CN206085053U - Robot is patrolled and examined to power distribution station intelligence - Google Patents
Robot is patrolled and examined to power distribution station intelligence Download PDFInfo
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- CN206085053U CN206085053U CN201621062585.0U CN201621062585U CN206085053U CN 206085053 U CN206085053 U CN 206085053U CN 201621062585 U CN201621062585 U CN 201621062585U CN 206085053 U CN206085053 U CN 206085053U
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Abstract
The utility model provides a robot is patrolled and examined to power distribution station intelligence which includes, the robot, stand in terminal and remote terminal, wherein, the robot comprises movement module and detection module, and movement module hangs and walks on the overhead track, the some settings of respectively deploying to ensure effective monitoring and control of illegal activities along the power distribution station in of overhead track, detection module is used for carrying out to the the patrolling and examining a little of respectively deploying to ensure effective monitoring and control of illegal activities, surveys, control, failure diagnosis, early warning task, the terminal is used for controlling the robot walking and detection, storage and communication in standing, remote terminal receives centralized monitoring is carried out to real -time on -site image video, the detection data of terminal conveying in standing. The utility model discloses can reduce by a wide margin that patrol and examine the cost of labor and the frequency is patrolled and examined in the improvement, improve and patrol and examine the reliability of the data, authenticity, accuracy as a result, collect all kinds of control data, make strong data support with declaring in advance for big data analysis.
Description
Technical field
This utility model is related to power distribution station intelligent inspection robot, it is adaptable to which power distribution station substitutes manual inspection, realizes intelligence
Automatic detecting operation.
Background technology
Power distribution station website quantity is more, Daily Round Check task weight, under traditional operation and management mode, is primarily present problems with：
Patrol and examine cost of labor high.Power distribution station website quantity is more, and has a very wide distribution, cause patrol officer need long-time,
Interior shuttle on a large scale；And part website check out procedure is loaded down with trivial details and subregion traffic is not smooth, when causing patrol officer most of
Between be lost in the middle of the process of deallocation power plant site, patrol and examine inefficiency.
Professional skill has high demands.Power distribution station belongs to high pressure place, and partly the project of patrolling and examining has professional technical ability to personnel
And skill requirement is higher, while under traditional patrol mode, causing efficient staff's long-time to carry out the work of low technical technical ability
Make, waste of human resource is serious.
Patrol and examine project single.Different projects of patrolling and examining not only need various professional skills and experience, and need various phases
The specialized instrument and equipment of pass coordinates；Under Traditional Man patrol mode, realize more difficult.
Patrol and examine data reliability low.Traditional manual inspection, for patrolling and examining, process monitoring means are few, due to patrol officer or
Other factorses, patrol and examine unpunctual, comprehensive, and the situation such as missing inspection, few inspection occurs often；Detection data entered manually recorded, paper
The approach such as transmission, its accuracy are uncontrollable.
Emergency situations response speed is slow.Under traditional operation and management mode, when emergency situations occur, because not first-hand
In-situ data, therefore the first step needs personnel assigned；Second step is assigned personnel and goes and finds out what's going on to scene, the tissue maintenance of the 3rd step
Personnel are to scene rush to repair；Whole process is time-consuming longer, and response speed is slow.
Data accumulation collects difficulty.Under Traditional Man patrol mode, Monitoring Data classification is few, and the Monitoring Data cycle is longer,
Patrol and examine data reliability simultaneously low, it is impossible to be that strong data supporting is carried out in big data analysis and anticipation.
The content of the invention
The purpose of this utility model is to provide a kind of power distribution station intelligent inspection robot, can be greatly lowered and patrol and examine people
Work cost and raising patrol frequency；The reliability of result data, verity, accuracy are patrolled and examined in raising；All kinds of monitoring datas are collected,
It is that strong data supporting is carried out in big data analysis and anticipation.
To reach above-mentioned purpose, the technical solution of the utility model is：
A kind of power distribution station intelligent inspection robot, which includes, robot body, stand interior terminal and remote terminal；Wherein, institute
State robot body to be made up of motion module and detection module, motion module is suspended on overhead track and walks；Overhead track edge
The interior setting of respectively deploying to ensure effective monitoring and control of illegal activities of power distribution station；Detection module is used to perform to the patrolling and examining, detecting, monitoring a little of respectively deploying to ensure effective monitoring and control of illegal activities, fault diagnosis, early warning
Warning task；In standing, terminal is used to control robot body walking and detects, stores and communicate；In standing described in remote terminal reception
The real-time live image/video of terminal transmission, detection data carry out Centralized Monitoring.
Preferably, a multi-functional communication module is provided with terminal in the station, wired communication interface, 4G communication groups are set in which
Wireless communication assembly in part and station, for controlling robot body walking and detecting, store and communicate；Described in remote terminal reception
In standing, the real-time live image/video of terminal transmission, detection data carry out Centralized Monitoring.
Preferably, the wired communication interface makes remote terminal pass through wireline mode docking station by optical fiber or communication cable
Interior terminal, carries out patrolling and examining operation so as to control inspection machine human body；The 4G communication components make remote terminal communicate by 4G
Terminal in mode long distance wireless docking station, carries out patrolling and examining operation and information exchange so as to control inspection machine human body；By station
Interior wireless communication components, are made Intelligent mobile equipment be directly attached with terminal in station, are entered so as to control inspection machine human body
Row patrols and examines operation and information exchange.
Preferably, the computer utility of control inspection machine human body is installed on the mobile terminal including mobile terminal also
Program, by terminal in 4G communication modes long distance wireless docking stations, so as to control inspection machine human body carry out patrolling and examining operation and
Information exchange.
Preferably, the remote terminal includes Intelligent mobile equipment, arranges mobile terminal for receiving, in control station in which
The real-time live image/video of terminal transmission, the computer applied algorithm of detection data.
Further, tester, infrared tester, intelligent visual detection instrument, real time imaging are put in the detection module office of including
At least one of transport module, temperature humidity detector, abnormal sound survey meter.
Also, the motion module of the robot body includes, be suspended on walk on overhead track trolley body, be arranged at
The positioner for patrolling and examining elevating mechanism and crusing robot on trolley body；The detection module is arranged at an instrument cabin
Interior, the instrument cabin is arranged at patrols and examines on elevating mechanism, and by patrolling and examining elevating mechanism oscilaltion, exists along track with trolley body
Patrolled and examined between respectively deploying to ensure effective monitoring and control of illegal activities a little back and forth.
Further, the trolley body includes, frame, including two blocks of vertically disposed side plates and be connected to two on the inside of biside plate
Two pieces of horizontal end plates at end；The biside plate lower central sets groove, and slot opening one end sets connecting plate and is connected to biside plate, recessed
Connection through hole is set on channel opening other end side plate；Two deflecting roller groups, are respectively arranged on two pieces of horizontal end plates of the frame, each
Deflecting roller group includes that U-frame frame, its bottom are pivotally connected on the horizontal end plate, and two upper lateral part of U-frame frame sets connecting hole,
Two middle side parts set installation through-hole；Two deflecting rollers, are movably connected on the U-shaped framework upper connection hole by rotating shaft respectively；
Two deflecting rollers are located at the overhead track both sides respectively, and the overhead track is I-shape construction, and two deflecting rollers are located at respectively
On the upper surface of the overhead track I-shape construction lower flange；Two side directive wheels, are respectively arranged at the U-frame frame both sides
In the biside plate installation through-hole at middle part, side directive wheel axis and deflecting roller vertical axis；Described in two side directive wheels bear against
The side of overhead track I-shape construction lower flange；Drive wheel bracket, which is a rectangular frame, and both sides are central to arrange through hole,
Drive wheel bracket one end is movably connected on the connection through hole of the frame biside plate lower recess open at one end by connection rotating shaft,
Spring is set under the drive wheel bracket other end, and the spring other end is fixed on the company that described frame biside plate slot opening one end is arranged
On fishplate bar；Friction driving roller, is equipped with driving wheel by through hole of the rotary shaft with drive wheel bracket both sides central authorities
Central authorities in frame；Friction driving roller upper surface is resisted against the bottom surface of the overhead track I-shape construction lower flange；Motor, its output
Described in axle Jing, side plate lower recess is connected to rotary shaft on the friction driving roller.
Preferably, the deflecting roller, side directive wheel adopt steel skeleton Surface coating polyurethane.
Preferably, the correspondence side directive wheel is provided with a fixed frame, and the side directive wheel is movably connected on institute by rotating shaft
Fixed frame is stated, the fixed frame is fixed in the installation through-hole of the U-frame frame side plate.
Preferably, the motor is servomotor or motor.
Preferably, described to patrol and examine elevating mechanism, which includes winding mechanism and elevating mechanism；Wherein, the winding mechanism bag
Include, seat board, both sides respectively arrange a reel bearing thereon, are connected under the frame of the trolley body by connector；Volume
Cylinder, is arranged on the seat board between two winding drum bearing by its two ends rotating shaft；Three are opened up along its length uniformly on reel
The installation slotted eye arranged for steel wire rope and steel wire rope briquetting thereon；It is corresponding, three are opened up on seat board and is worn for steel wire rope
Through hole；Three steel wire rope one end are fixed on reel through the installation slotted eye by steel wire rope briquetting, and rotating around on the reel,
Three steel wire rope other end through holes from seat board are extended downwardly from；Line ball roller, is set in parallel in the reel side, line ball roller
On rotating shaft two ends the reel side is arranged at by bearing, to the appearance planted for rotating shaft should be set on the bearing at rotating shaft two ends
Groove is put, and, the limit shaft of rotating shaft is positioned against in containing groove and spring thereon is arranged, and line ball roller is made all the time against volume
Cylinder；Motor and reductor, are arranged at the reel opposite side, and its output shaft is parallel with reel；Two travelling gears, wherein one
Individual travelling gear is arranged in the rotating shaft of described reel one end, and another travelling gear is arranged at the speed reducer output shaft, and two pass
Moving gear is intermeshed；The elevating mechanism includes that base plate is connected in parallel under the seat board of the winding mechanism；Three liftings
Bar, arranges in equilateral triangle, elevating lever is made up of some telescopic joints and forms Collapsible structure；Telescopic joint top is connected to described
Under base plate；Correspondence often saves telescopic joint and sets a lifting connecting plate, and three through holes worn for telescopic joint are set on the lifting connecting plate；Three
Steel wire rope adapter sleeve, is sheathed on three elevating lever telescopic joints bottom, three steel wire rope other ends threeway from seat board
Hole extends downwardly from being connected to the three steel wire ropes adapter sleeve；One connecting bottom board, is arranged at three elevating lever lower ends, described
The instrument cabin for arranging detection module is connected to the connecting bottom board.
Preferably, also including incremental encoder, which is arranged on the outside of the travelling gear of described reel one end, and by a support
It is connected on the seat board；Incremental encoder input shaft is coaxially connected in the reel rotating shaft.
Preferably, the bearing side at described line ball roller wheel shaft two ends is connected to the two winding drum bearing side.
Preferably, the through hole worn for three elevating lever lower ends is set on described connecting bottom board, three elevating lever lower ends are worn
Crossing connecting bottom board has nut locking.
Preferably, the bearing at described line ball roller wheel shaft two ends is structure as a whole with the two winding drum bearing.
Preferably, described motor is motor.
Preferably, described reductor is planetary reducer.
Also, also setting battery automatic charging and flame proection, I-shaped overhead track and vehicle with walking machine thereon are arranged at
On structure；Which includes, charger fixing device, and which includes a base plate and the protective casing being arranged on；It is defeated that protective casing sets input
Outgoing interface；Charger is arranged in the protective casing；Four railway clamping blocks, are arranged in the two ends of the base plate bottom surface two-by-two
Centre, railway clamping block are L-shaped, and each two railway clamping blocks positioned at base plate two ends are oppositely arranged, and are inserted in I-shaped hanging respectively
Hang under track upper limb；Two charging devices, are respectively arranged at base plate bottom surface central authorities both sides, and the charging device includes, fixed plate,
It is perpendicularly fixed on the base plate；Two collets, are arranged at fixed plate bottom both sides, the appearance of bottom end opening are set in collets
Chamber is put, containing cavity bottom symmetrical sets two through hole, a fix bar is set in each through hole；Charging electrode on two, is respectively arranged at institute
State the accommodating intracavity of two collets；On each, charging electrode is connected to two fix bars, and a spring, spring are arranged in each fix bar
Two ends bear against charging electrode and containing cavity diapire；Twice charging electrodes and its corresponding fixed block, are arranged at vehicle with walking machine
On structure；The fixed block is fixed in walking mechanism, and fixed block upper surface arranges containing groove, and the lower charging electrode is embedded at
In the containing groove, and the upper charging electrode of correspondence, contact against upper and lower charging electrode by spring.
Preferably, the upper and lower charging electrode is copper electrode.
Preferably, described copper electrode Surface coating silver coating.
Further, the positioner of described crusing robot, the inspection machine human body include being suspended on overhead
The trolley body walked on track, it is arranged at patrolling and examining elevating mechanism, being arranged at this and patrol and examine on elevating mechanism on trolley body
Detection module；Which includes, ambulation positioning device and lift locating device；Wherein, the ambulation positioning device includes, some positioning
Bar code, is respectively arranged on the overhead track of the confession trolley body walking；Bar code scan sensor, arranges the dolly machine
On structure, bar code scan sensor is electrically connected with the control system of the connection trolley body；The lift locating device, including,
Laser range sensor, is arranged on the trolley body；Laser range sensor is electrically connected with the control of the connection trolley body
System processed；Distance measurement feedback plate, arranges the detection module patrolled and examined on elevating mechanism, and below laser range sensor.
Preferably, described bar code scan sensor passes through control system of the ethernet communication interaction to the trolley body
System；The trolley body passes through servomotor and friction pulley coordinates overhead track to realize walking.
Preferably, described laser range sensor passes through control system of the ethernet communication interaction to the trolley body
System；The trolley body makes elevating mechanism precise positioning by servomotor coiling steel wire.
This utility model power distribution station intelligent inspection robot is specifically applied to the monitoring of power distribution station, it is alternative be accomplished manually it is many
Kind is patrolled and examined, is detected, monitoring, fault diagnosis, early warning and alarming function.
This utility model intelligent inspection robot system is mainly made up of three parts：Robot body, stand in terminal and
Remote terminal.Wherein robot body is used to perform task, and interior terminal of standing is used to control, store and communicate, and remote terminal is carried out
Centralized Monitoring.
Robot body is mainly made up of motion module and detection module, and motion module is suspended on overhead track and walks,
It is equipped with elaborate servo drive system, there is provided X, two axle of Z-direction are accurately positioned；The integrated various high capability instruments of detection module, including
The testers such as tester, infrared tester, intelligent visual detection, real time imaging transmission, temperature humidity detection, abnormal sound detection are put in office
Device.
Motor platform of this utility model by an autonomous operation, carries one group of high-performance detecting instrument, to setting in station
It is standby to carry out round-the-clock monitoring, the installation number of the fixed sensor and instrument needed for " intellectual power distributing station ", nothing can be greatly reduced
Need to connect up in a large number, existing switch cubicle need not be transformed, while comprehensive operation cost is reduced, improve advanced operation level.
This utility model power distribution station intelligent inspection robot is run along trapped orbit, according to patrol plan to detecting target
Patrol one by one, by the intellectual analysis to measurement result, make appropriate reaction in time.After deployment, the rate of patrolling and examining is up on schedule
100%.
By motor belt motor dynamic friction driving wheel, friction driving roller when this utility model intelligent inspection robot trolley body is walked
Raceway surface is close to by spring, friction driving roller is not limited by orbit error with track and is remained stable effective contact
To transmit power.
When track turns are walked, car body is imported curved track, wide-angle steered wheel by wide-angle steered wheel group
Group is provided with side directive wheel and steering bearing joint to adjust dolly direction of advance, smooth flat when realizing that track turns are walked
Surely.
This utility model patrols and examines elevating mechanism lifting to be needed to meet three steel wire rope synchronization liftings, it is ensured that hoistable platform begins
Eventually with horizontal plane level；Lifting motor is rotated by gear drive band movable reel, and reel is moved while rotation in the axial direction
It is dynamic；When reel turn around in the axial direction move a pitch (wirerope diameter), steel wire rope by pinpoint output, reel edge
Synchronicity and logic that axial direction moves to meet spiral；Prevent steel wire rope loose also in reel side setting line-pressing machine
Structure, line ball roller are affiliated on reel and reel constant speed movement, while line ball roller passes through two spring mechanisms all the time by steel wire rope
It is pressed on reel.
This utility model is had the advantage that compared with prior art or good effect：
1. distribution platform area intelligent patrol detection complexes, including sensing system, patrol and examine motor system and station end control system
System, realizes power distribution station " intelligently, remotely, nobody " monitoring and patrols and examines.
2. it is greatly lowered and patrols and examines cost of labor and improve patrol frequency.Power distribution station intelligent patrol detection complexes are arranged on station
Point is internal, automatically station equipment can be carried out patrolling and examining operation, it is not necessary to which patrol officer reaches the spot, is patrolled so as to be greatly lowered
Inspection cost of labor, while patrol frequency can be set according to demand.
3. efficient staff's demand is few.By power distribution station intelligent patrol detection complexes, management personnel stay indoors
On backstage to multiple website monitor in real time, and can obtain patrolling and examining report；When occurring abnormal, professional passes through in office interior
Intelligent patrol detection complexes can be obtained by first hand in-situ data, reduce to efficient staff's demand.
4. it is comprehensive that project is patrolled and examined.Power distribution station intelligent patrol detection complexes can be equipped with various monitoring instrument equipment simultaneously, while
Station equipment is monitored, various monitoring datas is collected, and the data for same tested measurement equipment is had relatedness.
5. data reliability true and accurate is patrolled and examined.Power distribution station intelligent patrol detection complexes are fully-automatic equipment, and it is arduous, no not to be afraid of
Be afraid of loaded down with trivial details, can on time, guarantee both quality and quantity complete patrol task, detection data automatic clustering is uploaded, data reliability true and accurate,
And ageing height.
6. emergency situations response speed is fast.When occurring abnormal in website, power distribution station intelligent patrol detection complexes can and
When real-time image scene video, detection data etc. are provided；Repair personnel before setting out it is known that the situation at scene, so as to
Greatly improve first-aid repair efficiency and specific aim.
7. precisely analysis, real-time communication.Server is compared to the data for collecting calculating, and data are with most timely side
Formula from each Surveillance center that a little focus on that deploys to ensure effective monitoring and control of illegal activities, to detect entry zero slip, zero propagation, zero distortion.Handss are analyzed based on big data
Under section, all kinds of monitoring datas are collected, be that strong data supporting is carried out in big data analysis and anticipation.
8. this utility model trolley body can realize the automatically walk of the curved track zig zag below 500 millimeters of radius；
9. this utility model trolley body can be met according to the concrete size adjustment trundle spacing of orbit radius
Automatically walk under the curved track of different radii specification；
10. the achievable positional accuracy of this utility model trolley body reaches 1mm, significantly improves automatic walking trolley
Range of application；
11. this utility model trolley body high-speed cruisings are steady, and operation noise is low, life-span length；
12. this utility model trolley bodies solve space waste caused by smooth turn, to plant produced and workshop
Layout brings great convenience.
13. this utility model are patrolled and examined elevating mechanism and realize a plurality of steel wire rope synchronization lifting, steel wire rope ordered arrangement, steel wire rope
Will not be loose；Ensure the stability and efficient accuracy of lifting；
14. this utility model are patrolled and examined elevating mechanism and adequately achieve high efficiency and polarization accuracy, solve traditional
Hydraulic pressure, Pneumatic elevation occupy the big problem in space, lift intelligent elevated operability, reduce consuming, cost-effective, improve product
Matter, strengthens the precision of control.
Description of the drawings
Structural representations of the Fig. 1 for this utility model embodiment.
Fig. 2 is three-dimensional Fig. 1 of robot body in this utility model embodiment.
Fig. 3 is three-dimensional Fig. 2 of robot body in this utility model embodiment.
Fig. 4 is the front view of robot body in this utility model embodiment.
Left views of the Fig. 5 for Fig. 4.
Fig. 6 is the axonometric chart of trolley body in this utility model embodiment.
Fig. 7 is the exploded view of trolley body in this utility model embodiment.
Fig. 8 is that the decomposition of trolley body deflecting roller group in this utility model embodiment is intended to.
Fig. 9 is the use state schematic diagram of trolley body in this utility model embodiment.
Figure 10 is to patrol and examine the axonometric chart of elevating mechanism in this utility model embodiment.
Figure 11 is to patrol and examine the front view of elevating mechanism in this utility model embodiment.
Figure 12 is the axonometric chart that this utility model embodiment patrols and examines winding mechanism in elevating mechanism.
Figure 13 is the front view that this utility model embodiment patrols and examines winding mechanism in elevating mechanism.
Left views of the Figure 14 for Figure 13.
A-A sectional views of the Figure 15 for Figure 13.
Figure 16 is the axonometric chart of battery automatic charging and flame proection in this utility model embodiment.
Figure 17 is the front view of battery automatic charging and flame proection in this utility model embodiment.
Side views of the Figure 18 for Figure 17.
Figure 19 is the exploded view of battery automatic charging and flame proection charging device in this utility model embodiment.
Sectional views of the Figure 20 for charging electrode on battery automatic charging in this utility model embodiment and flame proection.
Figure 21 is the use state schematic diagram of battery automatic charging and flame proection in this utility model embodiment.
Front views of the Figure 22 for Figure 21.
Specific embodiment
Referring to Fig. 1～Figure 22, a kind of power distribution station intelligent inspection robot of the present utility model, which includes, robot body
100th, terminal 200 and remote terminal 300 in standing；Wherein, the robot body 100 is by motion module 101 and detection module 102
Composition, motion module 101 are suspended on overhead track 400 and walk；Overhead track 400 is respectively deployed to ensure effective monitoring and control of illegal activities along power distribution station and to be arranged；Inspection
Surveying module 102 is used to perform to the patrolling and examining, detecting, monitoring a little of respectively deploying to ensure effective monitoring and control of illegal activities, fault diagnosis, early warning and alarming task；Terminal 200 in standing
Walk and detect, store and communicate for controlling robot body 100；Remote terminal 300 receives terminal 200 in the station and transmits
Real-time live image/video, detection data carry out Centralized Monitoring.
Preferably, a multi-functional communication module is provided with terminal 200 in the station, wired communication interface 201,4G is set in which
Wireless communication assembly 203 in communication part 202 and station, walks and detects, stores and communicate for controlling robot body 100；
Remote terminal 300 receives the real-time live image/video of terminal transmission, detection data in the station and carries out Centralized Monitoring.
Preferably, the wired communication interface 201 makes remote terminal connect by wireline mode by optical fiber or communication cable
Go to the station to meet somebody interior terminal 200, carry out patrolling and examining operation so as to control inspection machine human body 100；The 4G communication components 202 make long-range end
End by terminal in 4G communication modes long distance wireless docking stations, so as to control inspection machine human body 100 carry out patrolling and examining operation and
Information exchange；By wireless communication components 203 in station, Intelligent mobile equipment 600 is made directly to be attached with terminal 200 in station,
Carry out patrolling and examining operation and information exchange so as to control inspection machine human body 100.
Preferably, the meter of control inspection machine human body 100 is installed on the mobile terminal 500 including mobile terminal 500 also
Calculation machine application APP, by terminal 200 in 4G communication modes long distance wireless docking stations, so as to control inspection machine human body
100 carry out patrolling and examining operation and information exchange.
Preferably, the remote terminal 300 includes Intelligent mobile equipment, and mobile terminal is arranged in which to be used to receive, control
The real-time live image/video of the transmission of terminal 200, the computer applied algorithm APP of detection data in standing.
Further, tester, infrared tester, in real time intelligent visual detection instrument, figure are put in 102 office of including of the detection module
As at least one of transport module, temperature humidity detector, abnormal sound survey meter.
Also, the motion module 101 of the robot body 100 includes, the dolly machine walk on overhead track 400 is suspended on
Structure A, the positioner C for patrolling and examining elevating mechanism B and crusing robot being arranged on trolley body A；The detection module 102
It is arranged in an instrument cabin 1021, the instrument cabin 1021 is arranged at patrols and examines on elevating mechanism B, and by patrolling and examining on elevating mechanism B
Lower lifting, is patrolled and examined along overhead track 400 between respectively deploying to ensure effective monitoring and control of illegal activities a little back and forth with trolley body A.
The trolley body A includes,
Frame 1, including two blocks of vertically disposed side plates 11,11 ' and is connected to two pieces of two ends on the inside of biside plate 11,11 '
Horizontal end plate 12,12 '；The biside plate 11,11 ' lower centrals set groove 111,111 ', and groove 111,111 ' open at one end set
Connecting plate 13 is connected to biside plate 11,11 ', set on slot opening other end side plate 11,11 ' connection through hole 112 (with side plate 11 as
Example, similarly hereinafter)；
Two deflecting roller groups 2,2 ', are respectively arranged on 1 two pieces of horizontal end plates of the frame 12,12 ', each deflecting roller group 2
(by taking deflecting roller group 2 as an example, similarly hereinafter) includes,
U-frame frame 21, its bottom are pivotally connected on the horizontal end plate 12, and 21 liang of upper lateral parts of U-frame frame set connecting hole
211 (by taking side connecting hole 211 as an example, similarly hereinafter), middle part sets installation through-hole 212,212 '；
Two deflecting rollers 22,22 ', are movably connected at 21 top connecting hole 211 of the U-frame frame by rotating shaft respectively；
Two deflecting rollers are located at 400 both sides of overhead track respectively, and the overhead track 400 is I-shape construction, two deflecting rollers 22,
22 ' are located on the upper surface of 400 I-shape construction lower flange of the overhead track respectively；
Two side directive wheels 23,23 ', are respectively arranged at the biside plate installation through-hole of 21 liang of middle side parts of U-frame frame
212nd, in 212 ', side directive wheel 23,23 ' axis and deflecting roller 22,22 ' vertical axis；Two side directive wheels 23,23 ' are supported respectively
By the side of 400 I-shape construction lower flange of the overhead track；
Drive wheel bracket 3, which is a rectangular frame, and both sides central authorities setting through hole 31,32,3 one end of drive wheel bracket are logical
Cross connection rotating shaft 4 and be movably connected on 1 biside plate 11 of the frame, 11 ' lower recess 111, the connection through hole of 111 ' open at one end
112, spring 5 is set under 3 other end of drive wheel bracket, 5 other end of spring is fixed on 1 biside plate 11 of the frame, 11 ' grooves
On the connecting plate 13 that 111 open at one end are arranged；
Friction driving roller 6, by the through hole 31,32 in rotary shaft 7 and 3 both sides of drive wheel bracket central authorities be equipped with
Central authorities in drive wheel bracket 3；
Motor 8, described in its output shaft Jing, 11 lower recess 111 of side plate is connected to rotary shaft 7 on the friction driving roller 6.
Further, the correspondence side directive wheel 23 (by taking side directive wheel 23 as an example, similarly hereinafter) is provided with a fixed frame 24, the side
Directive wheel 23 is movably connected on the fixed frame 24 by rotating shaft 25, and the fixed frame 24 is fixed on 21 side of U-frame frame
In the installation through-hole 212 of plate.
Preferably, the motor 8 is servomotor or motor.
Preferably, the deflecting roller 22,22 ', side directive wheel 23,23 ' is using steel skeleton Surface coating polyurethane.
Preferably, described in the utility model to patrol and examine elevating mechanism B, which includes winding mechanism 9 and elevating mechanism 15；
The winding mechanism 9, including,
Seat board 91, both sides are each thereon arranges a reel bearing 911,911 '；
Reel 92, is arranged on the seat board 91 between two winding drum bearing 911,11 ' by its two ends rotating shaft；On reel 92
Three installation slotted eyes 921 (by taking installation through-hole 921 as an example, similarly hereinafter) and thereon that for steel wire rope arrange are opened up along its length uniformly
Steel wire rope briquetting 922；It is corresponding, three through holes worn for steel wire rope 99 are opened up on seat board 1；
Three 99 one end of steel wire rope are fixed on reel 92 through the installation slotted eye 921 by steel wire rope briquetting 922, and respectively
It is set around on reel 92, three 99 other ends of steel wire rope are extended downwardly from from through hole on seat board 91；
Line ball roller 93, is set in parallel in side on the reel 92, and the rotating shaft two ends on line ball roller 93 pass through bearing
931st, 32 92 side of the reel is arranged at, to setting for housing that rotating shaft is planted on two bearings 931,932 at rotating shaft two ends
Groove 9311,9321, and, the limit shaft 94,94 ' of rotating shaft is positioned against in containing groove 9311,9321 and bullet thereon is arranged
Spring 95,95 ', makes line ball roller 93 all the time against reel 92；
Motor 96 and reductor 97, are arranged at 92 opposite side of the reel, and its output shaft is parallel with reel 92；Two pass
Moving gear 98,98 ', one of travelling gear 98 is arranged in the rotating shaft of 92 one end of the reel, and another travelling gear 98 ' sets
97 output shaft of the reductor is placed in, two travelling gear 98,98 ' is intermeshed；
Elevating mechanism 15, including base plate 151 is connected in parallel under the seat board 91 of the winding mechanism 9；Three elevating levers
152, to arrange in equilateral triangle, elevating lever 152 is made up of some telescopic joints 1521 and forms Collapsible structure；Telescopic joint top connects
It is connected under the base plate 151；Correspondence often saves telescopic joint 1521 and sets a lifting connecting plate 153, sets three on the lifting connecting plate 153
For the through hole that telescopic joint wears；Three steel wire rope adapter sleeves 154, are sheathed on three elevating levers, the 152 telescopic joint bottom, and described three
99 other end of root steel wire rope extends downwardly from being connected to the three steel wire ropes adapter sleeve 154 from three through holes on seat board 91；
One connecting bottom board 155, is arranged at three elevating levers, 152 lower end, the instrument cabin of the setting detection module 102
1021 are connected to the connecting bottom board 155.
Further, also including incremental encoder 156, which is arranged on the outside of the travelling gear 98 of 92 one end of the reel, and
It is connected on the seat board 91 by a support 157；156 input shaft of incremental encoder is coaxially connected in 92 rotating shaft of the reel.
Preferably, the bearing side at described line ball roller wheel shaft two ends is connected to the two winding drum bearing side.
Preferably, the through hole worn for three elevating lever lower ends is set on described connecting bottom board, three elevating lever lower ends are worn
Crossing connecting bottom board has nut locking.
Preferably, the bearing at described line ball roller wheel shaft two ends is structure as a whole with the two winding drum bearing.
Preferably, described motor is motor.
Preferably, described reductor is planetary reducer.
It is electric to the logical DC24V of servomotor, Serve Motor Control is controlled by monolithic device, motor main story or reversion is realized,
Lifting motor is rotated by gear drive band movable reel, and reel is moved while rotation in the axial direction；When reel turns around
A pitch (and wirerope diameter) is moved in the axial direction, and steel wire rope is in axial direction moved by pinpointing output, reel
To meet the synchronicity rolled and loosen and logic of three steel wire ropes.To prevent steel wire rope from loosely also doing in reel side
Thread depressing mechanism, line ball roller are affiliated on reel and reel constant speed movement, while line ball roller passes through two groups of spring mechanisms all the time
Steel wire rope is pressed on reel；Elevating lever rise/fall, lifting rod type is driven to inlay for aluminum pipe and exempt from profit by winding mechanism
Slide-bar set, it is ensured that elevating mechanism has certain rigidity and precision；Cabin of patrolling and examining for crusing robot provides a reliable and stable survey
Amount environment.
Also, also setting battery automatic charging and flame proection 16, I-shaped overhead track 400 and row thereon are arranged at
Walk in mechanism；Which includes,
Charger fixing device 161, which includes a base plate 1611 and the protective casing 1612 being arranged on；Protective casing
1612 set input/output interface 16121；Charger is arranged in the protective casing 1612；
Four railway clamping blocks 162,162 ', 163,163 ', are arranged at 1611 bottom surface two ends of base plate central authorities, rail two-by-two
Road gripping block 162 is L-shaped, and each two railway clamping blocks positioned at 1611 two ends of base plate are oppositely arranged, and are inserted in respectively I-shaped
Under 400 upper limb of overhead track；
Two charging devices 164,164 ', are respectively arranged at 1611 bottom surface of base plate central authorities both sides, the charging device 164
(by taking charging device 164 as an example, similarly hereinafter) includes that fixed plate 1641 is perpendicularly fixed on the base plate 1611；Two collets
1642nd, 1642 ', it is arranged in 1641 bottom both sides of the fixed plate, collets 1642 (by taking collets 1642 as an example, similarly hereinafter) and sets
The containing cavity 16421 of bottom end opening, 16421 bottom symmetrical of containing cavity set two through hole 16422,16422 ', each through hole 16422,
Fix bar 1643,1643 ' is set in 16422 '；Charging electrode 1644,1644 ' on two, are respectively arranged at two collets
1642nd, 1642 ' accommodating intracavity；On each, charging electrode 1644 is connected to two fix bar fix bars 1643,1643 ', and each is solid
A spring 1645,1645 ' is arranged in fixed pole 1643,1643 ', spring 1645,1645 ' two ends bear against charging electrode 1644
With 16421 diapire of containing cavity；
Twice charging electrodes 165,165 ' and its corresponding fixed block 166,166 ', are arranged in walking mechanism；It is described solid
Determine block 166,166 ' to be fixed in walking mechanism, 166 upper surface of fixed block arranges containing groove 1661, the lower charging electrode
165 are embedded in the containing groove 1661, and the upper charging electrode 1644 of correspondence, make upper and lower charging by spring 1645,1645 '
Electrode 1644,165 is contacted against.
Preferably, the upper and lower charging electrode 1644,165 is copper electrode.
Preferably, the copper electrode Surface coating silver coating, strengthens conductive and antioxidant effect, significantly reduces electrode and connect
The spark discharge of tactile moment.
Further, the positioner C of described crusing robot, the inspection machine human body 100 include being suspended on
The trolley body A that walks on overhead track 400, it is arranged at patrolling and examining elevating mechanism B, being arranged at this and patrol and examine liter on trolley body A
Detection module 102 on descending mechanism B；Which includes, ambulation positioning device 17 and lift locating device 18；Wherein,
The ambulation positioning device 17 includes that some positioning bar codes 171 are respectively arranged at the confession trolley body walking
Overhead track 400 on；Bar code scan sensor 172, is arranged on the trolley body A, and bar code scan sensor is electrically connected with
Connect the control system of the trolley body A；
The lift locating device 18, including laser range sensor 181 is arranged on the trolley body A；Laser Measuring
The control system of the connection trolley body is electrically connected with away from sensor；Distance measurement feedback plate 182, arrange described in patrol and examine elevating mechanism
Detection module 102 on B, and be located at below laser range sensor 181.
Preferably, described bar code scan sensor 172 passes through control of the ethernet communication interaction to the trolley body A
System；The trolley body A passes through servomotor and friction pulley coordinates overhead track 400 to realize walking.
Preferably, described laser range sensor 181 passes through control of the ethernet communication interaction to the trolley body A
System；The trolley body A makes to patrol and examine elevating mechanism B precise positionings by Serve Motor Control Wound steel rope 99.
This utility model crusing robot is moved on trapped orbit (being fixed on required region of patrolling and examining) by motion module
Whole crusing robot is transferred load to by the position of inspection device, then detection module is transferred load to is patrolled and examined target by the mechanism that upgrades
Position, detection module work, obtains patrolling and examining data.
Detection module is equipped with various detecting instruments and (puts test, video monitoring, abnormal sound comprising visual identity, infrared detecting, office
The all or part detecting instrument such as detection, Temperature and Humidity, smoke detection).Detection module and terminal wireless communication in station, receive
Result is patrolled and examined in work order, feedback.Terminal is equipped with friendly man machine interface in standing, operator can Local or Remote (by remote
Journey terminal) operate crusing robot to carry out patrolling and examining operation, obtain patrolling and examining data.At station, interior terminal can carry out patrol strategy setting,
Crusing robot can automatically generate examining report according to the entirely autonomous operation of patrol strategy.
Claims (24)
1. a kind of power distribution station intelligent inspection robot, it is characterised in that include, robot body, stand in terminal and remote terminal；
Wherein, the robot body is made up of motion module and detection module, and motion module is suspended on overhead track and walks；Overhead
Track is respectively deployed to ensure effective monitoring and control of illegal activities along power distribution station and to be arranged；Detection module is used to performing to the patrolling and examining, detecting, monitoring a little of respectively deploying to ensure effective monitoring and control of illegal activities, failure is examined
Disconnected, early warning and alarming task；In standing, terminal is used to control robot body walking and detects, stores and communicate；Remote terminal reception
In the station, the real-time live image/video of terminal transmission, detection data carry out Centralized Monitoring.
2. power distribution station intelligent inspection robot as claimed in claim 1, it is characterised in that be provided with more than in terminal in the station
Function communication module, sets wireless communication assembly in wired communication interface, 4G communication parts and station, for controlling robot sheet in which
Body is walked and is detected, stores and communicates；The real-time live image/video of terminal transmission, detection number in standing described in remote terminal reception
According to carrying out Centralized Monitoring.
3. power distribution station intelligent inspection robot as claimed in claim 2, it is characterised in that the wired communication interface passes through light
Fine or communication cable makes remote terminal by terminal in wireline mode docking station, is patrolled and examined so as to control inspection machine human body
Operation；The 4G communication components make remote terminal by terminal in 4G communication modes long distance wireless docking stations, so as to control to patrol and examine
Robot body carries out patrolling and examining operation and information exchange；By station in wireless communication components, make Intelligent mobile equipment directly with station
Interior terminal is attached, and carries out patrolling and examining operation and information exchange so as to control inspection machine human body.
4. power distribution station intelligent inspection robot as claimed in claim 2, it is characterised in that also including mobile terminal, the movement
The computer applied algorithm of control inspection machine human body is installed, by whole in 4G communication modes long distance wireless docking stations in terminal
End, carries out patrolling and examining operation and information exchange so as to control inspection machine human body.
5. power distribution station intelligent inspection robot as claimed in claim 1, it is characterised in that the remote terminal includes intelligent sliding
Dynamic equipment, arrange in which mobile terminal be used to receiving, the real-time live image/video of terminal transmission in control station, detection data
Computer applied algorithm.
6. power distribution station intelligent inspection robot as claimed in claim 1, it is characterised in that survey is put in the detection module office of including
In examination instrument, infrared tester, intelligent visual detection instrument, real time imaging transport module, temperature humidity detector, abnormal sound survey meter extremely
Few one kind.
7. power distribution station intelligent inspection robot as claimed in claim 1, it is characterised in that the motion mould of the robot body
Block includes, be suspended on walk on overhead track trolley body, be arranged at patrolling and examining elevating mechanism and patrol and examine on trolley body
The positioner of robot；The detection module is arranged in an instrument cabin, and the instrument cabin is arranged at patrols and examines on elevating mechanism, and
By patrolling and examining elevating mechanism oscilaltion, patrolled and examined between respectively deploying to ensure effective monitoring and control of illegal activities a little back and forth along track with trolley body.
8. power distribution station intelligent inspection robot as claimed in claim 7, it is characterised in that the trolley body includes,
Frame, including two blocks of vertically disposed side plates and it is connected to two pieces of horizontal end plates at two ends on the inside of biside plate；The both sides
Plate lower central sets groove, and slot opening one end sets connecting plate and is connected to biside plate, sets connection on slot opening other end side plate
Through hole；
Two deflecting roller groups, are respectively arranged on two pieces of horizontal end plates of the frame, and each deflecting roller group includes,
U-frame frame, its bottom are pivotally connected on the horizontal end plate, and two upper lateral part of U-frame frame sets connecting hole, and two middle side parts set
Installation through-hole；
Two deflecting rollers, are movably connected on the U-shaped framework upper connection hole by rotating shaft respectively；Two deflecting rollers distinguish position
In the overhead track both sides, the overhead track is I-shape construction, and two deflecting rollers are respectively positioned at the overhead track I-shaped
On the upper surface of shape structure lower flange；
Two side directive wheels, are respectively arranged in the biside plate installation through-hole of two middle side part of U-frame frame, side directive wheel axis
With deflecting roller vertical axis；Two side directive wheels bear against the side of the overhead track I-shape construction lower flange；
Drive wheel bracket, which is a rectangular frame, and both sides are central to arrange through hole, and drive wheel bracket one end is lived by connection rotating shaft
The dynamic connection through hole for being connected to the frame biside plate lower recess open at one end, arranges spring under the drive wheel bracket other end,
The spring other end is fixed on the connecting plate that described frame biside plate slot opening one end is arranged；
Friction driving roller, is equipped with drive wheel bracket by through hole of the rotary shaft with drive wheel bracket both sides central authorities
Central authorities；Friction driving roller upper surface is resisted against the bottom surface of the overhead track I-shape construction lower flange；
Motor, side plate lower recess described in its output shaft Jing are connected to rotary shaft on the friction driving roller.
9. power distribution station intelligent inspection robot as claimed in claim 8, it is characterised in that the deflecting roller, side directive wheel are adopted
With steel skeleton Surface coating polyurethane.
10. power distribution station intelligent inspection robot as claimed in claim 8, it is characterised in that the correspondence side directive wheel is provided with
One fixed frame, the side directive wheel are movably connected on the fixed frame by rotating shaft, and the fixed frame is fixed on the U-frame
In the installation through-hole of frame side plate.
11. power distribution station intelligent inspection robots as claimed in claim 8, it is characterised in that the motor be servomotor or
Motor.
12. power distribution station intelligent inspection robots as claimed in claim 7, it is characterised in that described to patrol and examine elevating mechanism, its bag
Include,
Winding mechanism, including,
Seat board, both sides are each thereon arranges a reel bearing, is connected under the frame of the trolley body by connector；
Reel, is arranged on the seat board between two winding drum bearing by its two ends rotating shaft；Uniformly opened on reel along its length
If three installation slotted eyes arranged for steel wire rope and steel wire rope briquetting thereon；It is corresponding, three are opened up on seat board and supplies steel wire rope
The through hole for wearing；Three steel wire rope one end are fixed on reel through the installation slotted eye by steel wire rope briquetting, and rotating around being located at
On reel, three steel wire rope other end through holes from seat board are extended downwardly from；
Line ball roller, is set in parallel in the reel side, and the rotating shaft two ends on line ball roller are arranged at the volume by bearing
Cylinder side, to the containing groove planted for rotating shaft should be set on the bearing at rotating shaft two ends, and, rotating shaft is positioned against in containing groove
Limit shaft and be arranged spring thereon, make line ball roller all the time against reel；
Motor and reductor, are arranged at the reel opposite side, and its output shaft is parallel with reel；
Two travelling gears, one of travelling gear are arranged in the rotating shaft of described reel one end, and another travelling gear is arranged at
The speed reducer output shaft, the intermeshing of two travelling gears；
Elevating mechanism, including,
Base plate, is connected in parallel under the seat board of the winding mechanism；
Three elevating levers, arrange in equilateral triangle, elevating lever is made up of some telescopic joints and forms Collapsible structure；Telescopic joint top
End is connected under the base plate；Correspondence often saves telescopic joint and sets a lifting connecting plate, sets three and supply telescopic joint on the lifting connecting plate
The through hole for wearing；
Three steel wire rope adapter sleeves, are sheathed on three elevating lever telescopic joints bottom, and three steel wire rope other ends are from seat board
Upper three through hole extends downwardly from being connected to the three steel wire ropes adapter sleeve；
One connecting bottom board, is arranged at three elevating lever lower ends, and the instrument cabin of the setting detection module is connected to the connection
Base plate.
13. power distribution station intelligent inspection robots as claimed in claim 12, it is characterised in that also including incremental encoder, its
It is arranged on the outside of the travelling gear of described reel one end, and is connected on the seat board by a support；Incremental encoder input shaft
It is coaxially connected in the reel rotating shaft.
14. power distribution station intelligent inspection robots as claimed in claim 12, it is characterised in that described line ball roller wheel shaft two
The bearing side at end is connected to the two winding drum bearing side.
15. power distribution station intelligent inspection robots as claimed in claim 12, it is characterised in that set confession on described connecting bottom board
The through hole that three elevating lever lower ends wear, three elevating lever lower ends have nut locking through connecting bottom board.
16. power distribution station intelligent inspection robots as claimed in claim 12, it is characterised in that described line ball roller wheel shaft two
The bearing at end is structure as a whole with the two winding drum bearing.
17. power distribution station intelligent inspection robots as claimed in claim 12, it is characterised in that described motor is stepping
Motor.
18. power distribution station intelligent inspection robots as claimed in claim 12, it is characterised in that described reductor subtracts for planet
Fast machine.
19. power distribution station intelligent inspection robots as claimed in claim 7, it is characterised in that also set battery automatic charging and prevent
Quick-fried protection device, is arranged in I-shaped overhead track and walking mechanism thereon；Which includes,
Charger fixing device, which includes a base plate and the protective casing being arranged on；Protective casing sets input/output interface；Fill
Electrical equipment is arranged in the protective casing；
Four railway clamping blocks, are arranged at base plate bottom surface two ends central authorities two-by-two, and railway clamping block is L-shaped, positioned at base plate two
Each two railway clamping blocks at end are oppositely arranged, and are inserted under I-shaped hanging rail upper limb respectively；
Two charging devices, are respectively arranged at base plate bottom surface central authorities both sides, and the charging device includes,
Fixed plate, is perpendicularly fixed on the base plate；
Two collets, are arranged at fixed plate bottom both sides, and the containing cavity of bottom end opening, containing cavity bottom pair are set in collets
Title sets two through hole, and a fix bar is arranged in each through hole；
Charging electrode on two, is respectively arranged at the accommodating intracavity of two collets；On each, charging electrode is connected to two fixations
Bar, is arranged a spring in each fix bar, both ends of the spring bears against charging electrode and containing cavity diapire；
Twice charging electrodes and its corresponding fixed block, are arranged in walking mechanism；The fixed block is fixed in walking mechanism,
Fixed block upper surface arranges containing groove, and the lower charging electrode is embedded in the containing groove, and the upper charging electrode of correspondence, leads to
Crossing spring contacts against upper and lower charging electrode.
20. power distribution station intelligent inspection robots as claimed in claim 19, it is characterised in that the upper and lower charging electrode is
Copper electrode.
21. power distribution station intelligent inspection robots as claimed in claim 20, it is characterised in that described copper electrode Surface coating
Silver coating.
22. power distribution station intelligent inspection robots as claimed in claim 7, it is characterised in that described crusing robot is determined
Position device, the inspection machine human body include being suspended on walk on overhead track trolley body, be arranged on trolley body
Patrol and examine elevating mechanism, be arranged at the detection module patrolled and examined on elevating mechanism；Characterized in that, including,
Ambulation positioning device, including,
Some positioning bar codes, are respectively arranged on the overhead track of the confession trolley body walking；
Bar code scan sensor, is arranged on the trolley body, and bar code scan sensor is electrically connected with the connection trolley body
Control system；
Lift locating device, including,
Laser range sensor, is arranged on the trolley body；Laser range sensor is electrically connected with the connection trolley body
Control system；
Distance measurement feedback plate, arranges the detection module patrolled and examined on elevating mechanism, and below laser range sensor.
23. power distribution station intelligent inspection robots as claimed in claim 22, it is characterised in that described bar code scan sensor
By ethernet communication interaction to the trolley body control system；The trolley body is matched somebody with somebody by servomotor and friction pulley
Close overhead track and realize walking.
24. power distribution station intelligent inspection robots as claimed in claim 22, it is characterised in that described laser range sensor
By ethernet communication interaction to the trolley body control system；The trolley body is made by servomotor coiling steel wire
Elevating mechanism precise positioning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201621062585.0U CN206085053U (en) | 2016-09-19 | 2016-09-19 | Robot is patrolled and examined to power distribution station intelligence |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621062585.0U CN206085053U (en) | 2016-09-19 | 2016-09-19 | Robot is patrolled and examined to power distribution station intelligence |
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| CN106239515A (en) * | 2016-09-19 | 2016-12-21 | 上海永乾机电有限公司 | A kind of power distribution station intelligent inspection robot |
| CN107525535A (en) * | 2017-08-17 | 2017-12-29 | 宁夏软件工程院有限公司 | A kind of high reliability sampler |
| CN108170071A (en) * | 2017-12-28 | 2018-06-15 | 江苏久创电气科技有限公司 | A kind of monitor control system and method |
| CN108258614A (en) * | 2017-12-31 | 2018-07-06 | 江苏密斯欧智能科技有限公司 | A kind of suspension type crusing robot control method |
| CN108258615A (en) * | 2017-12-31 | 2018-07-06 | 江苏密斯欧智能科技有限公司 | A kind of transmission line of electricity leakage current crusing robot device |
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| CN110450131A (en) * | 2019-08-14 | 2019-11-15 | 华能国际电力股份有限公司汕头电厂 | A kind of robot track and installation method for defeated coal inspection |
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| CN111648584A (en) * | 2020-06-15 | 2020-09-11 | 上海雅跃智能科技有限公司 | Inspection robot based on climbing frame |
| CN111927466A (en) * | 2020-06-30 | 2020-11-13 | 中铁工程服务有限公司 | Shield construction tunnel inspection robot |
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| CN106239515A (en) * | 2016-09-19 | 2016-12-21 | 上海永乾机电有限公司 | A kind of power distribution station intelligent inspection robot |
| CN107525535A (en) * | 2017-08-17 | 2017-12-29 | 宁夏软件工程院有限公司 | A kind of high reliability sampler |
| CN108321726A (en) * | 2017-12-20 | 2018-07-24 | 南京理工大学 | A kind of crusing robot power double rod type telescopic device |
| CN108381564A (en) * | 2017-12-20 | 2018-08-10 | 南京理工大学 | A kind of modular crusing robot of multiple degrees of freedom |
| CN108170071A (en) * | 2017-12-28 | 2018-06-15 | 江苏久创电气科技有限公司 | A kind of monitor control system and method |
| CN108258614B (en) * | 2017-12-31 | 2020-06-16 | 江苏密斯欧智能科技有限公司 | Control method of suspension type inspection robot |
| CN108258615A (en) * | 2017-12-31 | 2018-07-06 | 江苏密斯欧智能科技有限公司 | A kind of transmission line of electricity leakage current crusing robot device |
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| CN108501744A (en) * | 2018-03-26 | 2018-09-07 | 中信重工开诚智能装备有限公司 | A kind of explosion-proof charging system and charging method for explosion-proof wheeled crusing robot |
| CN108608399A (en) * | 2018-04-24 | 2018-10-02 | 南京理工大学 | A kind of crusing robot of Master-Slave Distributive Control |
| WO2020034618A1 (en) * | 2018-08-15 | 2020-02-20 | 科大智能电气技术有限公司 | Novel and lightweight track-type multifunctional inspection robot system |
| CN108838989A (en) * | 2018-08-15 | 2018-11-20 | 科大智能电气技术有限公司 | A kind of rail mounted be accurately positioned in real time can fast and stable walking light and handy chassis |
| CN110035263A (en) * | 2019-05-08 | 2019-07-19 | 南京科瑞节能环保科技有限公司 | A kind of coke oven basement automatic inspection device |
| CN110113573A (en) * | 2019-05-08 | 2019-08-09 | 南京科瑞节能环保科技有限公司 | A kind of monitoring device for coke oven basement inspection |
| CN110450131A (en) * | 2019-08-14 | 2019-11-15 | 华能国际电力股份有限公司汕头电厂 | A kind of robot track and installation method for defeated coal inspection |
| CN110450131B (en) * | 2019-08-14 | 2021-01-12 | 华能国际电力股份有限公司汕头电厂 | Robot track for coal conveying inspection and installation method |
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| CN111648584A (en) * | 2020-06-15 | 2020-09-11 | 上海雅跃智能科技有限公司 | Inspection robot based on climbing frame |
| CN111927466A (en) * | 2020-06-30 | 2020-11-13 | 中铁工程服务有限公司 | Shield construction tunnel inspection robot |
| CN112045690A (en) * | 2020-09-08 | 2020-12-08 | 无锡工艺职业技术学院 | Intelligent inspection robot for rail transit |
| CN112045690B (en) * | 2020-09-08 | 2021-06-04 | 无锡工艺职业技术学院 | Intelligent inspection robot for rail transit |
| CN117086864A (en) * | 2023-08-02 | 2023-11-21 | 上海迪成智能科技有限公司 | Inspection robot safety fault accurate positioning method for monorail crane operation |
| CN117086864B (en) * | 2023-08-02 | 2024-02-27 | 上海迪成智能科技有限公司 | Inspection robot safety fault accurate positioning method for monorail crane operation |
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