CN116197875A

CN116197875A - Electric power inspection robot

Info

Publication number: CN116197875A
Application number: CN202211731642.XA
Authority: CN
Inventors: 袁勇; 杨嘉鹏; 木黑提·吾肯; 张建鹏; 潘江如; 苏建国; 雍佳幸; 方振; 李文翔; 陈振兵; 余志诚; 崔更旭; 克尔兰·克孜尔别克; 陈柏亦; 瞿良玮; 王帅帅; 梁鑫; 郑亦琼; 黄卉; 董晓红
Original assignee: Xinjiang Institute of Engineering
Current assignee: Xinjiang Institute of Engineering
Priority date: 2022-12-30
Filing date: 2022-12-30
Publication date: 2023-06-02

Abstract

The invention discloses an electric power inspection robot which comprises a mechanical arm and a chassis, wherein the chassis consists of a front section disc and a rear section disc, the front section disc and the rear section disc are connected through a connecting shaft on a bearing seat, a front driving axle, a steering pull rod, a first progressive motor, a speed reducer and a driving motor are arranged on the front section disc, a steering driving axle, a mechanical arm rotating base, a power battery, a rear wheel steering system and steering driving are arranged on the rear section disc, a first crossed roller bearing is arranged at the top of the mechanical arm rotating base, and the mechanical arm is integrally of a five-shaft structure. The invention is provided with a series of structures, the chassis and the mechanical arm are arranged, the robot control system and the mechanical arm control system are dual-control independent systems, and are used for opening the door of the electric power cabinet by the robot for inspection, closing the cabinet door after the inspection is finished, combining the inspection unit and the monitoring platform, reducing the labor intensity of inspection of the on-site switch cabinet of the power supply and distribution room, realizing convenient remote supervision and improving the functionality of the inspection robot.

Description

Electric power inspection robot

Technical Field

The invention relates to the technical field of inspection robots, in particular to a power inspection robot.

Background

The power distribution room is an indoor power distribution place with low-voltage load, mainly distributes electric energy for low-voltage users, and is provided with a medium-voltage incoming line (a small amount of outgoing lines can be provided), a power distribution transformer and a low-voltage power distribution device, wherein the switch cabinet is electric equipment, external wires of the switch cabinet firstly enter a main control switch in the cabinet, then enter a sub-control switch, and all branches are arranged according to the needs of the main control switch. The robot is an intelligent machine capable of semi-autonomous or fully autonomous operation. The robot can perform tasks such as work or movement through programming and automatic control, and inspection can be performed in the power distribution room through the robot to acquire the state of the switch cabinet in the power distribution room.

At present, the robot can only monitor the environment in the power distribution room through a camera and a sensor loaded on the robot, such as the temperature in the power distribution room and outside the switch cabinet, but under the state that the cabinet door of the switch cabinet in the power distribution room is closed, the robot is difficult to monitor the state in the switch cabinet, namely, the inspection point of the robot inspection is outside the switch cabinet, so that the robot inspection cannot timely and accurately monitor the abnormality in the switch cabinet, and the robot functionality is poor.

Disclosure of Invention

The invention aims to provide an electric power inspection robot so as to solve the problems in the background technology.

In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides an electric power inspection robot, includes arm and chassis, the chassis comprises anterior segment dish and back end dish, be connected through the connecting axle on the bearing frame between anterior segment dish and the back end dish, be equipped with front drive axle, steering rod, a step motor, reduction gear and driving motor on the anterior segment dish, be equipped with steering drive axle, arm gyration base, power battery, rear wheel steering system and steering drive on the back end dish, arm gyration base's top is equipped with a cross roller bearing, the arm wholly adopts five structures, the arm includes a skeleton and No. two skeletons, no. one the both sides that the skeleton lower extreme is relative all is equipped with a rectangle flange, no. one rectangle flange and No. two rectangle flanges all are equipped with two, no. two rectangle flanges all are equipped with No. two step motors between the rectangle flange, no. one cross roller bearing is connected with a skeleton lower extreme, no. two skeleton upper ends are equipped with two rectangle flanges, no. two skeleton upper ends are equipped with No. two rectangle flanges, no. two rectangle flanges are equipped with No. two step motor, no. four adsorption units are equipped with four adsorption units on the skeleton, no. four adsorption units are equipped with four adsorption units.

Preferably, the robot inspection system comprises a robot control system, a mechanical arm control system, an inspection unit and a monitoring platform, wherein the robot control system and the mechanical arm control system are dual-control independent systems, interaction is realized between the robot control system and the mechanical arm control system through an interaction module, a physical layer of the dual-control independent systems is realized through dual-master control chip USART interaction, the robot control chip is defined as a host according to the forward flow direction of data flow, the mechanical arm control chip is a slave, the output ends of the robot control system, the mechanical arm control system and the inspection unit are electrically connected with the input end of the monitoring platform through a wireless module, the output end of the inspection unit is electrically connected with the input end of an alarm module, the robot inspection module is arranged on the robot control system, and comprises an automatic inspection mode and a manual inspection mode, and the manual inspection mode carries out remote control on the inspection robot through an upper computer operation interface.

Preferably, the adsorption mechanism comprises a rotary support body, an electromagnet and a second crossed roller bearing, the output end of the four-axis speed reducer is connected with the rotary support body through the second crossed roller bearing, the rotary support body is in a disc-shaped structure, the electromagnet and an actuator are arranged on the end face of the rotary support body, which is far away from one side of the second crossed roller bearing, and the inspection acquisition mechanism is arranged below the plane of the rotary support body.

Preferably, the inspection collection mechanism comprises a visual camera and an inspection sensor, an integrated board is arranged below the plane of the rotary support body, the integrated board is provided with the visual camera and the inspection sensor, and the output ends of the visual camera and the inspection sensor are electrically connected with the inspection unit through a processing module.

Preferably, the first rectangular flange, the second rectangular flange and the first framework are all fixed through screws, the first framework and the second framework are all provided with four, the first framework and the second framework are all arranged in an L angle steel structure, and the rotation plane of the four-axis output shaft of the four-axis speed reducer is perpendicular to the second framework on the mechanical arm.

Preferably, the front section disc and the front driving axle are assembled through riding bolts, the section length of the front section disc is 35cm, the section length of the rear section disc is 130cm, and the height of the chassis is 40cm.

Preferably, a sensing assembly is mounted on the chassis and comprises an anti-collision sensor, a positioning sensor, a vehicle speed sensor and a steering sensor, and the sensing assembly is electrically connected with the robot control system.

Preferably, the dismounting mechanism comprises a mounting plate, locking bolts and clamping plates, wherein the mounting plate is arranged at the upper end of the second framework, the locking bolts are arranged on one side of the second framework above the mounting plate, one ends of the locking bolts penetrate through the second framework and are connected with the clamping plates, the locking bolts and the clamping plates are four, and the shell of the four-shaft speed reducer is installed at the upper end of the second framework through the locking bolts and clamping plates.

Compared with the prior art, the invention has the beneficial effects that:

1. this electric power inspection robot, through chassis and the arm of setting, the chassis passes through robot control system and realizes inspection robot's control, the arm passes through arm control system control, robot control system and arm control system are dual control independent system, dual control independent system's physical layer is through dual master control chip USART mutual realization, utilize gyration supporter and the electro-magnet that set up on the arm, be used for the robot to the inside inspection of opening the door of electric power cabinet, the operation of closing the cabinet door after the inspection finishes, combine inspection unit and monitor platform, reduce the intensity of labour that the power supply and distribution room scene cubical switchboard was inspected, long-range supervision is convenient.

2. This electric power inspection robot comprises skeleton and No. two skeletons through the arm that sets up, and the arm wholly adopts five structures, and the four-axis output shaft rotation plane of four-axis speed reducer is perpendicular with No. two skeletons on the arm, gyration increase radius of rotation, and assurance robot equipment does not interfere with cabinet door and automobile body when opening the door to and the shell of four-axis speed reducer passes through locking bolt and splint clamping and installs the upper end at No. two skeletons, and clamping easy dismounting increases inspection robot's functionality.

Drawings

FIG. 1 is a schematic overall structure of embodiment 1 of the present invention;

fig. 2 is a schematic structural diagram of a mechanical arm in embodiment 1 of the present invention;

FIG. 3 is a schematic view of the structure of the slewing bearing in embodiment 1 of the present invention;

fig. 4 is a schematic diagram of inspection operation of the robot in embodiment 1 of the present invention;

FIG. 5 is a schematic structural diagram of a second skeleton in embodiment 2 of the present invention;

fig. 6 is a schematic structural view of a mounting plate in embodiment 2 of the present invention.

In the figure: 1. a mechanical arm; 11. a first skeleton; 12. a first crossed roller bearing; 13. a first rectangular flange; 14. a second rectangular flange; 15. a second step motor; 16. a second skeleton; 161. a mounting plate; 162. a locking bolt; 163. a clamping plate; 17. a four-axis speed reducer; 18. a screw; 2. a chassis; 21. a front section disc; 22. a rear section disc; 23. a connecting shaft; 3. an adsorption mechanism; 31. a rotary support body; 311. an electromagnet; 32. a second crossed roller bearing; 33. a visual camera; 34. a patrol sensor; 4. a steering tie rod; 5. a first step motor; 6. a speed reducer; 7. a drive motor; 8. a saddle bolt.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

Example 1

As shown in fig. 1 to 4, the electric power inspection robot of the embodiment comprises a mechanical arm 1 and a chassis 2, wherein the chassis 2 is composed of a front section disc 21 and a rear section disc 22, the front section disc 21 and the rear section disc 22 are connected through a connecting shaft 23 on a bearing seat, a front driving axle, a steering pull rod 4, a first progressive motor 5, a speed reducer 6 and a driving motor 7 are arranged on the front section disc 21, a steering driving axle, a mechanical arm slewing base, a power battery, a rear wheel steering system and steering driving are arranged on the rear section disc 22, a first crossed roller bearing 12 is arranged at the top of the mechanical arm slewing base, the mechanical arm 1 is of a five-shaft structure integrally, the mechanical arm 1 comprises a first framework 11 and a second framework 16, two opposite sides of the lower end of the first framework 11 are respectively provided with a first rectangular flange 13, two opposite sides of the upper end of the first framework 11 are respectively provided with a second rectangular flange 14, the two

rectangular flanges

13 and 14 are respectively provided with two advancing motors 15, a crossed roller bearing 12 is connected with the lower end of the first framework 11, the advancing motor 15 at the upper end of the first framework 11 is provided with a second framework 16, the upper end of the second framework 16 is provided with a four-shaft speed reducer 17 through a dismounting mechanism, the output end of the four-shaft speed reducer 17 is provided with an adsorption mechanism 3, the adsorption mechanism 3 is connected with a robot inspection system, the mechanical arm speed reducer adopts worm and gear speed reducers, meanwhile, the worm speed reducer has the remarkable characteristics of only one-way transmission, power is transmitted to an output shaft by an input shaft and cannot be transmitted in two directions, the phenomenon that a motor rotor is in an off-line state after a driver is powered down to cause a mechanical arm to fall back is avoided, meanwhile, a brake device can be subtracted from the motor, the mechanical arm driving motor adopts a 86 closed loop stepping motor as power, the maximum torque is 12NM matched with a 50 accompanying speed reducer, the terminal movement torque can be 1.5 times, the chassis steering motor and the brake motor are also closed loop stepping motors, the steering angle and the brake force can be accurately controlled, and the mechanical arm driving motor is used for controlling the door opening inside inspection and closing cabinet door operation after inspection of a power cabinet by a mechanical person through the set chassis 2 and the mechanical arm 1, so that the labor intensity of inspection of a power supply and distribution room field switch cabinet is reduced, and the remote supervision is convenient.

Specifically, the robot inspection system comprises a robot control system, a mechanical arm control system, an inspection unit and a monitoring platform, wherein the robot control system and the mechanical arm control system are dual-control independent systems, interaction is realized between the robot control system and the mechanical arm control system through an interaction module, a physical layer of the dual-control independent system is realized through interaction of a dual-master control chip USART, the robot control chip is defined as a host according to the forward flow direction of data flow, the mechanical arm control chip is a slave, the output ends of the robot control system, the mechanical arm control system and the inspection unit are electrically connected with the input end of the monitoring platform through a wireless module, the output end of the inspection unit is electrically connected with the input end of an alarm module, the alarm module is used for giving an alarm when the robot inspection is abnormal, the robot inspection module is arranged on the robot control system, the robot inspection module comprises two modes of automatic inspection and manual inspection, the manual inspection mode carries out remote control on the inspection robot through an upper computer operation interface, the robot control system comprises a second sensor, an acquisition module, a second processing module, a second master control module, a first sensor module, a transmission module and a first sensor module, a first sensor module and a first sensor module are arranged on the robot inspection module, and a first sensor module is used for storing and the data storage module.

Further, the adsorption mechanism 3 comprises a rotary support body 31, an electromagnet 311 and a second crossed roller bearing 32, the output end of the four-axis speed reducer 17 is connected with the rotary support body 31 through the second crossed roller bearing 32, the rotary support body 31 is in a disc-shaped structure, the electromagnet 311 and an actuator are arranged on the end face of the rotary support body 31 far away from one side of the second crossed roller bearing 32, a patrol acquisition mechanism is arranged below the plane of the rotary support body 31, a mechanical arm 1 on the patrol robot is matched with the adsorption mechanism 3, and the robot can realize the on-off control of the power supply and distribution room on-site switch cabinet door, so that the environment and the wire working temperature inside the power supply and distribution room on-site switch cabinet can be patrol.

Further, the inspection collection mechanism comprises a visual camera 33 and an inspection sensor 34, an integrated board is arranged below the plane of the rotary support body 31, the visual camera 33 and the inspection sensor 34 are arranged on the integrated board, the output ends of the visual camera 33 and the inspection sensor 34 are electrically connected with the inspection unit through a processing module, the inspection sensor 34 comprises a temperature sensor, a humidity sensor, a carbon dioxide sensor and an infrared sensor, the visual camera 33 and the inspection sensor 34 are used for inspecting the field environment of a power supply and distribution room and the internal environment of a switch cabinet, inspection data are uploaded to a monitoring platform, and an alarm is given out when the inspection data are abnormal.

Further, the first rectangular flange 13, the second rectangular flange 14 and the first framework 11 are fixed through screws 18, the first framework 11 and the second framework 16 are four, the first framework 11 and the second framework 16 are all in L angle steel structure, the rotation plane of the four-axis output shaft of the four-axis speed reducer 17 is perpendicular to the second framework 16 on the mechanical arm 1, the rotation radius can be increased by rotation, and the robot equipment is guaranteed not to interfere with a cabinet door and a vehicle body when the door is opened.

Further, the front section disc 21 and the front driving axle are assembled through the saddle bolts 8, the section length of the front section disc 21 is 35CM, the section length of the rear section disc 22 is 130CM, the height of the chassis 2 is 40CM, the connecting shaft 23 penetrates through the bearing seat to link the rear section of the vehicle body by adopting 25X 500mm round steel, the robot chassis adopts 40X 4mm angle steel as an integral framework, floating vehicle body guaranteeing equipment can not shake due to uneven stress no matter what terrain, a four-wheel steering structure is adopted for reducing turning radius, 2 three brushless direct current motors of 48V and 1200W are adopted as power, an inter-wheel differential mechanism is arranged between the front axle and the rear axle, the whole link of the chassis 2 is formed by welding the angle steel, the link strength of the vehicle body and the axle link adopts eight saddle bolts 8 to be ensured, and the vehicle Zhou Jianju can be adjusted, and the adjusting range is within a range of 6CM, and is a reserved adjusting range for ensuring the front axle and the rear axle to be parallel.

Still further, install sensing component on the chassis 2, sensing component includes anticollision sensor, location sensor, speed sensor and turns to the sensor, and sensing component and robot control system electric connection improves the security of inspection robot operation.

The application method of the embodiment is as follows: the chassis 2 and the mechanical arm 1 arranged on the inspection robot, the chassis 2 realizes the control of the inspection robot through a robot control system, the mechanical arm 1 is controlled through a mechanical arm control system, the robot control system and the mechanical arm control system are dual-control independent systems, the physical layer of the dual-control independent systems is realized through the interaction of a dual-master control chip USART, the mechanical arm 1 consists of a first framework 11 and a second framework 16, the mechanical arm 1 is integrally in a five-axis structure, the rotation plane of a four-axis output shaft of a four-axis speed reducer 17 is perpendicular to the second framework 16 on the mechanical arm 1, the rotation radius is increased by rotation, the condition that the robot equipment does not interfere with a cabinet door and a vehicle body when opening a door is ensured, the operation of closing the cabinet door after the inspection is finished is used for the door opening inside inspection of the electric cabinet by the robot by utilizing a rotation support body 31 and an electromagnet 311, and the inspection unit and a monitoring platform are combined, the visual camera 33 and the inspection sensor 34 arranged on the robot can transmit the on-site temperature and instrument data to the upper computer monitoring platform in a wireless mode, the robot can open a cabinet door through the mechanical arm 1 for inspection after the cabinet door is opened for inspection of the point position in the power distribution cabinet, an operator can monitor the operation data of the power supply and distribution room equipment in real time on the upper computer monitoring platform after the inspection is finished, when the working temperature or the conducting wire of the power supply and distribution room equipment is abnormal and the environmental parameters are abnormal, the inspection robot uploads the on-site data to the upper computer monitoring platform and gives an alarm, meanwhile, fault point information is sent to the operator, the inspection robot can be set into two modes of automatic inspection and manual inspection, the manual inspection mode carries out remote control on the inspection robot through the operation interface of the upper computer, the labor intensity of the on-site switch cabinet inspection of the power supply and distribution room is reduced, and the remote supervision is convenient.

Example 2

The structure of the power inspection robot of this embodiment is substantially the same as that of the power inspection robot of embodiment 1, and is different in that: the dismounting mechanism includes a mounting plate 161, a lock bolt 162, and a clamping plate 163 (see fig. 5 and 6). The upper end of No. two skeleton 16 is equipped with mounting panel 161, no. two skeleton 16 one side of mounting panel 161 top is equipped with locking bolt 162, the one end of locking bolt 162 runs through No. two skeleton 16 and is connected with splint 163, locking bolt 162 and splint 163 all are equipped with four, the shell of four-axis speed reducer 17 passes through locking bolt 162 and splint 163 clamping and installs the upper end at No. two skeleton 16, make things convenient for the installation work piece of dismouting No. two skeleton 16 upper ends, like four-axis speed reducer 17 and adsorption equipment 3, install the work piece of other functions on the arm 1 of inspection robot, like fire extinguishing apparatus, can be used for putting out a fire with inspection robot, increase inspection robot's functionality.

Finally, it should be noted that: the foregoing description of the preferred embodiment of the invention is not intended to limit the invention to the particular form disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

Claims

1. The utility model provides an electric power inspection robot, includes arm (1) and chassis (2), its characterized in that: the chassis (2) is composed of a front section disc (21) and a rear section disc (22), the front section disc (21) and the rear section disc (22) are connected through a connecting shaft (23) on a bearing seat, a front driving axle, a steering pull rod (4), a first-grade rectangular flange (14) are arranged on the front section disc (21), a steering drive axle, a mechanical arm slewing base, a power battery, a rear wheel steering system and steering drive are arranged on the rear section disc (22), the mechanical arm (1) is integrally of a five-shaft structure, a first-grade crossed roller bearing (12) is arranged at the top of the mechanical arm slewing base, the mechanical arm (1) comprises a first-grade framework (11) and a second-grade framework (16), a first-grade rectangular flange (13) is arranged on two opposite sides of the lower end of the first-grade framework (11), a second-grade rectangular flange (14) is arranged on two opposite sides of the upper end of the first-grade framework (11), a first-grade rectangular flange (13) and a second-grade rectangular flange (14) are respectively arranged on two sides of the upper end of the first-grade framework (11), a second-grade rectangular flange (14) is respectively provided with a first-grade crossed roller bearing (12) and a second-grade rectangular flange (15) respectively, the upper end of the second framework (16) is provided with a four-shaft speed reducer (17) through a disassembly and assembly mechanism, the output end of the four-shaft speed reducer (17) is provided with an adsorption mechanism (3), and the adsorption mechanism (3) is connected with a robot inspection system.

2. The power inspection robot of claim 1, wherein: the robot inspection system comprises a robot control system, a mechanical arm control system, an inspection unit and a monitoring platform, wherein the robot control system and the mechanical arm control system are dual-control independent systems, interaction is realized between the robot control system and the mechanical arm control system through an interaction module, a physical layer of the dual-control independent systems is realized through dual-master control chip USART interaction, the robot control chip is defined as a master machine according to the forward flow direction of data flow, the mechanical arm control chip is a slave machine, the output ends of the robot control system, the mechanical arm control system and the inspection unit are electrically connected with the input end of the monitoring platform through a wireless module, the output end of the inspection unit is electrically connected with the input end of an alarm module, the robot inspection module is arranged on the robot control system, the robot inspection module comprises two modes of automatic inspection and manual inspection, and the manual inspection mode carries out remote control on the inspection robot through an upper computer operation interface.

3. The power inspection robot of claim 2, wherein: the adsorption mechanism (3) comprises a rotary support body (31), an electromagnet (311) and a second crossed roller bearing (32), the output end of the four-shaft speed reducer (17) is connected with the rotary support body (31) through the second crossed roller bearing (32), the rotary support body (31) is arranged in a disc-shaped structure, the end face, far away from the second crossed roller bearing (32), of the rotary support body (31) is provided with the electromagnet (311) and an actuator, and the inspection acquisition mechanism is arranged below the plane of the rotary support body (31).

4. A power inspection robot according to claim 3, characterized in that: the inspection acquisition mechanism comprises a visual camera (33) and an inspection sensor (34), an integrated plate is arranged below the plane of the rotary support body (31), the integrated plate is provided with the visual camera (33) and the inspection sensor (34), and output ends of the visual camera (33) and the inspection sensor (34) are electrically connected with the inspection unit through a processing module.

5. The power inspection robot of claim 1, wherein: the four-axis angle steel structure is characterized in that the first rectangular flange (13), the second rectangular flange (14) and the first framework (11) are fixed through screws (18), the first framework (11) and the second framework (16) are respectively provided with four, the first framework (11) and the second framework (16) are respectively provided with an L angle steel structure, and a four-axis output shaft rotating plane of the four-axis speed reducer (17) is perpendicular to the second framework (16) on the mechanical arm (1).

6. The power inspection robot of claim 1, wherein: the front section disc (21) and the front driving axle are assembled through the saddle bolts (8), the section length of the front section disc (21) is 35cm, the section length of the rear section disc (22) is 130cm, and the height of the chassis (2) is 40cm.

7. The power inspection robot of claim 1, wherein: the chassis (2) is provided with a sensing assembly, the sensing assembly comprises an anti-collision sensor, a positioning sensor, a vehicle speed sensor and a steering sensor, and the sensing assembly is electrically connected with a robot control system.

8. The power inspection robot of claim 1, wherein: the dismounting mechanism comprises a mounting plate (161), locking bolts (162) and clamping plates (163), wherein the mounting plate (161) is arranged at the upper end of a second framework (16), the locking bolts (162) are arranged on one side of the second framework (16) above the mounting plate (161), one end of each locking bolt (162) penetrates through the second framework (16) to be connected with the corresponding clamping plate (163), the locking bolts (162) and the clamping plates (163) are all four, and the shell of the four-shaft speed reducer (17) is installed at the upper end of the second framework (16) through the locking bolts (162) and the clamping plates (163) in a clamping mode.