A robot and its control system for inspecting cable trenches

A control system and cable trench technology, applied in the field of intelligent robots, can solve the problems of small and complex cable trench tunnels in substations and the inability of inspection robots to realize automatic inspections, and achieve the effects of low power consumption, strong load capacity, and wide coverage

Active Publication Date: 2022-03-29
ELECTRIC POWER RES INST OF GUANGDONG POWER GRID
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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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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  • A robot and its control system for inspecting cable trenches
  • A robot and its control system for inspecting cable trenches
  • A robot and its control system for inspecting cable trenches

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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 to walk. The three joint mechanisms 10 are respectively the first joint mechanism 101, the second joint mech...

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 101, 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 101, and the second controller 2 is connected to the first controller 101 and the camera sub-module 9 respectively.

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

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Abstract

The invention relates to a robot for inspecting cable trenches and its control system, which includes at least three joint mechanisms, each joint mechanism is provided with at least two driving motors, and the bottom end of each joint mechanism is provided with a walking mechanism. The joint mechanisms are respectively the first joint mechanism, the second joint mechanism and the third joint mechanism. The first joint mechanism is equipped with a pan platform, the second joint mechanism is equipped with temperature detection equipment, and the third joint mechanism is equipped with gas detection equipment. , the robot for inspecting the cable trench adopts a three-joint serial crawler structure robot composed of three joint mechanisms. The control system of the robot for inspecting the cable trench adopts the first controller and the second controller to form a dual system to control the operation of the robot for inspecting the cable trench, thereby improving the reliability of the operation of the robot and the efficiency of monitoring.

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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Patent Type & Authority Patents(China)
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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