CN202025365U - Structural design of patrol robot in transformer substation - Google Patents
Structural design of patrol robot in transformer substation Download PDFInfo
- Publication number
- CN202025365U CN202025365U CN201120008046XU CN201120008046U CN202025365U CN 202025365 U CN202025365 U CN 202025365U CN 201120008046X U CN201120008046X U CN 201120008046XU CN 201120008046 U CN201120008046 U CN 201120008046U CN 202025365 U CN202025365 U CN 202025365U
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- inspection robot
- substation inspection
- vehicle
- gps
- travelling car
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- 210000001015 abdomen Anatomy 0.000 claims abstract description 8
- 238000001514 detection method Methods 0.000 claims abstract description 5
- 238000007689 inspection Methods 0.000 claims description 19
- 238000010276 construction Methods 0.000 claims description 8
- 230000003028 elevating effect Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 239000011521 glass Substances 0.000 description 3
- 206010057855 Hypotelorism of orbit Diseases 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 230000002950 deficient Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
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Abstract
The utility model relates to a structural design of a patrol robot in a transformer substation, and belongs to the technical field of an industrial mobile robot. The structural design comprises a track robot transport vehicle driven by a motor. The track robot transport vehicle is provided with a GPS (global positioning system), an electronic compass navigation module, a battery system, a control circuit module, an image acquisition unit and an infrared temperature detector, etc. To finish the patrolling of the equipment in the transformer substation, the acquired data, the mobile vehicle position information, the action status information and other information are sent to a remote control center. A driving wheel and a driven wheel are arranged on a triangular bracket. A holder capable of holding a detection device can lift and also rotate at the angle of 135 degrees from left to right at most. The mobile vehicle adopts the GPS and the electronic compass navigation, therefore, when the mobile vehicle walks, an infrared patrolling sensor is arranged at the abdomen of the vehicle to correct the walking path of the vehicle.
Description
Technical field
The utility model relates to a kind of substation inspection robot construction design, belongs to industrial mobile robot technology field.
Background technology
Continuous progress along with equipment technology and computer network science, the Automation of Electric Systems degree has had large increase, realized the remote monitoring of transformer station's main equipment, the workload that substation operation is safeguarded significantly reduces the cycle stretch-out of overhaul of the equipments and operational inspection.A lot of transformer stations have realized few people or unattended, but all also exist to a certain extent because of nobody in time monitors, makes an inspection tour a series of problems of bringing at the scene, and particularly evident in the performance of outdoor transformer station.The substation inspection robot then can patrol and examine outdoor high-tension apparatus at unmanned or few man on duty transformer station with control, the method for operation flexibly, in time finds and the abatement apparatus defective that equipment safety operation is guaranteed in the generation of preventing accident.
Summary of the invention
The purpose of this utility model provides a kind of substation inspection robot construction design that is applicable to, it adopts GPS, electronic compass navigation module and image acquisition, the infrared temperature detecting instrument of installing on motor-driven caterpillar robot delivery dolly and the dolly etc., finish inspecting substation equipment work, and, data and the information such as travelling car position, operating state that collect are sent to remote control center by wireless router.
The technical solution adopted in the utility model is:
This utility model substation inspection robot comprises the travelling car as carrier, and GPS, electronic compass navigation module are equipped with in car body inside, battery module, wireless routing to communicate module and control circuit module etc.
Travelling car adopts the crawler travel mode, and it is on the leg-of-mutton support that driving wheel and engaged wheel are installed in profile, at dolly car body belly two motors is installed, and drives left and right sides driving wheel respectively by travelling belt, drives crawler travel.On the driving wheel of travelling car tachogenerator is installed, the rotating speed of control both sides driving wheel is finished the craspedodrome or the turning of dolly.
Travelling car adopts GPS, electronic compass navigation, when walking, by the infrared tracking sensor that the car body belly is installed, revises the carriage walking path.
This crusing robot adopts thermal infrared imager and visible light camera, finishes temperature detection and image acquisition, and its outer container shell is installed on the The Cloud Terrace, and The Cloud Terrace is held up by elevating lever.Motor drives screw mandrel rotation by being installed in the elevating lever protecting sheathing can make The Cloud Terrace finish lifting action.The Cloud Terrace is reference with the dolly dead ahead, maximum 135 ° of angular turn about can doing.
Travelling car carries rechargeable battery, and rechargeable battery is installed in the battery case, and information such as battery electric quantity, battery the temperature inside the box can show on the LCDs at dolly rear portion.
The travelling car front and rear is equipped with infrared distance sensor respectively, can measure the distance between dolly and the institute's checkout equipment in real time, and hypotelorism is reported to the police, and avoids taking place the accident of dolly collision equipment.
Description of drawings
Below in conjunction with Figure of description the technical solution of the utility model is described further, wherein:
Fig. 1 is the front elevation of the utility model substation inspection robot architecture design.
Fig. 2 is the left view of the utility model substation inspection robot architecture design.
Fig. 3 is the upward view of the utility model substation inspection robot architecture design.
Fig. 4 is the right view of the utility model substation inspection robot architecture design.
Among the figure: 1, search lamp, 2, damping spring, 3, the Athey wheel triangle support frame; 4, infrared tracking sensor, 5, crawler belt, 6, motor; 7, motor speed measuring sensor; 8, driving wheel, 9, travelling belt, 10, the battery charge interface; 11, The Cloud Terrace; 12, elevating lever protecting sheathing, 13, shooting instrument outer container shell, 14, LCDs; 15, power switch; 16, infrared distance sensor, 17, the hard glass baffle plate, 18, wiper; 19, thermal infrared imager; 20, visible light camera, 21, support engaged wheel, 22, walking passive gear.
Embodiment
The utility model is described in further detail below in conjunction with accompanying drawing.
With reference to Figure of description 1 to 4, the design of the utility model substation inspection robot construction comprises the crawler type travelling car as carrier, GPS, electronic compass navigation module, battery system, control circuit module, image acquisition, infrared temperature detection system and wireless routing to communicate module etc.
GPS, electronic compass navigation module are equipped with in this crusing robot car body inside, battery module, wireless routing to communicate module and control circuit module etc.
The substation inspection robot adopts the IEEE802.11 standard by wireless router, and data and the information such as travelling car position, operating state that collect are sent to remote control center.
Travelling car adopts the crawler travel mode, and dolly car body belly is equipped with two motors (6), drives left and right sides driving wheel (8) respectively by travelling belt (9), drives crawler belt (5) walking.Motor speed measuring sensor (7) is installed on driving wheel, and the rotating speed of control both sides driving wheel is finished the craspedodrome or the turning of dolly.It is (3) on the leg-of-mutton support that driving wheel and engaged wheel are installed in profile, and engaged wheel comprises support engaged wheel (21) and walking passive gear (22), supports engaged wheel and works to support crawler belt, and walking passive gear cooperates driving wheel to finish the walking action of travelling car.
The travelling car vehicle body links to each other with the crawler travel structure by damping spring (2), and crawler belt adopts rubber belt track, the skidding when avoiding by ice-patch surface.
The travelling car vehicle body is installed the motor place, is integral the groove shape, only stays wire hole, motor is embedded in the ventral outside, and when avoiding the motor mounting place to make open design, box house equipment is exposed in the air, it is inner dustproof to help car body, and motor is changed when damaging easily.
Travelling car adopts GPS, electronic compass navigation, when walking, by the infrared tracking sensor (4) that the car body belly is installed, revises the carriage walking path.Make an inspection tour the floor marking line that brush on the circuit waits width at the robot movement dolly, indicate identical between line width and travelling car belly four the infrared tracking sensors in centre (4), shown in Figure of description 3 apart from S.
When travelling car was walked along the sign line, middle four sensors can receive and indicate the infrared ray that line reflection is returned, and all the other four sensors then can not receive; When changing as if the sensor that receives reflected infrared, illustrate that the course of travelling car is offset, scalable both sides motor (6) rotating speed is revised.
Outside the infrared tracking sensor of travelling car belly (4), cover one deck hard glass baffle plate (17) prevents that infrared tracking sensor from being worn by the road surface foreign material, and wiper (18) is housed on the hard glass baffle plate.
Travelling car temperature detection and image capture module adopt thermal infrared imager (19) and visible light camera (20), and its outer container shell (13) is installed on the The Cloud Terrace (11), and The Cloud Terrace is held up by elevating lever.The elevating lever protecting sheathing is equipped with motor in (12), drives the screw mandrel rotation, can make The Cloud Terrace finish lifting action.The Cloud Terrace is reference with the dolly dead ahead, maximum 135 ° of angular turn about can doing.
Travelling car carries rechargeable battery, and rechargeable battery is installed in the battery case, and information such as battery electric quantity, battery the temperature inside the box can go up in the LCDs (14) at dolly rear portion and show.Power switch links to each other with relay, and the may command relay opens or closes the travelling car power supply.
The travelling car front and rear is equipped with infrared distance sensor (16) respectively, can measure the distance between dolly and the institute's checkout equipment in real time, and hypotelorism is reported to the police, and avoids taking place the accident of dolly collision equipment.
Claims (4)
1. substation inspection robot construction design comprises the crawler type travelling car as carrier, GPS, electronic compass navigation module, battery system, control circuit module, image acquisition, infrared temperature detection system and wireless router communication module etc.
2. substation inspection robot construction design according to claim 1 is characterized in that described travelling car adopts the crawler travel mode, and it is on the leg-of-mutton support that driving wheel and engaged wheel are installed in profile.
3. substation inspection robot construction design according to claim 1 is characterized in that, described travelling car adopts GPS, electronic compass navigation, when walking, by the infrared tracking sensor that the car body belly is installed, revises the carriage walking path.
4. substation inspection robot construction design according to claim 1, it is characterized in that, described substation inspection robot employing thermal infrared imager and visible light camera, the The Cloud Terrace liftable of lift-launch detecting instrument, maximum 135 ° of angular turn about also can doing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120008046XU CN202025365U (en) | 2011-01-07 | 2011-01-07 | Structural design of patrol robot in transformer substation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120008046XU CN202025365U (en) | 2011-01-07 | 2011-01-07 | Structural design of patrol robot in transformer substation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202025365U true CN202025365U (en) | 2011-11-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201120008046XU Expired - Lifetime CN202025365U (en) | 2011-01-07 | 2011-01-07 | Structural design of patrol robot in transformer substation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202025365U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102169602A (en) * | 2011-01-07 | 2011-08-31 | 东北电网有限公司沈阳超高压局 | Structural design of inspection robot of transformer substation |
| CN104843100A (en) * | 2015-04-30 | 2015-08-19 | 王英英 | All-terrain movable measurement robot |
| CN105549594A (en) * | 2016-02-03 | 2016-05-04 | 无锡博实自动输送系统有限公司 | Crawler belt type unmanned patrol inspection dolly |
| CN109501686A (en) * | 2018-11-08 | 2019-03-22 | 黄美红 | A kind of novel pilotless automobile navigation aids |
| CN109610964A (en) * | 2018-10-30 | 2019-04-12 | 深圳供电局有限公司 | Crusing robot is entered the room system control method |
| CN109676597A (en) * | 2018-11-01 | 2019-04-26 | 国网江西省电力有限公司检修分公司 | A kind of interior Gua Gui robot operating system |
-
2011
- 2011-01-07 CN CN201120008046XU patent/CN202025365U/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102169602A (en) * | 2011-01-07 | 2011-08-31 | 东北电网有限公司沈阳超高压局 | Structural design of inspection robot of transformer substation |
| CN104843100A (en) * | 2015-04-30 | 2015-08-19 | 王英英 | All-terrain movable measurement robot |
| CN105549594A (en) * | 2016-02-03 | 2016-05-04 | 无锡博实自动输送系统有限公司 | Crawler belt type unmanned patrol inspection dolly |
| CN109610964A (en) * | 2018-10-30 | 2019-04-12 | 深圳供电局有限公司 | Crusing robot is entered the room system control method |
| CN109676597A (en) * | 2018-11-01 | 2019-04-26 | 国网江西省电力有限公司检修分公司 | A kind of interior Gua Gui robot operating system |
| CN109501686A (en) * | 2018-11-08 | 2019-03-22 | 黄美红 | A kind of novel pilotless automobile navigation aids |
| CN109501686B (en) * | 2018-11-08 | 2021-09-14 | 山东新源高科汽车技术有限公司 | Novel navigation assistance device for unmanned vehicle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: MAINTENANCE BRANCH OF LIAONING ELECTRIC POWER CO., Free format text: FORMER OWNER: SHENYANG ULTRA HV BUREAU OF NORTHEAST CHINA GRID COMPANY LTD. Effective date: 20130521 Owner name: BEIJING JINGTONG WEIDA TECHNOLOGY CO., LTD. BEIJIN Free format text: FORMER OWNER: BEIJING JINGTONG WEIDA TECHNOLOGY CO., LTD. BEIJING HUADIAN FENGNIAO TECHNOLOGIES CO., LTD. Effective date: 20130521 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20130521 Address after: 110003 Liaoning Province glorious Street Heping District of Shenyang City No. 21 Patentee after: Maintenance Branch, Liaoning Power Co.,Ltd. Patentee after: Beijing Jingtong Weida Technology Co., Ltd. Patentee after: Beijing Huadian Fengniao Technologies Co., Ltd. Patentee after: State Grid Corporation of China Address before: 110003 Liaoning Province glorious Street Heping District of Shenyang City No. 21 Patentee before: NEG Shenyang HV Bureau Patentee before: Beijing Jingtong Weida Technology Co., Ltd. Patentee before: Beijing Huadian Fengniao Technologies Co., Ltd. |
|
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20111102 |