CN214025725U - Control system for transfer platform of intelligent inspection robot of transformer substation - Google Patents
Control system for transfer platform of intelligent inspection robot of transformer substation Download PDFInfo
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- CN214025725U CN214025725U CN202022987067.2U CN202022987067U CN214025725U CN 214025725 U CN214025725 U CN 214025725U CN 202022987067 U CN202022987067 U CN 202022987067U CN 214025725 U CN214025725 U CN 214025725U
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- 238000007689 inspection Methods 0.000 title claims description 18
- 230000032258 transport Effects 0.000 claims abstract description 60
- 238000009434 installation Methods 0.000 claims abstract description 5
- 230000004044 response Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 6
- 230000005389 magnetism Effects 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 239000002390 adhesive tape Substances 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model discloses a transformer substation's intelligence is patrolled and examined robot and is transported platform control system, including the transfer car (buggy), transport the platform body, patrol and examine robot body, door magnetic sensor, transport platform body control integrated circuit board, robot body and transport platform actuating system and industrial computer, transport the platform body and be located the transfer car (buggy) and patrol and examine between the robot body, and the preceding side sliding connection who transports the platform body has the supplementary access board of getting on bus of transport platform, and door magnetic sensor includes magnetic sensor signal output piece A, magnetic sensor signal response piece and magnetic sensor signal output piece B. This platform control system is transported to robot is patrolled and examined to transformer substation's intelligence, fixed platform installation of transporting is arranged in the transformer substation, and through patrolling and examining robot body control system control platform lift, realize that the robot gets into transfer car carriage automatically, has solved the problem that the robot transports needs artifical transport.
Description
Technical Field
The utility model relates to a transformer substation patrols and examines technical field, specifically is transformer substation's intelligence patrols and examines robot transportation platform control system.
Background
In order to promote the unattended process of the transformer substation more quickly, the transformer substation mostly adopts an intelligent inspection robot to finish the equipment inspection task, and the popularization mode of the robot is that one transformer substation is equipped with one robot at present. With the expansion of the robot wide range and the further improvement of the application requirements, the existing robot service mode of 'one station for one machine' needs a company to be equipped with a large amount of manpower and material resources to maintain the construction and maintenance work of the transformer substation and the robot, and many small and medium-sized transformer substations cannot be introduced and used due to the problem of robot cost, so that the popularization of the robot service is limited to a certain extent, the operation and maintenance mode is concentrated, the service mode of the intelligent inspection robot of the transformer substation is expanded, and the service object of the robot is expanded.
The centralized operation and maintenance mode mostly adopts a centralized use mode that a plurality of stations share one inspection robot, and the robots among a plurality of transformer stations are transported by a transfer trolley with a carriage. At present, the robot is placed to transport the carriage and all adopts the mode of artifical transport, and this kind of mode has great potential safety hazard, consumes the manpower, can not embody the intelligence of patrolling and examining the robot.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a transformer substation's intelligence is patrolled and examined robot and is transported platform control system to propose in solving above-mentioned background art and concentrate the operation and maintenance mode and adopt a concentrated use type mode of patrolling and examining the robot of multistation sharing mostly, the robot transports through the transfer car (buggy) that takes the carriage between a plurality of transformer substations. At present, the robot is placed to transport the carriage and all adopts the mode of artifical transport, and this kind of mode has great potential safety hazard, consumes the manpower, can not embody the intelligent problem of patrolling and examining the robot.
In order to achieve the above object, the utility model provides a following technical scheme: intelligent inspection robot of transformer substation transports platform control system, including transfer car (buggy), transport the platform body, patrol and examine the robot body, door magnetism sensor, transport platform body control integrated circuit board, robot body and transport platform actuating system and industrial computer, the transport platform body is located the transfer car (buggy) and patrols and examines between the robot body, and the front side of transporting the platform body is slided and is connected with the supplementary access board of getting on the bus of transport platform, and door magnetism sensor includes magnetic sensor signal output piece A, magnetic sensor signal response piece and magnetic sensor signal output piece B, this body controller of transport platform and magnetic sensor signal output piece A are located the intermediate position by on transport platform body right side, it is provided with robot body and transports platform actuating system in the robot body to patrol and examine.
Transport inside being provided with of platform body and transporting platform body control system, and transport platform body control system including install 433MHz wireless module I transport platform body control integrated circuit board, transport platform elevator motor, door magnetic sensor and supplementary board of getting on the bus rotate the motor, and transport platform body control integrated circuit board respectively with transport platform elevator motor, door magnetic sensor and supplementary board of getting on the bus rotate motor electric connection.
Robot body transports platform actuating system includes two-dimensional laser scanning sensor and installs 433MHz wireless module II's transportation platform drive switching integrated circuit board, and two-dimensional laser scanning sensor and transportation platform drive switching integrated circuit board all with industrial computer electric connection.
Preferably, the magnetic sensor signal sensing block is located the position of leaning on the bottom of the right end of the front side of the transfer platform body, and the control panel of the transfer platform body is clamped in the installation box of the transfer platform body.
Preferably, the magnetic sensor signal output block B is located the front end of the bottom of the right side of the transfer platform body, and the transfer platform drives the adapter plate card to be arranged in the inspection robot body.
Preferably, the transfer platform body controller is located on top of the magnetic sensor signal output block a.
Compared with the prior art, the beneficial effects of the utility model are that: this platform control system is transported to robot is patrolled and examined to transformer substation's intelligence, fixed platform installation of transporting is arranged in the transformer substation, and through patrolling and examining robot body control system control platform lift, realize that the robot gets into transfer car carriage automatically, has solved the problem that the robot transports needs artifical transport.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an internal schematic view of the driving system of the robot body transfer platform of the present invention;
FIG. 3 is an internal schematic view of the control system of the transfer platform body of the present invention;
fig. 4 is a schematic view of the inspection robot body entering the transfer platform to assist the boarding pass of the utility model;
FIG. 5 is a schematic view of the transfer platform assisting the boarding pass of the present invention rising;
fig. 6 is a schematic diagram of the inspection robot body moving to the transfer trolley;
fig. 7 is the utility model discloses patrol and examine the schematic diagram on robot removes the transfer car (buggy).
In the figure: 1. a transfer trolley; 2. the transfer platform assists in getting on the boarding; 3. a transfer platform body; 4. a transfer platform body controller; 5. a magnetic sensor signal output block A; 6. a magnetic sensor signal sensing block; 7. a magnetic sensor signal output block B; 8. and (5) inspecting the robot body.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-7, the present invention provides the following technical solutions: intelligent inspection robot of transformer substation transports platform control system, including transfer car (buggy) 1, transport platform body 3, it patrols and examines robot body 8, door magnetism sensor, transport platform body control integrated circuit board, robot body transports platform actuating system and industrial computer, transport platform body 3 is located transfer car (buggy) 1 and patrols and examines between robot body 8, and the front side of transport platform body 3 is slided and is connected with transport platform and assist the access board 2 that gets on the bus, and door magnetism sensor includes magnetic sensor signal output piece A5, magnetic sensor signal response piece 6 and magnetic sensor signal output piece B7, this body controller 4 of transport platform and magnetic sensor signal output piece A5 are located by the intermediate position on the right side of transport platform body 3, it is provided with robot body transport platform actuating system in the robot body 8 to patrol and examine.
Robot body transports platform actuating system includes two-dimensional laser scanning sensor and installs 433MHz wireless module II's transportation platform drive switching integrated circuit board, and two-dimensional laser scanning sensor and transportation platform drive switching integrated circuit board all with industrial computer electric connection.
The utility model discloses in: magnetic sensor signal induction piece 6 is located the position by bottom of transporting 3 front sides right-hand members of platform body, and transports platform body control panel card and arranges in the mounting box of transporting platform body 3.
The utility model discloses in: magnetic sensor signal output block B7 is located the front end of transporting platform body 3 right side bottom, and transports the platform drive keysets card and arrange in patrolling and examining robot body 8.
The utility model discloses in: the transfer platform body controller 4 is located on top of the magnetic sensor signal output block a 5; the transfer platform body 3 is fixed in a transformer substation, and the body controller is fixedly arranged on the side surface of the body; the magnetic sensor signal output block A5 is arranged at the position where the platform rises to the position corresponding to the body, and detects the signal that the platform rises to the position; the magnetic sensor signal output block B7 is arranged at the position where the platform descends to the corresponding body, and detects the platform descending signal; the magnetic sensor signal sensing block 6 is arranged on the platform, the sensing block moves along with the platform, and when the sensing block is close to the output block, the output block has signal output.
The functions of the components are as follows:
transfer car (1): the transport completion robot completes the transfer;
transport the supplementary butt strap 2 of getting on bus of platform: in the lifting process, the butt strap is erected on one side of the platform to play a role in protecting the robot from sliding out, and when the robot is lifted to the height of a carriage of a transfer trolley, the butt strap is horizontally placed and is lapped on the carriage, so that the robot can conveniently move to the carriage;
the transfer platform body 3: the robot is supported in the lifting process, and the black adhesive tape is arranged on the platform, so that the robot is prevented from sliding in the lifting process;
transfer platform body controller 4: receiving a wireless signal of the robot, controlling the lifting of the platform and receiving a signal of the magnetic sensor;
magnetic sensor signal output block a 5: detecting a platform ascending in-place signal;
magnetic sensor signal sensing block 6: the induction block moves along with the platform, and when the induction block is close to the output block, the output block has signal output;
magnetic sensor signal output block B7: detecting a platform descending in-place signal;
patrol and examine robot body 8: and (4) transferring the object.
The working principle is as follows: 1. when the inspection robot body 8 needs to be transported, a background issues a transportation task, and the inspection robot body 8 autonomously navigates to enter the transportation platform body 3 along the auxiliary slope and reaches the stop point position of the transportation platform body 3;
2. after the robot is in place, a lifting control command is sent, the transfer platform body 3 carries the robot to lift, after the robot rises to a specified position, the transfer platform body 3 stops rising, and the robot controls the transfer platform to assist the boarding access board 2 to be parked on a carriage;
3. after the transfer platform assists the getting-on board 2 to be built, the robot continues to run forwards, and the transfer platform assists the getting-on board 2;
4. after the auxiliary boarding access board 2 passes through the transfer platform, the robot enters a carriage of a transfer vehicle 1;
5. when the robot enters the carriage of the transfer vehicle 1, an instruction is sent to control the transfer platform to assist the boarding bridge 2 and the transfer platform body 3 to reset, and the robot falls back to the ground.
In summary, the following steps: this platform control system is transported to robot is patrolled and examined to transformer substation's intelligence, fixed platform installation of transporting is arranged in the transformer substation, and through patrolling and examining robot body control system control platform lift, realize that the robot gets into transfer car carriage automatically, has solved the problem that the robot transports needs artifical transport.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. Platform control system is transported to robot is patrolled and examined to transformer substation's intelligence, including transfer car (1), transport platform body (3), transport platform body controller (4), patrol and examine robot body (8), door magnetic sensor, transport platform body control board card, robot body and transport platform actuating system and industrial computer, its characterized in that: the transfer platform body (3) is positioned between the transfer trolley (1) and the inspection robot body (8), the front side of the transfer platform body (3) is connected with a transfer platform auxiliary boarding access board (2) in a sliding mode, the door sensor comprises a magnetic sensor signal output block A (5), a magnetic sensor signal sensing block (6) and a magnetic sensor signal output block B (7), the transfer platform body controller (4) and the magnetic sensor signal output block A (5) are positioned at the middle position of the right side of the transfer platform body (3), and a robot body transfer platform driving system is arranged in the inspection robot body (8); a transfer platform body control system is arranged in the transfer platform body (3), and comprises a transfer platform body control board provided with a 433MHz wireless module I, a transfer platform lifting motor, a door magnetic sensor and an auxiliary boarding access rotating motor, and the transfer platform body control board is respectively electrically connected with the transfer platform lifting motor, the door magnetic sensor and the auxiliary boarding access rotating motor; robot body transports platform actuating system includes two-dimensional laser scanning sensor and installs 433MHz wireless module II's transportation platform drive switching integrated circuit board, and two-dimensional laser scanning sensor and transportation platform drive switching integrated circuit board all with industrial computer electric connection.
2. The substation intelligent inspection robot transfer platform control system according to claim 1, characterized in that: the magnetic sensor signal sensing block (6) is located at the position, close to the bottom, of the right end of the front side of the transfer platform body (3), and a control panel of the transfer platform body is clamped in an installation box of the transfer platform body (3).
3. The substation intelligent inspection robot transfer platform control system according to claim 1, characterized in that: magnetic sensor signal output piece B (7) are located the front end of transporting platform body (3) right side bottom, and transport the platform drive keysets card and arrange in patrolling and examining robot body (8).
4. The substation intelligent inspection robot transfer platform control system according to claim 1, characterized in that: the transfer platform body controller (4) is positioned at the top of the magnetic sensor signal output block A (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022987067.2U CN214025725U (en) | 2020-12-11 | 2020-12-11 | Control system for transfer platform of intelligent inspection robot of transformer substation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022987067.2U CN214025725U (en) | 2020-12-11 | 2020-12-11 | Control system for transfer platform of intelligent inspection robot of transformer substation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214025725U true CN214025725U (en) | 2021-08-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022987067.2U Active CN214025725U (en) | 2020-12-11 | 2020-12-11 | Control system for transfer platform of intelligent inspection robot of transformer substation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214025725U (en) |
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2020
- 2020-12-11 CN CN202022987067.2U patent/CN214025725U/en active Active
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