CN211104017U - Transformer substation inspection robot - Google Patents
Transformer substation inspection robot Download PDFInfo
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- CN211104017U CN211104017U CN201921848964.6U CN201921848964U CN211104017U CN 211104017 U CN211104017 U CN 211104017U CN 201921848964 U CN201921848964 U CN 201921848964U CN 211104017 U CN211104017 U CN 211104017U
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Abstract
The utility model discloses a transformer substation patrols and examines robot, including the robot, this robot includes the first half of robot and the latter half of robot, the latter half of robot is relative rotation with the first half of robot and is connected, the latter half of robot includes the chassis, puts the walking wheel under the chassis and sets up the walking drive control system who is used for controlling walking wheel walking on the chassis, the first half of robot includes robot limb, brace table, elevator motor, rotating electrical machines, lift back shaft, carousel and a plurality of camera, brace table's bottom is fixed on the chassis through elevator motor and lift back shaft respectively, rotating electrical machines fixes the center on chassis brace table center embedding setting the carousel, the robot limb is vertical to be fixed on the carousel. The utility model discloses can patrol and examine automatically, and can walk around the barrier automatically and continue work, need not set up the track, patrol and simply swiftly.
Description
Technical Field
The utility model belongs to the transformer substation field of patrolling and examining especially relates to a transformer substation patrols and examines robot.
Background
The inspection system of the transformer substation is an effective system for ensuring the safe operation of the power equipment, a reasonable inspection route is made according to the actual position of the equipment by inspection, and the equipment is inspected seriously according to the specified time and route so as to find the defects and abnormal conditions of the equipment in time; the existing transformer substation robot is mainly a remote control robot and a fixed track robot, and the remote control robot needs a worker to complete work in a real-time remote control mode. The fixed-track robot can automatically move on a robot track laid in advance, so that the fixed-track robot can automatically move to a preset position to complete work when being unmanned. The remote control robot needs real-time remote control by workers, and although certain convenience can be provided, the automation degree is difficult to improve, and the labor cost cannot be reduced. The fixed track type robot needs to erect a track in advance, and the following technical problems mainly exist: 1. the track erection cost is high, the time consumption is long, the space resources of the transformer substation are occupied, and the work of workers is influenced to a certain extent; 2. if the power station equipment is increased or moved, the track needs to be modified again, and the flexibility is not high; 3. if an obstacle exists on the track, the robot cannot bypass the obstacle and only stops working.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a transformer substation patrols and examines robot, according to the utility model discloses a robot can carry out the automation and patrol and examine, meets the barrier and can bypass the barrier automatically and continue work, need not set up the track, patrols and examines simply swiftly. In order to realize the purpose, the utility model discloses a following technological effect:
according to one aspect of the utility model, a transformer substation inspection robot is provided, which comprises a robot body, wherein the robot body comprises an upper robot half and a lower robot half, the lower robot half is in relative rotation connection with the upper robot half, the lower robot half comprises a chassis, a traveling wheel arranged under the chassis and a traveling drive control system arranged on the chassis and used for controlling the traveling wheel to travel, the upper robot half comprises a robot limb, a support table, a lifting motor, a rotating motor, a lifting support shaft, a turntable and a plurality of cameras arranged on the robot limb, the bottom of the support table is respectively fixed on the chassis through the lifting motor and the lifting support shaft, the rotating motor is fixed at the center of the chassis, the turntable is embedded in the center of the support table, and the output shaft of the rotating motor is in transmission connection with the center of the turntable, the robot limb is vertically fixed on the turntable, and the lifting motor, the rotating motor and the camera are respectively electrically connected with the walking drive control system.
In a further preferred mode of the above scheme, the walking drive control system comprises an industrial personal computer, a main control processor, a walking wheel motor driver, a walking wheel drive motor, an ultrasonic distance measurement sensor group, an acceleration sensor, a gyroscope, an electronic compass and a laser radar, the laser radar and the camera are respectively connected with the industrial personal computer, the input control end of the traveling wheel driving motor is electrically connected with the main control processor through a traveling wheel motor driver, the rotating motor, the ultrasonic ranging sensor group, the acceleration sensor, the gyroscope and the electronic compass are respectively connected with the main control processor, the main control processor is electrically connected with the industrial personal computer through an interface conversion circuit, and the input control end of the lifting motor is electrically connected with the main control processor through a lifting motor driver.
Preferably, the walking drive control system further comprises a level conversion interface circuit, and the input control end of the walking wheel drive motor is electrically connected with the main control processor through the walking wheel motor driver and the level conversion interface circuit in sequence.
In a further preferred embodiment of the above-described aspect, the travel drive control system further includes a turntable driver, and the output control end of the main control processor is electrically connected to the rotating electric machine through the turntable driver.
In a further preferred embodiment of the above-mentioned solution, the walking drive control system further includes a wireless router and a USB interface circuit, and the communication control end of the industrial personal computer is in communication connection with the USB interface circuit through the wireless router.
Preferably, the walking drive control system further comprises a wireless communication module, the wireless communication module is in communication connection with the main control processor, and the wireless communication module is composed of two or more than three of a WIFI communication module, a bluetooth communication module, an L oRa communication module and a 433 wireless communication module.
In a further preferred embodiment of the above scheme, the support table is provided with a circular guide rail, the circular guide rail is located on a table top of the support table on the periphery of the turntable, and the lower end of the robot limb is in relative sliding connection with the support table through the circular guide rail.
In a further preferable mode of the above aspect, a damping spring is sleeved on the periphery of the lifting support shaft.
The further preferred of above-mentioned scheme, it is a plurality of the camera respectively through the USB expander with the walking drive control system connects, and is a plurality of the camera comprises binocular camera, upper left camera, left side in the camera, left side down camera, upper right camera, right side in the camera, right side down camera and leading camera, binocular camera sets up the top head the place ahead at the robot limb, upper left camera, left side in camera and left side down camera set up the left side portion at the robot limb from last down respectively, upper right camera, right side in camera and right side down camera set up the right side portion at the robot limb from last down respectively, leading camera sets up the place ahead middle part at the robot limb.
Above-mentioned scheme is further preferred, ultrasonic ranging sensor group comprises 8 ultrasonic ranging sensor, 8 ultrasonic ranging sensor be the periphery that the circular ring set up in the robot the latter half, lidar's quantity is 1 to 3, lidar sets up lower part in robot limbs
To sum up, because the utility model adopts the above technical scheme, the utility model discloses following technological effect has:
the utility model can automatically inspect the robot and return to the designated place after the inspection is finished; the robot can acquire surrounding environment information by matching the camera with the rotating motor, can observe equipment in a higher area, can observe through a tablet PC by a worker, and can drive a robot limb on the turntable and the camera fixed on the robot limb to realize horizontal 360-degree comprehensive shooting by controlling the rotating motor to rotate by a certain angle, can realize all-dimensional inspection in space by a plurality of cameras, can scan an inspection environment by a laser radar in the inspection process, is convenient for the worker to establish a plane simulation diagram, provides an automatic planning route for the robot as a basis, can automatically bypass an obstacle when an obstacle is encountered in ultrasonic detection, and continuously inspects subsequent equipment, thereby reducing the laying of tracks, bypassing the obstacle to inspect when encountering the obstacle, avoiding touching the obstacle in the inspection process, and ensuring simple and rapid inspection, the working strength of workers is reduced, and the inspection efficiency is improved.
Drawings
Fig. 1 is a schematic structural diagram of a substation inspection robot of the present invention;
FIG. 2 is a control schematic diagram of an industrial personal computer of the present invention;
FIG. 3 is a control schematic diagram of the main control processor of the present invention;
FIG. 4 is a schematic diagram of the detection principle of the laser radar of the present invention;
the robot comprises an upper robot half part 10, a lower robot half part 20, a robot limb 100, a support table 101, a lifting motor 102, a lifting motor driver 102a, a rotating motor 103, a turntable driver 103a, a lifting support shaft 104, a damping spring 104a, a turntable 105, a camera 106, a circular guide rail 107, a tablet PC 108, a USB expander 109, a chassis 200, a walking wheel 201, a walking drive control system 202, a level conversion interface circuit 221, a wireless router 222, a USB interface circuit 223, a wireless communication module 2209, an industrial personal computer 2200, a main control processor 2201, a walking wheel motor driver 2202, a walking wheel drive motor 2203, a motor encoder 2203a, an ultrasonic distance measuring sensor group 2204, an acceleration sensor 2205, a gyroscope 2206, an electronic compass 2207, a laser radar 2208, a binocular camera 106a, an upper left camera 106b, a middle left camera 106c and a lower left camera 106d, the system comprises an upper right camera 106e, a middle right camera 106f, a lower right camera 106g, a front camera 106h and 45-52-ultrasonic ranging sensors.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and by referring to preferred embodiments. It should be understood, however, that the numerous specific details set forth in the specification are merely set forth to provide a thorough understanding of one or more aspects of the present invention, which may be practiced without these specific details.
The system comprises a main control unit 2201, fig. 2 and fig. 3, according to one aspect of the present invention, a substation inspection robot, a robot body, a robot upper half 10 and a robot lower half 20, a robot lower half 20 and a robot upper half 10 are in relative rotational connection with a robot upper half 10, a robot lower half 20 comprises a chassis 200, a walking wheel 201 disposed under the chassis, and a walking drive control system 202 disposed on the chassis for controlling walking of a walking wheel 201, the robot upper half 10 comprises a robot limb 100, a support table 101, a lifting motor 102, a lifting support shaft 104, a turntable 105, and a plurality of cameras 106 disposed on a robot limb 100, a main control unit 2201 is a single microcontroller, a microcontroller 200 is a single microcontroller, a microcontroller 64GSSD, a CPU Core 5, a configuration of the main control unit 4G, a CPU c, a 5 th generation, a main control unit 101 is a main control unit 4G, a hard disk 64G, a hard disk, a CPU c, a PC 4, a c, a PC 64, a PC d, a c, a c, a c, a c, a c, a c, a c, a c, a c, a c, a.
In the present invention, as shown in fig. 1, fig. 2 and fig. 3, the ultrasonic ranging sensor set 2204 is composed of 8 ultrasonic ranging sensors, the ultrasonic ranging sensors include ultrasonic ranging sensors 45-52, the number of the laser radars 2208 is 1-3, preferably 2, and the ultrasonic ranging sensors are respectively arranged at the front and back of the lower part of the robot limb 100 (front laser radar and back laser radar), and 8 of the ultrasonic ranging sensors are circularly arranged around the periphery of the lower part 20 of the robot; each laser radar 2208 comprises a transmitting optical system and a receiving optical system, as shown in fig. 4, the transmitting optical system periodically transmits laser pulses through a laser, a beam controller controls the direction and the number of lines of the laser, the laser irradiates on an obstacle and is reflected and then received through a photoelectric receiver, the photoelectric receiver adopts a GD4251 photoelectric receiving component, the photoelectric receiver is internally composed of a PIN photodiode and a preamplifier, the preamplifier adopts an AD8330 amplifier, the signal is amplified through the selected AD8330 amplifier, the amplified signal is output after being processed by noise suppression and the like, the processed signal is sent to the industrial personal computer 2200 to directly output a laser ranging signal, when the robot automatically bypasses the obstacle to continue to patrol when encountering the obstacle to block a patrol route, when the robot firstly patrols, the laser radar 2208 scans the surrounding environment, the plane simulation graph of the obstacle is conveniently established by an operator, a route is re-planned according to the obstacles added around, the distance measurement of the obstacle and the obstacle is detected through an ultrasonic distance measurement sensor, the obtained ultrasonic data is sent to the main control processor 2201 to be processed, whether the detected obstacles exist in all directions or not and the distance between the detected obstacles and the obstacle are obtained, so that the main control processor 2201 timely sends out the braking operation of the walking wheel driving motor 2203, and the walking is realized when encountering the obstacle through the matching of radar signals and ultrasonic waves; the utility model discloses a robot has the image recognition function, meets the barrier and shelters from when patrolling and examining the route, and the robot is automatic to be walked around the barrier and continues to patrol and examine, and the barrier keeps off when patrolling and examining before the equipment, and the robot sends out the warning, then skips this equipment and continues to patrol and examine follow-up equipment.
The utility model discloses in, combine fig. 1, fig. 2 and fig. 3 to show, walking drive control system 202 still includes wireless router 222 and USB interface converting circuit 223, industrial computer 2200's communication control end pass through wireless router 222 with USB interface converting circuit 223 carries out communication connection, wireless router carries out communication connection through interface converting circuit 223 and panel PC to make things convenient for the data that industrial computer 2200 obtained to upload to panel PC 108, the staff can directly appoint the equipment that needs to observe through panel PC 108, control robot is automatic to go to, discerns the operating condition of equipment of patrolling and examining automatically, can report to the police when meetting abnormal conditions, walking drive control system 202 still includes wireless communication module 2209, this wireless communication module 2209 with main control treater 2201 carries out communication connection, and this wireless communication module 2209 comprises two kinds or three or more than in WIFI communication module, bluetooth communication module, L oRa communication module and the wireless communication module to conveniently acquire the operating condition of robot and other detection module and the data that the debugging was carried out to the control.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. The utility model provides a transformer substation patrols and examines robot which characterized in that: comprises a robot body, the robot body comprises a robot upper half part (10) and a robot lower half part (20), the robot lower half part (20) is connected with the robot upper half part (10) in a relative rotation way, the robot lower half part (20) comprises a chassis (200), a walking wheel (201) arranged under the chassis and a walking drive control system (202) arranged on the chassis and used for controlling the walking wheel (201) to walk, the robot upper half part (10) comprises a robot limb (100), a support table (101), a lifting motor (102), a rotating motor (103), a lifting support shaft (104), a turntable (105) and a plurality of cameras (106) arranged on the robot limb (100), the bottom of the support table (101) is fixed on the chassis (200) through the lifting motor (102) and the lifting support shaft (104) respectively, the robot is characterized in that the rotating motor (103) is fixed at the center of the chassis (200), the turntable (105) is embedded into the center of the support table (101), an output shaft of the rotating motor (103) is in transmission connection with the center of the turntable (105), the robot limb (100) is vertically fixed on the turntable (105), and the lifting motor (102), the rotating motor (103) and the camera are respectively in electrical connection with the walking drive control system (202).
2. The substation inspection robot according to claim 1, wherein: the walking drive control system (202) comprises an industrial personal computer (2200), a main control processor (2201), a walking wheel motor driver (2202), a walking wheel drive motor (2203), an ultrasonic ranging sensor group (2204), an acceleration sensor (2205), a gyroscope (2206), an electronic compass (2207) and a laser radar (2208), wherein the laser radar (2208) and a camera (106) are respectively connected with the industrial personal computer (2200), an input control end of the walking wheel drive motor (2203) is electrically connected with the main control processor (2201) through the walking wheel motor driver (2202), the rotating motor (103), the ultrasonic ranging sensor group (2204), the acceleration sensor (2205), the gyroscope (2206) and the electronic compass (2207) are respectively connected with the main control processor (2201), and the industrial personal computer (2200) are electrically connected through an interface conversion circuit (220), the input control end of the lifting motor (102) is electrically connected with the main control processor (2201) through a lifting motor driver (102 a).
3. The substation inspection robot according to claim 2, wherein: the walking drive control system (202) further comprises a level conversion interface circuit (221), and an input control end of the walking wheel drive motor (2203) is electrically connected with the main control processor (2201) through the walking wheel motor driver (2202) and the level conversion interface circuit (221) in sequence.
4. The substation inspection robot according to claim 2, wherein: the walking drive control system (202) further comprises a turntable driver (103a), and the output control end of the main control processor (2201) is electrically connected with the rotating motor (103) through the turntable driver (103 a).
5. The substation inspection robot according to claim 2, wherein: the walking drive control system (202) further comprises a wireless router (222) and a USB interface circuit (223), and a communication control end of the industrial personal computer (2200) is in communication connection with the USB interface circuit (223) through the wireless router (222).
6. The substation inspection robot according to claim 2 or 3, wherein the walking drive control system (202) further comprises a wireless communication module (2209), the wireless communication module (2209) is in communication connection with the main control processor (2201), and the wireless communication module (2209) is composed of two or more than three of a WIFI communication module, a Bluetooth communication module, an L oRa communication module and a 433 wireless communication module.
7. The substation inspection robot according to claim 1, wherein: the robot limb support platform is characterized in that the support platform (101) is provided with a circular ring-shaped guide rail (107), the circular ring-shaped guide rail (107) is positioned on the table top of the support platform (101) on the periphery of the turntable (105), and the lower end of the robot limb (100) is in relative sliding connection with the support platform (101) through the circular ring-shaped guide rail (107).
8. The substation inspection robot according to claim 1, wherein: and a damping spring (104a) is sleeved on the periphery of the lifting support shaft (104).
9. The substation inspection robot according to claim 1 or 2, wherein: the multiple cameras (106) are respectively connected with the walking drive control system (202) through USB expanders, the multiple cameras (106) are composed of a binocular camera (106a), an upper left camera (106b), a middle left camera (106c), a lower left camera (106d), an upper right camera (106e), a middle right camera (106f), a lower right camera (106g) and a front camera (106h), the binocular camera (106a) is arranged in front of the top head of the robot limb (100), the upper left camera (106b), the middle left camera (106c) and the lower left camera (106d) are respectively arranged at the left side part of the robot limb (100) from top to bottom, the upper right camera (106e), the middle right camera (106f) and the lower right camera (106g) are respectively arranged at the right side part of the robot limb (100) from top to bottom, the front camera (106h) is arranged in the middle of the front of the robot limb (100).
10. The substation inspection robot according to claim 2, wherein: ultrasonic ranging sensor group (2204) comprises 8 ultrasonic ranging sensors, 8 ultrasonic ranging sensor be the periphery that the circular ring set up in robot the latter half (20), the quantity of lidar (2208) is 1 to 3, lidar (2208) set up lower part in robot limb (100).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921848964.6U CN211104017U (en) | 2019-10-30 | 2019-10-30 | Transformer substation inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921848964.6U CN211104017U (en) | 2019-10-30 | 2019-10-30 | Transformer substation inspection robot |
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| CN211104017U true CN211104017U (en) | 2020-07-28 |
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| CN201921848964.6U Active CN211104017U (en) | 2019-10-30 | 2019-10-30 | Transformer substation inspection robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112077880A (en) * | 2020-09-14 | 2020-12-15 | 济南浪潮高新科技投资发展有限公司 | Universal chassis for cloud education robot |
| CN112405552A (en) * | 2020-11-03 | 2021-02-26 | 山东新一代信息产业技术研究院有限公司 | Intelligent inspection robot |
| CN113084873A (en) * | 2021-04-26 | 2021-07-09 | 上海锵玫人工智能科技有限公司 | Robot vision device and robot |
| CN116423502A (en) * | 2023-03-21 | 2023-07-14 | 南京信捷泽荣智控技术有限公司 | Robot control system based on motion type PLC |
-
2019
- 2019-10-30 CN CN201921848964.6U patent/CN211104017U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112077880A (en) * | 2020-09-14 | 2020-12-15 | 济南浪潮高新科技投资发展有限公司 | Universal chassis for cloud education robot |
| CN112405552A (en) * | 2020-11-03 | 2021-02-26 | 山东新一代信息产业技术研究院有限公司 | Intelligent inspection robot |
| CN113084873A (en) * | 2021-04-26 | 2021-07-09 | 上海锵玫人工智能科技有限公司 | Robot vision device and robot |
| CN116423502A (en) * | 2023-03-21 | 2023-07-14 | 南京信捷泽荣智控技术有限公司 | Robot control system based on motion type PLC |
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