An inspection robot for GIS equipment room with a manipulator

Abstract

The present invention relates to an inspection robot for a GIS equipment room with a manipulator, which comprises a vehicle body and a six-axis manipulator rotatably fixed at the upper end of the vehicle body; the vehicle body includes a chassis module, a support frame fixed at the upper end of the chassis module, and two drive wheel systems respectively arranged at the lower ends of both sides of the chassis module; a base is rotatably fixed at the lower end of the six-axis manipulator, and a horizontal fixing seat is rotatably fixed on the manipulator arm at the end of the six-axis manipulator; a camera is fixed on the fixing seat; a horizontal mounting plate is fixed at the upper end of the support frame, and the base is fixed on the mounting plate; a manipulator control cabinet and a PLC controller are arranged in the support frame; the manipulator control cabinet is electrically connected with the PLC controller; and the manipulator control cabinet is used for controlling the six-axis manipulator.

Description

Technical Field

[0001] The invention relates to a GIS equipment room inspection robot with a manipulator, belonging to the technical field of power inspection. Background Art

[0002] With the development of smart grid systems, the coverage of substations and power lines is getting wider and wider. While bringing convenience to people's lives, it also brings new problems to the inspection and maintenance of power equipment. Many substations are built in remote suburbs, and electrical equipment needs to be inspected regularly. Manual inspection is not only difficult and time-consuming, but also the high voltage, high radiation and even chemical pollution in the outdoor environment will pose a huge threat to the safety of inspectors. At the same time, due to the particularity of power equipment, there is a possibility of failure at any time, so the maintenance cost of power equipment is very high, and it is also difficult to deal with emergencies.

[0003] In daily maintenance, compared with the traditional manual inspection method with its shortcomings of high manpower consumption, small coverage, low work efficiency, low inspection accuracy and timeliness, substation inspection robots with high accuracy, timeliness and high efficiency can effectively make up for these defects in the manual inspection process. Using substation inspection robots to replace manual inspection has gradually become a trend in the development of power equipment inspection methods.

[0004] The Chinese utility model patent "A patrol robot for GIS computer room" with the authorization announcement number CN212287644U proposes a patrol robot for GIS computer room, which can be used for automatic substation inspection. The patrol robot includes a control module and a chassis with a walking mechanism; the chassis is equipped with a laser radar and a pan-tilt module; when the robot is patrolling, it autonomously navigates through the laser radar and moves with the chassis, and the control module detects and reads the substation status with the imaging device on the pan-tilt module; the utility model can be used for automatic substation inspection. The patrol robot can perform various mark transcription and intelligent analysis operations through automatic substation patrol, and can perform special patrols in rain, snow, ice, thunderstorms and other environments, and can undertake preliminary investigations for accident handling, etc., so as to effectively reduce the labor intensity of manual patrol, reduce the operation and maintenance costs of substations, and improve the automation and intelligence level of patrol operations and management, providing innovative technical detection means and all-round safety guarantees for smart substations and unmanned substations. However, the above inspection robots, and even most existing GIS equipment room inspection robots, generally use camera pan / tilt modules to detect targets. Due to the particularity of the GIS equipment room, many devices to be inspected are often installed in narrow spaces. The pan / tilt module cannot detect many special locations due to its own freedom and working range limitations. Summary of the invention

[0005] To overcome the above problems, the present invention provides a GIS equipment room inspection robot with a manipulator. The inspection robot is equipped with a six-axis manipulator with extremely high flexibility, enabling the camera mounted on the end of the robotic arm at the end of the six-axis manipulator to be placed at any angle and detect objects at tricky positions, which can meet the target detection in narrow spaces.

[0006] The technical solution of the present invention is as follows:

[0007] A GIS equipment room inspection robot with a manipulator, comprising a vehicle body and a six-axis manipulator rotatably fixed to the upper end of the vehicle body; the vehicle body includes a chassis module, a support frame fixed to the upper end of the chassis module, and two drive wheel systems respectively arranged at the lower ends on both sides of the chassis module; a base is rotatably fixed to the lower end of the six-axis manipulator, and a horizontal fixed seat is rotatably fixed to the robotic arm at the end of the six-axis manipulator; a camera is fixed to the fixed seat; a horizontal mounting plate is fixed to the upper end of the support frame, and the base is fixed to the mounting plate; a manipulator control cabinet and a PLC controller are arranged inside the support frame; the manipulator control cabinet is electrically connected to the PLC controller; the manipulator control cabinet is used to control the six-axis manipulator.

[0008] Further, the two drive wheel systems are respectively arranged on the left and right sides of the chassis module; the drive wheel system includes a driving wheel, a suspension frame, a driven wheel, a shock absorption module, a servo motor, a reducer, and a connecting plate; the driven wheel is rotatably fixed to the lower end of one side of the chassis module; the upper end of the suspension frame is a wheel group base fixed to the lower end of the other side of the chassis module; the upper ends of the shock absorption modules are respectively fixed to the front and rear ends below the inner side of the wheel group base, and the lower ends of the shock absorption modules are fixed to the lower end of the suspension frame; a connecting plate is fixed between the two shock absorption modules of the same drive wheel system; the reducer is fixed to one side of the connecting plate, and the reducer is in transmission connection with the driving wheel rotatably fixed to the other side of the connecting plate; the servo motor is fixed to the rear end of the reducer; the servo motor is in transmission connection with the reducer; the servo motor is electrically connected to the PLC controller.

[0009] Further, the shock absorption module includes a shock absorption spring, an adjusting nut, a guide shaft, and a linear bearing; the upper ends of the guide shafts are respectively fixed to the front and rear ends below the inner side of the wheel group base, and the lower ends of the guide shafts are fixed to the lower end of the suspension frame; the adjusting nut, the shock absorption spring, and the linear bearing are sequentially arranged on the outer periphery of the guide shaft from top to bottom; the adjusting nut is threadedly sleeved on the outer side of the guide shaft; the shock absorption spring and the linear bearing are both movably sleeved on the outer side of the guide shaft; a connecting plate is fixed between the two linear bearings of the same drive wheel system.

[0010] Further, an anti-collision baffle is fixed to the lower end of the chassis module; a QR code recognition module is arranged at the lower end of the anti-collision baffle; the PLC controller is electrically connected to the QR code recognition module.

[0011] Further, a protective housing is provided outside the vehicle body; anti-collision detection belts are fixed to both the front and rear sides of the lower end of the protective housing; a plurality of ultrasonic sensors are respectively arranged on the front and rear sides of the lower part of the protective housing; a lidar is arranged on the chassis module; an avoidance hole through which the laser emitted by the lidar passes is opened on the protective housing; the PLC controller is electrically connected to the anti-collision detection belt, the ultrasonic sensor and the lidar respectively.

[0012] Further, an emergency stop switch is arranged on the protective housing; the emergency stop switch is electrically connected to the PLC controller.

[0013] The present invention has the following beneficial effects:

[0014] 1. The inspection robot is equipped with a six-axis manipulator with ultra-high flexibility, enabling the camera mounted at the end of the robotic arm at the end of the six-axis manipulator to be placed at any angle and detect objects at tricky positions, which can meet the target detection in narrow spaces. The camera is a high-resolution visible light camera, and machine vision technology is adopted to realize the intelligent recognition of various targets such as pressing plates, indicator light states, digital display dials, and pointer instruments.

[0015] 2. The inspection robot can achieve automatic inspection and autonomous charging through QR code navigation technology and laser positioning technology.

[0016] 3. The shock absorption spring, adjusting nut, guide shaft, and linear bearing jointly form the shock absorption module of the wheel system. By adjusting the nut, the compression amount of the shock absorption spring can be changed, thereby changing the softness and hardness of the shock absorption module. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 is a schematic diagram of another angle of the present invention.

[0019] Figure 3 is a schematic diagram of the internal structure of the present invention.

[0020] Figure 4 is a schematic diagram of the structure of the drive wheel system.

[0021] The reference signs in the drawings are shown as:

[0022] 1. Vehicle body; 11. Protection housing; 12. Anti-collision detection strip; 13. Emergency stop switch; 14. Ultrasonic sensor; 15. LiDAR; 2. Six-axis manipulator; 21. Base; 22. Fixed seat; 23. Camera; 3. Chassis module; 31. Anti-collision baffle; 32. QR code recognition module; 4. Support frame; 41. Mounting plate; 42. Manipulator control cabinet; 43. PLC controller; 5. Driving wheel system; 51. Driving wheel; 52. Suspension frame; 521. Wheel set base; 53. Driven wheel; 54. Servo motor; 55. Shock-absorbing spring; 56. Adjusting nut; 57. Guide shaft; 58. Linear bearing; 61. Reducer; 62. Connecting plate. Detailed implementation mode

[0023] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] See Figures 1-4 , a GIS equipment room inspection robot with a manipulator, including a vehicle body 1 and a six-axis manipulator 2 rotatably fixed at the upper end of the vehicle body 1; the vehicle body 1 includes a chassis module 3, a support frame 4 fixed at the upper end of the chassis module 3, and two driving wheel systems 5 respectively arranged at the lower ends on both sides of the chassis module 3; a base 21 is rotatably fixed at the lower end of the six-axis manipulator 2, and a horizontal fixed seat 22 is rotatably fixed on the mechanical arm at the end of the six-axis manipulator 2; a camera 23 is fixed on the fixed seat 22; a horizontal mounting plate 41 is fixed at the upper end of the support frame 4, and the base 21 is fixed on the mounting plate 41; a manipulator control cabinet 42 and a PLC controller 43 are arranged in the support frame 4; the manipulator control cabinet 42 is electrically connected to the PLC controller 43; the manipulator control cabinet 42 is used to control the six-axis manipulator 2. This inspection robot is equipped with a six-axis manipulator 2 with extremely high flexibility, enabling the camera 23 carried at the end of the mechanical arm at the end of the six-axis manipulator 2 to achieve arbitrary-angle placement and detection of target objects in tricky positions, and can meet the target detection in narrow spaces. The camera 23 is a high-resolution visible light camera, and machine vision technology is adopted to realize the intelligent recognition of various targets such as pressure plates, indicator light states, digital display dials, and pointer instruments.

[0025] Furthermore, the two drive train systems 5 are respectively arranged on the left and right sides of the chassis module 3; the drive train system 5 includes a driving wheel 51, a suspension frame 52, a driven wheel 53, a shock absorption module, a servo motor 54, a speed reducer 61 and a connecting plate 62; the driven wheel 53 is rotatably fixed at the lower end of one side of the chassis module 3; the upper end of the suspension frame 52 is a wheel set base 521 fixed at the lower end of the other side of the chassis module 3; the upper ends of the front and rear ends below the inner side of the wheel set base 521 are respectively fixed to the upper ends of the shock absorption module, and the lower ends of the shock absorption module are fixed to the lower end of the suspension frame 52; a connecting plate 62 is fixed between the two shock absorption modules of the same drive train system 5; the speed reducer 61 is fixed on one side of the connecting plate 62, and the speed reducer 61 is in transmission connection with the driving wheel 51 rotatably fixed on the other side of the connecting plate 62; the servo motor 54 is fixed at the rear end of the speed reducer 61; the servo motor 54 is in transmission connection with the speed reducer 61; the servo motor 54 is electrically connected to the PLC controller 43.

[0026] According to the above description, the drive train system 5 mainly includes a driving wheel 51, a suspension frame 52, a driven wheel 53, a shock absorption module, a servo motor 54, a speed reducer 61 and a connecting plate 62. The suspension frame 52 plays a fixing role; the shock absorption module is arranged on the suspension frame 52 and is fixed with the driving wheel 51, which can effectively realize the buffering and shock absorption of the driving wheel 51, and has a compact structure, high integration, and is convenient for installation and maintenance; the servo motor 54 and the speed reducer 61 are used to provide power.

[0027] Furthermore, the shock absorption module includes a shock absorption spring 55, an adjusting nut 56, a guide shaft 57 and a linear bearing 58; the upper ends of the front and rear ends below the inner side of the wheel set base 521 are respectively fixed to the upper ends of the guide shaft 57, and the lower end of the guide shaft 57 is fixed to the lower end of the suspension frame 52; the adjusting nut 56, the shock absorption spring 55 and the linear bearing 58 are sequentially arranged on the outer periphery of the guide shaft 57 from top to bottom; the adjusting nut 56 is threadedly sleeved on the guide shaft 57; the shock absorption spring 55 and the linear bearing 58 are both movably sleeved on the guide shaft 57; a connecting plate 62 is fixed between the two linear bearings 58 of the same drive train system 5. The shock absorption spring 55, the adjusting nut 56, the guide shaft 57 and the linear bearing 58 jointly form the shock absorption module of the drive train system, and the compression amount of the shock absorption spring 55 can be changed by adjusting the adjusting nut 56, so as to change the softness and hardness of the shock absorption module.

[0028] Furthermore, an anti-collision baffle 31 is fixed at the lower end of the chassis module 3; a two-dimensional code recognition module 32 is arranged at the lower end of the anti-collision baffle 31; the PLC controller 43 is electrically connected to the two-dimensional code recognition module 32.

[0029] According to the above description, the QR code recognition module 32 is fixed below the anti-collision baffle 31, which is used to recognize the QR code and feedback the navigation information in the recognized QR code to the PLC controller 43, and then control the operation of the drive wheel system 5 through the PLC controller 43 to achieve autonomous navigation. The size of the anti-collision baffle 31 should be larger than that of the QR code recognition module 32 to protect the QR code recognition module 32 and reduce the impact of scraping and collision on code scanning.

[0030] Further, a protective housing 11 is provided outside the periphery of the vehicle body 1; anti-collision detection belts 12 are fixed on both the front and rear sides of the lower end of the protective housing 11; a plurality of ultrasonic sensors 14 are respectively arranged on both the front and rear sides of the lower part of the protective housing 11; a lidar 15 is arranged on the chassis module 3; an avoidance hole for the laser emitted by the lidar 15 to pass through is provided on the protective housing 11; the PLC controller 43 is electrically connected to the anti-collision detection belt 12, the ultrasonic sensors 14 and the lidar 15 respectively.

[0031] According to the above description, the protective housing 11 covers the outside of the vehicle body 1, mainly for protecting the internal chassis module 3 and the support frame 4, and also making the inspection robot look more beautiful; the anti-collision detection belts 12 are located on both the front and rear sides of the lower part of the protective housing 11 and can send stop signals when touching an object; the ultrasonic sensors 14 are on both the front and rear sides of the lower part of the protective housing 11 and are installed at a total of four positions on the front and rear sides of the inspection robot, which can monitor the distance of obstacles in real time; the lidar 15 is used to achieve the precise positioning of the inspection robot.

[0032] Further, an emergency stop switch 13 is provided on the protective housing 11; the emergency stop switch 13 is electrically connected to the PLC controller 43. When the emergency stop switch 13 is triggered, the inspection robot immediately performs a stop action to ensure the safety of the whole device.

[0033] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied to other related technical fields, shall be similarly included in the patent protection scope of the present invention.

Claims

1. A GIS equipment room inspection robot with a manipulator, Features: The invention comprises a vehicle body (1) and a six-axis manipulator (2) rotatably fixed to the upper end of the vehicle body (1); the vehicle body (1) comprises a chassis module (3), a support frame (4) fixed to the upper end of the chassis module (3), and two drive wheel systems (5) respectively arranged at the lower ends of both sides of the chassis module (3); a base (21) is rotatably fixed to the lower end of the six-axis manipulator (2), and a horizontal fixed seat (22) is rotatably fixed on the mechanical arm at the end of the six-axis manipulator (2); a camera (23) is fixed on the fixed seat (22); a horizontal mounting plate (41) is fixed to the upper end of the support frame (4), and the base (21) is fixed on the mounting plate (41); a manipulator control cabinet (42) and a PLC controller (43) are arranged in the support frame (4); the manipulator control cabinet (42) is connected to the PLC controller (43) by electrical signals; the manipulator control cabinet (42) is used to control the six-axis manipulator (2); The two driving wheel trains (5) are respectively arranged on the left and right sides of the chassis module (3); the driving wheel train (5) comprises a driving wheel (51), a suspension frame (52), a driven wheel (53), a shock absorbing module, a servo motor (54), a reducer (61) and a connecting plate (62); the driven wheel (53) is rotatably fixed to the lower end of one side of the chassis module (3); the upper end of the suspension frame (52) is a wheel assembly base (521) fixed to the lower end of the other side of the chassis module (3); the upper end of the shock absorbing module is respectively fixed to the front and rear ends of the inner side of the wheel assembly base (521). The lower end of the shock absorbing module is fixed to the lower end of the suspension frame (52); a connecting plate (62) is fixed between the two shock absorbing modules of the same driving wheel system (5); the reducer (61) is fixed to one side of the connecting plate (62), and the reducer (61) is drivingly connected to the driving wheel (51) rotatably fixed to the other side of the connecting plate (62); the servo motor (54) is fixed to the rear end of the reducer (61); the servo motor (54) is drivingly connected to the reducer (61); the servo motor (54) is electrically connected to the PLC controller (43); The shock absorption module includes a shock absorption spring (55), an adjusting nut (56), a guide shaft (57), and a linear bearing (58); the upper ends of the guide shafts (57) are respectively fixed at the front and rear ends below the inner side of the wheel set base (521), and the lower ends of the guide shafts (57) are fixed to the lower end of the suspension frame (52); the adjusting nut (56), the shock absorption spring (55), and the linear bearing (58) are sequentially arranged on the outer periphery of the guide shaft (57) from top to bottom; the adjusting nut (56) is threadedly sleeved outside the guide shaft (57); the shock absorption spring (55) and the linear bearing (58) are both movably sleeved outside the guide shaft (57); a connecting plate (62) is fixed between the two linear bearings (58) of the same drive wheel system (5); The compression amount of the shock absorption spring (55) can be changed by adjusting the nut (56), so as to change the softness and hardness of the shock absorption module.

2. The GIS equipment room inspection robot with a manipulator according to claim 1, characterized in that: A collision prevention baffle (31) is fixed to the lower end of the chassis module (3); a two-dimensional code recognition module (32) is arranged at the lower end of the collision prevention baffle (31); the PLC controller (43) is electrically connected to the two-dimensional code recognition module (32).

3. The GIS equipment room inspection robot with a manipulator according to claim 1, characterized in that: A protective housing (11) is provided outside the vehicle body (1); collision prevention detection belts (12) are fixed on both the front and rear sides at the lower end of the protective housing (11); a plurality of ultrasonic sensors (14) are respectively arranged on both the front and rear sides of the lower part of the protective housing (11); a lidar (15) is arranged on the chassis module (3); an avoidance hole for the laser emitted by the lidar (15) to pass through is formed in the protective housing (11); the PLC controller (43) is electrically connected to the collision prevention detection belt (12), the ultrasonic sensor (14), and the lidar (15) respectively.

4. The GIS equipment room inspection robot with a manipulator according to claim 3, characterized in that: An emergency stop switch (13) is arranged on the protective housing (11); the emergency stop switch (13) is electrically connected to the PLC controller (43).

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