CN206161560U - Formula of crawling round steel lightning rod state inspection robot - Google Patents

Abstract

The utility model relates to a crawling round steel lightning rod state detection robot, which belongs to the technical field of electric power systems. Including the central support, the middle part of the central support is provided with a through hole, the edge is provided with a guide rail, and a detection module that can slide along the guide rail is provided on the guide rail; a crawling mechanism is fixedly installed on the central support, and the crawling mechanism is symmetrically arranged on the upper and lower sides of the central support It consists of a crawling arm with one end connected to the output shaft of the crawling arm motor. The other end of the crawling arm is provided with a roller. The motor of the crawling arm controls the opening and closing of the crawling arm in a direction perpendicular to the central support. A roller motor is installed on the crawling arm. The rollers are connected by a toothed belt, the roller motor drives the toothed belt to move, and the toothed belt drives the rollers to move. The utility model is installed on the round steel lightning rod and can move up and down along the lightning rod. During the movement, it can climb over the flange on the lightning rod. The state of the lightning rod is detected by the detection module that moves 360 degrees along the lightning rod. The result is intuitive and efficient.

Description

A crawling round steel lightning rod state detection robot

technical field

The utility model relates to a lightning rod detection device, in particular to a crawling round steel lightning rod state detection robot, which belongs to the technical field of electric power systems.

Background technique

As an electrical device that effectively prevents direct lightning strikes, lightning rods play a very important role in protecting the safety of personal equipment in substations. However, during the manufacturing process, lightning rods may have defects such as trachoma and cracks in the material or on the surface due to process problems, and are often affected by factors such as extreme temperatures, strong wind loads, rainwater invasion, and electrochemical corrosion during use. lead to aggravation of material defects. Especially for round steel lightning rods widely used in substations, the welds or flange joints between each section are more likely to be affected by the above factors and cause cracks or corrosion. If the investigation cannot be detected in time, it may cause the lightning rod to break , Collapse and other serious accidents have brought serious safety hazards to people and equipment in the substation. In recent years, accidents of breakage and collapse of lightning rods in domestic substations have occurred frequently, so it is necessary to effectively detect the structural state of lightning rods.

For substations with a voltage level of 220kV and above, independent lightning rods and frame lightning rods are mostly used at present. Lightning rod structures are mainly divided into round steel type and steel frame type. Steel frame type lightning rods are also divided into three-edged, four-edged, six-edged steel frames, etc. This type of lightning rod has a relatively stable structure and is easy to climb manually, and the detection methods are relatively mature; and because of the height and structure of the round steel lightning rod, it cannot be used by humans. Climbing also lacks effective detection methods. Most of them use telescopes, drones and other equipment to regularly inspect the surface status. Not only is it difficult to obtain status information intuitively and effectively, but it also consumes a lot of manpower and material resources, reducing work efficiency.

Utility model content

Based on the above reasons, the purpose of this utility model is to provide a crawling round steel lightning rod state detection robot, which can conveniently, intuitively and accurately obtain the surface state information of the lightning rod under the premise of ensuring the safety of the person and equipment, and save a lot of manpower and material costs. Improve work efficiency.

In order to achieve the above object, the technical means adopted in the utility model are:

A crawling round steel lightning rod state detection robot, including a central support, a through hole is provided in the middle of the central support, a guide rail is provided on the edge, and a detection module that can slide along the guide rail is provided on the guide rail; a crawling mechanism is fixedly installed on the central support , the crawling mechanism is symmetrically arranged on the upper and lower sides of the central support, which includes a crawling arm connected to the output shaft of the crawling arm motor at one end, and a roller at the other end of the crawling arm, and the crawling arm motor controls the crawling arm to open and close in a direction perpendicular to the central support; A roller motor is installed on the crawling arm, and the roller motor and the rollers are connected by a toothed belt. The roller motor drives the toothed belt to move, and the toothed belt drives the rollers to move.

The detection module includes a transmission mechanism sliding along the guide rail, and a camera is arranged on the transmission mechanism.

The guide rail is a T-shaped guide rail, and the transmission mechanism is engaged with the T-shaped guide rail, and the rollers on the transmission mechanism slide along the guide rail.

The crawling arm is divided into an upper crawling arm arranged on the upper surface of the central support and a lower crawling arm arranged on the lower surface of the central support, and three upper and lower crawling arms are arranged on each side, and three crawling arms on each side form a triangular structure ; The crawling arm is detachable.

The three crawling arms on each side are respectively connected by transverse fastening springs, and the vertical fastening springs are respectively connected between the crawling arms arranged symmetrically up and down perpendicular to the central support.

The central support is circular, which is composed of two semicircular assemblies.

The robot also includes a remote control device and a host computer, the remote control device is used to control the movement of the crawling mechanism, and the host computer is used to control the movement of the detection module.

A microcontroller, a wireless communication module and a power supply module are installed on the central support, motor drive cards are installed on the crawler arm motor and the roller motor, the remote control device sends commands and receives feedback signals through the wireless communication module, and the microcontroller receives After receiving the instruction from the remote control device, the drive signal is sent to each motor drive card, and the power module uses a lithium battery to supply power to each module.

The detection module also includes a transmission mechanism, a camera installed on the transmission mechanism, a microcontroller, a wireless communication module, and a power supply module. The motor on the transmission mechanism is equipped with a motor drive card, and the host computer transmits signals through the wireless communication module. After receiving the instructions from the host computer, the controller sends the driving signal to the motor drive card of the transmission mechanism, which drives the transmission mechanism to slide along the guide rail, and the power module uses a lithium battery to supply power to each module; the camera integrates a wireless communication module, and the information collection of the camera and send information to establish a connection with the host computer through the wireless communication module.

The microcontroller adopts STM32F103 microcontroller, the wireless communication module adopts nRF24L01 chip, and the power supply module includes LM2576 and MC34063 integrated circuits.

The utility model passes the round steel lightning rod through the central support of the crawling robot, drives the crawling mechanism of the robot to move up and down along the lightning rod through the motor, can climb over the flange on the lightning rod during the movement, and then drives the detection module to move 360 degrees along the lightning rod through the motor. Move, and use the detection module to detect the state of the lightning rod. Compared with the existing detection methods, it can not only save manpower and material resources, improve work efficiency, but also obtain more intuitive and clear state information on the surface of the round steel lightning rod in time, effectively avoiding electrical safety accidents that may be caused by the surface state defects of the lightning rod, and ensuring the power grid Safe to run.

The utility model will be further elaborated below by means of the accompanying drawings and specific embodiments.

Description of drawings:

Fig. 1 is the structural schematic diagram of main view of robot of the present utility model;

Fig. 2 is the utility model robot top view structural schematic diagram;

Fig. 3 is the schematic diagram of detection module structure;

Fig. 4 is a schematic diagram of robot crawling motion control;

Figure 5 is a schematic diagram of the detection module control.

detailed description:

As shown in Figures 1 to 5, a crawling round steel lightning rod state detection robot includes a circular central support 1, a circular through hole is provided in the middle of the central support 1, and the lightning rod 13 passes through the circular through hole. In order to facilitate the installation of the robot on various lightning rods 13, the central support 1 is designed to be assembled in two semicircles. There is a T-shaped guide rail 2 on the edge circumference of the central support 1, and a detection module that can slide along the guide rail 2 is provided on the guide rail 2. The detection module can rotate 360° along the central support 1, and it is mainly used to check the surface state of the lightning rod 13. to test. The detection module in this embodiment is mainly composed of a transmission mechanism 10 and a camera 9 vertically fixed on the transmission mechanism 10. The transmission mechanism 10 is clamped on the T-shaped guide rail 2 and slides along the guide rail through the rollers 15 thereon. A crawling mechanism is also fixedly installed on the central support 1 , and the crawling mechanism is used for controlling the robot to move up and down along the lightning rod 13 . The crawling mechanism is arranged symmetrically on the upper and lower sides of the central support 1, and mainly includes a crawling arm motor 3 fixedly mounted on the central support 1. The output shaft of the crawling arm motor 3 is connected to the crawling arm, and the crawling arm motor 3 is used to control the crawling arm. The main purpose of the 90° opening and closing movement perpendicular to the direction of the central support 1 is to climb over the obstacle by opening and closing the crawling arm when the robot encounters the flange 14 on the lightning rod 13 or other obstacles during the movement of the robot. The other end of the crawling arm is provided with a roller 5, and a roller motor 4 is installed on the crawling arm. The roller motor 4 and the roller 5 are connected by a toothed belt 6. The roller motor 4 drives the toothed belt 6 to move, and the toothed belt 6 drives the roller. 5 moves along the lightning rod 13 surface. When the robot is installed and used, its roller 5 is in contact with the surface of the lightning rod 13. The contact friction force is used to realize the stable and uniform crawling of the robot, and the reverse torque of the motor at rest is used to realize the close attachment between the robot and the lightning rod 13.

In order to better realize the stable movement of the robot and facilitate the crawling arm to climb over obstacles, the above crawling arm is divided into an upper crawling arm 7 located on the upper surface of the central support 1 and a lower crawling arm 8 located on the lower surface of the central support 1. Three crawling arms and three crawling arms are arranged on each side, and three crawling arms on each side form a triangular structure, so that the central support 1 moves steadily along the lightning rod 13 in a horizontal state. The above two sets of crawling arms can be designed to be detachable, so that the robot can be installed on various lightning rods 13 .

Further, in order to make the connection between the crawling arms more stable, the three crawling arms on each side are respectively connected by transverse fastening springs 11, and the crawling arms perpendicular to the central support 1 and arranged symmetrically up and down are respectively fastened vertically. Spring 12 is connected.

The movement control and detection mode control of the robot with the above structure can adopt various forms. In this embodiment, remote wireless control is adopted. The specific control structure and mode are as follows: the control of the robot detection module and the control of the robot crawling mechanism adopt independent The two sets of control structures can be completed by two people, or can be operated independently by one person. The working status of the two independent control structures does not interfere with each other, and the operation and maintenance are easier.

Among them, the control of the detection module adopts the remote control method of the upper computer, and a microcontroller, a wireless communication module and a power module are added to the detection module, and a motor drive card is installed on the motor in the transmission mechanism 10 . The host computer sends control instructions through the wireless communication module, and the microcontroller sends the drive signal to the motor drive card of the transmission mechanism 10 after receiving the instructions from the host computer, thereby driving the transmission mechanism 10 to slide along the T-shaped guide rail 2. The power module adopts The lithium battery supplies power to the above-mentioned modules. The information collection and transmission of the camera 9 is directly connected to the host computer through the wireless communication module integrated in the camera 9, so as to realize the remote collection of information on the surface state of the lightning rod 13 and the transmission of images.

The control of the crawling mechanism of the robot is realized by a hand-held remote control device. The remote control device includes an ARM chip and a single-chip microcomputer. , the lower crawler arm is retracted, and the functions of each button are defined as follows:

Upward: Drive the upper and lower two sets of roller motors to rotate forward to realize the robot crawling upwards;

Downward: Drive the upper and lower two sets of roller motors to reverse to realize the robot crawling downward;

Upper crawling arm: drive the motor of the upper crawling arm to rotate forward, and open the upper crawling arm;

Retract the upper crawling arm: drive the motor of the upper crawling arm to reverse, and retract the upper crawling arm;

Lower crawling arm: drive the motor of the lower crawling arm to rotate forward, and open the lower crawling arm;

Retract the lower crawling arm: drive the motor of the lower crawling arm to reverse, and retract the lower crawling arm.

In addition, a microcontroller, a wireless communication module, and a power supply module are installed on the central support 1, motor drive cards are installed on the crawler arm motor 3 and the roller motor 4, and the remote control device sends commands and receives feedback signals through the wireless communication module. After the microcontroller receives the instruction from the remote control device, it sends the drive signal to each motor drive card, and the power supply module uses a lithium battery to supply power to each module.

The microcontroller used in the above detection module and crawling mechanism adopts STM32F103 microcontroller, the wireless communication module adopts nRF24L01 chip, and the power module includes LM2576 and MC34063 integrated circuits.

The control operation process of the robot crawling mechanism is described as follows, taking the upward behavior of the robot as an example to illustrate: After the robot is installed and fixed and all functions are tested, after pressing the "up" button of the remote control device, the roller motors on the upper and lower groups of crawling walls 4 At the same time, the robot is driven to crawl upwards. When the roller 5 on the upper crawling arm 7 encounters the flange 14 and cannot continue to move upward, the remote control device receives a signal. At this time, the "upper crawling arm is started" button is pressed, and the crawling arm motor 3 is normal. Rotate to drive the upper crawler arm 7 to open and reach the limit. At the same time, the robot is driven slowly upward by the roller 5 on the lower crawler arm 8. After the upper crawler arm 7 successfully climbs over the flange 14, the roller 5 on the lower crawler arm 8 touches the Flange 14 and send a signal. At this time, press the "upper crawling arm retract" button, and the crawling arm motor 3 reversely drives the upper crawling arm 7 to retract. After reaching the limit, press the "lower crawling arm" button, and the crawling arm motor 3. Drive the lower crawler arm 8 to open and reach the limit. At the same time, the robot is driven upward slowly by the roller 5 on the upper crawler arm 7. After the lower crawler arm 8 successfully climbs over the flange 14 and the robot continues to move upward for a period of time, press The "lower crawling arm retracts" button, the crawling arm motor 3 reversely drives the lower crawling arm 8 to retract, and reaches the limit, thereby completing the process of the robot climbing over the flange 14 . During this process, the "up" button must be pressed all the time to provide the driving force for the robot to crawl upwards. The process of the robot crawling downward and over is similar to the above-mentioned upward operation, so the description will not be repeated.

The above embodiments are only used to illustrate the technical solution of the utility model without limitation, other modifications or equivalent replacements made by those of ordinary skill in the art to the technical solution of the utility model, as long as they do not depart from the spirit and scope of the technical solution of the utility model, All should be included in the scope of claims of the present utility model.

Claims (10)

1. A crawling type round steel lightning rod state detection robot is characterized in that: it comprises a central support, the middle part of the central support is provided with a through hole, its edge is provided with a guide rail, and the guide rail is provided with a detection module that can slide along the guide rail; the central support A crawling mechanism is fixedly installed on the top, and the crawling mechanism is symmetrically arranged on the upper and lower sides of the central support. It includes a crawling arm connected to the output shaft of the crawling arm motor at one end, and a roller is provided at the other end of the crawling arm. The crawling arm motor controls the crawling arm to move vertically The central bracket opens and closes in the direction; a roller motor is installed on the crawler arm, and the roller motor and the roller are connected by a toothed belt. The roller motor drives the toothed belt to move, and the toothed belt drives the roller to move. 2. A crawling round steel lightning rod state detection robot according to claim 1, characterized in that: the detection module includes a transmission mechanism sliding along the guide rail, and a camera is arranged on the transmission mechanism. 3. A crawling round steel lightning rod state detection robot according to claim 2, characterized in that: the guide rail is a T-shaped guide rail, the transmission mechanism is clamped with the T-shaped guide rail, and the roller on the transmission mechanism slides along the guide rail . 4. A crawling round steel lightning rod state detection robot according to claim 1, wherein the crawling arm is divided into an upper crawling arm arranged on the upper surface of the central support and a lower crawling arm arranged on the lower surface of the central support. Three arms, upper and lower crawling arms are arranged on each side, and three crawling arms on each side form a triangular structure; the crawling arms are detachable. 5. A crawling round steel lightning rod state detection robot according to claim 4, characterized in that: the three crawling arms on each side are respectively connected by transverse fastening springs, vertically symmetrically arranged up and down on the central support The crawling arms are respectively connected by longitudinal fastening springs. 6. A crawling round steel lightning rod state detection robot according to claim 1, characterized in that: the central support is circular, which is assembled from two semicircles. 7. A crawling round steel lightning rod state detection robot according to claim 1, characterized in that: the robot also includes a remote control device and a host computer, the remote control device is used to control the movement of the crawling mechanism, and the host computer is used to control the detection Module movement. 8. A crawling round steel lightning rod state detection robot according to claim 7, characterized in that: the central support is integrated with a microcontroller, a wireless communication module and a power supply module, and the crawler arm motor and the roller motor All are equipped with motor drive cards, the remote control device sends instructions and receives feedback signals through the wireless communication module, the microcontroller sends the drive signals to each motor drive card after receiving the instructions from the remote control device, and the power supply module uses a lithium battery to supply power to each module. 9. A crawling round steel lightning rod state detection robot according to claim 7, characterized in that: the detection module also includes a transmission mechanism, a camera mounted on the transmission mechanism, a microcontroller, a wireless communication module and a power supply Module, the motor on the transmission mechanism is equipped with a motor drive card, and the upper computer transmits signals through the wireless communication module. Sliding, the power module uses a lithium battery to supply power to each module; the camera integrates a wireless communication module, and the information collection and information transmission of the camera establishes a connection with the host computer through the wireless communication module. 10. A crawling round steel lightning rod state detection robot according to claim 8 or 9, characterized in that: the microcontroller is an STM32F103 microcontroller, the wireless communication module is an nRF24L01 chip, and the power supply module includes LM2576 and MC34063 integrated circuit.