CN104959986A - Combined track type automatic inspection robot - Google Patents
Combined track type automatic inspection robot Download PDFInfo
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- CN104959986A CN104959986A CN201510290507.XA CN201510290507A CN104959986A CN 104959986 A CN104959986 A CN 104959986A CN 201510290507 A CN201510290507 A CN 201510290507A CN 104959986 A CN104959986 A CN 104959986A
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Abstract
The invention provides a combined track type automatic inspection robot comprising an operation track, a robot body working on the operation track, and a plurality of detection sensors embarked on the robot body; the operation track comprises an upper track and a lower track; the robot body comprises a track dolly, a first synchronous belt linear module, and a second synchronous belt linear module; the first synchronous belt linear module is arranged between the upper track and the lower track; the second synchronous belt linear module is arranged on the first synchronous belt linear module and vertical to the first synchronous belt linear module; the detection sensors are respectively embarked on the first and second synchronous belt linear modules. The combined track type automatic inspection robot is accurate in motion direction, wide in detection scope, and can send self motion information and monitoring information of detected devices to a PC terminal in real time.
Description
Technical field
This belongs to technical field of electric power, is specifically related to a kind of combined track formula automatic crusing robot.
Background technology
Along with the continuous increase of China's electricity consumption number of users, the requirement of user to power quality constantly promotes, and ensures that the normal operation of electrical equipment is most important.Distribution is directly connected with user in power system and distributes the link of electric energy to user.Because distribution system is as the direct intended for end consumers of last link of power system, it whether improve electricity consumption reliability and the power quality that direct relation users.Therefore, the equipment in power distribution room, the work of patrolling and examining as switch cubicle etc. ensures controller switching equipment safe operation, improves an element task of power supply reliability.
Along with the raising of Automation of Electric Systems level and unattended universal, the security that equipment runs is subject to stricter test, and power distribution room is patrolled and examined and also just received larger attention.At present, most domestic power distribution room all adopts traditional manual inspection mode, due to the restriction by factors such as patrol officer's labour intensity, professional skill, sense of responsibility and the state of mind, undetected, flase drop situation happens occasionally, and can cause heavy economic losses time serious.Therefore, traditional manual inspection can not can not meet the requirement of power system modernization development, and manual inspection is progressively replaced by crusing robot.
Wheeled or the crawler type of the many employings of existing crusing robot drives, and carries checkout gear, in mode that is autonomous or remote control, patrol and examine in the power equipment region of unmanned or few man on duty by The Cloud Terrace.It by the various sensors carried, can complete the image tour, infrared detection etc. of power equipment.The information such as data, image that operating personnel only need be received by background computer, what can complete power equipment patrols and examines work.At present, the existing power equipment crusing robot being applied in the outdoor locations such as transformer station, the crusing robot being applied in the indoor places such as power distribution room does not then also have, and there is following shortcoming when patrolling and examining:
Wheeled or the crawler type of the many employings of existing crusing robot drives, and due to power equipment layout and space constraint in power distribution room, be inconvenient to run arrival equipment to be detected, is also inconvenient to carry out testing; Due to the instrument and meter One's name is legion on the power equipments such as switch cubicle, all be in different positions, to detect the information of these instruments, need crusing robot can realize front and back, upper and lower and three, the left and right omnibearing operation in direction, accurately to arrive corresponding instrument and meter dead ahead to complete detection, and existing crusing robot can only regulate the angle of pitch to detect by The Cloud Terrace at a certain fixing height, the data area of detection is limited; Existing crusing robot function singleness, can only complete the collection of photo and video, cannot detect the partial discharge phenomenon of the power equipment inside such as switch cubicle; Existing crusing robot does not have the function of carrying out real-time Communication for Power with PC terminal, and the motion state of self can not be monitored in time and process with the data collected and feed back to staff.
Summary of the invention
The object of the invention is to overcome above-mentioned the deficiencies in the prior art, provide a kind of combined track formula automatic crusing robot, motion orientation is accurate, before and after can realizing, up and down and freely-movable on direction, three, left and right; Detection range is wide, can complete the Detection Information comprising shelf depreciation information; When patrolling and examining, the monitor message of displacement information and equipment under test can be wirelessly real-time transmitted to PC terminal by robot.
In order to solve the problems of the technologies described above, the invention provides a kind of combined track formula automatic crusing robot, comprise orbit, the robot body that orbit runs, the multiple detecting sensors be mounted on robot body; Described orbit comprises top track and lower track, and described robot body is arranged between top track and lower track, for robot body provides running orbit; Described robot body comprises small rail car, the linear module of the first Timing Belt, the linear module of the second Timing Belt; One end and the small rail car of the linear module of described first Timing Belt are fixed, and the other end is by support installing auxiliary wheel; Described small rail car is arranged on in top track and lower track, and auxiliary wheel coordinates with another in top track and lower track; The linear module of described first Timing Belt is used for moving its detecting sensor of carrying at above-below direction; The linear module of described second Timing Belt is arranged on the linear module of the first Timing Belt, and vertical with the linear module of the first Timing Belt, within the horizontal direction, move its detecting sensor of carrying; Described multiple detecting sensor is mounted on the linear module of the first Timing Belt and the linear module of the second Timing Belt respectively.
Further, described small rail car comprises base plate, one or more pairs of wheel, direct current generator; Described wheel is arranged on orbit, and its turning cylinder is fixed on described base plate by connector; Described direct current generator is for driving described vehicle wheel rotation.
Further, the linear module of described first Timing Belt comprises the linear module slide block of the first straight-bar, the first stepper motor, the first conveyer belt and the first Timing Belt; Described first straight-bar one end is fixed on described small rail car, and the other end installs auxiliary wheel, for being provided in the path of vertical direction being carried out move up and down for the linear module slide block of described first Timing Belt; The linear module slide block of described first Timing Belt is connected with the first conveyer belt and is enclosed within the first straight-bar, and described first conveyer belt two ends are fixed on the first straight-bar; Described first stepper motor is arranged on one end of the first straight-bar for driving described first conveyer belt; The described detecting sensor be mounted on the linear module of the first Timing Belt is fixed on the linear module slide block of the first Timing Belt.
Further, the linear module of described second Timing Belt comprises the linear module slide block of the second straight-bar, the second stepper motor, the second conveyer belt and the second Timing Belt; Described second straight-bar is fixed on the linear module slide block of described first Timing Belt, provides path for giving the motion of the linear module slide block of the second Timing Belt in horizontal plane; The linear module slide block of described second Timing Belt is connected with the second conveyer belt and is enclosed within the second straight-bar, and described second conveyer belt two ends are fixed on the second straight-bar; Described second stepper motor is arranged on one end of the second straight-bar, for driving described second conveyer belt; The described detecting sensor be mounted on the linear module of the second Timing Belt is fixed on the linear module slide block of the second Timing Belt.
Further, described small rail car also comprises the first encoder, two the first limit switches; Described two the first limit switches are one in front and one in back arranged in small rail car case surface, provide reset signal for giving described first encoder; Described first encoder and direct current generator are coaxially installed, rotate along with the motion of small rail car, the angle of rotation is converted into umber of pulse and feeds back to single-chip microcomputer, the current position of small rail car and velocity information is obtained after the process of pulse number, and transmit control signal to direct current generator according to this position and velocity information, control direct current generator and complete startup, stopping, acceleration, speed-down action thus realize small rail car and accurately locate; The linear module of described first Timing Belt also comprises the second encoder and two the second limit switches; Described two the second limit switches are arranged on the two ends of the first straight-bar respectively, provide reset signal for giving described second encoder; Described second encoder and the first stepping motor coaxle are installed, rotate along with the first stepping electric machine rotation, the angle of rotation is converted into umber of pulse and feeds back to described single-chip microcomputer, described pulse number carries out processing the current position of rear acquisition first Timing Belt linear module slide block and velocity information, and transmit control signal to the first stepper motor according to this position and velocity information, control the first stepper motor and complete startup, stopping, acceleration, speed-down action thus realize the first ball screw linear module slide block and accurately locate; The linear module of described second Timing Belt also comprises the 3rd encoder and two the 3rd limit switches; Described two the 3rd limit switches are arranged on the two ends of the second straight-bar respectively, provide reset signal for giving described 3rd encoder; Described 3rd encoder and the second stepping motor coaxle are installed, rotate along with the second stepping electric machine rotation, the angle of rotation is converted into umber of pulse and feeds back to described single-chip microcomputer, described pulse number carries out processing the current position of rear acquisition second Timing Belt linear module slide block and velocity information, and transmit control signal to the second stepper motor according to this position and velocity information, control the second stepper motor and complete startup, stopping, acceleration, speed-down action thus realize the first ball screw linear module slide block and accurately locate.
Further, described crusing robot also comprises control cabinet, is provided with insulation board, the control circuit board be made up of single-chip microcomputer, three motor drivers in described control cabinet; Described control circuit board, three motor drivers are all arranged on insulation board; The information that described single-chip microcomputer is used for providing according to each encoder controls crusing robot motion, completes according to the information that each detecting sensor provides the gather and analysis detecting data; Described three motor drivers, drive described direct current generator, the first stepper motor and the second stepper motor respectively under the control of described single-chip microcomputer.
Further, also comprise for crusing robot provides the battery of electric energy; The insulation board of described control cabinet is also provided with voltage sensor, for monitoring the voltage of battery.
Further, the insulation board of described control cabinet is also provided with communication protocols converter, is ethernet communication protocol by the serial interface communication protocol conversion on control circuit board, the information transmitted is converted to the information transmitted by Ethernet by serial line interface.
Further, comprise well PC terminal, be used for monitoring the current running status of crusing robot in real time and the operation of control, analyze and store the data message that crusing robot collects.
Further, also wireless router is installed, for realizing the radio communication between crusing robot and PC terminal.
The present invention compared with prior art, its remarkable advantage is, combined track formula automatic crusing robot of the present invention, can in power system, as before and after in power distribution room etc., up and down and freely-movable on direction, three, left and right, the motion of fore-and-aft direction drives robot body translation on predetermined trajectory direction by small rail car, motion up and down and in the both direction of left and right is completed by the upper and lower of robot body and left and right two axle movement mechanism, by the accurate control of control system, before robot accurately can being navigated to each equipment under test; By the cooperation of upper and lower two tracks, crusing robot there will not be the situations such as swing in running; The multiple detecting sensor of crusing robot by carrying, accurately can complete the automatic extraction to equipment under test upper wardrobe body number, the information such as indicator lamp, shift knob, instrument registration, apparatus body temperature, shelf depreciation and the task such as fault anticipation and warning; After the information that PC terminal acquisition crusing robot is uploaded, background control center is sent to by the Intranet of power system after can carrying out pretreatment and storage backup further, patrol and examine on-the-spot situation so that operation maintenance personnel is grasped in time and adopt an effective measure, and then completing whole patrol task.
Accompanying drawing explanation
Fig. 1 is the structural representation of combined track formula automatic crusing robot side of the present invention.
Fig. 2 is the structural representation of combined track formula automatic crusing robot opposite side of the present invention.
Fig. 3 is the small rail car structural representation of combined track formula automatic crusing robot of the present invention.
Fig. 4 is the control cabinet inside composition schematic diagram of combined track formula automatic crusing robot of the present invention.
Fig. 5 is the charging box schematic diagram of combined track formula automatic crusing robot of the present invention.
Fig. 6 is the modular structure block diagram that combined track formula automatic crusing robot system of the present invention is formed.
Fig. 7 is the structured flowchart of combined track formula automatic crusing robot kinetic control system of the present invention.
Fig. 8 is the schematic diagram of combined track formula automatic crusing robot PC terminal monitoring software interface of the present invention.
Fig. 9 is the schematic diagram of combined track formula automatic crusing robot PC terminal of the present invention.
Detailed description of the invention
Easy understand, according to technical scheme of the present invention, when not changing connotation of the present invention, one of ordinary skill in the art can imagine the numerous embodiments combined track formula automatic crusing robot of the present invention.Therefore, following detailed description of the invention and accompanying drawing are only the exemplary illustrations to technical scheme of the present invention, and should not be considered as of the present invention all or the restriction be considered as technical solution of the present invention or restriction.
Composition graphs 1, comprise in the present embodiment robot orbit 1, the robot body run on orbit, robot body carry detecting sensor and PC terminal 48.Described orbit 1 comprises top track and lower track two parts, robot body is vertically mounted between lower railway, be used for realizing robot body in power system as the fore-and-aft direction of equipment in power distribution room etc. runs, enable described robot body arrive the equipment cabinet body position of detection to be detected along orbit.Like this, the detecting sensor that robot body is just carried is transported to treats equipment cabinet dead ahead to be detected.Robot body, under the clamping of upper and lower orbit, there will not be situations such as waving in running, and running can be more stable.Described top track can be fixed on roof, or is fixed within doors higher than the space at detected equipment top by support, and described lower track can fix on the ground, or is fixed on the end within doors in detected device bottom by support.
As shown in Figure 1, described robot body comprises the linear module 4 of small rail car 2, first Timing Belt linear module 3, second Timing Belt and backboard 5.The linear module of described second Timing Belt 4 is arranged on the linear module 3 of the first Timing Belt, and one end of the linear module 3 of described first Timing Belt is fixed on small rail car 2 by backboard 5, makes crusing robot form an entirety.Namely small rail car 2 can be arranged on the track of top, also can be arranged on lower track.When small rail car 2 is arranged on the track of top, upper end and the small rail car 2 of the linear module 3 of the first Timing Belt are fixed, first Timing Belt linear module 3 lower end is installed two auxiliary wheels, 43, two auxiliary wheels 43 by support 42 and is laid respectively at lower track both sides with grip track.When small rail car 2 is arranged on lower track, lower end and the small rail car 2 of the linear module 3 of the first Timing Belt are fixed, first Timing Belt linear module 3 upper end is installed two auxiliary wheels, 43, two auxiliary wheels 43 by support 42 and is laid respectively at track both sides, top with grip track.Certainly, do not have one end of the linear module 3 of attachment rail dolly first Timing Belt can install an auxiliary wheel 43 by support 42, now corresponding top track or lower track adopt grooved guide rail, and auxiliary wheel 43 is placed in guide-track groove and runs.
As shown in Figure 3, described small rail car 2 comprises base plate 6, four wheels, two direct current generator 7, first encoders 8, two the first limit switches 9, small rail car electrode 11 and lifting bolts 14, wherein, base plate 6, four wheels, two direct current generator 7, first encoders, 8, two the first limit switches 9 are arranged in the shell of small rail car 2, and base plate 6 also can be a part for shell.Described four wheels comprise two driving wheels 12 and two driven pulleys 13, it is fixed on described base plate 6 by support, separation orbit 1 left and right sides, orbit 1 just in time can pass in the middle of two pairs of wheels, four wheels are close on the I-steel lower surface as track, and described four vehicle wheel rotations move to make small rail car 2.Described two direct current generators 7 are connected with two driving wheels 12 respectively, are used to provide power.The first described encoder 8 is fixed on base plate 6 by support, rotate with the rotation of described small rail car 2 wheel, for recording angle and the number of turns of small rail car 2 vehicle wheel rotation, and feed back to single-chip microcomputer 30, described single-chip microcomputer 30 processes the current run location of rear acquisition small rail car 2 and speed, and completes startup, stopping, acceleration, speed-down action thus realize the accurate location of small rail car 2 according to current run location and speeds control direct current generator 7.Described two the first limit switches 9 are one in front and one in back arranged on small rail car 2 upper surface of outer cover, before needing the equipment cabinet detected, arrange that sheet metal is in order to trigger described first limit switch 9, be used for providing reset signal with the angle of track record dolly 2 vehicle wheel rotation of starting from scratch and the number of turns to described first encoder 8.
Described small rail car 2 is also provided with lithium battery 10, and described lithium battery 10 is placed on for whole crusing robot provides electric energy in battery case, and described battery case is arranged on the side of small rail car 2 shell.Described small rail car 2 case surface is furnished with the small rail car electrode 11 be connected with lithium battery 10 both positive and negative polarity, is convenient to described small rail car electrode 11 and docks with the charging box electrode 41 on charging box 40 and charge.Described lifting bolt 14 is arranged on below base plate 6, when described crusing robot due to various failure cause cannot autonomous operation time, staff with rope through described lifting bolt 14, manually can pull small rail car 2, described robot is moved to the maintenance of maintenance place.
As depicted in figs. 1 and 2, the linear module 3 of the first Timing Belt is fixed by screws on backboard 5, and described backboard 5 is vertically arranged on below the base plate 6 of small rail car 2, thus makes the first described Timing Belt linear module 3 vertical.Shown in the linear module 3 of the first Timing Belt be used for driving detecting sensor to realize the motion of above-below direction, thus treat instrument and meter checkout equipment cabinet being positioned at differing heights and detect.
The linear module of described first Timing Belt 3 comprises the first straight-bar 15, first stepper motor 16, second encoder 17, two the second limit switch 18, first conveyer belts 19 and the linear module slide block 20 of the first Timing Belt.One end of described first straight-bar 15 is fixed on small rail car 2 by backboard 5.Described first straight-bar 15 forms the main body of the linear module 3 of the first Timing Belt, and being used for provides to the linear module slide block 20 of described first Timing Belt the path moved up and down.The linear module slide block 20 of described first Timing Belt is connected with the first conveyer belt 19 and is enclosed within the first straight-bar 15, described first conveyer belt 19 two ends are fixed on the first straight-bar 15, and described first stepper motor 16 is arranged on the first straight-bar 15 upper end and moves for driving described first conveyer belt 19.Described first Timing Belt linear module slide block 20 realizes the motion of above-below direction in the dragging of described first conveyer belt 19.Described detecting sensor is fixed on the linear module slide block 20 of the first Timing Belt, and the linear module slide block 20 of the first Timing Belt carries the motion that detecting sensor realizes above-below direction, thus detects the instrument and meter of differing heights.Described first stepper motor 16 adopts the stepper motor of band band-type brake, there is the function of power-off locking, can when after the unexpected power-off of crusing robot system, locking when described first stepper motor 16 loses holding torque, described band-type brake is arranged on the tail end of the first stepper motor 16, prevents described first Timing Belt linear module slide block 20 along the first straight-bar 15 free-falling thus impaired.When described first stepper motor 16 normally runs; described band-type brake is in powered open state; when causing power-off when breaking down suddenly; described band-type brake can locking immediately; firmly pin described first stepper motor 16; avoid the free-falling of described first Timing Belt linear module slide block 20, thus protect the equipment such as the detecting sensor entrained by it.Described band-type brake is controlled by relay 32.Described second encoder 17 and the first stepper motor 16 are coaxially arranged on its offside, move with the linear module slide block 20 of described first Timing Belt and rotate, record angle and the number of turns feed back to described single-chip microcomputer 30 that the first stepper motor 16 rotates, described single-chip microcomputer 30 processes run location and the speed of the linear module slide block 20 of rear acquisition first Timing Belt, and completes startup, stopping, acceleration, speed-down action thus realize the accurate location of the first Timing Belt linear module slide block 20 according to current run location and speeds control first stepper motor 16 motor.Described two the second limit switches 18 are arranged on the two ends of the first straight-bar 15 one on the other, limit the range of movement of described first Timing Belt linear module slide block 20 and are used for providing reset signal with the angle of record first stepper motor 16 rotation of starting from scratch and the number of turns to described second encoder 17.
As depicted in figs. 1 and 2, the linear module of described second Timing Belt 4 is arranged on the linear module slide block 20 of the first Timing Belt, and it is vertical with described first Timing Belt linear module 3, be used for driving detecting sensor to realize horizontal direction side-to-side movement before equipment cabinet to be detected, the detection to partial discharge phenomenon in equipment under test cabinet can be realized, and be positioned at the detection of the instrument and meter set on the diverse location of cabinet left and right.The linear module of described second Timing Belt 4 comprises the second straight-bar 21, second stepper motor 22, the 3rd encoder 23, two the 3rd limit switch 24, second conveyer belts 25 and the linear module slide block 26 of the second Timing Belt.Described second straight-bar 21 is fixed on the linear module slide block 20 of described first Timing Belt, forms the main body of the linear module 4 of the second Timing Belt, and being used for provides path to the side-to-side movement of the linear module slide block 26 of the second Timing Belt.The linear module slide block 26 of described second Timing Belt is connected with the second conveyer belt 25 and is enclosed within the second straight-bar 21, and described second conveyer belt 25 two ends are fixed on the second straight-bar 21.Described second stepper motor 22 is arranged on the second straight-bar 21 away from equipment under test cabinet endmost surface side, moves for driving described second conveyer belt 25.The linear module slide block 26 of described second Timing Belt realizes the motion of left and right directions under the dragging of the second conveyer belt 25.Described detecting sensor is fixed on the linear module slide block 26 of the second Timing Belt.Described 3rd encoder 23 and the second stepper motor 22 are coaxially arranged on its offside, move with the linear module slide block 26 of described second Timing Belt and rotate, angle and the number of turns of recording the second stepper motor 22 rotation feed back to described single-chip microcomputer 30, and described single-chip microcomputer 30 processes rear control second stepper motor 22 and completes corresponding action thus the accurate location realizing the second Timing Belt linear module slide block 26.Described two the 3rd limit switch 24 1 the first from left right sides are arranged on the two ends of the second straight-bar 21, for limiting the range of movement of described second Timing Belt linear module slide block 26 and being used for providing reset signal with the angle of record rotation of starting from scratch and the number of turns to described 3rd encoder 23.
As Fig. 1 and Fig. 2, described backboard 5 is used for joining rails dolly 2 and the linear module 3 of the first Timing Belt, the described linear module 3 of the first Timing Belt is fixed on backboard 5 by screw, described backboard 5 is fixed on the base plate 6 of small rail car 2 by screw again, thus makes described robot become as a whole.In the vertical direction installed by described backboard 5, perpendicular to the ground.
As depicted in figs. 1 and 2, described detecting sensor comprises high-definition camera 44, thermal infrared imager 45, Temperature Humidity Sensor 39 and partial discharge detector 46.Described high-definition camera 44 and thermal infrared imager 45 are by support installing on the linear module slide block 20 of the first Timing Belt, and described support can regulate arbitrarily, changes its luffing angle.Described high-definition camera 44 is by taking pictures and the information such as recorded video collecting device cabinet number, indicator lamp, shift knob, instrument registration.Described high-definition camera 44 is also equipped with LED light supplement lamp, can automatically open with light filling when surrounding environment brightness declines.Described thermal infrared imager 45 is used for the temperature of checkout equipment body.Described Temperature Humidity Sensor 39 is arranged on robot body, such as, can be arranged on control cabinet 27 bottom surface, is used for detecting the temperature and humidity of ambient indoor environment.Described partial discharge detector 46 is arranged on the linear module slide block 26 of the second Timing Belt, is used for checkout equipment cabinet inside with or without partial discharge phenomenon.Described partial discharge detector 46 on the linear module slide block 26 of the second Timing Belt, can realize close and surperficial away from equipment under test cabinet by support installing.When described partial discharge detector 46 is attached to equipment under test cabinet surface, equipment under test cabinet metal surface is held by the magnet of its front end, internal emission ultrasonic wave and transient state ground electric wave, the detection scheme in conjunction with its setting is inner with or without leaky to detect equipment under test cabinet.
Described robot body is also provided with wireless router box 47, wherein wireless router is installed, realize the communication between crusing robot and PC terminal 48.Described high-definition camera 44, thermal infrared imager 45 are all connected on the LAN mouth of wireless router by netting twine, utilize Ethernet to realize the transmitting-receiving of control and data.
Shown in PC terminal 48 be used for monitoring in real time the current running status of crusing robot and can the operation of control, can also analyzing and store collected data message simultaneously, sending to staff by analyzing the result obtained.Concurrent the losing one's life of state simultaneously received when robot runs by Ethernet makes the action of control.
Described crusing robot orbit 1 can adopt I-steel, and described I-steel level is arranged on the equipment cabinet oblique upper will detected in power distribution room, and described robot body can be made to arrive all anterior position needing checkout equipment cabinet along orbit 1.
As shown in Figure 3, four wheels of small rail car 2, two wheels be connected with described direct current generator 7 are driving wheel 12, and two other wheel is described driven pulley 13.Described driving wheel 12 and driven pulley 13 respectively by support installing in the described I-steel left and right sides.Operationally, the wheel of the left and right sides is close to described I-steel lower surface to described small rail car 2 respectively.Adopt the tandem structure of driving wheel 12 described in two, can run out of steam at a wheel, as unsettled or when bend is suppressed, another wheel can provide power in time, drive described small rail car 2 to continue to run.Described small rail car 2 body material adopts surface-treated Steel material, has wear-resisting, anticorrosion, strong, the on-deformable advantage of weight capacity.Described small rail car 2 periphery also has shell, and described shell adopts baking vanish iron plate to make, and protects inner parts preferably, and attractive in appearance.
As shown in Figure 1, described crusing robot also comprises control cabinet 27, and control cabinet 27 contains the main body of control system, and in order to not affect working sensor, control cabinet 27 can be arranged on the positions such as backboard 5.Control cabinet 27 comprises insulation board 28, control circuit board 29, single-chip microcomputer 30, motor driver 31, relay 32, voltage sensor 33, communication protocols converter 34, power module 35, aviation plug 36, master switch 37 and emergency stop switch 38.Described control circuit board 29, motor driver 31, relay 32, voltage sensor 33, communication protocols converter 34, power module 35 are all arranged on insulation board 28, serve the effect of insulation and for convenience detach.The motion of described control circuit board 29 control also completes the gather and analysis of data.Described single-chip microcomputer 30 is arranged on control circuit board 29, and it can carry out high speed processing and the analysis of data, makes the ruly operation of whole robot control system.Described single-chip microcomputer 30 receives PC terminal 48, the data message that each encoder and limit switch etc. send over, specifically comprise the positional information of the target device that described PC terminal 13-1 sends, before and after comprising, up and down, the position coordinates of left and right, the umber of pulse of each encoder feedback described, the triggering signal that each limit switch described sends, each motor can be controlled after described single-chip microcomputer 30 pairs of data messages process and complete startup, stop, accelerate, speed-down action, by described robot motion to target device dead ahead, achieve the communication of described robot, motion control and accurately location.Described motor driver 31 has three, is used for receiving control signal that described single-chip microcomputer 30 sends thus drives direct current generator 7, first stepper motor 16 and the second stepper motor 22 respectively.Described relay 32 has three, is used for controlling the circuit of described motor driver 31, the band-type brake circuit of the first stepper motor 16 and the break-make of charging circuit respectively.Described voltage sensor 33 is used for the voltage condition of Real-Time Monitoring lithium battery 10, prevents it too low or too high for voltage.Described communication protocols converter 34 is used for serial communication protocol and ethernet communication protocol being carried out dress mutually and changes, and realizes the real-time Communication for Power of described crusing robot and PC terminal 48.The voltage transitions of lithium battery 10 is the different voltages that miscellaneous part needs by described power module 35.Described aviation plug 36 is arranged on control cabinet 27 end face, and described master switch 37 and emergency stop switch 38 are arranged on control cabinet 27 bottom surface.Described aviation plug 36 is used for connection control case 27 internal part and external component, by pluggable mode and engagement thread, convenient and swift, and firmly.Described master switch 37 controls total power supply circuits of crusing robot, it is directly in series with described lithium battery 10, when cutting off described master switch 37, namely the circuit of described lithium battery 10 supply equipment people has been cut off, robot cannot work, when only opening described master switch 37, the described machine talent likely normally works.Described emergency stop switch 38 has the function of meeting emergency case emergency stops robot and running.When described crusing robot occurs that in running unusual condition needs to stop in time, staff can take described emergency stop switch 38 immediately, and now described robot can be out of service immediately.
What described direct current generator 7 adopted band reduction box has brushless motor.Described reduction box selects planetary reduction box, can increase the moment of described direct current generator 7, can drive heavier load.
Described control circuit board 29 is pcb board.Need the function realized according to crusing robot, choose appropriate electronic components and parts, the schematic diagram of the control circuit board 29 described in design and PCB figure, thus produce described control circuit board 29.
The program of the program realizing robot basic function and Based Intelligent Control machine people motion is loaded with under in described single-chip microcomputer 30.The described program realizing robot basic function comprise realize that robot normally runs, stops, data acquisition and transmission, charging program.The program of described Based Intelligent Control machine people motion adopts intelligent control algorithm to write, can direct current generator 7, first stepper motor 16 described in Based Intelligent Control and the second stepper motor 22.The segmented PID closed loop algorithm that described direct current generator 7 adopts integration to be separated controls, simultaneously also with saturation limiting link.By choosing suitable parameter, in conjunction with described in the first encoder 8 and the first limit switch 9, the small rail car 2 described in controlling steadily, fast starts, can Based Intelligent Control speed in running.Described first stepper motor 16 and the second stepper motor 22 adopt trapezoidal acceleration/deceleration control algorithm to control, in conjunction with described second encoder 17, second limit switch 18, the 3rd encoder 23 and the 3rd limit switch 24, the first described stepper motor 16 and the second stepper motor 22 smooth starting and stopping can being made, have good control effects.
Described motor driver 31 has three, drives described direct current generator 7, first stepper motor 16 and the second stepper motor 22 respectively.The Electric Machine Control square-wave signal that described single-chip microcomputer 30 produces can be converted to the good PWM ripple of waveform, the operation of the direct current generator 7 described in control by the driver of described direct current generator 7; Direct current generator 7 described in can also being controlled by different enable signals, direction signal, regenerative braking signal carries out different actions.The driver of described first stepper motor 16 and the driver of the second stepper motor 22 only have difference on driving power, all have status indicator lamp, can indicate current drive and motor circuit state.Described motor driver 31 can also regulate running current and the segmentation of motor, and segmentation is set to 256.By pulse signal, direction signal, enable signal that described single-chip microcomputer 30 provides, the first described stepper motor 16 and the operation of the second stepper motor 22 can be controlled.
Shown relay 32 adopts the solid-state relay of DC control direct current, the control signal provided by described single-chip microcomputer 30, can control described motor driver 31 circuit, the band-type brake circuit of the first stepper motor 16 and the break-make of charging circuit.
Described voltage sensor 33 adopts Hall voltage sensor, the voltage of described lithium battery 10 can be detected in real time, measured magnitude of voltage is fed back to described single-chip microcomputer 30 in time, after described single-chip microcomputer 30 pairs of magnitudes of voltage process, can judge that whether described lithium battery 10 voltage is too low or too high: if too low, then illustrate that described lithium battery 10 electricity is not enough, need charging, described robot can be controlled and charge; If too high, the lithium battery 10 described in explanation overcharges, needs to stop charging.
Serial interface communication protocol conversion on control circuit board 29 is ethernet communication protocol by described communication protocols converter 34, the information transmitted is converted to the information transmitted by Ethernet by serial line interface.Described communication protocols converter 34 has bi-directional conversion ability, also ethernet communication protocol can be converted to serial interface communication agreement.
The effect of described power module 35 is different magnitudes of voltage that the voltage 24VDC provided by lithium battery 10 is converted to other equipment needs, as 12VDC.
Described charging box 40 is arranged on the wall at robot orbit 1 starting point place, and its height is consistent with the height of described robot orbit 1.Be furnished with the charger of lithium battery 10 in described charging box 40, its both positive and negative polarity is connected with the both positive and negative polarity of described charging box copper electrodes 41 respectively.When described robot will charge, move to described starting point place, described small rail car electrode 11 just can dock with charging box electrode 41, under described relay 32 controls, realize charging.Described voltage sensor 33 detects the voltage of lithium battery 10 in real time, when voltage reaches certain value, can send to described single-chip microcomputer 30 1 signals, and described single-chip microcomputer 30 correspondingly can disconnect charging circuit by control relay 32, stops charging process.
Described PC terminal 48 adopts the form of all-in-one, and be a multiple functional computer, inner band has wireless network card.Described PC terminal has PC terminal display screen 49, PC terminal mouse 50 and PC terminal keyboard 51.The data message that the running status of the robot that PC terminal 48 can receive by described PC terminal display screen 49 is relevant with the equipment under test cabinet collected is presented on screen in real time, checks in time for staff.Described PC terminal mouse 50 and PC terminal keyboard 51 can be used for operated by personnel PC terminal 48, send specifically order to perform specific action to described robot.Described PC terminal 48 is placed on the centre position of power distribution room, can complete the transmission to each position data of power distribution room herein preferably.Meanwhile, supply socket and network interface socket should be left herein, can power for described PC terminal 48 and realize communicating with the background control center of power system.
Described PC terminal monitoring software interface 52, described PC terminal software, based on the exploitation of Windows operating system, in conjunction with technology such as transmission of video, image recognition, network communication, computer controls, realizes information gathering, transmission, control, management and storage.On described PC terminal software interface 52, the information of reflection has: equipment state display, velocity information, positional information, high-definition camera picture, thermal infrared imager picture, partial discharge detector detect data, humiture information, recognition of devices result, patrol mode selection, light compensating lamp switch and emergency stop switch button.Described PC terminal monitoring software interface 52 can show the motion state of current machine human body in real time by equipment state display: show before which equipment under test cabinet current described robot run to, the robot speed in real time described in monitoring and position.Staff can send order with the motion of control by described PC terminal mouse 50 and PC terminal keyboard 51.Described PC terminal monitoring software interface 52 can carry out control and management to front-end detection sensor, in real time display current detection object, and carry out state estimation, staff can send command adapted thereto equally and carry out corresponding actions to control described sensor.Described PC terminal monitoring software can also building database, and record also provides relevant historical data for staff, estimates judgement to potential danger.The multiple patrol modes such as described patrol mode has routine to patrol and examine, spy patrols and examines, crisis is patrolled and examined.
Combined track formula automatic crusing robot of the present invention stops at charging box 40 place of robot orbit 1 starting point before starting working, now lithium battery 10 electricity is in full state, and small rail car copper electrodes 11 and charging box copper electrodes 41 are separately.Open the master switch 37 on control cabinet 27 and emergency stop switch 38, robot control circuit is connected, and control circuit board 29, motor driver 31 all power on, and the band-type brake of the first stepper motor 16 is closed, the order of wait-receiving mode patrol task.Open PC terminal monitoring software interface 52, set relevant parameter with PC terminal mouse 50 and PC terminal keyboard 51, select patrol mode, send control command to robot.After the wireless router of robot receives the order sended over by Ethernet, by communication protocols converter 34, Ethernet information is converted to Serial Port Information, receives for single-chip microcomputer 30 and process.Single-chip microcomputer 30 runs according to order control.Drive direct current generator 7 by DC motor driver, drive small rail car 2 to move on robot orbit 1.By the intelligent control algorithm program downloaded in single-chip microcomputer 30, the closed loop Based Intelligent Control to direct current generator 7 can be realized in conjunction with the first encoder 8 and the first limit switch 9, some interference when making robot can overcome operation, as degradation under the speed that track injustice causes, stable, arrival quickly and accurately needs equipment under test cabinet front.The segmented PID closed loop algorithm adopting integration to be separated, simultaneously also with saturation limiting link, by choosing suitable parameter, can control small rail car 2 and steadily, fast starting.Can Based Intelligent Control speed in small rail car 2 running, when running into the uneven place of track or curve resistance causes more greatly speed to reduce, the angle that record can rotate by the first encoder 8 in time and the number of turns feed back to single-chip microcomputer 30, single-chip microcomputer 30 receives and after processing, the dutycycle exporting square wave can be increased, thus increase the rotating speed of direct current generator 7.Soon to a certain need checkout equipment cabinet before track on arrange iron plate, to trigger the first limit switch 9, when iron plate being detected, first encoder starts 8 clearings and starts to record angle and the number of turns of rotation, until the angle stopping record rotating after the record angle of rotating and the number of turns to certain value and the number of turns control direct current generator 7 and stop operating, now robot just in time moves to the position needing to detect, thus achieves the accurate location of robot.First stepper motor 16 and the second stepper motor 22 adopt trapezoidal acceleration/deceleration control algorithm to control, in conjunction with the second encoder 17, second limit switch 18, the 3rd encoder 23 and the 3rd limit switch 24, steadily, registration, has good control effects for startup and stopped process.When direct current generator 7 works, the first stepper motor 16 and the second stepper motor 22 do not work.When robot motion stopped during detected equipment cabinet front to a certain needs, first stepper motor 16 is started working, the linear module slide block 20 of the first Timing Belt is driven to run from top to bottom, stop before cabinet number, indicator lamp, shift knob, instrument and meter, by high-definition camera 44 and thermal infrared imager 45 grabgraf or capture video.When stopping after the work that the first stepper motor 16 completes from top to bottom, the second stepper motor 22 is started working, and drives partial discharge detector 46 close until touch completely to equipment under test cabinet surface, carries out the detection of partial discharge phenomenon.After robot completes the Detection task of current cabinet, the equipment cabinet running body needing detection to the next one can be continued, continue patrol task.The voltage of the voltage sensor 33 energy Real-Time Monitoring lithium battery 10 in control cabinet 27, when there is brownout, can go to charging box 40 place to charge by control.When voltage sensor 33 monitor voltage enough high after, again can control stop charging.Robot is real-time by the motion state of self in running, result detected by positional information and velocity information etc., sensor sends to PC terminal 48 by Ethernet, PC terminal monitoring software interface 52 can show these information in real time, PC terminal 48 is sent to background control center by the Intranet of power system after received information is carried out pretreatment and storage backup, so that operation maintenance personnel is grasped field condition in time and adopted an effective measure.
Claims (10)
1. a combined track formula automatic crusing robot, is characterized in that, comprises orbit, the robot body that orbit runs, the multiple detecting sensors be mounted on robot body;
Described orbit comprises top track and lower track, and described robot body is arranged between top track and lower track, for robot body provides running orbit;
Described robot body comprises small rail car, the linear module of the first Timing Belt, the linear module of the second Timing Belt; One end and the small rail car of the linear module of described first Timing Belt are fixed, and the other end is by support installing auxiliary wheel; Described small rail car is arranged on in top track and lower track, and auxiliary wheel coordinates with another in top track and lower track; The linear module of described first Timing Belt is used for moving its detecting sensor of carrying at above-below direction; The linear module of described second Timing Belt is arranged on the linear module of the first Timing Belt, and vertical with the linear module of the first Timing Belt, within the horizontal direction, move its detecting sensor of carrying;
Described multiple detecting sensor is mounted on the linear module of the first Timing Belt and the linear module of the second Timing Belt respectively.
2. combined track formula automatic crusing robot as claimed in claim 1, it is characterized in that, described small rail car comprises base plate, one or more pairs of wheel, direct current generator; Described wheel is arranged on orbit, and its turning cylinder is fixed on described base plate by connector; Described direct current generator is for driving described vehicle wheel rotation.
3. combined track formula automatic crusing robot as claimed in claim 2, it is characterized in that, the linear module of described first Timing Belt comprises the linear module slide block of the first straight-bar, the first stepper motor, the first conveyer belt and the first Timing Belt; Described first straight-bar one end is fixed on described small rail car, and the other end installs auxiliary wheel, for being provided in the path of vertical direction being carried out move up and down for the linear module slide block 20 of described first Timing Belt; The linear module slide block of described first Timing Belt is connected with the first conveyer belt and is enclosed within the first straight-bar, and described first conveyer belt two ends are fixed on the first straight-bar; Described first stepper motor is arranged on one end of the first straight-bar for driving described first conveyer belt; The described detecting sensor be mounted on the linear module of the first Timing Belt is fixed on the linear module slide block of the first Timing Belt.
4. combined track formula automatic crusing robot as claimed in claim 3, it is characterized in that, the linear module of described second Timing Belt comprises the linear module slide block of the second straight-bar, the second stepper motor, the second conveyer belt and the second Timing Belt; Described second straight-bar is fixed on the linear module slide block of described first Timing Belt, provides path for giving the motion of the linear module slide block of the second Timing Belt in horizontal plane; The linear module slide block of described second Timing Belt is connected with the second conveyer belt and is enclosed within the second straight-bar, and described second conveyer belt two ends are fixed on the second straight-bar; Described second stepper motor is arranged on one end of the second straight-bar, for driving described second conveyer belt; The described detecting sensor be mounted on the linear module of the second Timing Belt is fixed on the linear module slide block of the second Timing Belt.
5. combined track formula automatic crusing robot as claimed in claim 4, is characterized in that,
Described small rail car also comprises the first encoder, two the first limit switches; Described two the first limit switches are one in front and one in back arranged in small rail car case surface, provide reset signal for giving described first encoder; Described first encoder and direct current generator are coaxially installed;
The linear module of described first Timing Belt also comprises the second encoder and two the second limit switches; Described two the second limit switches are arranged on the two ends of the first straight-bar respectively, provide reset signal for giving described second encoder; Described second encoder and the first stepping motor coaxle are installed;
The linear module of described second Timing Belt also comprises the 3rd encoder and two the 3rd limit switches; Described two the 3rd limit switches are arranged on the two ends of the second straight-bar respectively, provide reset signal for giving described 3rd encoder; Described 3rd encoder and the second stepping motor coaxle are installed.
6. combined track formula automatic crusing robot as claimed in claim 5, it is characterized in that, described crusing robot also comprises control cabinet, is provided with insulation board, the control circuit board be made up of single-chip microcomputer, three motor drivers in described control cabinet; Described control circuit board, three motor drivers are all arranged on insulation board;
The information that described single-chip microcomputer is used for providing according to each encoder controls crusing robot motion, completes according to the information that each detecting sensor provides the gather and analysis detecting data;
Described three motor drivers, drive described direct current generator, the first stepper motor and the second stepper motor respectively under the control of described single-chip microcomputer.
7. combined track formula automatic crusing robot as claimed in claim 6, is characterized in that, also comprises for crusing robot provides the battery of electric energy; The insulation board of described control cabinet is also provided with voltage sensor, for monitoring the voltage of battery.
8. combined track formula automatic crusing robot as claimed in claim 6, it is characterized in that, the insulation board of described control cabinet is also provided with communication protocols converter, is ethernet communication protocol by the serial interface communication protocol conversion on control circuit board.
9. combined track formula automatic crusing robot as claimed in claim 6, is characterized in that, comprise well PC terminal, be used for monitoring the current running status of crusing robot in real time and the operation of control, analyzes and store the data message that crusing robot collects.
10. combined track formula automatic crusing robot as claimed in claim 6, is characterized in that, be also provided with wireless router, for realizing the radio communication between crusing robot and PC terminal.
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| CN201510290507.XA CN104959986A (en) | 2015-05-29 | 2015-05-29 | Combined track type automatic inspection robot |
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Application publication date: 20151007 |