CN208196761U - Wheel type intelligent crusing robot for power equipment - Google Patents
Wheel type intelligent crusing robot for power equipment Download PDFInfo
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- CN208196761U CN208196761U CN201820548871.0U CN201820548871U CN208196761U CN 208196761 U CN208196761 U CN 208196761U CN 201820548871 U CN201820548871 U CN 201820548871U CN 208196761 U CN208196761 U CN 208196761U
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- power equipment
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- speed reducer
- robot
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Abstract
The utility model discloses a kind of wheel type intelligent crusing robots for power equipment, are related to the detection device of power equipment.The robot includes the wheel set that chassis and at least two have speed reducer, and every speed reducer is each equipped with 1 motor；It is provided with lower machine people's shell on chassis, upper robot's shell is provided in lower robot shells, holder is provided on upper robot's shell, is provided with inspection instrument on holder；The battery component being fixed on chassis is provided in lower machine people's shell, battery component is used for as motor, holder and inspection instrument power supply；Lower machine people shell place corresponding with battery component is provided with charging interface.The utility model realizes automatic and flexibly carries out long-continued intelligent inspection to power equipment, and not only working efficiency is higher, but also the manufacturing cost of each component of crusing robot is lower, is suitable for promoting.
Description
Technical field
The utility model relates to the detection devices of power equipment, and in particular to a kind of wheel type intelligent for power equipment patrols
Examine robot.
Background technique
In power industry, since electric power facility equipment is more, distribution is wide, and majority is all high pressure, high radiation, so that traditional
There is high labor cost, manpower consumings for manual inspection mode greatly, personnel safety is relatively difficult to guarantee, is difficult to continuous inspection in 24 hours
The problems such as；And it is some according to specific environment need and configure " five is distant " (in electric system to dispatching automation remote signalling, telemetering,
The abbreviation of remote control and remote regulating, remote viewing and remote pulse) monitoring system leads to flexibility, intelligence due to sensor discrete and fixation
Deficiency has a single function, and still remains the high disadvantage of O&M cost.
Utility model content
In view of the deficiencies in the prior art, the technical issues of the utility model solves are as follows: how automatic and flexible
Long-continued intelligent inspection is carried out to power equipment.
To achieve the above objectives, the wheel type intelligent crusing robot provided by the utility model for power equipment, including
Chassis and at least two have the wheel set of speed reducer, and every speed reducer is each equipped with 1 motor；Lower part is provided on chassis
Robot shells are provided with upper robot's shell in lower robot shells, holder, holder are provided on upper robot's shell
On be provided with inspection instrument；The battery component being fixed on chassis is provided in lower machine people's shell, battery component is for being
Motor, holder and inspection instrument power supply；Lower machine people shell place corresponding with battery component is provided with charging interface.
Based on the above technical solution, the holder uses all-directional tripod head comprising carrying platform and whirler
Structure, carrying platform are located at the inside of rotating mechanism；The opposite two sides of carrying platform are respectively arranged with left carrying shield and right carrying
Inspection instrument is each provided in shield, left carrying shield and right carrying shield.
Based on the above technical solution, the left inspection instrument carried in shield is visible light camera, described
Inspection instrument in right carrying shield is infrared thermal imager.
Based on the above technical solution, support component, support component are additionally provided in the lower machine people shell
The interior top with chassis, lower machine people's shell is fixed respectively；Upper robot's shell and lower machine people's shell are by metal plate
Golden part is spliced, and sheet metal component junction is provided with rubber gasket.
Based on the above technical solution, charging lead-ingroove is provided between the battery component and charging interface, it is fixed
The opening at both ends of justice charging lead-ingroove is respectively charge port and access port, and charge port is fixed with battery component, access port with fill
Electrical interface connection；The area of access port is greater than the area of charge port.
Based on the above technical solution, the battery component includes lithium battery and the battery management system that is connected electrically
Unite BMS, and the input terminal of lithium battery is used to connect extraneous charger, the output end of lithium battery respectively with motor, holder and inspection
Instrument electrical connection；The BMS is used to acquire the voltage, electricity and temperature of lithium battery.
Based on the above technical solution, chassis place corresponding with each wheel set is each provided with 1 deceleration
Machine mounting base, speed reducer mounting base are connect with speed reducer, wheel set respectively.
Based on the above technical solution, the chassis is welded by the square steel tube of several 40 × 4 specifications, the vehicle
The quantity of wheel assembly is 4.
Based on the above technical solution, the motor uses servo motor, and the speed reducer uses right angle planet tooth
Take turns speed reducer.
Based on the above technical solution, the wheel set includes wheel and flange, and the output end of speed reducer passes through
Pin and flanged joint, flange are connect with wheel, speed reducer mounting base respectively.
Compared with the prior art, the advantages of the utility model are:
The utility model on crusing robot by being arranged different inspection instruments, to meet the work of different power equipments
Use demand under condition and environment.On this basis, compared with manual inspection in the prior art, the utility model can be replaced
The artificial long-term continuous inspection work for carrying out power equipment, avoids patrol officer in the personal risk in certain places (first is that high
The toxic danger of the high radiation corrosion of voltage, second is that adverse circumstances, weather bring are dangerous).It is supervised with " five is distant " in the prior art
Examining system is compared, and the utility model by wheel can flexibly be moved to required check bit automatically and postpone to be examined automatically
It surveys, flexibility and intelligence degree are higher.In view of this, the utility model is realized automatic and is flexibly carried out to power equipment
Long-continued intelligence inspection, not only working efficiency is higher, but also the manufacturing cost of each component of crusing robot is lower, fits
In popularization.
Detailed description of the invention
Fig. 1 is the structural representation of the wheel type intelligent crusing robot for power equipment in the utility model embodiment
Figure；
Fig. 2 is the structural schematic diagram on the chassis in the utility model embodiment；
Fig. 3 is the structural schematic diagram of the wheel set in the utility model embodiment；
Fig. 4 is the structural schematic diagram of the battery component in the utility model embodiment；
Fig. 5 is the general structure schematic diagram of the holder and inspection instrument cooperation in the utility model embodiment.
In figure: 1- inspection instrument, 2- holder, 3- upper robot's shell, 4- lower machine people's shell, 5- battery component,
6- charging lead-ingroove, 7- charging interface, 8- support component, 9- wheel set, the chassis 10-, 11- speed reducer mounting base, 12- slow down
Machine, 13- motor, 14- bearing, 15- cartridge housing, 16- flange.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawings and embodiments.
Referring to figure 1 and figure 2, the wheel type intelligent inspection machine for power equipment in the utility model embodiment
People, the wheel set 9 of speed reducer 12 is had including chassis 10 and at least two, and every speed reducer 12 is each equipped with 1 motor 13.
It is shown in Figure 1, it is provided with lower machine people shell 4 on chassis 10, is provided with upper robot's shell in lower robot shells
3, holder 2 is provided on upper robot's shell 3, and inspection instrument 1 is provided on holder 2.It is provided in lower machine people shell 4
The battery component 5 being fixed on chassis 10, battery component 5 are used to power for motor 13, holder 2 and inspection instrument 1；Lower machine
The place corresponding with battery component 5 of people's shell 4 is provided with charging interface 7.
Shown in Figure 2, the place corresponding with each wheel set 9 of chassis 10 is each provided with 1 speed reducer mounting base 11, subtracts
Fast machine mounting base 11 (is specially provided with mounting plate on chassis 10, passes through screw fastener by mounting plate and the fixation of chassis 10
Mounting plate is connect with speed reducer mounting base 11)；Speed reducer mounting base 11 by screw respectively with speed reducer 12, wheel set 9
Connection.
Shown in Figure 2, the chassis 10 in the present embodiment is welded by the square steel tube of several 40 × 4 specifications, square steel tube
It can be improved the structural strength and bearing capacity on chassis 10.The quantity of wheel set 9 is 4, in actual use wheel set 9
Quantity can also be 3 or 4 or more, guarantee the even running of robot.Motor 13 uses servo motor, speed reducer
12 use right angle planet-gear speed reducer, and right angle planet-gear speed reducer can be compared with good utilisation and saving space, right angle planetary gear
Speed reducer is connected by screw to the servo motor matched.
Shown in Figure 3, wheel set 9 includes wheel, flange 16, cartridge housing 15 and bearing 14, the output of speed reducer 12
End is connect by pin with flange 16, and flange 16 is connect with wheel, speed reducer mounting base 11 respectively by screw；It is realized and is passed through with this
The differential for adjusting the right and left wheel realizes the steering of robot.
Shown in Figure 4, battery component 5 includes lithium battery and BMS (the BATTERY MANAGEMENT being connected electrically
SYSTEM, battery management system), the input terminal of lithium battery is used to connect extraneous charger, so should be adjacent to charge port, lithium electricity
The output end in pond is electrically connected with motor 13, holder 2 and inspection instrument 1 respectively.BMS have lithium battery data acquisition (such as lithium electricity
Voltage, electricity and the temperature in pond), the functions such as protection and alarm, SOC (State of Charge, remaining capacity estimation)；BMS matches
There is the interface (being RS485 interface in the present embodiment) of communication with the outside world, it can be by collected lithium battery number by communication interface
It is uploaded according to alarm and protection information, while host computer can carry out alert threshold value setting by communication interface.
In addition, the robot in the present embodiment can also configure speech talkback, navigation system, radar obstacle avoidance system, communication system
System and main control unit, when configuration, pass through lithium battery power supply.
General detection device of the holder 2 as intelligent inspection robot acquisition relevant information is that robot obtains inspection letter
The entrance of breath, referring to shown in Fig. 1 and Fig. 5, holder 2 selects all-directional tripod head comprising carrying platform and rotating mechanism (whirler
Structure for realizing holder 2 rotation), carrying platform is located at the inside of rotating mechanism.Shown in Figure 5, carrying platform is opposite
Two sides are respectively arranged with left carrying shield and right carrying shield, are each provided with inspection instrument in left carrying shield and right carrying shield
1。
Shown in Figure 5, the inspection instrument 1 in left carrying shield in the present embodiment is visible light camera, it is seen that light
The high-definition camera of video camera can shoot the appearance and meter information of examined in determination, and actual number is obtained after image procossing
Value；It is visible light camera configured with rain brush and benefit in left carrying shield to improve the ambient adaptability energy of the holder 2
Light lamp.Corresponding, holder 2 is that visible light camera is configured with DC24V power supply line, visible light cable and RS485 control letter
Number line, is configured with DC24V power supply line for rain brush, is configured with DC12V power supply line for light compensating lamp.
Shown in Figure 5, the inspection instrument 1 in right carrying shield in the present embodiment is infrared thermal imager, infrared heat
Imager can capture the temperature information on examined in determination surface；Right carrying shield is that infrared thermal imager is configured with sound pick-up.Therewith
Corresponding, it is sound pick-up that holder 2, which is that infrared thermal imager is configured with DC24V power supply line, thermal imagery BNC signal wire and thermal imagery cable,
It is configured with DC12V power supply line and sound pick-up audio signal wire.
The signal of all signal wires can be fed back to by interchanger the enterprising row information of extraneous monitoring server-side collect with
Processing.
It is shown in Figure 1, charging lead-ingroove 6, definition charging lead-ingroove 6 are provided between battery component 5 and charging interface 7
The opening at both ends be respectively charge port and access port, charge port and battery component 5 are fixed, and access port is connected to charging interface 7；
The area of access port is greater than the area (such as charging lead-ingroove 6 be fall boss structure) of charge port, to realize charging head from filling
Electrical interface 7 imports, and then guarantees that (charging head can be cooperated with the charging head in charging house within the scope of certain navigation error
Can the position of adjust automatically in the horizontal direction in a certain range), the automatic charging of robot is realized with this.
It is shown in Figure 1, be additionally provided with support component 8 in lower machine people shell 4, support component 8 respectively with chassis 10,
The interior top of lower machine people shell 4 is fixed, and to enhance the intensity of lower machine people shell 4, and then improves entire intelligent patrol detection
The intensity of robot.Upper robot's shell 3 and lower machine people shell 4 are spliced by sheet metal component, sheet metal component junction
It is provided with rubber gasket, so that shell has good water proof and dust proof ability.
Further, the utility model is not limited to above embodiment, and those skilled in the art are come
It says, without departing from the principle of this utility model, several improvements and modifications can also be made, these improvements and modifications also regard
Within the protection scope of the utility model.The content being not described in detail in this specification belongs to professional and technical personnel in the field
The well known prior art.
Claims (10)
1. a kind of wheel type intelligent crusing robot for power equipment, including chassis (10) and at least two have speed reducer
(12) wheel set (9), every speed reducer (12) are each equipped with 1 motor (13)；It is characterized by: being arranged on chassis (10)
There is lower machine people shell (4), be provided in lower robot shells upper robot's shell (3), on upper robot's shell (3)
It is provided with holder (2), inspection instrument (1) is provided on holder (2)；It is provided in lower machine people shell (4) and is fixed on chassis
(10) battery component (5) on, battery component (5) are used for as motor (13), holder (2) and inspection instrument (1) power supply；Lower part machine
Device people shell (4) place corresponding with battery component (5) is provided with charging interface (7).
2. being used for the wheel type intelligent crusing robot of power equipment as described in claim 1, it is characterised in that: the holder
(2) all-directional tripod head is used comprising carrying platform and rotating mechanism, carrying platform are located at the inside of rotating mechanism；It carries flat
The opposite two sides of platform are respectively arranged with left carrying shield and right carrying shield, are each provided in left carrying shield and right carrying shield
Inspection instrument (1).
3. being used for the wheel type intelligent crusing robot of power equipment as claimed in claim 2, it is characterised in that: the left carrying
Inspection instrument (1) in shield is visible light camera, and the right inspection instrument (1) carried in shield is infrared thermal imaging
Instrument.
4. being used for the wheel type intelligent crusing robot of power equipment as described in claim 1, it is characterised in that: the lower part machine
Is additionally provided with support component (8) in device people shell (4), support component (8) respectively with chassis (10), lower machine people shell (4)
Interior top fix；Upper robot's shell (3) and lower machine people shell (4) are spliced by sheet metal component, sheet metal component
Junction is provided with rubber gasket.
5. being used for the wheel type intelligent crusing robot of power equipment as described in claim 1, it is characterised in that: the battery pack
Charging lead-ingroove (6) is provided between part (5) and charging interface (7), the opening at the both ends of definition charging lead-ingroove (6) is respectively
Charge port and access port, charge port and battery component (5) are fixed, and access port is connected to charging interface (7)；The area of access port is big
In the area of charge port.
6. being used for the wheel type intelligent crusing robot of power equipment as described in claim 1, it is characterised in that: the battery pack
Part (5) includes lithium battery and the battery management system BMS that is connected electrically, and the input terminal of lithium battery is used to connect extraneous charging
Device, the output end of lithium battery are electrically connected with motor (13), holder (2) and inspection instrument (1) respectively；The BMS is for acquiring lithium
Voltage, electricity and the temperature of battery.
7. such as the wheel type intelligent crusing robot as claimed in any one of claims 1 to 6 for power equipment, it is characterised in that:
Chassis (10) place corresponding with each wheel set (9) is each provided with 1 speed reducer mounting base (11), speed reducer mounting base
(11) it is connect respectively with speed reducer (12), wheel set (9).
8. such as the wheel type intelligent crusing robot as claimed in any one of claims 1 to 6 for power equipment, it is characterised in that:
The chassis (10) is welded by the square steel tube of several 40 × 4 specifications, and the quantity of the wheel set (9) is 4.
9. such as the wheel type intelligent crusing robot as claimed in any one of claims 1 to 6 for power equipment, it is characterised in that:
The motor (13) uses servo motor, and the speed reducer (12) uses right angle planet-gear speed reducer.
10. such as the wheel type intelligent crusing robot as claimed in any one of claims 1 to 6 for power equipment, it is characterised in that:
The wheel set (9) includes wheel and flange (16), and the output end of speed reducer (12) is connect by pin with flange (16), flange
(16) it is connect respectively with wheel, speed reducer mounting base (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820548871.0U CN208196761U (en) | 2018-04-17 | 2018-04-17 | Wheel type intelligent crusing robot for power equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820548871.0U CN208196761U (en) | 2018-04-17 | 2018-04-17 | Wheel type intelligent crusing robot for power equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208196761U true CN208196761U (en) | 2018-12-07 |
Family
ID=64523409
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820548871.0U Active CN208196761U (en) | 2018-04-17 | 2018-04-17 | Wheel type intelligent crusing robot for power equipment |
Country Status (1)
| Country | Link |
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| CN (1) | CN208196761U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109483508A (en) * | 2018-12-20 | 2019-03-19 | 福建（泉州）哈工大工程技术研究院 | A kind of electric inspection process robot |
| CN111319051A (en) * | 2020-01-02 | 2020-06-23 | 武汉理工大学 | Intelligent inspection robot for intelligent engine room of ship and method thereof |
| CN114043491A (en) * | 2021-10-11 | 2022-02-15 | 北京天玛智控科技股份有限公司 | Video inspection robot |
-
2018
- 2018-04-17 CN CN201820548871.0U patent/CN208196761U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109483508A (en) * | 2018-12-20 | 2019-03-19 | 福建（泉州）哈工大工程技术研究院 | A kind of electric inspection process robot |
| CN111319051A (en) * | 2020-01-02 | 2020-06-23 | 武汉理工大学 | Intelligent inspection robot for intelligent engine room of ship and method thereof |
| CN114043491A (en) * | 2021-10-11 | 2022-02-15 | 北京天玛智控科技股份有限公司 | Video inspection robot |
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