CN115675686A - Large-span inspection robot - Google Patents
Large-span inspection robot Download PDFInfo
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- CN115675686A CN115675686A CN202211240355.9A CN202211240355A CN115675686A CN 115675686 A CN115675686 A CN 115675686A CN 202211240355 A CN202211240355 A CN 202211240355A CN 115675686 A CN115675686 A CN 115675686A
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- connecting seat
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Abstract
The invention provides a large-span inspection robot, which solves the problems that the inspection robot can only stop and alarm and wait for manual treatment to waste inspection and worker time when encountering an obstacle terrain which cannot be bypassed. When the device is used for inspecting an obstacle or uneven ground, the controller controls the first hydraulic cylinder to lift, the supporting arm drives the rear wheel set arm to move forwards, the first hydraulic cylinder pushes the front wheel set arm to move backwards, the front wheel set arm and the rear wheel set arm form an inward scissor-shaped motion track to raise the ground clearance of the bottom plate, so that the bottom plate smoothly passes over the obstacle terrain, and after the bottom plate passes over the obstacle terrain, the controller controls the first hydraulic cylinder to reset again to enable the bottom plate to restore to the horizontal state again. This device is when patrolling and examining, when meetting obstacle topography, can isomorphism adjusting bottom plate's height, crosses the obstacle by oneself, need not to seek the route in addition or wait for operating personnel manual handling, has improved and has patrolled and examined efficiency.
Description
Technical Field
The invention relates to the technical field of inspection robots, in particular to a large-span inspection robot.
Background
With the development of the smart grid system, the coverage range of the transformer substation and the power line is wider and wider. In order to ensure the safe and stable operation of the power equipment and timely discover the defects or hidden dangers of the equipment, for a long time, field operators are required to perform patrol inspection on the field equipment regularly or irregularly, manual recording is performed on the instruments and meters, a temperature measuring instrument is adopted to perform field measurement on the equipment, the workload is large, the patrol inspection is easy to be out of place due to the influence of factors such as environmental factors and personnel quality, the detection data is inaccurate, and the patrol efficiency and quality often fail to achieve the expected effect. Aiming at the problems of low efficiency and low quality of manual inspection, the inspection robot for the electric power equipment is used for carrying out automatic inspection on a power transmission line, and can replace manual work, thereby having high reliability and efficiently completing tasks.
However, the power equipment inspection robot also has the following problems: the inspection robot can often encounter uneven ground or an obstacle left on the ground during inspection, and can bypass the inspection robot when the road is wide and the width of the road occupied by the obstacle is not large.
Disclosure of Invention
The invention provides a large-span inspection robot, which aims to solve the problems that in the background technology, when an obstacle terrain which cannot be bypassed is encountered, an inspection robot can only stop and alarm, waits for manual processing, and wastes time of inspection and workers.
The technical scheme of the invention is as follows: a large-span inspection robot comprises a bottom plate, wherein a camera mechanism and an equipment box are fixedly arranged at the upper part of the bottom plate, a mobile power supply and a controller are arranged in the equipment box, the mobile power supply is electrically connected with the controller, and the controller is in control connection with the camera mechanism;
the bottom of the bottom plate is fixedly provided with a suspension, and the suspension comprises a supporting arm, a front wheel set arm and a rear wheel set arm;
the supporting arm is of an L-shaped plate structure and comprises a supporting beam extending forwards and backwards, and the supporting beam is provided with a sliding groove extending forwards and backwards and penetrating from left to right;
the lower end of the supporting arm is rotatably connected with the rear end of the front wheel set arm, the front wheel set arm can swing back and forth around the lower end of the supporting arm, and the lower end of the supporting arm is fixedly connected with the front part of the rear wheel set arm;
the front end of the front wheel set arm is fixedly provided with a first connecting seat, the lower part of the first connecting seat is provided with a first traveling wheel pair, the top of the first connecting seat is fixedly provided with a first hydraulic cylinder, the controller is connected with the first hydraulic cylinder in a control way, the top of the first hydraulic cylinder is fixedly provided with a frame plate, the frame plate is of a structure which is through from front to back and is provided with an upper opening, a sliding rod extending along the left and right direction penetrates through the frame plate, and the sliding rod is slidably arranged in a sliding groove;
the rear end of rear wheel group arm is equipped with the second connecting seat, and the bottom of second connecting seat is equipped with the fourth walking wheel pair, and the bottom of fourth walking wheel pair is parallel and level with the bottom of first walking wheel pair.
Preferably, the bottom of the first connecting seat is rotatably connected with an upper sharp corner of a first triangular plate, the first triangular plate can swing back and forth around the bottom of the first connecting seat, the first traveling wheel pair is arranged at a front sharp corner of the first triangular plate, and a second traveling wheel pair is arranged at a rear sharp corner of the first triangular plate;
the bottom of second connecting seat and the last closed angle of second set-square rotate to be connected, and the second set-square can be around the bottom back-and-forth swing of second connecting seat, and the preceding closed angle department of second set-square is equipped with the third walking wheel pair, and the fourth walking wheel is to establishing the back closed angle department at the second set-square.
Preferably, the camera shooting mechanism comprises a servo motor, the controller is in control connection with the servo motor, the bottom of the servo motor is fixedly connected with the top of the bottom plate, a protective cover is fixedly arranged on an output shaft of the servo motor, the protective cover is of a cylindrical structure with a lower opening, the protective cover is covered outside the servo motor, and a gap is reserved between the bottom of the protective cover and the bottom plate;
the top of the protective cover is provided with a high-definition camera, and the controller is in signal connection with the high-definition camera; the servo motor is used for pushing the high-definition camera to rotate in the horizontal plane.
Preferably, the top of the protective cover is fixedly provided with a first hinge seat and a third hinge seat, and the first hinge seat is positioned in front of the third hinge seat;
the first hinge seat is hinged with the lower end of the mounting plate, and the mounting plate can swing back and forth around a hinge point of the first hinge seat;
the high-definition camera is fixedly arranged on the front side of the mounting plate;
the fixed articulated seat of second that is equipped with in rear portion of mounting panel, the articulated seat of second is connected with the upper end of second pneumatic cylinder is articulated, and the second pneumatic cylinder is for extending backward, from the top to the bottom in the past, and the lower extreme and the articulated connection of third articulated seat of second pneumatic cylinder, controller and second pneumatic cylinder control connection.
Preferably, the bottom plate is fixedly provided with a supporting rod, the top of the supporting rod is fixedly provided with a solar cell panel, the solar cell panel is electrically connected with a mobile power supply in the equipment box, and the mobile power supply is a solar storage battery.
The invention has the advantages that: when this equipment is patrolled and examined and is met barrier or the uneven ground of height, the first pneumatic cylinder of controller control risees, the support arm drives back wheelset arm and moves forward, first pneumatic cylinder promotes front wheelset arm and moves backward, make front wheelset arm and back wheelset arm form the scissors form movement track of inside formation to raise the terrain clearance of bottom plate, thereby cross the obstacle topography smoothly, treat to cross behind the obstacle topography, the first pneumatic cylinder of controller secondary control resets, make the bottom plate resume the horizontality once more. This device is when patrolling and examining, when meetting obstacle topography, can isomorphism adjusting bottom plate's height, crosses the obstacle by oneself, need not to seek the route in addition or wait for operating personnel manual handling, has improved and has patrolled and examined efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of the main structure of the apparatus in example 1;
FIG. 2 is a schematic structural view of the bottom suspension and wheel mechanism of FIG. 1;
FIG. 3 is a schematic structural diagram of the camera mechanism of FIG. 1;
in the figure, 1, a support arm, 101, a support beam, 102, a chute, 2, a central shaft mechanism, 3, a front wheel set arm, 4, a first connecting seat, 5, a first triangular plate, 6, a first traveling wheel pair, 7, a second traveling wheel pair, 8, a rear wheel set arm, 9, a second connecting seat, 10, a second triangular plate, 11, a third traveling wheel pair, 12, a fourth traveling wheel pair, 13, a first hydraulic cylinder, 14, a sliding rod, 15, a servo motor, 16, a protective cover, 17, a first hinged seat, 18, a second hinged seat, 19, a high-definition camera, 20, a mounting plate, 21, a second hydraulic cylinder, 22, a third hinged seat, 23, a solar cell panel, 24, a support rod, 25, a bottom plate, 26 and an equipment box.
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 obtained by a person skilled in the art based on the embodiments of the present invention without inventive step, are within the scope of the present invention.
Example 1: the utility model provides a robot is patrolled and examined to large-span, includes bottom plate 25, and the upper portion of bottom plate 25 is fixed to be equipped with camera shooting mechanism and equipment box 26, is equipped with portable power source and controller in the equipment box 26, and portable power source and controller electricity are connected, controller and camera shooting mechanism control connection.
A suspension is fixedly provided at the bottom of the bottom plate 25, and as shown in fig. 2, the suspension includes a support arm 1, a front wheel set arm 3, and a rear wheel set arm 8.
The support arm 1 is L template structure, and support arm 1 is including following a supporting beam 101 that extends around, offers on supporting beam 101 along fore-and-aft direction extension and control penetrating spout 102.
The lower end of the supporting arm 1 is fixedly connected with a central shaft mechanism 2, the central shaft mechanism 2 comprises a central shaft extending along the left-right direction, flanges are arranged at the left end and the right end of the central shaft, the diameter of each flange is larger than that of the central shaft, and the flanges play a role in stopping.
The rear end of the front wheel set arm 3 is provided with a shaft hole matched with the central shaft, the rear end of the front wheel set arm 3 is rotatably sleeved on the central shaft, and the front wheel set arm 3 can swing back and forth around the central shaft.
The front end of front wheel group arm 3 is fixed and is equipped with first connecting seat 4, and the last closed angle of the bottom of first connecting seat 4 and first set square 5 rotates to be connected, and first set square 5 can be around the bottom swing back and forth of first connecting seat 4, and the preceding closed angle department of first set square 5 is equipped with first walking wheel pair 6, and the back closed angle department of first set square 5 is equipped with second walking wheel pair 7.
The top of the first connecting seat 4 is fixedly provided with a first hydraulic cylinder 13, the controller is in control connection with the first hydraulic cylinder 13, the top of the first hydraulic cylinder 13 is fixedly provided with a frame plate, the frame plate is of a front-back through and upper opening structure, a sliding rod 14 extending along the left-right direction is arranged on the frame plate in a penetrating mode, and the sliding rod 14 is arranged in the sliding groove 102 in a sliding mode.
The front portion and the center pin fixed connection of rear wheel group arm 8, the rear end of rear wheel group arm 8 is equipped with second connecting seat 9, the last closed angle of the bottom of second connecting seat 9 and second set square 10 is rotated and is connected, second set square 10 can be around the bottom back and forth swing of second connecting seat 9, the preceding closed angle department of second set square 10 is equipped with third travelling wheel pair 11, fourth travelling wheel pair 12 is established and is equipped with fourth travelling wheel pair 12 in the back closed angle department of second set square 10, the bottom of fourth travelling wheel pair 12 and the bottom parallel and level of first travelling wheel pair 6.
As shown in fig. 3, the camera shooting mechanism includes a servo motor 15, the controller is in control connection with the servo motor 15, the bottom of the servo motor 15 is fixedly connected with the top of the bottom plate 25, a protective cover 16 is fixedly arranged on an output shaft of the servo motor 15, the protective cover 16 is in a cylindrical structure with a lower opening, the protective cover 16 is covered outside the servo motor 15, and a gap is reserved between the bottom of the protective cover 16 and the bottom plate 25.
The top of the protection cover 16 is fixedly provided with a first hinge seat 17 and a third hinge seat 22, and the first hinge seat 17 is positioned in front of the third hinge seat 22.
The first hinged seat 17 is hinged to the lower end of the mounting plate 20, and the mounting plate 20 can swing back and forth around a hinged point with the first hinged seat 17.
The rear portion of mounting panel 20 is fixed to be equipped with the articulated seat 18 of second, and the articulated seat 18 of second is connected with the upper end of second pneumatic cylinder 21 is articulated, and second pneumatic cylinder 21 is for extending from the past backward, from last downward, and the lower extreme and the articulated seat 22 of third pneumatic cylinder 21 are articulated to be connected, controller and the control of second pneumatic cylinder 21 are connected.
The front side of the mounting plate 20 is fixedly provided with a high-definition camera 19.
The controller is in signal connection with the high-definition camera 19.
The servo motor 15 is used for pushing the high-definition camera 19 to rotate 360 degrees in the horizontal plane.
The second hydraulic cylinder 21 is used for pushing the high-definition camera 19 to swing up and down, so as to increase the viewing angle range of the high-definition camera 19.
In order to improve the cruising ability of the device, as shown in fig. 1, a support rod 24 is fixedly arranged on a bottom plate 25, a solar cell panel 23 is fixedly arranged at the top of the support rod 24, and the solar cell panel 23 is electrically connected with a mobile power supply in an equipment box 26.
The controller in this embodiment is a programmable PLC controller.
The working principle is as follows: when the equipment is used for routing inspection and meets an obstacle or a rugged ground, if the undulation degree is low, the self-fine adjustment of the back-and-forth swinging of the first triangular plate 5 and the second triangular plate 10 which are in the same structure can cross the obstacle. When the ground waviness is higher behind the obstacle, the controller controls the first hydraulic cylinder 13 to rise, the supporting arm 1 drives the rear wheel set arm 8 to move forwards, the first hydraulic cylinder 13 pushes the front wheel set arm 3 to move backwards, the front wheel set arm 3 and the rear wheel set arm 8 form a scissor-shaped motion track formed inwards, the ground clearance of the bottom plate 25 is raised, the obstacle terrain is smoothly crossed, after the obstacle terrain is crossed, the controller controls the first hydraulic cylinder 13 to reset again, and the bottom plate 25 is enabled to restore to the horizontal state again.
The second traveling wheel pair 7 and the third traveling wheel pair 11 are arranged, so that the front part and the rear part of the device are more stable when the obstacle is crossed, and the first triangular plate 5 and the second triangular plate 10 are matched, so that the device has the function of automatically finely adjusting the obstacle.
The servo motor 15 that camera shooting mechanism set up can accurately carry out the angle adjustment with high definition digtal camera 19 in the horizontal plane under the control of controller, and cooperation second hydraulic cylinder 21 for high definition digtal camera 19 can carry out the luffing motion, makes high definition digtal camera 19 have bigger visual angle width.
Example 2: the utility model provides a robot is patrolled and examined to large-span, no longer sets up second walking wheel pair 7, third walking wheel pair 11, first set square 5 and second set square 10 in this embodiment, and second walking wheel pair 7 is directly established in the bottom of first connecting seat 4, and fourth walking wheel pair 12 is directly established in the bottom of second connecting seat 9. The other structure is the same as embodiment 1.
Example 3: the utility model provides a robot is patrolled and examined to large-span, no longer sets up mounting panel 20 and second pneumatic cylinder 21 in this embodiment, and high definition digtal camera 19 directly establishes the top at protection casing 16. The other structure is the same as embodiment 1.
Example 4: the utility model provides a robot is patrolled and examined to large-span, no longer sets up bracing piece 24 and solar cell panel 23 in this embodiment, and is corresponding, rechargeable battery when portable power source in this embodiment adopted. The other structure is the same as embodiment 1.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (6)
1. The utility model provides a robot is patrolled and examined to large-span which characterized in that: the device comprises a bottom plate (25), wherein a camera shooting mechanism and an equipment box (26) are fixedly arranged on the upper part of the bottom plate (25), a mobile power supply and a controller are arranged in the equipment box (26), the mobile power supply is electrically connected with the controller, and the controller is in control connection with the camera shooting mechanism;
a suspension is fixedly arranged at the bottom of the bottom plate (25), and comprises a supporting arm (1), a front wheel set arm (3) and a rear wheel set arm (8);
the supporting arm (1) is of an L-shaped plate structure, the supporting arm (1) comprises a supporting beam (101) extending along the front and back direction, and a sliding groove (102) which extends along the front and back direction and is through from left to right is formed in the supporting beam (101);
the rear end of a front wheel set arm (3) at the lower end of the supporting arm (1) is rotatably connected, the front wheel set arm (3) can swing back and forth around the lower end of the supporting arm (1), and the lower end of the supporting arm (1) is fixedly connected with the front part of a rear wheel set arm (8);
a first connecting seat (4) is fixedly arranged at the front end of the front wheel set arm (3), a first traveling wheel pair (6) is arranged at the lower part of the first connecting seat (4), a first hydraulic cylinder (13) is fixedly arranged at the top of the first connecting seat (4), a controller is in control connection with the first hydraulic cylinder (13), a frame plate is fixedly arranged at the top of the first hydraulic cylinder (13), the frame plate is of a structure which is through from front to back and is provided with an upper opening, a sliding rod (14) extending along the left-right direction penetrates through the frame plate, and the sliding rod (14) is slidably arranged in the sliding groove (102);
the rear end of the rear wheel set arm (8) is provided with a second connecting seat (9), the bottom of the second connecting seat (9) is provided with a fourth traveling wheel set (12), and the bottom of the fourth traveling wheel set (12) is flush with the bottom of the first traveling wheel set (6).
2. The large-span inspection robot according to claim 1, wherein: the bottom of the first connecting seat (4) is rotatably connected with the upper sharp corner of the first triangular plate (5), the first triangular plate (5) can swing back and forth around the bottom of the first connecting seat (4), the first traveling wheel pair (6) is arranged at the front sharp corner of the first triangular plate (5), and the rear sharp corner of the first triangular plate (5) is provided with the second traveling wheel pair (7);
the bottom of second connecting seat (9) is connected with the last closed angle of second set square (10) rotation, and second set square (10) can be around the bottom longitudinal swing of second connecting seat (9), and the preceding closed angle department of second set square (10) is equipped with third travelling wheel pair (11), and the rear closed angle department at second set square (10) is established to fourth travelling wheel pair (12).
3. The large-span inspection robot according to claim 1 or 2, wherein: the camera shooting mechanism comprises a servo motor (15), a controller is in control connection with the servo motor (15), the bottom of the servo motor (15) is fixedly connected with the top of a bottom plate (25), a protective cover (16) is fixedly arranged on an output shaft of the servo motor (15), the protective cover (16) is of a cylindrical structure with a lower opening, the protective cover (16) is covered outside the servo motor (15), and a gap is reserved between the bottom of the protective cover (16) and the bottom plate (25);
the top of the protective cover (16) is provided with a high-definition camera (19), and the controller is in signal connection with the high-definition camera; the servo motor (15) is used for pushing the high-definition camera (19) to rotate 360 degrees in the horizontal plane.
4. The large-span inspection robot according to claim 3, wherein: the top of the protective cover (16) is fixedly provided with a first hinge seat (17) and a third hinge seat (22), and the first hinge seat (17) is positioned in front of the third hinge seat (22);
the first hinge seat (17) is hinged with the lower end of the mounting plate (20), and the mounting plate (20) can swing back and forth around a hinge point with the first hinge seat (17);
the high-definition camera (19) is fixedly arranged on the front side of the mounting plate (20);
the rear portion of mounting panel (20) is fixed to be equipped with articulated seat of second (18), and articulated the being connected of the upper end of articulated seat of second (18) and second pneumatic cylinder (21), second pneumatic cylinder (21) are for following to the back, from the top down extend, and the lower extreme and the articulated connection of third articulated seat (22) of second pneumatic cylinder (21), controller and second pneumatic cylinder (21) control connection.
5. A large-span inspection robot according to claim 1 or 4, characterized in that: the bottom plate (25) is fixedly provided with a support rod (24), the top of the support rod (24) is fixedly provided with a solar cell panel (23), and the solar cell panel (23) is electrically connected with a mobile power supply in the equipment box (26).
6. The large-span inspection robot according to claim 5, wherein: the mobile power supply is a solar storage battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211240355.9A CN115675686A (en) | 2022-10-11 | 2022-10-11 | Large-span inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211240355.9A CN115675686A (en) | 2022-10-11 | 2022-10-11 | Large-span inspection robot |
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| Publication Number | Publication Date |
|---|---|
| CN115675686A true CN115675686A (en) | 2023-02-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211240355.9A Pending CN115675686A (en) | 2022-10-11 | 2022-10-11 | Large-span inspection robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117224332A (en) * | 2023-11-10 | 2023-12-15 | 江苏浙泰机电科技有限公司 | Nursing bed for patient |
-
2022
- 2022-10-11 CN CN202211240355.9A patent/CN115675686A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117224332A (en) * | 2023-11-10 | 2023-12-15 | 江苏浙泰机电科技有限公司 | Nursing bed for patient |
| CN117224332B (en) * | 2023-11-10 | 2024-02-06 | 江苏浙泰机电科技有限公司 | Nursing bed for patient |
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