CN203697890U - Car body chassis for transformer substation polling robot - Google Patents

Abstract

The substation inspection robot car body chassis of the utility model includes a front wheel and a rear wheel, the front wheel is a follower wheel, and the rear wheel is a driving wheel connected with a driving motor; it also includes a vehicle frame and a suspension damping unit, and the suspension damping unit includes One end is fixedly connected to the suspension beam, damping spring and swing arm of the inverted V-shaped structure of the frame; the other end of the suspension beam is hinged to one end of the swing arm so that the swing arm has a degree of freedom of rotation in the vertical plane, and the swing arm A damping spring is connected between the other end of the swing arm and the top of the cantilever beam, and a rear wheel and a drive motor are installed on the swing arm. The beneficial effect is that the suspension support is adopted, which can buffer and absorb vibrations, reduce mechanical looseness of the robot and fatigue of parts, and prolong the maintenance period of the robot. Avoid excessive vibration on the gimbal on the robot to ensure that the captured video is stable and clear. At the same time, the frame adopts a multi-layer structure of beam frame and front wheel mounting plate, which effectively lowers the center of gravity of the car body while ensuring the installation height of the front wheels, and improves the stability of the car body during operation.

Description

A Substation Inspection Robot Car Body Chassis

technical field

The utility model relates to the technical field of robot engineering, relates to the robot engineering technology in the field of outdoor inspection of substations, in particular to a vehicle body chassis of a substation inspection robot.

Background technique

Substation is the hub of power supply and transmission system, its safe and stable operation is related to the normal operation of national production and life. Substation equipment inspection is a basic work to effectively ensure the safe operation of substation equipment and improve the reliability of power supply. It is mainly divided into routine inspection and special inspection. Routine inspections are at least twice a day; special inspections are generally carried out in high temperature weather, heavy load operation, before the operation of new equipment, and after strong winds, fog, ice and snow, hail, and thunderstorms. In addition, the maintenance personnel also use the handheld infrared thermal imager to measure the infrared temperature of the substation equipment once every half a month. The existing inspection methods are mainly manual inspections, manual or hand-held palmtop computer records, and each inspection time is more than 2 hours. China has a vast territory, and many substations have very harsh geographical conditions, such as high altitude, extreme heat, extreme cold, strong wind, dust, rain, etc. It is very difficult to conduct long-term equipment inspections outdoors only manually. Manual patrol inspection has obvious shortcomings such as high labor intensity, low work efficiency, scattered inspection quality, and high management cost. The inspection quality is closely related to the responsibility of the inspection personnel. Hidden dangers.

With the rapid development of robot technology, it is possible to combine robot technology with power applications, and based on the outdoor robot mobile platform, it is possible to carry testing equipment instead of manual equipment inspection. The robot carries sensors such as visible light cameras and infrared thermal imaging cameras to detect the temperature, liquid level, appearance and other states of the detection points of the substation. Greatly reduce the labor intensity of testing personnel and improve the safety of power supply in substations.

At present, many domestic substations have successfully applied inspection robots to perform routine inspection tasks to replace manual inspections. The inspection robot carries sensors such as visible light cameras and infrared thermal imaging cameras to detect the temperature, liquid level, appearance and other states of the detection points of the substation. The detection data is transmitted to the detection center through the wireless network, so as to detect and prevent power supply failures of the substation in time. It also greatly reduces the labor intensity of inspection personnel and improves the safety of power supply in substations. However, at present, electric power inspection robots need to work outdoors for a long time to achieve automatic inspections. Some travel routes in substations are very narrow, such as 90-degree turns, requiring flexible turning and small size. However, part of the terrain is uneven, causing the robot to easily vibrate, which has a negative impact on the mechanical structure connection of the robot and the work of electrical equipment. For the above-mentioned complex environmental factors, the existing inspection robot trolleys cannot effectively deal with them.

Utility model content

The utility model solves the special needs of the robot trolley in the substation inspection project, which needs to face complex and bumpy ground environment and requires high flexibility and small size, and slows down the mechanical loosening caused by vibration, the fatigue of parts, and the loose contact of electronic components and other faults. , prolong the maintenance cycle of the robot, and at the same time avoid the excessive vibration of the pan/tilt on the robot, and ensure the stability and clarity of the captured video. A substation inspection robot chassis is proposed.

In order to achieve the above object, the technical solution of the present utility model is: the substation inspection robot car body chassis, including front wheels and rear wheels, is characterized in that the front wheels are follower wheels, and the rear wheels are driving wheels connected with the drive motor; It includes a vehicle frame and a suspension damping unit. The suspension damping unit includes a suspension beam with an inverted V-shaped structure with one end fixedly connected to the vehicle frame, a damping spring and a swing arm; the other end of the suspension beam is hinged to one end of the swing arm so that The swing arm has a degree of freedom of rotation in a vertical plane, and a damping spring is connected between the other end of the swing arm and the top of the cantilever beam, and a rear wheel and a drive motor are installed on the swing arm.

Further, the vehicle frame includes a beam frame and a front wheel mounting plate, and the front wheel mounting plate is fixed to the beam frame through a right-angle sheet metal and is higher than the horizontal plane where the beam frame is located.

Further, a mounting plate is connected between the two inverted V-shaped suspension beams and the hinged end of the cantilever.

Further, a plurality of swing arms parallel to the swing arms and having the same degree of freedom are hinged on the mounting plate.

Further, the front wheel is a universal follower wheel.

Further, the rear tires are solid wheels.

Beneficial effects of the utility model: the utility model adopts suspension support, which can buffer and absorb vibration. Reduce mechanical looseness of the robot, fatigue of parts, loose contact of electronic components and other faults, and extend the maintenance cycle of the robot. At the same time, avoid excessive vibration on the gimbal of the robot to ensure that the captured video is stable and clear. At the same time, the frame adopts the multi-layer structure of the beam frame and the front wheel mounting plate, which effectively reduces the center of gravity of the car body and improves the stability of the car body during operation while ensuring the installation height of the front wheels.

Description of drawings

Fig. 1 is the structural representation of the robot car body chassis of the present utility model;

Fig. 2 is the schematic diagram of the structure of the suspension damping unit of the robot car body chassis of the present invention;

Fig. 3 is a lateral front view of the chassis of the robot car body of the present invention.

Detailed ways

Below in conjunction with accompanying drawing and embodiment the utility model is described in further detail.

As shown in Fig. 1, Fig. 2 and Fig. 3, the vehicle body chassis of the substation inspection robot in this embodiment includes front wheels 8 and rear wheels 7, wherein the front wheels are follower wheels, and the rear wheels are drive wheels connected with the drive motor . The car body chassis also includes a vehicle frame and a suspension damping unit, and the suspension damping unit includes a suspension beam 4, a damping spring 6 and a swing arm 5 with one end fixedly connected to the inverted V-shaped structure of the vehicle frame; The other end is hinged with an end of the swing arm so that the swing arm has a degree of freedom of rotation in the vertical plane, and a damping spring is connected between the other end of the swing arm and the top of the cantilever beam, and the rear wheel and the drive motor are installed on the swing arm. In the free state, the swing arm is in a substantially horizontal position.

In order to improve the turning flexibility of the vehicle body, especially to realize large-angle turning with a smaller radius, the follower front wheel adopts a universal follower wheel in this embodiment. The car body is driven by the rear wheels when turning, and the front wheels follow the steering.

In order to keep the center of gravity of the chassis of the car body lower to ensure the stability of the car body, the frame of the chassis of this embodiment includes a beam frame 1 and a front wheel mounting plate 2, and the front wheel mounting plate is fixed to the beam frame through a right-angle sheet metal And higher than the horizontal plane where the beam frame is located. This design mainly considers enough installation space for the front wheels, especially for the universal wheel structure, the installation height is usually higher. In order to provide sufficient installation platform space for the drive motor, control circuit and other functional units, the chassis of this embodiment preferably connects the installation plate 3 between the two inverted V-shaped suspension beams and the hinged end of the cantilever. A plurality of swing arms parallel to the swing arms and having the same degree of freedom are hinged on the mounting plate. A mounting platform structure supported by shock-absorbing springs is formed by connecting the mounting plate and the additional swing arm, which is more conducive to the installation of additional functional units. In order to adapt to long-term continuous work outdoors, the chassis preferably adopts solid tires. The steering of the car body adopts rear wheel differential drive to realize small radius turning.

The suspension support adopted by the car body chassis of this embodiment can buffer and absorb vibrations, reduce mechanical looseness of the robot, fatigue of parts, loose and poor contact of electronic components and other failures, and prolong the maintenance period of the robot. At the same time, avoid excessive vibration on the gimbal of the robot to ensure that the captured video is stable and clear. At the same time, the frame adopts the multi-layer structure of the beam frame and the front wheel mounting plate, which effectively reduces the center of gravity of the car body and improves the stability of the car body during operation while ensuring the installation height of the front wheels. The solid rear wheels have the advantages of no inflation, puncture resistance, high load, and are suitable for long-term outdoor work. Moreover, the V-shaped suspension beam in the chassis of this embodiment extends upward from the lower plane of the vehicle frame to form a shock absorbing system, which does not affect the height of the center of gravity of the chassis of the vehicle body. The suspension structure is compact, which reduces the volume of the trolley, and has obvious buffering and shock absorption effects. At the same time, it can ensure that the four wheels touch the ground at the same time, which improves the reliability and controllability of the robot.

The above descriptions are only specific implementations of the present utility model, and those skilled in the art will understand that various modifications, replacements and changes can be made to the present utility model within the technical scope disclosed in the present utility model. Therefore, the utility model should not be limited by the above examples, but should be limited by the scope of protection of the claims.

Claims (6)

1. A substation inspection robot car body chassis, comprising a front wheel and a rear wheel, is characterized in that the front wheel is a follower wheel, and the rear wheel is a drive wheel connected with a drive motor; it also includes a vehicle frame and a suspension damping unit, The suspension damping unit includes a suspension beam with an inverted V-shaped structure, one end of which is fixedly connected to the vehicle frame, a damping spring and a swing arm; the other end of the suspension beam is hinged to one end of the swing arm so that the swing arm can rotate in a vertical plane degree of freedom, a damping spring is connected between the other end of the swing arm and the top of the cantilever beam, and a rear wheel and a drive motor are installed on the swing arm. 2. The vehicle body chassis of the substation inspection robot according to claim 1, wherein the vehicle frame includes a beam frame and a front wheel mounting plate, and the front wheel mounting plate is fixed to the beam frame through a right-angle sheet metal and is higher than the horizontal plane where the beam frame is located . 3. The vehicle body chassis of the substation inspection robot according to claim 1 or 2, wherein a mounting plate is connected between the two inverted V-shaped suspension beams and the hinged end of the cantilever. 4. The vehicle body chassis of the substation inspection robot according to claim 3, wherein a plurality of swing arms parallel to the swing arms and having the same degree of freedom are hinged on the mounting plate. 5. The vehicle body chassis of the substation inspection robot according to claim 1 or 2, wherein the front wheels are universal follower wheels. 6. The vehicle body chassis of the substation inspection robot according to claim 5, wherein the rear tires are solid wheels.