CN218825614U - Cloud platform structure for distribution network cable channel cableway type miniature inspection robot - Google Patents
Cloud platform structure for distribution network cable channel cableway type miniature inspection robot Download PDFInfo
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- CN218825614U CN218825614U CN202221893425.6U CN202221893425U CN218825614U CN 218825614 U CN218825614 U CN 218825614U CN 202221893425 U CN202221893425 U CN 202221893425U CN 218825614 U CN218825614 U CN 218825614U
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Abstract
The utility model relates to a cloud platform structure for cable trench cableway type miniature inspection robot of distribution network, which comprises a mounting plate and a cloud platform body, wherein mounting bolts are arranged at four corners of the mounting plate, a positioning frame is arranged below the right side of the mounting plate, a horizontal rotating motor is arranged below the positioning frame, a pinion which is in power connection with the horizontal rotating motor is arranged inside the positioning frame, a gear wheel is arranged on the left side of the pinion, a shell is arranged below the gear wheel, side plates are arranged on the left side and the right side below the shell, the cloud platform body is arranged inside the side plates, an infrared camera is arranged in front of the cloud platform body, and a light supplementing lamp and a high definition camera are respectively arranged on the upper side and the lower side of the infrared camera; the utility model has the advantages of compact structure, small, lightweight design, improve the portability of robot, the practicality is strong.
Description
Technical Field
The utility model belongs to the technical field of the robot apparatus of patrolling and examining, concretely relates to join in marriage miniature cloud platform structure for robot of patrolling and examining of net cable trench cableway formula.
Background
Along with the continuous increase of the electric power demand in China and the continuous expansion of the scale of an electric network, the distribution network cable trench is more and more widely applied, due to the factors of narrow space of the distribution network trench, high environmental temperature, toxic and inflammable gases in the trench and the like, the cable trench intelligent inspection robot is adopted in the current inspection work in the trench, the automatic periodic inspection of underground facilities of the electric network is realized instead of manual work, hidden dangers and faults are found, the safe operation of an electric power system is ensured, a tripod head of the inspection robot adopts a common high-definition camera and an infrared camera to carry out horizontal and pitching driving through a joint motor and a steering engine, the volume is larger, the quality is heavier, the occupied space is large, the field use requirement of the cable trench inspection robot is not facilitated, and the practicability is not high; therefore, it is very necessary to provide a cloud platform structure for distribution network cable trench cableway type miniature inspection robot which has compact structure, small volume, light weight design, improved portability of the robot and strong practicability.
Disclosure of Invention
The utility model aims at overcoming the not enough of prior art, and provide a compact structure, small, lightweight design, improve the miniature cloud platform structure for robot that patrols and examines of distribution network cable ditch cableway formula that the robot is portable, the practicality is strong.
The purpose of the utility model is realized like this: join in marriage miniature cloud platform structure for inspection robot of net cable trench cableway formula, it includes mounting panel and cloud platform body, mounting panel four corners all be provided with construction bolt, mounting panel right side below be provided with the locating rack, locating rack below be provided with horizontal rotation motor, the locating rack inboard be provided with the pinion of being connected with horizontal rotation motor power, pinion left side be provided with the gear wheel, gear wheel below be provided with the casing, casing below left and right sides all be provided with the curb plate, the curb plate inboard be provided with the cloud platform body, the preceding infrared camera that is provided with of cloud platform body, infrared camera about both sides be provided with light filling lamp and high definition camera respectively.
The gear wheel is in power connection with the shell through a gear shaft, and the gear shaft penetrates through the gear wheel and is in rotating connection with the mounting plate through a bearing seat.
The top of the inside of the shell is provided with a main control board, the right side of the main control board is provided with a pitching rotating motor, the left side and the right side of the front part of the pitching rotating motor are respectively provided with a support, and the supports are rotationally connected with the holder body through rotating shafts.
The right side of the rotating shaft is provided with a fixing frame of a U-shaped structure corresponding to the pitching rotating motor, the inner side of the fixing frame is provided with a driven bevel gear corresponding to the rotating shaft, the right side of the driven bevel gear is provided with a driving bevel gear, and the driving bevel gear is in power connection with the pitching rotating motor through a driving shaft.
The locating rack is of an inverted omega-shaped structure and is connected with the mounting plate through a locating bolt, and the horizontal rotating motor is connected with the locating rack through a fixing bolt.
The main control board adopts STM32F429IGT6 as a core main control MCU to complete control and coordination of each component; the main control board controls the horizontal rotating motor and the pitching rotating motor through a CAN bus to realize the positioning of the holder body, and the horizontal +/-90 DEG and pitching +/-60 DEG free steering positioning of the holder body is realized; an infrared camera carried by the holder body collects real-time temperature; the high-definition camera carried by the holder body collects real-time videos.
The horizontal rotating motor adopts a 08BY-0520-50 type linear speed reduction micro stepping motor, and the pitching rotating motor adopts a 08BY-0520-236 type right-angle speed reduction micro stepping motor.
The infrared camera adopts an MS55-NIR type camera, and the high-definition camera adopts an EV-108U type CCD camera.
The utility model has the advantages that: the utility model relates to a miniaturized and lightweight cloud deck structure, which is suitable for a distribution network cable channel type miniature inspection robot, when in use, the installation of the device is completed by fixedly connecting the installation bolts at the four corners of the installation plate with the distribution network cable channel type miniature inspection robot, the horizontal rotating motor and the pitching rotating motor of the device both adopt miniature stepping motors, and a motor driver is integrated into a main control board, thereby realizing the miniaturization and lightweight of the cloud deck structure, the high-definition camera of the device cancels a high-definition camera host, adopts the main control board to carry out image processing on the high-definition camera, and increases the analysis and calculation capacity of the robot, the device reselects a miniature infrared camera and a high-definition camera with smaller and lighter volumes through the optimization design, the load is reduced, and a smaller stepping motor is selected, so that the whole cradle head structure is greatly miniaturized and lightened, the structure is more compact, the problems of larger volume and heavier mass of the existing cradle head are solved, after the miniaturized design, on the basis of keeping the basic function of the robot unchanged, the volume is reduced, the mass is reduced to 2.8KG from 5.5KG, the passing ability of the robot in a narrow space is greatly increased, the inspection requirements of the characteristics of narrow space of a cable duct, severe environment, complex wiring and the like can be met, the sagging of the robot on a cableway is reduced, the difficulty of erecting the cableway is reduced, the portability of the robot is improved, the burden of a user is reduced, the using effect is good, and the practicability is strong; the utility model has the advantages of compact structure, small, lightweight design, improve the portability of robot, the practicality is strong.
Drawings
Fig. 1 is the utility model discloses join in marriage miniature cloud platform structure's for robot of patrolling and examining of net cable trench cableway formula elevation view.
Fig. 2 is the utility model discloses join in marriage the miniature cloud platform structure's of patrolling and examining robot of net cable trench cableway formula internal structure schematic diagram.
Fig. 3 is a bottom view of the structure of fig. 2 according to the present invention.
Fig. 4 is a perspective view of a part of the structure of fig. 3 according to the present invention.
Fig. 5 is the utility model discloses join in marriage the miniature connection structure schematic diagram that patrols and examines the cloud platform structure's of cloud platform structure for robot of net cable trench cableway formula every single move.
In the figure: 1. the device comprises a mounting plate 2, a mounting bolt 3, a positioning frame 4, a horizontal rotating motor 5, a pinion 6, a gearwheel 7, a gear shaft 8, a bearing seat 9, a shell 10, a side plate 11, a holder body 12, an infrared camera 13, a light supplement lamp 14, a high-definition camera 15, a main control plate 16, a pitching rotating motor 17, a support 18, a rotating shaft 19, a positioning bolt 20, a fixing bolt 21, a fixing frame 22, a driven bevel gear 23, a driving bevel gear 24 and a driving shaft.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
Example 1
As shown in fig. 1-5, join in marriage miniature cloud platform structure for patrolling and examining robot of net cable trench cableway formula, it includes mounting panel 1 and cloud platform body 11, 1 four corners of mounting panel all be provided with mounting bolt 2, 1 right side below of mounting panel be provided with locating rack 3, 3 below of locating rack be provided with horizontal rotation motor 4, 3 inboards of locating rack be provided with pinion 5 with horizontal rotation motor 4 power connection, pinion 5 left side be provided with gear wheel 6, gear wheel 6 below be provided with casing 9, casing 9 below left and right sides all be provided with curb plate 10, 10 inboards be provided with cloud platform body 11, cloud platform body 11 preceding be provided with infrared camera 12, infrared camera 12 about both sides be provided with light filling lamp 13 and high definition camera 14 respectively.
The big gear 6 is in power connection with the shell 9 through a gear shaft 7, and the gear shaft 7 penetrates through the big gear 6 and is in rotary connection with the mounting plate 1 through a bearing seat 8.
The inside top of casing 9 be provided with main control board 15, main control board 15 right side be provided with pitch rotating electrical machines 16, the preceding left and right sides of pitch rotating electrical machines 16 all be provided with support 17, support 17 rotate with cloud platform body 11 through pivot 18 and be connected.
A fixing frame 21 with a U-shaped structure is arranged at the position, corresponding to the pitching rotating motor 16, on the right side of the rotating shaft 18, a driven bevel gear 22 is arranged at the position, corresponding to the rotating shaft 18, on the inner side of the fixing frame 21, a driving bevel gear 23 is arranged on the right side of the driven bevel gear 22, and the driving bevel gear 23 is in power connection with the pitching rotating motor 16 through a driving shaft 24.
The utility model relates to a miniaturized and lightweight tripod head structure, which is suitable for a distribution network cable trench cableway type miniature inspection robot, and in use, the installation of the device is completed by fixedly connecting the installation bolts 2 at the four corners of the installation plate 1 with the distribution network cable trench cableway type miniature inspection robot, a horizontal rotating motor 4 and a pitching rotating motor 16 of the device both adopt miniature stepping motors, and motor drivers are integrated into a main control board 15, so as to realize the miniaturization and lightweight of the tripod head structure, a high-definition camera 14 of the device cancels a high-definition camera host, adopts the main control board 15 to carry out image processing on the high-definition camera 14, and increases the analysis and calculation capacity of the robot, and the device reselects the miniature infrared camera 12 and the high-definition camera 14 with smaller and lighter volumes through optimized design, the load is reduced, and a smaller stepping motor is selected, so that the whole cradle head structure is greatly miniaturized and lightened, the structure is more compact, the problems of larger volume and heavier mass of the existing cradle head are solved, after the miniaturized design, on the basis of keeping the basic function of the robot unchanged, the volume is reduced, the mass is reduced to 2.8KG from 5.5KG, the passing ability of the robot in a narrow space is greatly increased, the inspection requirements of the characteristics of narrow space of a cable duct, severe environment, complex wiring and the like can be met, the sagging of the robot on a cableway is reduced, the difficulty of erecting the cableway is reduced, the portability of the robot is improved, the burden of a user is reduced, the using effect is good, and the practicability is strong; the utility model has the advantages of compact structure, small, lightweight design, improve the portability of robot, the practicality is strong.
Example 2
As shown in fig. 1-5, join in marriage miniature cloud platform structure for patrolling and examining robot of net cable trench cableway formula, it includes mounting panel 1 and cloud platform body 11, 1 four corners of mounting panel all be provided with mounting bolt 2, 1 right side below of mounting panel be provided with locating rack 3, 3 below of locating rack be provided with horizontal rotation motor 4, 3 inboards of locating rack be provided with pinion 5 with horizontal rotation motor 4 power connection, pinion 5 left side be provided with gear wheel 6, gear wheel 6 below be provided with casing 9, casing 9 below left and right sides all be provided with curb plate 10, 10 inboards be provided with cloud platform body 11, cloud platform body 11 preceding be provided with infrared camera 12, infrared camera 12 about both sides be provided with light filling lamp 13 and high definition camera 14 respectively.
The big gear 6 is in power connection with the shell 9 through a gear shaft 7, and the gear shaft 7 penetrates through the big gear 6 and is in rotary connection with the mounting plate 1 through a bearing seat 8.
The inside top of casing 9 be provided with main control board 15, main control board 15 right side be provided with pitch rotating electrical machines 16, the preceding left and right sides of pitch rotating electrical machines 16 all be provided with support 17, support 17 rotate with cloud platform body 11 through pivot 18 and be connected.
A fixing frame 21 with a U-shaped structure is arranged at the position, corresponding to the pitching rotating motor 16, on the right side of the rotating shaft 18, a driven bevel gear 22 is arranged at the position, corresponding to the rotating shaft 18, on the inner side of the fixing frame 21, a driving bevel gear 23 is arranged on the right side of the driven bevel gear 22, and the driving bevel gear 23 is in power connection with the pitching rotating motor 16 through a driving shaft 24.
For better effect, the positioning frame 3 is in an inverted omega-shaped structure, the positioning frame 3 is connected with the mounting plate 1 through a positioning bolt 19, and the horizontal rotating motor 4 is connected with the positioning frame 3 through a fixing bolt 20.
The main control board 15 adopts STM32F429IGT6 as a core main control MCU to complete control and coordination of each component; the main control board 15 controls the horizontal rotating motor 4 and the pitching rotating motor 16 through a CAN bus to realize the positioning of the holder body 11, and realizes the horizontal +/-90 DEG and pitching +/-60 DEG free steering positioning of the holder body 11; an infrared camera 12 carried by the holder body 11 acquires real-time temperature; the high-definition camera 14 carried by the holder body 11 collects real-time videos.
The horizontal rotating motor 4 adopts a 08BY-0520-50 type linear speed reduction micro stepping motor, and the pitching rotating motor 16 adopts a 08BY-0520-236 type right-angle speed reduction micro stepping motor.
The infrared camera 12 adopts an MS55-NIR type camera, and the high-definition camera 14 adopts an EV-108U type CCD camera.
In this embodiment, a high-definition camera carried by a holder body of the device collects a real-time video, and the real-time video stream is uploaded to a background through a communication system; an infrared camera carried by a holder body of the device collects real-time temperature, and real-time temperature flow is uploaded to a background through a communication system; the main control board 15 controls the horizontal rotating motor 4 and the pitching rotating motor 16 through a CAN bus to realize the positioning of the holder body 11, wherein the horizontal angle realizes the angle control of the horizontal motor through the CAN bus (CANOPEN protocol), and the pitching angle controls the steering engine angle through PWM to realize the pitching angle control in the vertical direction, and realize the horizontal +/-90 DEG and pitching +/-60 DEG free steering positioning of the holder body 11.
The utility model relates to a miniaturized and lightweight tripod head structure, which is suitable for a distribution network cable trench cableway type miniature inspection robot, and in use, the installation of the device is completed by fixedly connecting the installation bolts 2 at the four corners of the installation plate 1 with the distribution network cable trench cableway type miniature inspection robot, a horizontal rotating motor 4 and a pitching rotating motor 16 of the device both adopt miniature stepping motors, and motor drivers are integrated into a main control board 15, so as to realize the miniaturization and lightweight of the tripod head structure, a high-definition camera 14 of the device cancels a high-definition camera host, adopts the main control board 15 to carry out image processing on the high-definition camera 14, and increases the analysis and calculation capacity of the robot, and the device reselects the miniature infrared camera 12 and the high-definition camera 14 with smaller and lighter volumes through optimized design, the load is reduced, and a smaller stepping motor is selected, so that the whole cradle head structure is greatly miniaturized and lightened, the structure is more compact, the problems of larger volume and heavier mass of the existing cradle head are solved, after the miniaturized design, on the basis of keeping the basic function of the robot unchanged, the volume is reduced, the mass is reduced to 2.8KG from 5.5KG, the passing ability of the robot in a narrow space is greatly increased, the inspection requirements of the characteristics of narrow space of a cable duct, severe environment, complex wiring and the like can be met, the sagging of the robot on a cableway is reduced, the difficulty of erecting the cableway is reduced, the portability of the robot is improved, the burden of a user is reduced, the using effect is good, and the practicability is strong; the utility model has the advantages of compact structure, small, lightweight design, improvement robot portability, practicality are strong.
Claims (8)
1. Join in marriage miniature cloud platform structure for robot of patrolling and examining of net cable trench cableway formula, it includes mounting panel and cloud platform body, its characterized in that: mounting panel four corners all be provided with mounting bolt, mounting panel right side below be provided with the locating rack, locating rack below be provided with the horizontal rotation motor, the locating rack inboard be provided with the pinion of being connected with horizontal rotation motor power, pinion left side be provided with the gear wheel, gear wheel below be provided with the casing, casing below left and right sides all be provided with the curb plate, the curb plate inboard be provided with the cloud platform body, the cloud platform body preceding be provided with infrared camera, infrared camera about both sides be provided with light filling lamp and high definition camera respectively.
2. The cloud platform structure for the distribution network cable trench cableway type micro inspection robot according to claim 1, characterized in that: the gear wheel is in power connection with the shell through a gear shaft, and the gear shaft penetrates through the gear wheel and is in rotating connection with the mounting plate through a bearing seat.
3. The cloud platform structure for the distribution network cable trench cableway type micro inspection robot according to claim 2, characterized in that: the inside top of casing be provided with the main control board, the main control board right side be provided with the every single move rotating electrical machines, the preceding left and right sides of every single move rotating electrical machines all be provided with the support, the support rotate with cloud platform body through the pivot and be connected.
4. The cloud platform structure for the distribution network cable trench cableway type miniature inspection robot of claim 3, characterized in that: the right side of the rotating shaft is provided with a fixing frame of a U-shaped structure corresponding to the pitching rotating motor, the inner side of the fixing frame is provided with a driven bevel gear corresponding to the rotating shaft, the right side of the driven bevel gear is provided with a driving bevel gear, and the driving bevel gear is in power connection with the pitching rotating motor through a driving shaft.
5. The cloud platform structure for the distribution network cable trench cableway type micro inspection robot according to claim 1, characterized in that: the locating rack is of an inverted omega-shaped structure and is connected with the mounting plate through a locating bolt, and the horizontal rotating motor is connected with the locating rack through a fixing bolt.
6. The cloud platform structure for the distribution network cable trench cableway type micro inspection robot according to claim 3, characterized in that: the main control board adopts STM32F429IGT6 as a core main control MCU to complete control and coordination of each component; the main control board controls the horizontal rotating motor and the pitching rotating motor through a CAN bus to realize the positioning of the holder body, and the horizontal +/-90 DEG and pitching +/-60 DEG free steering positioning of the holder body is realized; an infrared camera carried by the holder body collects real-time temperature; the high-definition camera carried by the holder body collects real-time videos.
7. The cloud platform structure for the distribution network cable trench cableway type micro inspection robot according to claim 6, characterized in that: the horizontal rotating motor adopts a 08BY-0520-50 type linear speed reduction micro stepping motor, and the pitching rotating motor adopts a 08BY-0520-236 type right-angle speed reduction micro stepping motor.
8. The cloud platform structure for the distribution network cable trench cableway type micro inspection robot according to claim 6, characterized in that: the infrared camera adopts an MS55-NIR type camera, and the high-definition camera adopts an EV-108U type CCD camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221893425.6U CN218825614U (en) | 2022-07-22 | 2022-07-22 | Cloud platform structure for distribution network cable channel cableway type miniature inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221893425.6U CN218825614U (en) | 2022-07-22 | 2022-07-22 | Cloud platform structure for distribution network cable channel cableway type miniature inspection robot |
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| Publication Number | Publication Date |
|---|---|
| CN218825614U true CN218825614U (en) | 2023-04-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221893425.6U Active CN218825614U (en) | 2022-07-22 | 2022-07-22 | Cloud platform structure for distribution network cable channel cableway type miniature inspection robot |
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| CN (1) | CN218825614U (en) |
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- 2022-07-22 CN CN202221893425.6U patent/CN218825614U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231207 Address after: No. 555 Renmin Road, Nanyang City, Henan Province, 473299 Patentee after: Nanyang Feilong Power Group Co.,Ltd. Address before: 474550 north side of East section of Shiji Avenue, Xixia County, Nanyang City, Henan Province Patentee before: XISHAN POWER SUPPLY COMPANY OF STATE GRID HENAN ELECTRIC POWER Co. |
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| TR01 | Transfer of patent right |