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Cable trench inspection robot and control system thereof

A control system and cable trench technology, applied in the field of intelligent robots, can solve the problems such as the inability of inspection robots to achieve automatic inspection, the narrow and complex cable trench tunnels in substations, etc., and achieve the effects of strong load capacity, small size and flexible movement.

Active Publication Date: 2021-03-23
ELECTRIC POWER RES INST OF GUANGDONG POWER GRID
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The embodiment of the present invention provides a robot for inspecting the cable trench and its control system, which is used to solve the technical problem that the inspection robot in the cable trench of the substation is small and complicated, and the inspection robot cannot realize automatic inspection in the cable trench of the substation

Method used

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  • Cable trench inspection robot and control system thereof
  • Cable trench inspection robot and control system thereof
  • Cable trench inspection robot and control system thereof

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Embodiment 1

[0036] figure 1 It is a schematic structural diagram of a robot for inspecting cable trenches according to an embodiment of the present invention, figure 2 It is a structural schematic diagram of the installation of the robot drive motor for inspection of the cable trench described in the embodiment of the present invention, image 3 It is a structural schematic diagram of the lifting and lowering of the robot pan-tilt for inspecting the cable trench according to the embodiment of the present invention.

[0037] Such as figure 1 As shown, the embodiment of the present invention provides a robot for inspecting cable trenches, including at least three joint mechanisms 10, each joint mechanism 10 is provided with at least two drive motors 11, and the bottom end of each joint mechanism 10 is provided with There is a walking mechanism 20 for driving the joint mechanism 10. The three joint mechanisms 10 are respectively the first joint mechanism 101, the second joint mechanism 10...

Embodiment 2

[0054] Figure 5 It is a frame diagram of the control system of the robot for inspecting the cable trench according to the embodiment of the present invention.

[0055] Such as Figure 5 As shown, the embodiment of the present invention also provides a control system based on the above-mentioned inspection robot for cable trenches, including a first controller 1, a second controller 2, an output module 3, a power module 4, a status monitoring module 5, Gas detection module 6 and temperature detection module 7, state monitoring module 5 includes pan-tilt drive sub-module 8 and camera sub-module 9, output module 3, power supply module 4, pan-tilt drive sub-module 8, gas detection module 6 and temperature detection module 7 are all connected to the first controller 1, and the second controller 2 is connected to the first controller 1 and the camera sub-module 9 respectively.

[0056] In the embodiment of the present invention, the output module 3, the power module 4, the pan / ti...

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Abstract

The invention relates to a cable trench inspection robot and a control system thereof. The robot comprises at least three joint mechanisms. Each joint mechanism is provided with at least two driving motors, a traveling mechanism is arranged at the bottom end of each joint mechanism, and the three joint mechanisms include the first joint mechanism, the second joint mechanism and the third joint mechanism. The first joint mechanism is provided with a cradle head, the second joint mechanism is provided with a temperature detection device, and the third joint mechanism is provided with a gas detection device. The cable trench inspection robot is a three-joint series crawler-type structure robot composed of three joint mechanisms, is small in size, flexible in movement and high in load capacity. The robot is suitable for monitoring the state of a narrow cable trench with a complex ambient environment. According to the control system of the cable trench inspection robot, a first controller and a second controller are adopted to form dual systems so as to control operation of the cable trench inspection robot, and the operation reliability and monitoring efficiency of the robot are improved.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, in particular to a robot for patrolling cable trenches and a control system thereof. Background technique [0002] The cable in the cable trench of the substation has multiple functions, not only undertaking the role of electric energy transmission, but also involving functions such as metering, communication, and relay protection in the substation. The long-term operation of the cable in the cable trench will lead to aging and discharge of the outer insulation of the cable. In addition, some flammable gases such as methane produced by the decomposition of some animal and plant corpses in the cable trench will also cause great hidden dangers to the safe and stable operation of the cable in the cable trench. , When the situation is serious, it will cause the cable trench to explode, causing huge losses. Therefore, it is of great significance to strengthen the inspection of cable trench...

Claims

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Application Information

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IPC IPC(8): B25J11/00B25J5/00B25J19/02B25J19/00B25J17/00B25J9/16
CPCB25J11/00B25J5/005B25J19/02B25J19/023B25J19/00B25J17/00B25J9/1602
Inventor 梅成林李晖刘军安然然梁晓兵王奕张俊峰
Owner ELECTRIC POWER RES INST OF GUANGDONG POWER GRID
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