WO2019134326A1 - 一种挂轨式智能巡检机器人 - Google Patents

一种挂轨式智能巡检机器人 Download PDF

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Publication number
WO2019134326A1
WO2019134326A1 PCT/CN2018/086690 CN2018086690W WO2019134326A1 WO 2019134326 A1 WO2019134326 A1 WO 2019134326A1 CN 2018086690 W CN2018086690 W CN 2018086690W WO 2019134326 A1 WO2019134326 A1 WO 2019134326A1
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WIPO (PCT)
Prior art keywords
guide rail
platform
rail
lifting
main body
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PCT/CN2018/086690
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English (en)
French (fr)
Inventor
陈如申
黎勇跃
田少华
罗福良
陈王峰
Original Assignee
杭州申昊科技股份有限公司
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Application filed by 杭州申昊科技股份有限公司 filed Critical 杭州申昊科技股份有限公司
Priority to US16/629,556 priority Critical patent/US11364620B2/en
Publication of WO2019134326A1 publication Critical patent/WO2019134326A1/zh

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
    • H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/026—Acoustical sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/027—Electromagnetic sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion

Definitions

  • the invention belongs to the field of substation detection robots, and particularly relates to a rail-mounted intelligent inspection robot.
  • the rail-mounted intelligent inspection robot is a monitoring robot system specially used in each room of the substation, which can replace various manual inspection, detection, monitoring, fault diagnosis and early warning alarm functions.
  • a self-operated mobile platform and a set of high-performance detection instruments for on-site monitoring of the station's equipment the number of fixed sensors and instruments required for "smart substation" can be greatly reduced, eliminating the need for extensive wiring and the need to retrofit existing switches.
  • Room, GIS room and relay room to improve the level of advanced operations while reducing overall operating costs.
  • the rail-mounted intelligent inspection robot integrates the latest mechatronics and information technology, adopts autonomous or remote control mode, and some substitutes perform detection of visible light, infrared, partial discharge and sound on the switch room, GIS room and relay room.
  • the inspection data is compared and trend analysis, and the hidden dangers and failure precursors of the switchgear operation are discovered in time, and the digitization degree of the switch room, GIS room and relay room and the automation level of the comprehensive monitoring are improved to ensure the safe and reliable operation of the equipment and increase the high voltage.
  • the level of intelligent inspection management improves the controllability of the inspection process and lays a foundation for promoting the development of intelligent detection technology in the whole society.
  • the accuracy of positioning is an important means for the intelligent inspection robot to improve the inspection rate. It is also the primary problem and key problem to be solved by the indoor intelligent inspection robot.
  • the object of the present invention is to provide a rail-mounted intelligent inspection robot with accurate positioning, high detection efficiency, capable of completing normal inspection operations in a substation and providing real-time data analysis and decision support.
  • a rail-mounted intelligent inspection robot comprising a robot body and a guide rail, wherein the robot body is hung on the guide rail and moves along the guide rail; and the robot body is provided with a translation mechanism
  • the translation mechanism is a semi-enclosed structure, which is mounted on the guide rail, the rail is attached with a plurality of barcodes on one side of the robot body, and a bar code reader is arranged on the translation mechanism.
  • the barcode reader is opposite to the barcode position;
  • the control platform is installed under the translation mechanism, the control platform is provided with a control module and a translation motor for driving the robot body to move along the guide rail, and the control module reads the barcode according to the barcode reader Information to control the operation of the translation motor;
  • the lifting mechanism is connected to the control platform and the detecting platform.
  • the lifting mechanism comprises a lifting rope, a drum and a lifting motor for driving the drum to rotate.
  • One end of the lifting rope is wound on the drum, and the other end is connected to the detecting platform, and the outer side of the lifting rope is provided with a telescopic bamboo joint.
  • the intelligent cloud platform is installed under the detection platform, and the detection platform has a rotating mechanism for controlling the horizontal 360-degree rotation of the intelligent cloud platform, and the intelligent cloud platform can perform horizontal 360-degree rotation with respect to the detection platform.
  • the inner top surface of the translation mechanism is provided with a roller, and the side is provided with an auxiliary wheel, the roller abuts against the upper surface of the guide rail, and the auxiliary wheel abuts on the side of the guide rail;
  • the guide rail is provided with a sliding contact line and a sliding contact line
  • the power supply and the translation mechanism are provided with electrical contacts, and are electrically connected with the sliding contact wires.
  • the smart cloud platform comprises a main body, an infrared camera module and a visible light camera module disposed on both sides of the main body, and an insulation measurement module at the bottom of the main body, and the camera modules on both sides can be rotated up and down by 90 degrees with respect to the main body.
  • the infrared camera module is provided with an infrared camera and a pickup
  • the visible light camera module is provided with a visible light camera and a fill light
  • the insulation measurement module comprises an insulation measurement probe, and the probe is provided with a ground wave sensor and an ultrasonic sensor.
  • the lifting mechanism further includes a timing pulley connected to the lifting motor, a matching ball spline shaft and a ball spline sleeve, a trapezoidal screw and a trapezoidal nut; the timing pulley is connected to the lifting motor through a conveyor belt, The timing pulley is mounted on the ball spline shaft, and the roller is mounted on the outside of the ball spline sleeve matched with the ball spline shaft; the trapezoidal screw rod is fixedly mounted on the roller at one end, and the other end is rotated and matched with the trapezoidal nut;
  • the control module in the control platform controls the operation of the lifting motor.
  • the robot body moves along the guide rail, and the barcode provided on the guide rail functions as a positioning, and the barcode information corresponding to all the measurement points is input into the control module in advance, and the barcode reader on the robot body reads the barcode on the moving process.
  • the position information is compared with the position information of the measurement point input in advance, thereby controlling the forward rotation or the reverse rotation of the translation motor, and adjusting the robot body to the measurement point left and right.
  • the light beam emitted by the barcode reader of the invention simultaneously scans 3 to 4 barcodes, and the absolute separation distance between each barcode is 3 cm, which has extremely high measurement precision with respect to the rotary encoder, and the positioning accuracy can reach ⁇ 1 mm.
  • With a maximum measuring distance of 10,000 meters and special material barcode strips it comes with very strong and highly elastic self-adhesive tape and is highly resistant to corrosion, and is resistant to UV rays, chemical solvents and industrial cleaners.
  • the lifting and lowering of the intelligent pan/tilt is controlled by two wire ropes, and the lifting motor transmits the power to the synchronous pulley and the ball spline shaft through the synchronous belt, and the ball spline sleeve cooperates with the roller to rotate the drum forward and backward, and the rope passes the roller
  • the positive and negative loading drives the weight of the lower end to move up and down; and for the rope to not overlap during the winding process, the trapezoidal screw on the right side of the drum and the trapezoidal nut fixed on the bracket are always screwed, and the drum rotates.
  • the screw rotates to move the drum to the left and right, and the distance of each rotation is equal to the diameter of the rope, so as to avoid the rope and the rope overlapping or rubbing each other, and realize the function of automatic cable arranging.
  • the ratio of the diameter of the drum to the steel wire is more than 25, which further improves the service life of the rope (the number of fatigue tests exceeds 200,000 times); in order to improve the maintenance-free cycle, the oil storage space is added inside the nut and the drum, and the filling is full when assembled.
  • Solid lubricants allow the spline shaft and sleeve, nut and screw to be fully lubricated during operation, enabling maintenance-free cycles of ⁇ 1/year.
  • the position of each measuring point meter is entered in the control module in advance, that is, the distance to which the intelligent pan/tilt needs to be dropped to the measuring point, the position information of the bar code read by the control module through the bar code reader, and the read position information and the prior position information
  • the input measurement point positions are compared, and the number of rotations of the lifting motor is controlled according to the distance required to be lowered, so that the intelligent pan/tilt reaches the meter position.
  • the intelligent pan/tilt is controlled by an external computer to control the rotation angle.
  • the infrared camera or visible light camera is used to take the instrument, and the picture is transmitted to the computer for data reading and analysis, and the instrument value is recorded.
  • the ground wave sensor and the ultrasonic sensor can be used for measuring the insulation of the device. Aging problems, and the use of pickups to record the noise inside the equipment for subsequent analysis of failure, aging, etc.
  • the hanging rail type robot of the invention can continuously patrol the operation, and can supply 7*24 hours of uninterrupted work through the power supply of the sliding line; the identification dial data is more accurate, and no erroneous data is read out due to sensory errors; The influence of factors, whether it is day or night, can be carried out in the inspection; the information read can be transmitted to the background and processed in time, and the fault is found in time and the relevant personnel are notified to handle the problem.
  • Figure 4 is a schematic view of the operation of the present invention.
  • Figure 5 is a schematic view of the positioning of the present invention (with the cover of the translation mechanism removed);
  • Figure 6 is a schematic view of the lifting mechanism of the present invention (removing the cover plate of the control platform);
  • Figure 7 is a cross-sectional view of the lifting mechanism of the present invention.
  • the figure is labeled as: guide rail 1, barcode 11, slide line 12, translation mechanism 2, roller 21, auxiliary wheel 22, barcode reader 23, electrical contact 24, control platform 3, lifting mechanism 4, lifting rope 41, Roller 42, timing pulley 43, ball spline shaft 44, ball spline sleeve 45, trapezoidal screw 46, trapezoidal nut 47, telescopic bamboo 48, detection platform 5, intelligent pan/tilt 6, infrared camera module 61, infrared camera 611, a pickup 612, a visible light imaging module 62, a visible light camera 621, a fill light 622, an insulation measuring module 63, and an insulation measuring probe 631.
  • the hanging rail type intelligent inspection robot includes a robot body and a guide rail 1.
  • the robot body is hung on the guide rail and moves along the guide rail; the robot body is provided with a translation mechanism 2, a control platform 3, and a lifting mechanism 4 , detection platform 5 and intelligent cloud platform 6.
  • the translating mechanism 2 is specifically mounted on the guide rail 1 with a semi-enclosed structure.
  • the inner top surface of the housing is provided with two rollers 21, an active roller and a driven roller, and auxiliary wheels 22 are provided on both sides.
  • the roller 21 abuts against the upper surface of the guide rail 1, and the auxiliary wheel 22 abuts against the side surface of the guide rail 1, which is equivalent to wrapping the guide rail in the casing.
  • the driving roller is coaxially mounted with a pulley, and the pulley is driven by the translation motor; the guide rail 1 faces the robot body.
  • a barcode 11 is attached to one side, and a barcode reader 23 is disposed on the translation mechanism. The barcode reader is opposite to the barcode position.
  • the guide rail is provided with a sliding line 12, and the sliding line is located below the barcode, and the sliding line is
  • the power supply is connected, and the electric contact 24 is arranged in the translation mechanism, and is electrically connected with the sliding contact line.
  • the hanging rail type robot can continuously inspect the operation, and the power supply through the sliding contact line can satisfy the 7*24 hours uninterrupted work.
  • the control platform 3 is mounted under the translation mechanism 2.
  • the control platform is provided with a control module and a translation motor that drives the robot body to move along the guide rail.
  • the control module controls the translation motor operation according to the barcode information read by the barcode reader 23.
  • the barcode information corresponding to all the measurement points is input into the control module in advance, and the barcode reader on the robot body reads the position information on the barcode during the movement, and performs the position information read and the position of the measurement point input in advance.
  • the translation motor is controlled to rotate forward or backward, and the robot body is adjusted left and right to reach the measurement point.
  • the lifting mechanism 4 is connected to the control platform 3 and the detecting platform 5.
  • the lifting mechanism 4 includes a driving assembly and a lifting rope 41.
  • the driving assembly is located in the control platform, and includes a drum 42, a lifting motor for driving the drum, and a timing belt connected to the lifting motor.
  • the wheel 43, the matching ball spline shaft 44 and the ball spline sleeve 45, the trapezoidal screw rod 46 and the trapezoidal nut 47, the lifting rope 41 has two, one end is respectively wound on the drum 42, and the other end is connected to the detecting platform 5,
  • the outer side of the lifting rope is provided with a telescopic bamboo joint 48 for protecting the lifting rope and ensuring that the lifting rope does not shake when the lifting rope is running;
  • the timing pulley 43 is connected to the lifting motor by a conveyor belt, and the timing pulley is mounted on the ball spline shaft 44, the roller 42 is mounted on the outer side of the ball spline sleeve 45 matched with the ball spline shaft;
  • the trapezoidal screw rod 46 is fixedly mounted on the roller at one end, and the other end is rotatably engaged with the trapezoidal nut 47;
  • the control module in the control platform controls the lifting and lowering The motor works.
  • the lifting rope 41 is first fixed to the hole in the surface of the drum 42; then the ball spline sleeve 45 is installed into the drum, and the flat key is used to ensure simultaneous rotation; the inside is filled with appropriate grease and sealed with an oil seal;
  • the trapezoidal screw 46 on the right side is bolted to the side of the drum 42 to ensure that both will rotate at the same time;
  • the trapezoidal nut 47 and the bearing are mounted on the right bracket, and the bearing is mounted on the left bracket;
  • the ball spline shaft 44 is mounted on the bearing of the bracket;
  • the synchronous pulley 43 is mounted on the left side of the ball spline shaft, and is connected to the timing pulley on the lifting motor; the lifting motor rotates the rope to the drum, and the motor reverses the rope to release.
  • the diameter of the rope is 3mm
  • the diameter of the drum is 70mm
  • the trapezoidal screw and the nut are Tr36x3, and the distance of the drum translation is equal to the diameter of the rope
  • An intelligent cloud platform 6 is installed under the detection platform 5, and the intelligent cloud platform 6 can perform horizontal 360-degree rotation with respect to the detection platform 5;
  • the intelligent cloud platform 6 includes a main body, an infrared camera module 61 disposed on both sides of the main body, and a visible light camera module. 62, and the insulation measurement module 63 at the bottom of the main body, the camera modules on both sides can be rotated up and down by 90 degrees with respect to the main body;
  • the infrared camera module is provided with an infrared camera 611 and a pickup 612, and the visible light camera module is provided with a visible light camera 621 and The fill light 622;
  • the insulation measurement module includes an insulation measurement probe 631, and the ground wave sensor and the ultrasonic sensor are disposed on the probe.
  • the guide rail 1 is arranged reasonably, and the barcode 11 and the sliding line 12 are arranged on the guide rail 1; the barcode information corresponding to all the measurement points and the distance information that the measurement point intelligent pan/tilt needs to be lowered are input in advance.
  • the barcode reader 23 sends the position information on the read barcode to the control module, and the control module compares the read position information with the pre-stored measurement point position, when the read position value is smaller than the measurement point position value.
  • the translation motor is rotated forward, the robot body is moved to the right to reach the measurement point; when the read position value is greater than the measurement point position value, the control translation motor is reversed, and the robot body is moved to the left to reach the measurement point.
  • the control module controls the rotation of the lifting motor according to the pre-stored distance information of the intelligent cloud platform that needs to be lowered, and controls the number of rotations of the lifting motor according to the distance that needs to be lowered, so that the intelligent cloud platform reaches the instrument position.
  • the intelligent pan/tilt is controlled by an external computer to control the horizontal rotation angle of the entire intelligent pan/tilt head, and the angles of the two camera modules rotating up and down.
  • the infrared camera 611 or the visible light camera 621 is used to take the instrument, and the picture is transmitted to the computer for data reading. Take the analysis and record the meter value.
  • the ground wave sensor and the ultrasonic sensor can be used to measure the insulation aging of the equipment, and the pickup is used to record the noise inside the equipment for subsequent analysis of faults and aging.
  • the control module drives the lifting motor to pull the intelligent pan/tilt back to the original position, and then the translation motor drives the entire robot to shift to the next measuring point and continues the detection work.

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  • Mechanical Engineering (AREA)
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  • Power Engineering (AREA)
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Abstract

本发明公开了一种挂轨式智能巡检机器人，包括机器人本体和导轨，机器人本体挂在导轨上并沿导轨运动；导轨朝向机器人本体一侧贴有若干条形码，平移机构上设有条码读取器，条码读取器与条形码位置相对；控制平台内设有控制模块以及驱动机器人本体沿导轨移动的平移电机；所述升降机构连接控制平台和检测平台，检测平台下方安装智能云台。本发明所述的挂轨式机器人可连续巡检作业，通过滑触线供电可满足 7*24 小时不间断工作，识别表盘数据更准，可将读到的信息及时传输到后台并处理。

Description

一种挂轨式智能巡检机器人 技术领域
本发明属于变电站检测机器人领域，特别涉及一种挂轨式智能巡检机器人。
背景技术
挂轨式智能巡检机器人是专门应用于变电站户内各室的监测机器人系统，可替代人工完成多种巡检、探测、监控、故障诊断、预警报警功能。通过一个自主运行的机动平台和搭载一组高性能检测仪器对站内设备进行全天候监控，可大大减少“智能变电站”所需的固定式传感器和仪器的安装数量，无需大量布线、无需改造现有开关室、GIS室和继保室，在降低综合运营成本的同时，提高先进运营水平。
挂轨式智能巡检机器人集成最新的机电一体化和信息化技术，采用自主或遥控方式，部分替代人对开关室、GIS室和继保室进行可见光、红外、局部放电、声音等检测，对巡检数据进行对比和趋势分析，及时发现开关柜运行的事故隐患和故障先兆，提高开关室、GIS室和继保室的数字化程度和全方位监控的自动化水平，确保设备安全可靠运行，提升高压智能巡检管理水平，提高巡检过程的可控性，为促进全社会智能检测技术的发展奠定基础。
而定位的精度是挂轨式智能巡检机器人提高巡检识别率的重要手段，也是户内挂轨式智能巡检机器人要解决的首要问题、关键问题。
发明内容
本发明的目的是提供一种定位精准、检测效率高，能够完成变电站内正常巡检作业并提供实时数据分析与决策支持的挂轨式智能巡检机器人。
为此，本发明的技术方案是：一种挂轨式智能巡检机器人，包括机器人本体和导轨，机器人本体挂在导轨上并沿导轨运动；其特征在于：所述机器人本体上设有平移机构、控制平台、升降机构、检测平台和智能云台；所述平移机构为半包围结构，挂装在导轨上，导轨朝向机器人本体一侧贴有若干条形码，平移机构上设有条码读取器，条码读取器与条形码位置相对；所述控制平台安装在平移机构下方，控制平台内设有控制模块以及驱动机器人本体沿导轨移动的平移电机，所述控制模块根据条码读取器读取的条码信息来控制平移电机工作；
所述升降机构连接控制平台和检测平台，升降机构包括升降绳、滚筒以及驱动滚筒转动的升降电机，所述升降绳一端缠绕于滚筒上，另一端连接检测平台，升降绳外侧套有伸缩竹节；所述检测平台下方安装智能云台，检测平台内置有控制智能云台水平360度转动的转动机构，智能云台可相对检测平台进行水平360度转动。
优选地，所述平移机构的内部顶面设有滚轮，侧面设有辅助轮，滚轮抵在导轨的上表面，辅助轮抵在导轨侧面；所述导轨上设有滑触线，滑触线连接电源，平移机构内设置有电触头，与滑触线电连接。
优选地，所述智能云台包括主体、设置于主体两侧的红外摄像模块和可见光摄像模块，以及主体底部的绝缘测量模块，两侧的摄像模块均可相对主体上下转动90度。
优选地，所述红外摄像模块上设有红外相机以及拾音器，可见光摄像模块上设有可见光相机以及补光灯；所述绝缘测量模块包括绝缘测量探头，探头上设有地电波传感器和超声波传感器。
优选地，所述升降机构还包括与升降电机相连的同步带轮、配套的滚珠花键轴及滚珠花键套、梯形丝杆和梯形螺母；所述同步带轮通过传送带连接升降电机，所述同步带轮安装在滚珠花键轴上，滚轮安装在与滚珠花键轴相配套的滚珠花键套外侧；所述梯形丝杆一端固定安装在滚轮上，另一端与梯形螺母转动配合；所述控制平台内的控制模块控制升降电机工作。
本发明中机器人本体沿导轨移动，导轨上设置的条形码起到定位的作用，事先将所有测量点所对应的条形码信息输入控制模块内，移动过程中机器人本体上的条码读取器读取条形码上的位置信息，并将读取的位置信息与事先输入的测量点位置进行比较，从而控制平移电机正转或反转，左右调整机器人本体使之到达测量点。
本发明的条码读取器发出的光束同时扫描3～4个条形码，每个条码之间的绝对间隔距离为3cm，相对于旋转编码器具有极高的测量精度，定位精度可达±1mm，可应用于曲线和斜坡的绝对值定位；可分隔条码带，只在需要测量的位置安装条码带；安全可靠，每次读取3个条码，计算出实际距离值；最高速度测量速度达4m/s，最大测量距离达10000米，而且特殊材料条码带，自带非常坚固和高弹性的自粘胶带及具有极强的抗腐蚀性，且可以抗紫外线、化学溶剂和工业清洗剂。
本发明中智能云台的升降由采用两条钢丝绳控制，升降电机通过同步带将动力传递给同步带轮和滚珠花键轴，与之配合的滚珠花键套带动滚筒正反转动，绳子通过滚筒的正反装动，带动其下端的重物上下运动；而为了绳子在缠绕的过程中不发生重叠，位于滚筒右边的梯形丝杆与固定在支架上的梯形螺母始终保持旋合，滚筒旋转的同时，丝杆旋合带动滚筒左右移动，每圈移动的距离和绳子的线径相等，避免绳子与绳子重叠或相互摩擦，实现自动排线的功能。如此，就保证了滚筒上每圈绳子的长度一致，也保证了电机每转一圈与绳子的行程固定不变。滚筒与钢丝直径比大于25以上，进一步提高绳子的使用寿命(疲劳测试次数超过20万次)；为了提高免维护的周期，在螺母和滚筒的内部都增加了存油空间，组装的时候填 充满固态润滑油，使得花键轴和套、螺母和丝杆在运行时得到充分的润滑，可实现免维护周期≤1次/年。
事先在控制模块内录入各个测量点仪表位置，即到该测量点智能云台需要下降的距离，控制模块通过条码读取器读取的条形码上的位置信息，并将读取的位置信息与事先输入的测量点位置进行比较，根据需要下降的距离控制升降电机转动的圈数，从而使得智能云台到达仪表位置。智能云台由外部的计算机控制转动角度，利用红外相机或者可见光相机拍摄仪表，并将图片传送到计算机内进行数据读取分析，并记录仪表数值，同时地电波传感器和超声波传感器可用于测量设备绝缘老化问题，并利用拾音器来记录设备内的噪音以便后续进行故障、老化等分析。
本发明所述的挂轨式机器人可连续巡检作业，通过滑触线供电可满足7*24小时不间断工作；识别表盘数据更准，不会出现因感官失误读出错误数据；不受环境因素的影响，无论是白天还是晚上均可进行巡检作业；可将读到的信息及时传输到后台并处理，及时发现故障并通知相关人员前往处理。
附图说明
以下结合附图和本发明的实施方式来作进一步详细说明
图1、2、3为本发明的结构示意图；
图4为本发明的工作示意图；
图5为本发明的定位示意图(除去平移机构的盖板)；
图6为本发明的升降机构示意图(除去控制平台的盖板)；
图7为本发明的升降机构剖视图。
图中标记为：导轨1、条形码11、滑触线12、平移机构2、滚轮21、辅助轮22、条码读取器23、电触头24、控制平台3、升降机构4、升降绳41、滚筒42、同步带轮43、滚珠花键轴44、滚珠花键套45、梯形丝杆46、梯形螺母47、伸缩竹节48、检测平台5、智能云台6、红外摄像模块61、红外相机611、拾音器612、可见光摄像模块62、可见光相机621、补光灯622、绝缘测量模块63、绝缘测量探头631。
具体实施方式
参见附图。本实施例所述的挂轨式智能巡检机器人，包括机器人本体和导轨1，机器人本体挂在导轨上并沿导轨运动；所述机器人本体上设有平移机构2、控制平台3、升降机构4、检测平台5和智能云台6。
所述平移机构2具体半包围结构的壳体，挂装在导轨1上，壳体的内部顶面设有两个滚 轮21，主动滚轮和从动滚轮，两侧设有辅助轮22，两个滚轮21抵在导轨1的上表面，辅助轮22抵在导轨1侧面，相当于把导轨包裹在壳体内，所述主动滚轮同轴安装一带轮，带轮由平移电机驱动；导轨1朝向机器人本体一侧贴有若干条形码11，平移机构上设有条码读取器23，条码读取器与条形码位置相对；所述导轨上设有滑触线12，滑触线位于条形码的下方，滑触线连接电源，平移机构内设置有电触头24，与滑触线电连接，挂轨式机器人可连续巡检作业，通过滑触线供电可满足7*24小时不间断工作。
所述控制平台3安装在平移机构2下方，控制平台内设有控制模块以及驱动机器人本体沿导轨移动的平移电机，所述控制模块根据条码读取器23读取的条形码信息来控制平移电机工作；事先将所有测量点所对应的条形码信息输入控制模块内，移动过程中机器人本体上的条码读取器读取条形码上的位置信息，并将读取的位置信息与事先输入的测量点位置进行比较，从而控制平移电机正转或反转，左右调整机器人本体使之到达测量点。
所述升降机构4连接控制平台3和检测平台5，升降机构4包括驱动组件和升降绳41，驱动组件位于控制平台内，包括滚筒42、驱动滚筒转动的升降电机、与升降电机相连的同步带轮43、配套的滚珠花键轴44及滚珠花键套45、梯形丝杆46和梯形螺母47，所述升降绳41具有两根，一端分别缠绕于滚筒42上，另一端连接检测平台5，升降绳外侧套有伸缩竹节48，用于保护升降绳，以及确保升降绳运行时不晃动；同步带轮43通过传送带连接升降电机，所述同步带轮安装在滚珠花键轴44上，滚轮42安装在与滚珠花键轴相配套的滚珠花键套45外侧；所述梯形丝杆46一端固定安装在滚轮上，另一端与梯形螺母47转动配合；所述控制平台内的控制模块控制升降电机工作。
升降组件安装时，先将升降绳41固定到滚筒42表面的孔内；再将滚珠花键套45安装到滚筒内，通过平键确保同时旋转；内部填入适当的油脂，用油封盖密封；右侧的梯形丝杆46用螺栓安装到滚筒42侧面，确保二者会同时旋转；右边支架上安装梯形螺母47和轴承，左边支架安装轴承；将滚珠花键轴44安装到支架的轴承上；滚珠花键轴的左侧安装同步带轮43，与升降电机上的同步带轮相连；升降电机正转绳子缠绕到滚筒上，电机反转绳子则放开。绳子的直径为3mm，滚筒直径为70mm，梯形丝杆和螺母是Tr36x3，滚筒平移的距离和绳子的线径相等。
所述检测平台5下方安装智能云台6，智能云台6可相对检测平台5进行水平360度转动；所述智能云台6包括主体、设置于主体两侧的红外摄像模块61和可见光摄像模块62，以及主体底部的绝缘测量模块63，两侧的摄像模块均可相对主体上下转动90度；所述红外摄像模块上设有红外相机611以及拾音器612，可见光摄像模块上设有可见光相机621以及 补光灯622；所述绝缘测量模块包括绝缘测量探头631，探头上设有地电波传感器和超声波传感器。
根据变电站的地形以及设备的摆放合理布置导轨1，在导轨1上布置条形码11以及滑触线12；事先将所有测量点所对应的条形码信息以及该测量点智能云台需要下降的距离信息输入控制模块内。机器人工作时，条码读取器23将读取条形码上的位置信息发送给控制模块，控制模块将读取的位置信息与预存的测量点位置进行比较，当读取的位置值小于测量点位置值时，控制平移电机正转，机器人本体右移使之到达测量点；当读取的位置值大于测量点位置值时，控制平移电机反转，机器人本体左移使之到达测量点。
当机器人本体到达测量点后，控制模块根据预存的该测量点智能云台需要下降的距离信息控制升降电机转动，根据需要下降的距离控制升降电机转动的圈数，从而使得智能云台到达仪表位置。而智能云台由外部的计算机控制整个智能云台水平的转动角度，以及两个摄像模块上下转动的角度，最终利用红外相机611或者可见光相机621拍摄仪表，并将图片传送到计算机内进行数据读取分析，并记录仪表数值，同时地电波传感器和超声波传感器可用于测量设备绝缘老化问题，并利用拾音器来记录设备内的噪音以便后续进行故障、老化等分析。当该测量点仪表拍摄完成后，控制模块驱动升降电机，将智能云台拉回至原位，然后平移电机驱动整个机器人平移至下一测量点，并继续检测工作。

Claims (5)

  1. 一种挂轨式智能巡检机器人，包括机器人本体和导轨，机器人本体挂在导轨上并沿导轨运动；其特征在于：所述机器人本体上设有平移机构、控制平台、升降机构、检测平台和智能云台；所述平移机构为半包围结构，挂装在导轨上，导轨朝向机器人本体一侧贴有若干条形码，平移机构上设有条码读取器，条码读取器与条形码位置相对；所述控制平台安装在平移机构下方，控制平台内设有控制模块以及驱动机器人本体沿导轨移动的平移电机，所述控制模块根据条码读取器读取的条码信息来控制平移电机工作；
    所述升降机构连接控制平台和检测平台，升降机构包括升降绳、滚筒以及驱动滚筒转动的升降电机，所述升降绳一端缠绕于滚筒上，另一端连接检测平台，升降绳外侧套有伸缩竹节；所述检测平台下方安装智能云台，智能云台可相对检测平台进行水平360度转动。
  2. 如权利要求1所述的一种挂轨式智能巡检机器人，其特征在于：所述平移机构的内部顶面设有滚轮，侧面设有辅助轮，滚轮抵在导轨的上表面，辅助轮抵在导轨侧面；所述导轨上设有滑触线，滑触线连接电源，平移机构内设置有电触头，与滑触线电连接。
  3. 如权利要求1所述的一种挂轨式智能巡检机器人，其特征在于：所述智能云台包括主体、设置于主体两侧的红外摄像模块和可见光摄像模块，以及主体底部的绝缘测量模块，两侧的摄像模块均可相对主体上下转动90度。
  4. 如权利要求3所述的一种挂轨式智能巡检机器人，其特征在于：所述红外摄像模块上设有红外相机以及拾音器，可见光摄像模块上设有可见光相机以及补光灯；所述绝缘测量模块包括绝缘测量探头，探头上设有地电波传感器和超声波传感器。
  5. 如权利要求1所述的一种挂轨式智能巡检机器人，其特征在于：所述升降机构还包括与升降电机相连的同步带轮、配套的滚珠花键轴及滚珠花键套、梯形丝杆和梯形螺母；所述同步带轮通过传送带连接升降电机，所述同步带轮安装在滚珠花键轴上，滚轮安装在与滚珠花键轴相配套的滚珠花键套外侧；所述梯形丝杆一端固定安装在滚轮上，另一端与梯形螺母转动配合；所述控制平台内的控制模块控制升降电机工作。
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