CN215093558U - Electric power inspection robot - Google Patents
Electric power inspection robot Download PDFInfo
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- CN215093558U CN215093558U CN202120386000.5U CN202120386000U CN215093558U CN 215093558 U CN215093558 U CN 215093558U CN 202120386000 U CN202120386000 U CN 202120386000U CN 215093558 U CN215093558 U CN 215093558U
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 27
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 230000008859 change Effects 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 9
- 238000005516 engineering process Methods 0.000 description 6
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- 238000004458 analytical method Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
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- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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Abstract
The utility model relates to a patrol robot technical field, in particular to electric power inspection robot. The device comprises a vehicle body, a positioning component and a control component, wherein a motor is arranged in the vehicle body, and a vertical lifting mechanism is fixed in the vehicle body; the vertical lifting mechanism comprises a central column, a synchronous belt guide rail and a travel switch; the synchronous belt guide rail comprises a motion guide rail, a driving motor and an adjustable speed change device; a sliding block is fixed on the moving guide rail through a bolt; the driving motor is connected with the adjustable speed change device and is arranged at the lower end of the moving guide rail and used for driving the moving guide rail to move; travel switches are respectively fixedly arranged at the upper end and the lower end of the motion guide rail through bolts; the camera platform is arranged on the moving guide rail and comprises a holder bracket, a steering engine holder and a camera; the holder bracket is connected with the slide block of the synchronous belt guide rail through a bolt. The utility model discloses have raising and lowering functions, can solve the information acquisition blind area problem when there is great difference in height in less space.
Description
Technical Field
The utility model relates to a patrol robot technical field, in particular to electric power inspection robot.
Background
With the increasing technology and the increasing demand for human electricity, higher-level power production automation technology is required. Nowadays, the application of automation equipment and remote monitoring equipment is more and more extensive, and is gradually permeating into each process. The robot with advanced science and technology widely relates to the high and new technology fields of automation, machinery, artificial intelligence, computers and the like, introduces the robot into an electric power system, and inevitably improves the automation degree of the electric power system, and has great significance to the safety and economic production of the electric power system.
The electric power plays an extremely important role in the development of national economy, and along with the rapid development of the power industry towards large units, large capacity and high-voltage power supply, the electric power management system ensures the safe operation of the power supply system and ensures that the power equipment is always in a stable and good state, thereby forming a prominent problem of power management. And the transformer substation is the core of the whole power grid and plays an important role in dispatching power supply. Therefore, it is important to ensure the normal operation of the substation equipment. In addition, along with the improvement of the automation level of the transformer substation and the popularization of unattended operation, the safety of equipment operation is tested more strictly, and the routing inspection of the transformer substation is paid more attention.
At present, some relatively perfect inspection robots are provided in China, such as an LER-3000C transformer substation intelligent robot inspection system developed by a Lunen intelligent technology limited company, so that the labor intensity and the operation and maintenance cost of a transformer substation are effectively reduced, and the unattended process of the transformer substation is promoted; simultaneously, current utility model CN201821491151.1 a robot is patrolled and examined to electric power, include: a travel assembly; a pan-tilt assembly, the pan-tilt assembly; a laser radar ranging assembly; the positioning assembly is arranged inside the inspection trolley body; the power supply assembly comprises a power supply arranged in the inspection trolley body and an automatic charging assembly connected with the power supply; the control assembly comprises a motion control assembly, a wireless communication assembly, an image processing assembly and a video acquisition assembly; however, most of the existing electric power inspection robots are products of this type, the monitoring range of the holder is narrow, and certain blind areas can appear when information is collected in a small space with a large height difference.
Disclosure of Invention
The utility model aims at providing an electric power inspection robot in order to solve above-mentioned prior art not enough, aim at solves the information acquisition blind area problem when there is great difference in height in less space.
In order to achieve the above object, the utility model adopts the following technical scheme:
the electric power inspection robot comprises a vehicle body, a positioning assembly and a control assembly, wherein the positioning assembly is arranged on the periphery of the vehicle body and used for positioning the vehicle body; the control assembly comprises a main body controller arranged in the vehicle body, and the main body controller is electrically connected with the positioning assembly; the vehicle body comprises a wheel type chassis and a vehicle shell, wherein 2 motors are arranged on the wheel type chassis, and each motor is connected with two transmission shafts on the same side of the motor through a synchronous belt; the end part of the transmission shaft is connected with wheels, the other end of the transmission shaft is arranged in a bearing seat, and the bearing seat is fixedly connected with a wheel type chassis; the motor is powered by a battery fixed in the wheel type chassis; the motor is a 86 series BYG250A type stepping motor; and control components such as a main body controller and the like are also arranged in the wheel type chassis, and a circle of positioning assembly is arranged on the periphery of the vehicle body to realize the positioning and moving functions of the vehicle body.
A vertical lifting mechanism is fixed on the wheel type chassis; the vertical lifting mechanism comprises a central column, a synchronous belt guide rail and a travel switch; the bottom of the central column is fixed in the middle of the wheel type chassis, the central column is fixed with the synchronous belt guide rail through a pair of ground feet, and the ground feet and the central column are fixed through bolts; the synchronous belt guide rail comprises a motion guide rail, a driving motor and an adjustable speed change device; a sliding block is fixed on the moving guide rail through a bolt; the driving motor is connected with the adjustable speed change device and is arranged at the lower end of the moving guide rail and used for driving the moving guide rail to move; travel switches are respectively fixedly arranged at the upper end and the lower end of the motion guide rail through bolts; the cradle head support is connected to the sliding block to carry out carrying work, and limit travel switches are mounted at two ends of the cradle head support to ensure safe operation of the machine.
The camera platform is arranged on the moving guide rail and comprises a holder bracket, a steering engine holder and a camera; the cradle head support is connected with a sliding block of a synchronous belt guide rail through a bolt, a steering engine cradle head is installed on the cradle head support, and cameras are installed on two sides of the steering engine cradle head respectively, wherein the steering engine cradle head comprises a steering center which is responsible for adjusting the elevation angle and the depression angle of the cameras, so that the cameras rotate around the Z-axis direction and the Y-axis direction; the positioning assembly, the control assembly, the driving motor and the camera are respectively connected with the battery.
Optionally, in a more preferable scheme, an angular contact ball bearing is installed in the bearing seat.
Optionally, in a more preferred embodiment, the cradle head support comprises an upper supporting plate and a lower supporting plate, which are respectively connected with a sliding block of a synchronous belt guide rail through bolts to form a bearing platform of the steering engine cradle head; the upper supporting plate comprises a transverse plate and a first vertical connecting part which are integrally connected and are vertical to each other; the first vertical connecting part is provided with a plurality of connecting holes for connecting with the sliding block; the lower supporting plate comprises a group of parallel horizontal supporting columns, and the supporting columns are respectively and integrally connected with the second vertical connecting part; and the second vertical connecting part is provided with a plurality of connecting holes for connecting with the sliding block.
Optionally, in a more preferred embodiment, the central column is composed of a bearing column, four rib plates and a fixed bottom plate; the fixed bottom plate is fixed in the middle of the wheel type chassis through a screw; in order to stabilize and reliable the lifting process of the robot, a central column with a main bearing function is designed for a lifting mechanism of the robot, the central column consists of a bearing column, four rib plates and a fixed bottom plate, 10 groups of screw holes are arranged at corresponding positions of the bearing column and the fixed plate, and a synchronous belt guide rail and a carrying mechanism chassis are connected through bolts.
Optionally, in a more preferred embodiment, the camera includes a visible light high-definition camera and an infrared thermal camera.
Optionally, in a more preferred embodiment, the main body controller selects an Intel low power processor.
Optionally, in a more preferred embodiment, the positioning assembly includes a reflective grayscale sensor and a laser ranging sensor, and the reflective grayscale sensor and the laser ranging sensor are electrically connected to the main body controller respectively.
The utility model adopts the vertical lifting mechanism, so that the inspection robot can acquire more information through the camera, solve the problem of information acquisition blind area when a larger height difference exists in a smaller space, and also have the problem of keeping the stability of the vehicle body due to the rising of the camera platform, therefore, the utility model also comprises a central column which consists of a bearing column, four rib plates and a fixed bottom plate, thereby ensuring the stability of the central column and being capable of stably running when the camera platform is lifted; additionally the utility model discloses the cloud platform support includes mounting plate and bottom plate, through stress analysis, adopts the utility model discloses a structure can be so that the cloud platform support is more firm, also more steady during the operation.
The utility model provides a beneficial effect that technical scheme brought is:
1. the utility model has the lifting function, and can solve the problem of information acquisition blind area when a larger height difference exists in a smaller space;
2. the utility model adopts the synchronous belt guide rail, which is more stable when the camera platform moves up and down, and reduces the occurrence of jitter;
3. the utility model discloses it has the center post to have the design, and cloud platform support isotructure avoids producing the shake at camera platform operation in-process for the operation process is more steady.
Drawings
Fig. 1 is a schematic perspective view of the present invention;
fig. 2 is a schematic top view of the wheeled chassis of the present invention;
FIG. 3 is a schematic structural view of the vertical lift mechanism of the present invention;
fig. 4 is a schematic structural view of the central column of the present invention;
fig. 5 is a schematic structural view of the camera platform of the present invention;
FIG. 6 is a schematic view of the upper support plate of the present invention;
FIG. 7 is a schematic view of the structure of the lower support plate of the present invention;
FIG. 8 is a partial enlarged view of the point A of the present invention;
1. the device comprises a vehicle body, a 1-1 wheel type chassis, a 1-2 vehicle shell, 1-3 wheels, 2, a motor, 3, a synchronous belt, 4, a transmission shaft, 5, a bearing seat, 6, a battery, 7, a vertical lifting mechanism, 7-1, a central column, 7-2, a synchronous belt guide rail, 7-3, a travel switch, 7-4, a ground foot, 7-11, a bearing column, 7-12, a rib plate, 7-13, a fixed bottom plate, 7-21, a moving guide rail, 7-22, a driving motor, 7-23, an adjustable speed change device, 7-24, a sliding block, 8, a camera platform, 8-1, a tripod head support, 8-2, a tripod head, 8-3, a camera, 8-11, an upper supporting plate, 8-12 and a lower supporting plate.
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.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected" and "disposed" are to be construed broadly, and may for example be fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed. To the ordinary technical personnel in this field, can understand the specific meaning in the utility model of above-mentioned term with the concrete condition, the utility model provides an electrical apparatus's model is the reference only, can be through changing different models electrical apparatus that the function is the same according to the actual use condition.
As shown in the attached drawings 1-8, the utility model comprises a vehicle body 1, a positioning component and a control component, wherein the positioning component is arranged around the vehicle body 1 and used for positioning the vehicle body 1; the control assembly comprises a main body controller arranged in the vehicle body 1, and the main body controller is electrically connected with the positioning assembly; the positioning component and the control component adopt the existing products as the prior art, so the embodiment is not described in detail; for better illustration, the positioning assembly of the present embodiment may preferably include a reflective gray sensor and a laser ranging sensor, which are respectively electrically connected to the main body controller; the Intel low-power consumption treater (close with treater J1900 performance) of X86 can be preferred to fuselage main control unit, and fuselage main control unit and locating component, motor 2, driving motor 7-22, electronic component's such as camera 8-3 connected mode is the electricity and connects in this embodiment, and fuselage main control unit is prior art to locating component, motor 2, driving motor 7-22, electronic component's such as camera 8-3 control method, and above connected mode and control method all belong to prior art, do not belong to the utility model discloses the innovation point discussed does not have here to describe again.
As shown in the attached figure 2, the vehicle body 1 of the utility model comprises a wheel type chassis 1-1 and a vehicle shell 1-2, 2 motors 2 are arranged on the wheel type chassis 1-1, and each motor 2 is connected with two transmission shafts 4 at the same side of the motor 2 through a synchronous belt 3; the end part of the transmission shaft 4 is connected with wheels 1-3, the other end of the transmission shaft is arranged in a bearing seat 5, the bearing seat 5 is fixedly connected with the wheel type chassis 1-1 through screws, and an angular contact ball bearing is arranged in the bearing seat 5; the motor 2 is powered by a battery 6 fixed in the wheel type chassis 1-1; the motor 2 is a 86 series BYG250A type stepping motor; the wheel type chassis 1-1 is also internally provided with control components such as a main body controller and the like, and the periphery of the vehicle body 1 is provided with a circle of positioning components to realize the positioning and moving functions of the vehicle body 1.
As shown in fig. 3, a vertical lifting mechanism 7 is fixed on the wheel type chassis 1-1; the vertical lifting mechanism 7 comprises a central column 7-1, a synchronous belt guide rail 7-2 and a travel switch 7-3; the bottom of the central column 7-1 is fixed in the middle of the wheel type chassis 1-1, the central column 7-1 is fixed with a synchronous belt guide rail 7-2 through a pair of ground feet 7-4, and the ground feet 7-4 are fixed with the central column 7-1 through bolts; the synchronous belt guide rail 7-2 comprises a motion guide rail 7-21, a driving motor 7-22 and an adjustable speed change device 7-23; the moving guide rails 7-21 are fixed with sliding blocks 7-24 through bolts; the driving motors 7-22 are connected with the adjustable speed change devices 7-23 and are arranged at the lower ends of the moving guide rails 7-21 and used for driving the moving guide rails 7-21 to move; the upper end and the lower end of the moving guide rail 7-21 are respectively fixedly provided with a travel switch 7-3 through bolts; the holder support 8-1 is connected to the sliding block 7-24 for carrying work, the limit travel switches 7-3 are mounted at two ends to ensure safe operation of the machine, the synchronous belt guide rail 7-2 adopts a MOS40 linear module, and the travel can reach 1.5 meters.
As shown in fig. 5, a camera platform 8 is mounted on the moving guide rails 7 to 21, and the camera platform 8 comprises a holder bracket 8-1, a steering engine holder 8-2 and a camera 8-3; the cradle head support 8-1 is connected with a sliding block 7-24 of a synchronous belt guide rail 7-2 through a bolt, a steering engine cradle head 8-2 is installed on the cradle head support 8-1, cameras 8-3 are installed on two sides of the steering engine cradle head 8-2 respectively, the steering engine cradle head 8-2 comprises a steering center assembly which is responsible for adjusting elevation angles and depression angles of the cameras, the cameras are enabled to rotate around the Z-axis direction and the Y-axis direction, and the steering engine cradle head 8-2 purchases existing products such as VT-VC4518-2050F of the Tensain technology; the positioning assembly, the control assembly, the driving motors 7-22 and the cameras 8-3 are respectively connected with the battery 6, and the cameras 8-3 comprise a visible light high-definition camera and an infrared thermal sensing camera.
As shown in fig. 6 and 7, the cradle head support 8-1 comprises an upper supporting plate 8-11 and a lower supporting plate 8-12, which are respectively connected with a sliding block 7-24 of a synchronous belt guide rail 7-2 through bolts to form a bearing platform of the steering engine cradle head 8-2; the upper supporting plate 8-11 comprises a transverse plate and a first vertical connecting part which are integrally connected and are vertical to each other; the first vertical connecting part is provided with a plurality of connecting holes for connecting with the sliding blocks 7-24; the lower supporting plates 8-12 comprise a group of horizontal supporting columns which are parallel to each other, and the supporting columns are respectively and integrally connected with the second vertical connecting parts; the second vertical connecting part is provided with a plurality of connecting holes for connecting with the sliding blocks 7-24; through stress analysis, the holder support 8-1 can be more stable and stable during operation.
As shown in fig. 4, the central column 7-1 of the present invention is composed of a bearing column 7-11, four rib plates 7-12, and a fixed bottom plate 7-13; the fixed bottom plate 7-13 is fixed at a point behind the middle part of the wheel type chassis 1-1 through a screw; in order to stabilize and reliable the lifting process of the robot, a central column 7-1 which plays a main bearing role is designed for a lifting mechanism of the robot, the central column 7-1 consists of a bearing column 7-11, four rib plates 7-12 and a fixed bottom plate 7-13, 10 groups of screw holes are arranged at corresponding positions of the bearing column 7-11 and the fixed plate, and a synchronous belt guide rail 7-2 and a carrying mechanism chassis are connected through bolts, wherein the size of the bearing column 7-11 is 1315 × 78 × 70.
The utility model adopts the vertical lifting mechanism 7, so that the inspection robot can collect more information through the camera, solve the problem of information collection blind area when there is a large height difference in a small space, and because the camera platform 8 rises, the problem of keeping the stability of the vehicle body 1 also exists, therefore, the utility model also comprises a central column 7-1, wherein the central column 7-1 consists of a bearing column 7-11, four rib plates 7-12 and a fixed bottom plate 7-13, thereby ensuring the stability of the central column 7-1, and the inspection robot can stably run when the camera platform 8 goes up and down; in addition the utility model discloses cloud platform support 8-1 includes upper bracket plate 8-11 and bottom plate 8-12, through stress analysis, adopts the utility model discloses a structure can make cloud platform support 8-1 more firm, also more steady during the operation.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.
Claims (7)
1. The electric power inspection robot comprises a vehicle body, a positioning assembly and a control assembly, wherein the positioning assembly is arranged on the periphery of the vehicle body and used for positioning the vehicle body; the control assembly comprises a main body controller arranged in the vehicle body, and the main body controller is electrically connected with the positioning assembly; the method is characterized in that: the vehicle body comprises a wheel type chassis and a vehicle shell, wherein 2 motors are arranged on the wheel type chassis, and each motor is connected with two transmission shafts on the same side of the motor through a synchronous belt; the end part of the transmission shaft is connected with wheels, the other end of the transmission shaft is arranged in a bearing seat, and the bearing seat is fixedly connected with a wheel type chassis; the motor is powered by a battery fixed in the wheel type chassis; a vertical lifting mechanism is fixed on the wheel type chassis; the vertical lifting mechanism comprises a central column, a synchronous belt guide rail and a travel switch; the bottom of the central column is fixed in the middle of the wheel type chassis, the central column is fixed with the synchronous belt guide rail through a pair of ground feet, and the ground feet and the central column are fixed through bolts; the synchronous belt guide rail comprises a motion guide rail, a driving motor and an adjustable speed change device; a sliding block is fixed on the moving guide rail through a bolt; the driving motor is connected with the adjustable speed change device and is arranged at the lower end of the moving guide rail and used for driving the moving guide rail to move; travel switches are respectively fixedly arranged at the upper end and the lower end of the motion guide rail through bolts; the camera platform is arranged on the moving guide rail and comprises a holder bracket, a steering engine holder and a camera; the cradle head support is connected with a sliding block of the synchronous belt guide rail through a bolt, a steering engine cradle head is installed on the cradle head support, and cameras are installed on two sides of the steering engine cradle head respectively; the positioning assembly, the control assembly, the driving motor and the camera are respectively connected with the battery.
2. The power inspection robot according to claim 1, wherein: and an angular contact ball bearing is arranged in the bearing seat.
3. The power inspection robot according to claim 1, wherein: the cradle head support comprises an upper supporting plate and a lower supporting plate, and the upper supporting plate and the lower supporting plate can be respectively connected with a sliding block of a synchronous belt guide rail through bolts to form a bearing platform of the steering engine cradle head; the upper supporting plate comprises a transverse plate and a first vertical connecting part which are integrally connected and are vertical to each other; the first vertical connecting part is provided with a plurality of connecting holes for connecting with the sliding block; the lower supporting plate comprises a group of parallel horizontal supporting columns, and the supporting columns are respectively and integrally connected with the second vertical connecting part; and the second vertical connecting part is provided with a plurality of connecting holes for connecting with the sliding block.
4. The power inspection robot according to claim 1, wherein: the central column consists of a bearing column, four rib plates and a fixed bottom plate; the fixed bottom plate is fixed in the middle of the wheel type chassis through a screw.
5. The power inspection robot according to claim 1, wherein: the camera comprises a visible light high-definition camera and an infrared thermal sensing camera.
6. The power inspection robot according to claim 1, wherein: and the main body controller selects an Intel low-power-consumption processor.
7. The power inspection robot according to claim 1, wherein: the positioning assembly comprises a reflection type gray sensor and a laser ranging sensor, and the reflection type gray sensor and the laser ranging sensor are respectively and electrically connected with the main body controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120386000.5U CN215093558U (en) | 2021-02-19 | 2021-02-19 | Electric power inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120386000.5U CN215093558U (en) | 2021-02-19 | 2021-02-19 | Electric power inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215093558U true CN215093558U (en) | 2021-12-10 |
Family
ID=79335494
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120386000.5U Expired - Fee Related CN215093558U (en) | 2021-02-19 | 2021-02-19 | Electric power inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215093558U (en) |
-
2021
- 2021-02-19 CN CN202120386000.5U patent/CN215093558U/en not_active Expired - Fee Related
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211210 |