CN109877846A - A kind of intelligent inspection robot - Google Patents
A kind of intelligent inspection robot Download PDFInfo
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- CN109877846A CN109877846A CN201910203688.6A CN201910203688A CN109877846A CN 109877846 A CN109877846 A CN 109877846A CN 201910203688 A CN201910203688 A CN 201910203688A CN 109877846 A CN109877846 A CN 109877846A
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Abstract
The invention discloses a kind of intelligent inspection robots, are related to substation inspection equipment technical field.The present invention includes robot body, driving mechanism and video camera；Robot body is equipped with the first cabinet；The top of first cabinet offers opening；Opening is equipped with slip lid；The interior bottom of first cabinet is fixedly installed with the first telescoping mechanism；First telescoping mechanism is connected with one first support base；First support base is slidably mounted in the first cabinet；Video camera is mounted on the first support base by a bracket；First telescoping mechanism has elongation state and contraction state；Under elongation state, video camera stretches out the first cabinet；In a contracted state, position for video camera is in the first cabinet.The present invention stretches out the first cabinet, charging when in use or does not have to temporarily take in the first cabinet when placing by the way that the first cabinet, video camera are arranged on intelligent inspection robot, can play the role of protection to the video camera on intelligent inspection robot.
Description
Technical field
The invention belongs to substation inspection equipment technical fields, more particularly to a kind of intelligent inspection robot.
Background technique
Traditional supervisory control of substation and tour mainly by manual type, are sentenced by the way that the sense organ of people is simply qualitative to equipment progress
Disconnected, main pass through the methods of sees, touches, listens, smells realization.
But there is many deficiencies for manual inspection.There are large labor intensities, working efficiency for traditional artificial routine inspection mode
Low, detection mass-dispersion, the deficiencies of means are single, the data of artificial detection also can not accurately and timely access-in management information systems
System.Intelligent substation inspection system organically combines computer base station, fixed monitoring device and intelligent inspection robot,
It is mutually coordinated.Intelligent inspection robot is by the way of entirely autonomous or remote control, instead of tour personnel to the portion of substation
Subset carries out inspection.Stationary monitoring equipment is formed key equipment in substation point-to-point by the way of fixed monitoring
Monitoring.Intelligent inspection robot and stationary monitoring equipment also can be carried out mutual monitoring, to ensure intelligent inspection robot and fixation
The normal operation of monitoring device.Robot used for intelligent substation patrol system utilizes the intelligent expert analysis system pair of computer base station
The problems such as received screen image and sensor signal are analyzed and judged, find defects of power equipment, exception in time, mentions
The high stability of substation operation.
The Image Acquisition of intelligent inspection robot mostly uses video camera, and video camera is directly installed on intelligent inspection robot
External ambient does not protect, and is easy to be damaged when transporting intelligent inspection robot, in addition intelligent inspection robot is charging
Or do not have to surface of camera head during placing temporarily and be easy dust stratification, influence photographic effect when reusing.
Summary of the invention
The purpose of the present invention is to provide a kind of intelligent inspection robots, by the way that first is arranged on intelligent inspection robot
Cabinet, video camera stretch out the first cabinet, charging when in use or do not have to temporarily take in the first cabinet when placing, solve existing
The Image Acquisition of intelligent inspection robot mostly use video camera, video camera is directly installed on the outside week of intelligent inspection robot
Enclose and do not protect, be easy to be damaged when transporting intelligent inspection robot, in addition intelligent inspection robot charging or temporarily
The problem of surface of camera head is easy dust stratification during without placing, and influences photographic effect when reusing.
In order to solve the above technical problems, the present invention is achieved by the following technical solutions:
The present invention is a kind of intelligent inspection robot, including robot body, driving mechanism and video camera；
The robot body is equipped with the first cabinet；The top of first cabinet offers opening；The opening
Equipped with slip lid；The interior bottom of first cabinet is fixedly installed with the first telescoping mechanism；First telescoping mechanism and one first
Support base is connected；First support base is slidably mounted in first cabinet；The video camera is mounted on by a bracket
On first support base；First telescoping mechanism has elongation state and contraction state；Under elongation state, the camera shooting
Machine stretches out first cabinet；In a contracted state, the position for video camera is in first cabinet；
The bottom of the robot body is equipped with wheel；The driving mechanism connects the wheel and drives the robot
Ontology is mobile；A control cabinet is additionally provided on the robot body；Controller and wireless receiving and dispatching are equipped in the control cabinet body
Module；The controller respectively with first telescoping mechanism, the video camera, the driving mechanism, the wireless receiving and dispatching mould
Block is electrically connected；The radio receiving transmitting module is connect with monitoring center computer；
Anti-collision air bag and IR evading obstacle sensors are additionally provided with immediately ahead of the robot body；The infrared obstacle avoidance sensing
Device and the controller are electrically connected.
Further, the bracket is an electric pushrod；The electric pushrod is vertically arranged with first support base；Institute
The one end for stating electric pushrod is fixedly connected with the upper surface of first support base；The other end of the electric pushrod is taken the photograph with described
Camera is connected；The electric pushrod and the controller are electrically connected.
Further, the electric pushrod is equipped with one second support base far from one end of first support base；It is described
First motor is installed on second support base；The shaft of the first motor is connected with a turntable；The turntable and described second
Support base is parallel；The turntable is equipped with the second cabinet far from one end of the first motor；It is horizontally mounted in second cabinet
There is a shaft；The shaft runs through second cabinet；The shaft is connect with second body pivot；Pacify in the shaft
Equipped with a first gear；The first gear is engaged with a second gear；The second gear is connect with one second motor drive；
The first gear, the second gear, second motor are respectively positioned in second cabinet；The video camera is mounted on institute
The end of shaft is stated, and is located at the outside of second cabinet；The first motor, second motor with the controller
It is electrically connected.
Further, the inner wall of first cabinet is equipped with sliding slot；The sliding slot is vertically arranged；First support base
It is equipped with the raised line cooperated with the sliding slot.
Further, the upper surface of first cabinet offers two first grooves disposed in parallel；Two described first is recessed
Slot is located at the two sides of the opening；Lead screw is rotatably equipped in first groove；The lead screw is equipped with and the silk
The nut of thick stick cooperation；The lower surface of the slip lid is equipped with sliding block；The sliding block and the nut correspond, and with the nut
It is fixedly connected；Wherein one end of a lead screw is equipped with a first pulley；One end of another lead screw is equipped with the second band
Wheel；The first pulley, second belt wheel are connected by belt；Wherein one end of a lead screw and a third motor drive
Connection；The third motor and the controller are electrically connected.
Further, the upper surface of first cabinet offers the second groove；Second groove is located at two described the
Between one groove, and it is connected to two first grooves；The first pulley, second belt wheel, the belt are respectively positioned on institute
It states in the second groove；The notch of second groove is equipped with cover board.
Further, the 4th groove is offered immediately ahead of the robot body；It installs the side of the anti-collision air bag
In the 4th groove；The gas filled in the anti-collision air bag is nitrogen.
Further, the driving mechanism is located in the robot body；The driving mechanism is by the 4th motor and subtracts
Fast device composition；4th motor is electrical connected with the controller.
Further, the lateral surface of first cabinet is equipped with humidity sensor and indicator light；The humidity sensor,
The indicator light is electrically connected with the controller.
The invention has the following advantages:
1, the present invention completes the inspection of power station equipment using intelligent inspection robot, and staff can be made to set far from electrification
It is standby, remotely monitored or operated, safety is good, high reliablity.
2, the present invention can play the role of protection to the video camera on intelligent inspection robot, avoid transporting intelligent patrol
It is damaged when examining robot, while also can be avoided intelligent inspection robot in charging or temporarily without taking the photograph during placement
As head surface dust stratification, the camera shooting clarity of video camera is improved；The camera for frequently wiping video camera is avoided to cause to damage to camera
It is bad, improve the service life of video camera.
3, the present invention can adjust the height of video camera by support Design at telescopic as needed.
Certainly, it implements any of the products of the present invention and does not necessarily require achieving all the advantages described above at the same time.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will be described below to embodiment required
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is the structural schematic diagram of intelligent inspection robot proposed by the present invention；
Fig. 2 is structural schematic diagram of the intelligent inspection robot proposed by the present invention under another visual angle；
Fig. 3 is the top view of intelligent inspection robot proposed by the present invention；
Fig. 4 is the partial sectional view of intelligent inspection robot proposed by the present invention；
Fig. 5 is the structural schematic diagram that slip lid was taken in the first cabinet and covered to video camera；
Fig. 6 is shaft and video camera, first gear, the mounting structure schematic diagram of second gear；
Fig. 7 is the control system architecture schematic diagram of intelligent inspection robot proposed by the present invention；
In attached drawing, parts list represented by the reference numerals are as follows:
1- robot body, 2- video camera, the first cabinet of 3-, 301- opening, 4- slip lid, the first telescoping mechanism of 5-, 6- the
One support base, 7- bracket, 8- wheel, 9- control cabinet, 10- anti-collision air bag, 11- IR evading obstacle sensors, the support of 12- second
Seat, 13- first motor, 14- turntable, the second cabinet of 15-, 16- shaft, 17- first gear, 18- second gear, the second electricity of 19-
Machine, 302- sliding slot, 601- raised line, the first groove of 303-, 20- lead screw, 21- first pulley, the second belt wheel of 22-, 23- belt, 24-
Third motor, the second groove of 304-, the 4th groove of 305-, 25- humidity sensor, 26- indicator light.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that, term " top ", " interior bottom ", " one end ", " other end ", " on
Indicating positions or the positional relationship such as surface ", " horizontal direction ", " vertical direction ", "upper", "inner" are merely for convenience of description originally
Invention and simplified description, rather than the component or element of indication or suggestion meaning must have a particular orientation, with specific side
Position construction and operation, therefore be not considered as limiting the invention.
It please refers to shown in Fig. 1, Fig. 2, Fig. 3 and Fig. 7, the present invention is a kind of intelligent inspection robot, including robot body
1, driving mechanism and video camera 2；
Robot body 1 is equipped with the first cabinet 3；The top of first cabinet 3 offers opening 301；It is open at 301 and is equipped with
Slip lid 4；The interior bottom of first cabinet 3 is fixedly installed with the first telescoping mechanism 5；Specifically, one end of the first telescoping mechanism 5 and the
The interior bottom of one cabinet 3 is fixedly connected by welding.First telescoping mechanism 5 is connected with one first support base 6；First
Support seat 6 is slidably mounted in the first cabinet 3；Video camera 2 is mounted on the first support base 6 by a bracket 7；Specifically, camera shooting
Machine 2 is fixedly connected with one end of bracket 7 by bolt or screw, the one end of bracket 7 far from video camera 2 and the first support base 6
Upper surface passes through welding or the connection type of bolt or viscose glue.First telescoping mechanism 5 has elongation state and contraction state；?
Under elongation state, video camera 2 stretches out the first cabinet 3；In a contracted state, video camera 2 is located in the first cabinet 3；It so, it is possible
When video camera 2 does not use in income to the first cabinet 3, and opening 301 is closed by slip lid 4, effectively to camera shooting
Machine 2 plays protective action, avoids being collided damage transporting intelligent inspection robot video camera 2；Avoid intelligent inspection machine
People's dust in charging falls in the surface of camera head dust stratification of video camera 2, improves the camera shooting clarity of video camera；It avoids frequently wiping
The camera of video camera damages camera, improves the service life of video camera.
The bottom of robot body 1 is equipped with wheel 8；Driving mechanism connects wheel 8 and drives robot body 1 mobile；Machine
A control cabinet 9 is additionally provided on device human body 1；It controls and is equipped with controller and radio receiving transmitting module in cabinet 9；Controller respectively with
First telescoping mechanism 5, video camera 2, driving mechanism, radio receiving transmitting module are electrically connected；Radio receiving transmitting module and monitoring center meter
The connection of calculation machine；Specifically, STM32 single-chip microcontroller may be selected in controller, FSK is may be selected in radio receiving transmitting module | GFSK | si4432 is wireless
Module, SX1278 radio receiving transmitting module, USR-WIFI232-T is wireless Wi-Fi module etc..Driving mechanism can drive wheel 8 to roll
It is dynamic, and then robot body 1 is driven to be moved according to running route pre-set in controller.
The front of robot body 1 is additionally provided with anti-collision air bag 10 and IR evading obstacle sensors 11；IR evading obstacle sensors
11 are electrically connected with controller.
Preferably, bracket 7 is an electric pushrod；Electric pushrod is vertically arranged with the first support base 6；One end of electric pushrod
It is fixedly connected with the upper surface of the first support base 6；The other end of electric pushrod is connected with video camera 2；Electric pushrod and controller
It is electrically connected.Flexible by control electric pushrod adjusts the height of video camera 2 to adapt to the camera shooting demand of different height.
Refering to shown in Fig. 4 and Fig. 6, wherein the one end of electric pushrod far from the first support base 6 is by welding machine or is bolted
One second support base 12 is installed；First motor 13 is installed on second support base 12；The shaft 16 of first motor 13 and one turn
The lower surface of disk 14 is fixedly connected connected；Turntable 14 is parallel with the second support base 12；The one end of turntable 14 far from first motor 13
Equipped with the second cabinet 15；A shaft 16 is horizontally installed in second cabinet 15；Shaft 16 runs through the second cabinet 15；Shaft 16 and
The rotation connection of two cabinets 15；One first gear 17 is installed in shaft 16；First gear 17 is engaged with a second gear 18；Second
Gear 18 and one second motor 19 are sequentially connected；First gear 17, second gear 18, the second motor 19 are respectively positioned on the second cabinet 15
It is interior；Video camera 2 is mounted on the end of shaft 16, and is located at the outside of the second cabinet 15；First motor 13, the second motor 19 with
Controller is electrically connected.Specifically, the rotation by first motor 13 drives turntable 14 to rotate, the level side of video camera 2 is realized
To angle reconcile, the range of conciliation is 0-360 °；Second gear 18 is driven to rotate by the second motor 19,18 band of second gear
Dynamic first gear 17 rotates, and first gear 17 drives shaft 16 to rotate, and then drives video camera 2 in the rotation of vertical direction；It is logical
The positive and negative rotation of the second motor 19 of control is crossed to realize that the upper and lower angle of video camera 2 is reconciled.
Preferably, the inner wall of the first cabinet 3 is equipped with sliding slot 302；Sliding slot 302 is vertically arranged；First support base 6 is equipped with
The raised line 601 cooperated with sliding slot 302.Be designed in this way can be improved the first support base 6 slided up and down in the first cabinet 3 it is steady
Degree.
Refering to shown in Fig. 3 and Fig. 5, it is preferred that the upper surface of the first cabinet 3 offers two first grooves disposed in parallel
303；Two first grooves 303 are located at the two sides of opening 301；Lead screw 20 is rotatably equipped in first groove 303；On lead screw 20
Equipped with the nut cooperated with lead screw 20；The lower surface of slip lid 4 is equipped with sliding block；Sliding block and nut correspond, and fix with nut
Connection；Specifically, sliding block by welding or is bolted with nut, drive nut thereon along screw rod by the rotation of lead screw 20
20 is mobile, drives slip lid 4 mobile from realizing；Wherein one end of a lead screw 20 is equipped with a first pulley 21；Another lead screw 20
One end is equipped with the second belt wheel 22；First pulley 21, the second belt wheel 22 are connected by belt 23；Wherein one end of a lead screw 20 with
The transmission connection of one third motor 24；Third motor 24 and controller are electrically connected.When it is implemented, being turned by third motor 24
Wherein a lead screw 20 rotates for dynamic drive, wherein a lead screw 20 passes through the effect of belt 23 by first pulley 21, the second belt wheel 22
It drives another lead screw 20 to rotate synchronously, to realize sliding back and forth for slip lid 4, completes covering and opening to opening 301.
As shown in fig.5, wherein, the upper surface of the first cabinet 3 offers the second groove 304；Second groove 304 is located at two
Between first groove 303, and it is connected to two first grooves 303；First pulley 21, the second belt wheel 22, belt 23 are respectively positioned on second
In groove 304；The notch of second groove 304 is equipped with cover board.
As shown in fig.1, wherein, the front of robot body 1 offers the 4th groove 305；The one of anti-collision air bag 10
Side is mounted in the 4th groove 305；The gas filled in anti-collision air bag 10 is nitrogen.Specifically, the side of anti-collision air bag 10 is logical
It crosses on the inner wall for being adhesive in the 4th groove 305, so, it is possible the contact area for improving anti-collision air bag 10 and robot body 1, mention
The high connection fastness with robot body 1；The 4th groove 305 can play the role of support to anti-collision air bag 10 simultaneously.
Wherein, driving mechanism is located in robot body 1；Driving mechanism is made of the 4th motor and retarder；4th electricity
Machine is electrical connected with controller.
Wherein, the lateral surface of the first cabinet 3 is equipped with humidity sensor 25 and indicator light 26；Humidity sensor 25, instruction
Lamp 26 is electrically connected with controller.
In the description of this specification, the description of reference term " one embodiment ", " example ", " specific example " etc. means
Particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one implementation of the invention
In example or example.In the present specification, schematic expression of the above terms may not refer to the same embodiment or example.
Moreover, particular features, structures, materials, or characteristics described can be in any one or more of the embodiments or examples to close
Suitable mode combines.
Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.There is no detailed for preferred embodiment
All details are described, are not limited the invention to the specific embodiments described.Obviously, according to the content of this specification,
It can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to better explain the present invention
Principle and practical application, so that skilled artisan be enable to better understand and utilize the present invention.The present invention is only
It is limited by claims and its full scope and equivalent.
Claims (9)
1. a kind of intelligent inspection robot, which is characterized in that including robot body (1), driving mechanism and video camera (2)；
The robot body (1) is equipped with the first cabinet (3)；The top of first cabinet (3) offers opening (301)；
Slip lid (4) are equipped at the opening (301)；The interior bottom of first cabinet (3) is fixedly installed with the first telescoping mechanism (5)；
First telescoping mechanism (5) is connected with one first support base (6)；First support base (6) is slidably mounted on described first
In cabinet (3)；The video camera (2) is mounted on first support base (6) by a bracket (7)；First telescopic machine
Structure (5) has elongation state and contraction state；Under elongation state, the video camera (2) stretches out first cabinet (3)；?
Under contraction state, the video camera (2) is located in first cabinet (3)；
The bottom of the robot body (1) is equipped with wheel (8)；The driving mechanism connects described in wheel (8) drive
Robot body (1) is mobile；A control cabinet (9) is additionally provided on the robot body (1)；It is set in the control cabinet (9)
There are controller and radio receiving transmitting module；The controller respectively with first telescoping mechanism (5), the video camera (2), described
Driving mechanism, the radio receiving transmitting module are electrically connected；The radio receiving transmitting module is connect with monitoring center computer；
Anti-collision air bag (10) and IR evading obstacle sensors (11) are additionally provided with immediately ahead of the robot body (1)；It is described infrared
Obstacle avoidance sensor (11) and the controller are electrically connected.
2. a kind of intelligent inspection robot according to claim 1, which is characterized in that the bracket (7) is one electronic to push away
Bar；The electric pushrod is vertically arranged with first support base (6)；One end of the electric pushrod and first support base
(6) upper surface is fixedly connected；The other end of the electric pushrod is connected with the video camera (2)；The electric pushrod and institute
State controller electric connection.
3. a kind of intelligent inspection robot according to claim 2, which is characterized in that the electric pushrod is far from described
One end of one support base (6) is equipped with one second support base (12)；First motor is installed on second support base (12)
(13)；The shaft (16) of the first motor (13) is connected with a turntable (14)；The turntable (14) and second support base
(12) parallel；The turntable (14) is equipped with the second cabinet (15) far from the one end of the first motor (13)；Second cabinet
(15) shaft (16) are horizontally installed in；The shaft (16) runs through second cabinet (15)；The shaft (16) and institute
State the second cabinet (15) rotation connection；A first gear (17) are installed on the shaft (16)；The first gear (17) with
One second gear (18) engagement；The second gear (18) and one second motor (19) are sequentially connected；The first gear (17),
The second gear (18), second motor (19) are respectively positioned in second cabinet (15)；The video camera (2) is mounted on
The end of the shaft (16), and it is located at the outside of second cabinet (15)；The first motor (13), second motor
(19) it is electrically connected with the controller.
4. a kind of intelligent inspection robot according to claim 1, which is characterized in that the inner wall of first cabinet (3)
It is equipped with sliding slot (302)；The sliding slot (302) is vertically arranged；First support base (6) is equipped with and the sliding slot (302)
The raised line (601) of cooperation.
5. a kind of intelligent inspection robot according to claim 1, which is characterized in that the upper table of first cabinet (3)
Face offers two first grooves (303) disposed in parallel；Two first grooves (303) are located at the opening (301)
Two sides；Lead screw (20) are rotatably equipped in first groove (303)；The lead screw (20) is equipped with matches with the lead screw (20)
The nut of conjunction；The lower surface of the slip lid (4) is equipped with sliding block；The sliding block and the nut correspond, and with the nut
It is fixedly connected；Wherein one end of a lead screw (20) is equipped with a first pulley (21)；One end of another lead screw (20)
Second belt wheel (22) are installed；The first pulley (21), second belt wheel (22) are connected by belt (23)；A wherein institute
The one end and a third motor (24) for stating lead screw (20) are sequentially connected；The third motor (24) electrically connects with the controller
It connects.
6. a kind of intelligent inspection robot according to claim 5, which is characterized in that the upper table of first cabinet (3)
Face offers the second groove (304)；Second groove (304) between two first grooves (303), and with described in two
First groove (303) connection；The first pulley (21), second belt wheel (22), the belt (23) are respectively positioned on described
In two grooves (304)；The notch of second groove (304) is equipped with cover board.
7. a kind of intelligent inspection robot according to claim 1, which is characterized in that the robot body (1) is just
Front offers the 4th groove (305)；The side of the anti-collision air bag (10) is mounted in the 4th groove (305)；It is described
The gas filled in anti-collision air bag (10) is nitrogen.
8. a kind of intelligent inspection robot according to claim 1, which is characterized in that the driving mechanism is located at the machine
In device human body (1)；The driving mechanism is made of the 4th motor and retarder；4th motor and the controller are electrical
It is connected.
9. a kind of intelligent inspection robot according to claim 1, which is characterized in that the outside of first cabinet (3)
Face is equipped with humidity sensor (25) and indicator light (26)；The humidity sensor (25), the indicator light (26) with it is described
Controller is electrically connected.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910203688.6A CN109877846A (en) | 2019-03-18 | 2019-03-18 | A kind of intelligent inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910203688.6A CN109877846A (en) | 2019-03-18 | 2019-03-18 | A kind of intelligent inspection robot |
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Application publication date: 20190614 |