Indoor multidimensional-rail type intelligent patrolling robot based on limited relay-chamber bends

Abstract

The invention discloses an indoor multidimensional-rail type intelligent patrolling robot based on limited relay-chamber bends. The intelligent patrolling robot comprises a patrolling robot body, wherein the patrolling robot body is fixed on a movable platform; the movable platform slides on a rail, and is connected with a driving mechanism; the driving mechanism is connected with an upper computer and a power supply device; a supporting platform is arranged on the patrolling robot body; a detection assembly is arranged on the supporting platform; a multi-connecting-rod grasping device is arranged under the movable platform; a position label recognizing device is arranged on the multi-connecting-rod grasping device. The intelligent patrolling robot disclosed by the invention has the benefical effects that the robot can realize three-dimensional patrol; different transformer substation chambers can be examined by one patrolling robot. The intelligent patrolling robot disclosed by the invention overcomes the defect of running dead corners of a robot, so that the utilization rate of the robot is increased.

Description

technical field [0001] The invention belongs to the field of special robots, in particular to an indoor multi-dimensional track-type intelligent patrol robot based on the limited curve of a relay cell. Background technique [0002] There are following technical problems in the prior art: [0003] 1. The Chinese invention patent (application number 201310040511.1, named "rail robot with turning device") and the Chinese invention patent (application number 201210493890.5, named "right-angle turning transport vehicle") both proposed the solutions, but the above solutions are limited to research in two-dimensional space. In a two-dimensional space, the robot can only operate in one plane, making it difficult to conduct a comprehensive and accurate inspection of the equipment. [0004] 2. In the prior art, robots and fixed-point detection devices are usually installed in different rooms of the substation to realize the inspection work of equipment in different small rooms of th...

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Problems solved by technology

[0003] 1. The Chinese invention patent (application number 201310040511.1, named "rail robot with turning device") and the Chinese invention patent (application number 201210493890.5, named "right-angle turning transport vehicle") both proposed the solutions, but the above solutions are only limited to research in two-dimensional space

In two-dimensional space, the robot can only operate in one plane, and it is difficult to carry out all-round accurate inspection of the equipment

[0004] 2. In the existing technology, robots and fixed point detection devices are usually installed in different rooms of the substation to realize the inspection work of equipment in different small rooms of the substation. The construction volume is large and the cost is high.

[0005] 3. Due to the limited indoor space, the existing technology has certain technical difficulties in capturing some sundries or workpieces indoors and outdoors, which requires manual processing, and the existing grasping device is unstable when grasping the workpiece. It is easy to cause damage to other equipment

[0006] 4. It is difficult for the existing grasping device to realize long-distance movement and grasping, and most of the transmission mechanism structures are relatively complicated

[0007] 5. Existing inspection robots use wired monitoring for temperature monitoring, and too many cables will interfere with the normal operation of the robot

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