved on the circumferential outer wall of the positioning pipe, and lifting inclination angle adjusting units are axially symmetrically distributed on the bottom surface of the driven gear.
Preferably, the elevation and subsidence inclination angle adjusting unit comprises a second motor, a second battery, a winding roller, a lead frame and an insulated wire, wherein the second motor, the second battery and the lead frame are fixedly arranged on the bottom surface of the driven gear, and the second battery provides electric energy for the second motor and drives the winding roller to rotate; the winding roller is rotationally connected to the bottom surface of the driven gear, and a hanging column is fixedly arranged on the cambered surface in the middle of the winding roller in the radial direction; the middle section of the insulating wire is fixedly hung on the hanging column, the two ends of the insulating wire are reversely wound around the winding roller and supported by the guide of the wire frame, and finally the insulating wire is hung on the circumferential outer wall of the camera shooting unit.
Preferably, the horizontal distance between the lead frame and the axis of the positioning taper hole is smaller than the horizontal distance between the axis of the winding roller and the axis of the positioning taper hole, and the lead frame is provided with a plurality of two ends which are respectively hooked with the insulating wire.
Preferably, the camera unit comprises a counterweight plate, a conical plug, a camera and a first battery; the circumferential outer wall of the counterweight plate is fixedly provided with a plurality of hangers for hanging insulating wires, the top surface of the counterweight plate is fixedly provided with a conical plug which is adjusted to be inserted in the positioning conical hole, and the bottom of the counterweight plate is fixedly provided with a camera; the inside first battery that sets firmly for the camera power supply of toper plug, and the top of toper plug is equipped with the charging seat of grafting charging contact and charging for first battery.
Preferably, the inspection robot is also provided with a camera system, and the camera system comprises a short-range wireless signal transmitter, a short-range wireless signal receiver, a signal amplifier and a long-range wireless signal transmitter; the short-range wireless signal transmitter is fixedly arranged in the conical plug and remotely transmits image data shot by the camera to the short-range wireless signal receiver; the short-range wireless signal receiver, the signal amplifier and the long-range wireless signal transmitter are all fixedly arranged in a shell of the inspection robot, wherein the short-range wireless signal receiver sends data information into the signal amplifier to be amplified and subjected to impurity removal, and the processed image information is sent to a monitoring room of a power distribution station by the long-range wireless signal transmitter.
Preferably, the circumferential inner wall of the positioning taper hole and the circumferential outer wall of the conical plug are symmetrically provided with limiting slopes, the limiting slopes are coaxial and circumferentially constrain the positioning taper hole and the conical plug, and the charging seat at the top of the conical plug is in one-to-one correspondence with the charging contacts at the bottom of the positioning taper hole.
Preferably, a third battery is fixedly arranged in the shell of the inspection robot, and the third battery provides electric energy for the traveling of the inspection robot on the guide rail, the charging of the contact, the operation of the first motor and the camera system except for the short-range wireless signal transmitter.
The invention has the advantages and technical effects that:
according to the split type inspection robot for collecting the full-angle images in the power distribution station, the first motor, the speed reducer and the driving gear are used as power sources in the rotation adjusting unit, horizontal rotation power is provided for the driven gear, and the driven gear provides hanging support for the lifting inclination angle adjusting unit, wherein the hanging support can rotate horizontally by 360 degrees.
The invention relates to a split type inspection robot for collecting full-angle images in a power distribution station, wherein a lifting inclination angle adjusting unit of the split type inspection robot is provided with a second motor, a second battery and winding rollers as power sources, stretching and contracting power is provided for an insulated wire hung on a camera unit, in addition, in order to ensure that the inclination angle adjustment of the camera unit is stable and controllable, two insulated wire end heads with equal length extend out of each winding roller, the two insulated wire end heads with equal length are synchronously wound and unwound along with the rotation of the winding rollers, and finally, in order to reduce the swinging amplitude and the horizontal translation amount of the camera unit, a wire frame with a straight line distance close to a positioning tube is specially arranged to hang the insulated wire.
The split type inspection robot for collecting full-angle images in the power distribution station is characterized in that a camera unit and a camera system are used for realizing a split type shooting function, wherein the camera unit is independently powered by a first battery, a vertical inclination angle and a shooting posture of a lens are adjusted by a balance weight plate hung with an insulated wire through self gravity, and finally the lifting reset of the camera unit and the alignment of a charging contact and a charging seat are realized through a conical plug which can be matched and plugged in a positioning conical hole.
In conclusion, the split inspection robot for collecting the full-angle images in the power distribution station, disclosed by the invention, is characterized in that the inspection robot running on the guide rail provides a movable camera carrier; the horizontal rotation angle of the camera shooting unit is adjusted in a 360-degree full-angle annular gradient manner by the rotation adjusting unit, and the vertical height and the lens inclination angle (orientation) of the camera shooting unit after being split are insulated and adjusted in a gradient manner by the lifting inclination angle adjusting unit; remotely bridging and amplifying the image signal by the camera system; finally, the split camera shooting unit is deeply arranged in narrow positions such as a gap of a power distribution cabinet or a cable gap for automatic inspection.
Drawings
FIG. 1 is a perspective view (45 ° top view) of the present invention;
FIG. 2 is a perspective view of the present invention (45 from below, with the insulated wires not shown);
FIG. 3 is a bottom view of the present invention;
FIG. 4 is a half sectional view of the present invention;
FIG. 5 is a schematic structural diagram of a charging attitude of the camera unit according to the present invention;
FIG. 6 is a schematic diagram of a right-view limit attitude of the camera unit for split inspection according to the present invention;
FIG. 7 is a schematic diagram of a left-view limit attitude of the camera unit for split inspection according to the present invention;
FIG. 8 is an enlarged schematic view of the camera unit of the present invention;
FIG. 9 is an enlarged schematic view of the positioning tube of the present invention;
in the figure: 1-a guide rail; 2-a patrol robot; 3-a rotation adjustment unit; 4-lifting inclination angle adjusting unit; 5-a camera unit; 6-positioning the tube; 7-a driving gear; 8-a driven gear; 9-lead frame; 10-a winding roller; 11-hanging columns; 12-a second battery; 13-an insulated wire; 14-a second electric machine; 15-hanging ears; 16-a housing; 17-a speed reducer; 18-a first electric machine; 19-a third battery; 20-a signal amplifier; 21-a short-range wireless signal receiver; 22-a remote wireless signal transmitter; 23-a charging stand; 24-a charging contact; 25-a distribution box; 26-a weight stack; 27-limiting slope; 28-tapered plug; 29-a camera; 30-positioning the taper hole.
Detailed Description
For a further understanding of the contents, features and effects of the present invention, reference will now be made to the following examples, which are to be considered in conjunction with the accompanying drawings. It should be noted that the present embodiment is illustrative, not restrictive, and the scope of the invention should not be limited thereby.
A split type inspection robot for collecting full-angle images in a power distribution station comprises a guide rail 1 fixedly arranged in the power distribution station and an inspection robot 2 running on the guide rail; the inspection robot comprises a shell 16, a rotary adjusting unit 3, a lifting inclination angle adjusting unit 4 and a camera unit 5, wherein the bottom of the shell is rotatably connected with the rotary adjusting unit, and a positioning pipe 6 is vertically and fixedly arranged at the bottom of the shell; the adjusting end of the rotary adjusting unit rotates in the circumferential direction and is axially limited and sleeved on the positioning pipe, and lifting inclination angle adjusting units are axially symmetrically distributed on the bottom surface of the adjusting end of the rotary adjusting unit; the adjusting end of the lifting inclination angle adjusting unit is connected with the camera shooting unit in a multi-point insulation mode; the bottom end of the positioning tube is axially provided with a positioning taper hole 30 for radially positioning the camera shooting unit, and the bottom of the positioning taper hole is provided with a charging contact 24 for charging the camera shooting unit.
Preferably, the rotation adjusting unit comprises a first motor 18, a speed reducer 17, a driving gear 7 and a driven gear 8, wherein the first motor and the speed reducer are both fixedly arranged in the shell, the power input end of the speed reducer is connected with the power output end of the first motor, and the power output end of the speed reducer is coaxially and fixedly connected with a gear shaft of the driving gear; the driven gear is meshed with the driving gear, the driven gear rotates in the circumferential direction and is axially limited and sleeved on the circumferential outer wall of the positioning pipe, and lifting inclination angle adjusting units are axially symmetrically distributed on the bottom surface of the driven gear.
Preferably, the elevation tilt angle adjusting unit includes a second motor 14, a second battery 12, a winding roller 10, a lead frame 9 and an insulated wire 13, wherein the second motor, the second battery and the lead frame are all fixed on the bottom surface of the driven gear, and the second battery provides electric energy for the second motor and drives the winding roller to rotate; the winding roller is rotationally connected to the bottom surface of the driven gear, and a hanging column 11 is fixedly arranged on the cambered surface in the middle of the winding roller in the radial direction; the middle section of the insulated wire is fixedly hung on the hanging column, the two ends of the insulated wire are reversely wound around the winding roller and supported by the guide of the lead frame, and finally the insulated wire is hung on the circumferential outer wall of the camera shooting unit.
Preferably, the horizontal distance between the lead frame and the axis of the positioning taper hole is smaller than the horizontal distance between the axis of the winding roller and the axis of the positioning taper hole, and the lead frame is provided with a plurality of two ends which are respectively hooked with the insulating wire.
Preferably, the camera unit comprises a weight plate 26, a tapered plug 28, a camera 29 and a first battery; the circumferential outer wall of the counterweight plate is fixedly provided with a plurality of hangers 15 for hanging insulating wires, the top surface of the counterweight plate is fixedly provided with a conical plug for adjusting and inserting in the positioning conical hole, and the bottom of the counterweight plate is fixedly provided with a camera; the first battery for the camera power supply is set firmly in the toper plug, and the top of toper plug is equipped with the charging seat 23 of grafting charging contact and for first battery charging.
Preferably, the inspection robot is also provided with a camera system, and the camera system comprises a short-range wireless signal transmitter, a short-range wireless signal receiver 21, a signal amplifier 20 and a long-range wireless signal transmitter 22; the short-range wireless signal transmitter is fixedly arranged in the conical plug and remotely transmits image data shot by the camera to the short-range wireless signal receiver; the short-range wireless signal receiver, the signal amplifier and the long-range wireless signal transmitter are all fixedly arranged in a shell of the inspection robot, wherein the short-range wireless signal receiver sends data information into the signal amplifier to be amplified and subjected to impurity removal, and the processed image information is sent to a monitoring room of a power distribution station by the long-range wireless signal transmitter.
Preferably, the circumferential inner wall of the positioning taper hole and the circumferential outer wall of the conical plug are symmetrically provided with limiting slopes 27 which are coaxial and circumferentially restrict the positioning taper hole and the conical plug, so that the charging seat at the top of the conical plug is in one-to-one correspondence with the charging contacts at the bottom of the positioning taper hole.
Preferably, a third battery 19 is fixedly arranged in the shell of the inspection robot, and the third battery provides electric energy for the traveling of the inspection robot on the guide rail, the charging of the contact points, the operation of the first motor and the camera system except the short-range wireless signal transmitter.
In addition, the camera, the wireless signal transmitter, the short-range wireless signal receiver, the signal amplifier and the long-range wireless signal transmitter are preferably mature products in the prior art.
In addition, the power and control mechanism of the inspection robot running on the guide rail preferably adopts mature products and mature connection and control means in the prior art.
In order to more clearly describe the specific embodiments of the present invention, an example is provided below:
according to the split inspection robot for collecting the full-angle images in the power distribution station, the guide rails are required to be arranged on the roof of the power distribution station in advance according to the inspection positions before installation, and the inspection robot runs in the extending direction of the guide rails and can be realized by adopting a mature means in the prior art.
In the inspection process, two sets of lifting inclination angle adjusting units which are axially symmetrically arranged can be preferably arranged, the ends of two insulated wires with equal length, which extend out of each set of lifting inclination angle adjusting unit, respectively penetrate through the corresponding lead frame and are hung on the periphery of the counterweight plate of the camera unit, and 180-degree turnover inclination angle adjustment of the camera on a vertical plane can be realized along with the take-up and pay-off of the two sets of lifting inclination angle adjusting units (the left turning angle is 90 degrees, and the right turning angle is the maximum adjusting inclination angle of the camera on the vertical plane); the camera is along with driven gear rotation in the time of vertical plane tilt angle regulation, and the camera can carry out 360 on the horizontal plane and encircle the angle modulation, and it needs to notice, no matter the camera carries out the tilt angle regulation on the horizontal plane or on vertical plane, it all is that the gradual change goes on, consequently can be according to patrolling and examining the topography and patrolling and examining the crack size, adjusts the orientation of camera in the cubical space (the displacement set that the camera tilt angle was adjusted is the hemisphere). Therefore, under the limit adjusting postures of the camera rotating by 90 degrees at the left and 90 degrees at the right, the distance from the tip end of the camera to the tail end of the conical plug is the distance of the minimum gap between the distribution box 25 or the cables, which can be inserted by the split type inspection robot.
Finally, the invention adopts the mature products and the mature technical means in the prior art.
Although the method and manufacturing technique of the present invention have been described in terms of preferred embodiments, it will be apparent to those skilled in the art that the method and manufacturing technique of the present invention can be modified or re-combined to achieve the final manufacturing technique without departing from the scope, spirit and scope of the invention. It is expressly intended that all such similar substitutes and modifications apparent to those skilled in the art are deemed to be within the spirit, scope and content of the invention. And it will be understood that modifications and variations can be effected by a person skilled in the art in light of the above teachings and that all such modifications and variations are intended to be within the scope of the invention as defined by the appended claims.
Claims (6)
1. A split type inspection robot for collecting full-angle images in a power distribution station comprises a guide rail fixedly arranged in the power distribution station and an inspection robot running on the guide rail; the method is characterized in that: the inspection robot comprises a shell, a rotation adjusting unit, a lifting inclination angle adjusting unit and a camera shooting unit, wherein the bottom of the shell is rotatably connected with the rotation adjusting unit, and a positioning pipe is fixedly arranged at the bottom of the shell in a vertical direction; the adjusting end of the rotary adjusting unit rotates in the circumferential direction and is axially limited and sleeved on the positioning pipe, and lifting inclination angle adjusting units are axially symmetrically distributed on the bottom surface of the adjusting end of the rotary adjusting unit; the adjusting end of the lifting inclination angle adjusting unit is connected with the camera shooting unit in a multi-point insulation mode; a positioning taper hole for radially positioning the camera shooting unit is axially formed at the bottom end of the positioning tube, and a charging contact for charging the camera shooting unit is arranged at the bottom of the positioning taper hole; the rotation adjusting unit comprises a first motor, a speed reducer, a driving gear and a driven gear, wherein the first motor and the speed reducer are fixedly arranged in the shell, the power input end of the speed reducer is connected with the power output end of the first motor, and the power output end of the speed reducer is coaxially and fixedly connected with a gear shaft of the driving gear; the driven gear is meshed with the driving gear, the driven gear rotates in the circumferential direction and is axially limited and sleeved on the circumferential outer wall of the positioning pipe, and lifting inclination angle adjusting units are axially symmetrically distributed on the bottom surface of the driven gear; the lifting inclination angle adjusting unit comprises a second motor, a second battery, a winding roller, a lead frame and an insulated wire, wherein the second motor, the second battery and the lead frame are fixedly arranged on the bottom surface of the driven gear, and the second battery provides electric energy for the second motor and drives the winding roller to rotate; the winding roller is rotatably connected to the bottom surface of the driven gear, and a hanging column is fixedly arranged on the cambered surface in the middle of the winding roller in the radial direction; the middle section of the insulating wire is fixedly hung on the hanging column, the two ends of the insulating wire are reversely wound around the winding roller and supported by the guide of the wire frame, and finally the insulating wire is hung on the circumferential outer wall of the camera shooting unit.
2. The split type inspection robot for the full-angle image acquisition in the power distribution station according to claim 1, characterized in that: the horizontal interval of lead frame and location taper hole axle center is less than the horizontal interval of wire winding roller axle center and location taper hole axle center, and the lead frame is equipped with a plurality ofly and articulates the both ends of insulated wire respectively.
3. The split type inspection robot for the full-angle image acquisition in the power distribution station according to claim 1, characterized in that: the camera shooting unit comprises a counterweight plate, a conical plug, a camera and a first battery; the circumferential outer wall of the counterweight plate is fixedly provided with a plurality of hangers for hanging insulating wires, the top surface of the counterweight plate is fixedly provided with a conical plug which is adjusted to be inserted in the positioning conical hole, and the bottom of the counterweight plate is fixedly provided with a camera; the inside first battery that sets firmly for the camera power supply of toper plug, and the top of toper plug is equipped with the charging seat of grafting charging contact and charging for first battery.
4. The split type inspection robot for the full-angle image acquisition in the power distribution station according to claim 1, characterized in that: the inspection robot is also provided with a camera system, and the camera system comprises a short-range wireless signal transmitter, a short-range wireless signal receiver, a signal amplifier and a long-range wireless signal transmitter; the short-range wireless signal transmitter is fixedly arranged in the conical plug and remotely transmits image data shot by the camera to the short-range wireless signal receiver; the short-range wireless signal receiver, the signal amplifier and the long-range wireless signal transmitter are fixedly arranged inside a shell of the inspection robot, wherein the short-range wireless signal receiver sends data information into the signal amplifier to be amplified and subjected to impurity removal processing, and the processed image information is sent to a monitoring room of a power distribution station by the long-range wireless signal transmitter.
5. The split type inspection robot for the full-angle image acquisition in the power distribution station according to claim 3, characterized in that: limiting slopes are symmetrically formed on the circumferential inner wall of the positioning taper hole and the circumferential outer wall of the conical plug, the limiting slopes are coaxial and circumferentially constrain the positioning taper hole and the conical plug, and a charging seat at the top of the conical plug is in one-to-one correspondence with charging contacts at the bottom of the positioning taper hole.
6. The split inspection robot for collecting the full-angle images in the power distribution station according to claim 4, characterized in that: and a third battery is fixedly arranged in the shell of the inspection robot and provides electric energy for the traveling of the inspection robot on the guide rail, the charging contact, the operation of the first motor and the camera system except the short-range wireless signal transmitter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210707786.5A CN114776972B (en) | 2022-06-22 | 2022-06-22 | Split type inspection robot for full-angle image acquisition in power distribution station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210707786.5A CN114776972B (en) | 2022-06-22 | 2022-06-22 | Split type inspection robot for full-angle image acquisition in power distribution station |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114776972A CN114776972A (en) | 2022-07-22 |
| CN114776972B true CN114776972B (en) | 2022-09-30 |
Family
ID=82421911
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| CN114776972A (en) | 2022-07-22 |
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