CN205685324U - A kind of gantry truss-like indoor substation crusing robot - Google Patents

Abstract

The utility model discloses a gantry truss type substation inspection robot, which comprises an X-direction track, a Y-direction track, a mechanical arm and a detection component; the Y-direction track is installed on the X-direction track and can go back and forth along the X-direction track Move; the mechanical arm is installed on the Y-direction track through a mobile platform and the mobile platform can move back and forth along the Y-direction track; the detection assembly is installed on the described mechanical arm, through the X-direction track, the Y-direction track and the The compound movement of the mechanical arm realizes all-round inspection of indoor equipment.

Description

A gantry truss type indoor substation inspection robot

technical field

The utility model relates to an intelligent detection robot, in particular to an indoor inspection robot of a gantry truss type substation, belonging to the technical field of intelligent detection.

Background technique

The normal operation of the indoor equipment of the power system is very important. On the one hand, it needs to have sufficient reliability, and on the other hand, it also needs to be inspected in time to discover and repair potential hidden dangers in the equipment in time to ensure the normal operation of the system. Real-time detection of indoor power equipment is of great significance to ensure its reliable and safe operation. Limited by the indoor space and the layout of other monitored equipment, in order to realize the all-round detection function of the equipment, it is necessary for the robot to be able to achieve a large stroke in both horizontal space and vertical space. Obviously, the existing wheel drive or crawler drive methods are difficult to achieve.

In addition, the location of the equipment to be inspected in some substations is relatively high, and inspections are required directly above some equipment (such as the water cooling room of the valve hall and the GIS room). The existing inspection methods are even more prohibitive.

Utility model content

In order to solve the above problems in the prior art, the utility model provides a gantry truss type substation indoor inspection robot, which is installed on the ceiling, wall or column by means of ceiling or side mounting. By combining the track and the compound movement of the mechanical arm, the detection component can accurately reach any position in the detection plane, realizing all-round inspection of indoor equipment.

In order to achieve the above object, the utility model adopts the following technical solutions:

A gantry truss-type substation inspection robot, including X-direction track, Y-direction track, mechanical arm and detection assembly; the Y-direction track is installed on the X-direction track and can move back and forth along the X-direction track; the The mechanical arm is installed on the Y-direction track through a mobile platform, and the mobile platform can move back and forth along the Y-direction track; the detection component is installed on the mechanical arm, and through the composite movement of the X-direction track, the Y-direction track and the mechanical arm Realize all-round inspection of indoor equipment; the end of the mechanical arm is hinged with the pan-tilt, and the bracket of the pan-tilt is equipped with a visible light camera, an infrared thermal imager, a smoke concentration detector, a gas detector, and a temperature and humidity detector one or more of the instruments.

Further, the X-direction track includes two first X-axes and second X-axes parallel to each other, and the Y-direction track includes a Y-axis perpendicular to and connected to the first X-axis and the second X-axis; The Y-axis can move back and forth along the two X-axes; the two X-axes are driven to rotate by motors.

Further, the two X-axes are synchronously controlled by dual motors or individually controlled by a single motor.

Further, the strokes of the first X axis, the second X axis and the Y axis can all be adjusted.

Further, the first X-axis, the second X-axis, and the Y-axis respectively include a first guide rail, a second guide rail, a rack, a slider, a connecting plate, a motor, a reducer and a basic profile;

Further, the first guide rail and the second guide rail are installed on the top of the base profile in parallel, the rack is installed on the side of the base profile, the motor drives the gear to move back and forth along the rack through the reducer, and the motor 1. The reducer is installed on the connection plate, and moves back and forth along the two guide rails through two sliders at the bottom of the connection plate. The basic profile is installed on the indoor ceiling, column or auxiliary bracket; the basic profile, rack, etc. can be lengthened by splicing, and subsequent expansion is easy to achieve.

Further, a support assembly is installed on the Y-direction track, and the support assembly includes a support profile and a roller assembly; one end of the roller assembly is fixed to the Y-axis through the second bracket, and the other end is connected to the support profile through the roller. connection; said support profile is installed parallel to the base profile.

Further, a recovery device is installed on the support profile, and the recovery device includes a driving wheel, a driven wheel, a steel wire rope and a recovery mechanism; the recovery mechanism is installed at the end of the support profile; the drive wheel is installed at the beginning of the support profile The starting end is connected with the stepping motor, and the driving wheel drives the driven wheel through the steel wire rope, and the steel wire rope is fixedly connected with the recovery mechanism.

When the Y-axis encounters a fault during the inspection process and cannot run autonomously, the retracting device can be used to retrieve and maintain the robot; the specific working process is as follows:

When encountering a fault, start the stepper motor to drive the drive wheel to move, and then drive the recovery mechanism to run along the support profile through the steel wire rope. During the operation of the recycling mechanism, if there is a malfunctioning robot, the robot will be pushed to the starting end until the robot is recovered. After the robot is repaired, the robot can operate autonomously, bring the retracting mechanism back to the supporting profile terminal, and complete the reset of the recycling device for the next use.

Further, the support components include one or more groups with the same structure, which is determined according to the weight of the robot and the span of the Y-axis.

Further, the mechanical arm mainly includes a control box, a first joint, a first arm, a second joint, a second arm, and a third joint; the control box is connected to the first arm through the first joint, and the first The arm is connected with the second arm through the second joint, and the second arm is connected with the platform platform through the hinge, and the first joint and the second joint have the degree of freedom of rotation in the vertical plane.

Further, the end of the mechanical arm is hinged to the pan-tilt, and the pan-tilt is always in a horizontal state; multiple ultrasonic sensors and human body infrared detectors for detecting obstacles are installed on the support of the pan-tilt.

The power supply and communication of the robot adopt the drag chain mode, and the drag chain is respectively installed on the first X-axis (or the second X-axis) and the Y-axis.

The mechanical arm of the utility model has a relatively large expansion and contraction stroke ratio, and the mechanical arm can reach a state close to the Y axis in parallel to complete the inspection of the position directly above the equipment; it can also reach a state close to a complete vertical position to complete the most accurate inspection of the equipment. Inspection of the lower position. Multiple ultrasonic sensors and human body infrared detectors are installed on the pan/tilt bracket, which can detect surrounding obstacles and staff without colliding with surrounding equipment and staff. The pan-tilt and the monitoring device can be replaced with a mechanical gripper, so as to complete the gripping and handling of indoor sundries and workpieces.

In order to increase the connection rigidity of the Y-axis, the drive system of the first X-axis and the second X-axis of the utility model adopts 2 guide rails and 4 sliders respectively, so that the size of the connecting plate increases accordingly, and the overall connection strength and rigidity increase accordingly.

When the robot performs automatic inspection, the robot system calls the stored planning path to run along the track. When the robot moves to the target detection point, it completes the working status information or environmental information of the monitoring point equipment through the detection equipment carried by itself, and records the current pose state of the moving body at the same time. And the collected data is transmitted to the background in real time, and then the data processing and the automatic alarm of the fault are completed.

The beneficial effects of the utility model are as follows:

(1) The utility model realizes real-time online, all-round, and no-dead-angle patrol inspection of indoor equipment through the compound movement of X-axis, Y-axis and mechanical arm.

(2) The support assembly of the utility model only limits the deformation in the vertical direction of the Y-axis, and does not cause over-positioning.

(3) There are grooves on the basic profile of the utility model, and the installation of racks and other equipment is convenient, fast, and beautiful, and no drilling is required;

(4) A plurality of ultrasonic sensors and human body infrared detectors are installed around the pan-tilt support of the utility model, so that it will not collide with indoor equipment, construction tools and staff during the operation of the robot and the action of the mechanical arm.

(5) The pan-tilt and monitoring components of the utility model can be replaced with mechanical grippers, so as to complete the gripping and handling of indoor sundries, workpieces, etc.

(6) The utility model can be equipped with different detection equipments to meet the inspection requirements of different substation cells.

(7) The utility model adopts the towline power supply, the communication is stable and reliable, and avoids the occurrence of electric sparks when the trolley line supplies power, and is suitable for substation cells with flammable gases.

(8) The strokes of the first X-axis, the second X-axis and the Y-axis can be adjusted, and the basic profiles and racks can be lengthened by splicing. The subsequent expansion is easy to realize and the operability is strong.

(9) The utility model can not only inspect both sides of the equipment, but also inspect the part directly above the equipment when the mechanical arm shrinks to be parallel to the Y axis, and inspect the large-scale equipment and GIS equipment in the substation room when superior.

(10) The utility model can recover the orbital robot. When the robot breaks down in an area that is difficult to reach manually, it can be recovered by starting the recovery device, which reduces the operation risk.

Description of drawings

Fig. 1 is the structural representation of the utility model;

Fig. 2 is a structural schematic diagram of the first X-axis driving system of the present invention;

Fig. 3 is a side view of the utility model support assembly;

Fig. 4 is a schematic structural view of the roller assembly in the support assembly of the present invention;

Fig. 5 is the structural representation of the mechanical arm of the utility model;

Fig. 6 is the control structural diagram of the mechanical arm of the present utility model;

Fig. 7 is the structure schematic diagram of the recovery device of the present utility model;

Fig. 8 is a motion control planning diagram of the robot of the present invention.

Among them, 1. The first X-axis; 2. The second X-axis; 3. Y-axis; 4. Support components; 5. Robot arm; 6. Cloud platform; 7. Detection components; 8. Mobile platform; 102, the first guide rail; 103, the second guide rail; 104, connecting plate; 105, slider; 106, adapter; 107, motor; 108, reducer; 109, drive gear; 110, rack; 401, Support profile; 402, roller; 403, first bracket; 404, second bracket; 501, control box; 504, first joint; 506, first arm; 505, second joint; 507, second arm; 508, Hinge; 9, recovery device; 901, driving wheel; 902, wire rope; 903, recovery mechanism; 904, driven wheel; 905, tensioning wheel.

detailed description

The utility model is described in detail below in conjunction with accompanying drawing.

As shown in Figure 1, it is a structural representation of the utility model. The utility model mainly includes an XY combined track, a support assembly 4, a mechanical arm 5, a mobile platform 8, a cloud platform 6, and a detection assembly 7; a mechanical arm 5 is installed below the mobile platform 8, and the mechanical arm 5 has 4 degrees of freedom. The detection assembly 7 and the cloud platform 6 are installed at the end.

The XY combined track includes the first X-axis 1, the second X-axis 2 and the Y-axis 3 with the same structure; the first X-axis 1 and the second line X-axis 2 are arranged in parallel, and are respectively orthogonal to the Y-axis 3; the Y-axis 3 Connect the first X-axis 1 and the second X-axis 2 at the same time, and can move linearly along the axial direction of the first X-axis 1 and the second X-axis 2; the mobile platform 8 is installed on the Y-axis 3 through the connecting plate Up, it can move along the Y-axis and 3-axis direction.

The detection component includes one or more of a visible light camera, an infrared thermal imager, a smoke concentration detector, a gas detector and a temperature and humidity detector.

The drive system structural diagrams of the first X axis, the second X axis, and the Y axis of the utility model are the same, and the first X axis is taken as an example to illustrate.

FIG. 2 is a schematic structural diagram of the first X-axis driving system of the present invention.

The output shaft of the motor 107 is connected with the reducer 108 , the output shaft of the reducer 108 is connected with the driving gear 109 through a flat key, and the shell of the reducer 108 is fixedly connected with the connection plate 104 through the adapter 106 . The connecting plate 104 is connected with the first guide rail 102 and the second guide rail 103 through four sliders 105 , and the first guide rail 102 and the second guide rail 103 are installed in the groove on the bottom surface of the base profile 101 in parallel. The rack 110 is side mounted in the groove on the side of the base profile 101, and the base profile 101 is installed on the ceiling or on a fixed column or support.

When the motor 107 is working, the driving gear 109 moves along the rack 110 , and then drives the connecting plate 104 connected with the first guide rail and the second guide rail through the slider 105 to move.

For the first X-axis and the second X-axis, the Y-axis is fixed on the adapter plate; for the Y-axis, the mobile platform is fixed on the adapter plate.

When the Y-axis stroke is long, the utility model adopts a support assembly in order to prevent the bending deformation of the Y-axis, as shown in Figure 3 is a side view of the utility model support assembly. The support assembly 4 mainly includes a support profile (401) and a roller assembly, and the support profile can be an I-shaped aluminum profile or a special profile with other cross-sections.

As shown in Figure 4, it is the structural diagram of the roller assembly in the support assembly of the present invention, the roller assembly mainly includes 4 rollers 402, a first bracket 403 and a second bracket 404, the roller 402 is installed on the first bracket 403, and the second bracket 404 is fixedly connected with the basic profile of the Y-axis 3 . The supporting profile is installed in parallel with the basic profile on the indoor ceiling, column or auxiliary bracket; the supporting profile can be an I-shaped aluminum profile or a special profile with other cross-sections.

When the first X-axis and the second X-axis driving system work, the connecting plate drives the Y-axis to move along the axis of the first X-axis and the second X-axis, and then the Y-axis drives the roller assembly to move along the supporting profile. Since the support assembly only limits the deformation of the Y-axis in the vertical direction, the accuracy of installation will not cause over-positioning of the Y-axis.

The number of supporting components is determined according to the weight of the robot and the span of the Y-axis. For details, please refer to the calculation method of the deflection of simply supported beams in material mechanics. If the Y-axis satisfies the rigid condition, it is not necessary to use support components; otherwise, the deformation of the Y-axis can be limited within the required range by rationally arranging one or more sets of support components with the same structure.

As shown in Fig. 5, it is a structural schematic diagram of the mechanical arm of the present invention. The mechanical arm 5 has a large telescopic stroke in the vertical direction and has the required carrying capacity,

The mechanical arm mainly includes a control box 501, a first joint 504, a first arm 506, a second joint 505, a second arm 507, and a third joint 508; the control box is connected with the first arm through the first joint, and the second One arm is connected with the second arm through the second joint, and the second arm is connected with the cloud platform 6 through the third joint.

Both the first joint and the second joint are driven by a motor, a harmonic reducer and a servo driver. The control box 501 is fixed on the mobile platform 8, the control box is connected with the first arm through the first joint, and the first joint has a degree of freedom of rotation in the vertical plane; the first arm is connected with the second arm through the second joint, and the second The two joints have rotational degrees of freedom in the vertical plane.

The cloud platform is connected with the hinge 508 of the mechanical arm through the bracket, and the cloud platform is always in a horizontal state.

As shown in Figure 6, it is a control structure diagram of the mechanical arm of the utility model. As the motion controller of the manipulator, PLC can receive motion control information from the background and make corresponding actions; in addition, PLC can also monitor the first arm and the second arm in real time by reading the drive information from each servo driver. Whether the two arms are running normally; if there is an abnormality or failure during the movement, it will alarm, and the PLC can make an action stop command in time and feedback to the background. The motion controller is connected to two servo drives through the DMCnet bus cable. The servo drive can control the movement of the two servo motors of the manipulator, and the movement speed can be adjusted in real time during the movement.

The cloud platform 6 is connected with the mechanical arm through a hinge 508 to ensure that the platform is always in a horizontal state, and the detection component 7 is installed on the platform 6 . The control box 501 issues control commands to control the operation of the motors of the first joint and the second joint of the mechanical arm, thereby realizing accurate positioning of the detection equipment. All-round inspection of indoor equipment is realized through the compound movement of X-axis, Y-axis and mechanical arm 5 .

The mechanical arm of the utility model has a relatively large expansion and contraction stroke ratio, and the mechanical arm can reach a state close to the Y axis parallel to the Y axis, and complete the inspection of the position directly above the equipment; it can also reach a state close to a complete vertical position, and complete the most accurate inspection of the equipment. Inspection of the lower position. Multiple ultrasonic sensors and human body infrared detectors are installed on the pan/tilt bracket, which can detect surrounding obstacles and staff without colliding with surrounding equipment and staff. In addition, the pan/tilt and monitoring device can be replaced with a robotic gripper to complete the grabbing and handling of indoor sundries and workpieces.

The power supply and communication of the robot adopt the drag chain mode, and the drag chain is respectively installed on the first X axis (or the second X axis) and the Y axis. The drag chain is a prior art and will not be described in detail.

As shown in Figure 7, it is a structural schematic diagram of the recovery device of the present utility model. A recovery device is installed on the support profile 401. When the Y-axis encounters a fault and cannot run autonomously during the inspection process, the recovery device can be activated to recover and maintain the robot. The recovery device mainly includes a driving wheel, a driven wheel, a tensioning wheel, a steel wire rope and a recovery mechanism. The recovery mechanism is installed at the end of the supporting profile, and the recovery mechanism is a high-rigidity mobile trolley, and the driving wheel is installed at the starting end of the supporting profile. The driving wheel is connected to the stepping motor, and the steel wire rope is fixedly connected to the recovery mechanism. When a failure occurs, the stepping motor is started to drive the driving wheel to move, and then the steel wire rope drives the recovery mechanism to run along the supporting profile. During the operation of the recycling mechanism, if there is a malfunctioning robot, the robot will be pushed to the starting end until the robot is recovered. After the robot is repaired, the robot can operate autonomously, bring the retracting mechanism back to the supporting profile terminal, and complete the reset of the recycling device for the next use.

As shown in Fig. 8, it is a motion control planning diagram of the robot of the present invention. When the robot performs automatic inspection, the robot system calls the stored planning path to run along the track. When the robot moves to the target detection point, it completes the working status information or environmental information of the monitoring point equipment through the detection equipment carried by itself, and records the current pose state of the moving body at the same time. And the collected data is transmitted to the background in real time, and then the data processing and the automatic alarm of the fault are completed. It can be seen that the detection of the robot in the entire space plane is realized through the compound movement of the X-axis, Y-axis and Z-axis during movement.

Although the specific implementation of the utility model has been described above in conjunction with the accompanying drawings, it does not limit the protection scope of the utility model. Those skilled in the art should understand that on the basis of the technical solution of the utility model, those skilled in the art do not need to Various modifications or deformations that can be made with creative efforts are still within the protection scope of the present utility model.

Claims (9)

1. A gantry truss type substation inspection robot is characterized in that: it comprises an X-direction track, a Y-direction track, a mechanical arm and a detection assembly; the Y-direction track is installed on the X-direction track and can move along the X-direction track Move back and forth; the mechanical arm is installed on the Y-direction track through a mobile platform and the mobile platform can move back and forth along the Y-direction track; the detection assembly is installed on the described mechanical arm, through the X-direction track, the Y-direction track The combined movement of the robot arm and the robot arm realizes the all-round inspection of the indoor equipment; the end of the robot arm is hinged with the pan-tilt, and the bracket of the pan-tilt is equipped with a visible light camera, an infrared thermal imager, a smoke concentration detector, a gas One or more of detectors and temperature and humidity detectors. 2. A gantry truss-type substation inspection robot according to claim 1, characterized in that: the X-direction track includes two parallel first X-axis and second X-axis, and the Y-direction The track includes a Y-axis perpendicular to and connected to the first X-axis and the second X-axis; the Y-axis can move back and forth along the two X-axes; the two X-axes are driven by motors to rotate. 3. A gantry truss-type substation inspection robot according to claim 2, characterized in that: the two X-axes are controlled synchronously by dual motors or individually controlled by a single motor. 4. A gantry truss-type substation inspection robot according to claim 2, characterized in that: the strokes of the first X-axis, the second X-axis and the Y-axis are all adjustable. 5. A gantry truss-type substation inspection robot according to claim 2, characterized in that: the first X-axis, the second X-axis, and the Y-axis respectively include a first guide rail, a second guide rail, and a rack , sliders, connecting plates, motors, reducers and basic profiles; The first guide rail and the second guide rail are installed in parallel on the top of the base profile, and the rack is installed on the side of the base profile. The motor drives the gear to move back and forth along the rack through the reducer. The motor, reducer It is installed on the connection board, and moves back and forth along the two guide rails through two sliders at the bottom of the connection board. 6. A gantry truss-type substation inspection robot according to claim 5, characterized in that: a support assembly is installed on the Y-direction track, and the support assembly includes a support profile and a roller assembly; One end of the roller assembly is fixed to the Y-axis through the second bracket, and the other end is connected to the support profile through the roller; The supporting profiles are installed parallel to the base profiles. 7. A gantry truss-type transformer substation inspection robot according to claim 6, characterized in that: a recovery device is installed on the support profile, and the recovery device includes a driving wheel, a driven wheel, a steel wire rope and a recovery mechanism; The recovery mechanism is installed at the end of the supporting profile; the driving wheel is installed at the starting end of the supporting profile and connected to the stepping motor, the driving wheel drives the driven wheel through a steel wire rope, and the steel wire rope is fixedly connected with the recovery mechanism. 8. A gantry truss-type substation inspection robot according to claim 6, characterized in that: said supporting components include one or more groups with the same structure, which is determined according to the weight of the robot and the span of the Y-axis. 9. A gantry truss type substation inspection robot according to claim 1, characterized in that: The mechanical arm mainly includes a control box, a first joint, a first arm, a second joint, a second arm, and a third joint; the control box is connected to the first arm through the first joint, and the first arm is connected to the first arm through the second joint. The two joints are connected with the second arm, and the second arm is connected with the platform through a hinge, and the first joint and the second joint have a degree of freedom of rotation in a vertical plane.