AGV inspection trolley

Abstract

The utility model relates to an AGV inspection trolley, and belongs to the field of electric inspection trolleys. Comprising a frame, two wheel sets are symmetrically arranged at the bottom of the frame front and back, any wheel set comprises two wheels which are symmetrically arranged left and right, the distances between the wheels and the center of the frame are the same, hub motors are arranged in the wheels respectively, the hub motors drive the corresponding wheels to steer respectively, and in-situ steering of the frame is achieved; the wheels are connected with the frame through buffer units respectively; a mechanical arm is arranged on the frame, a tail end piece is arranged on the mechanical arm, a pneumatic quick-change piece is arranged on the tail end piece, and the pneumatic quick-change piece is used for quickly assembling and disassembling a tail end execution piece on the tail end piece. The AGV inspection trolley can steer with the center of the frame as the circle center, in-situ steering is achieved, collision between the AGV inspection trolley and a switch cabinet and the like is avoided, the buffer unit has a shock absorption effect on the frame, and the driving stability of the frame is improved.

Description

Technical Field

[0001] The utility model relates to an AGV inspection vehicle, belonging to the technical field of electric inspection vehicles. Background Art

[0002] The intelligent power inspection vehicle can collect and monitor the real-time temperature of power grid equipment and components, such as electrical control cabinets, transformers, and mutual inductors. It analyzes and diagnoses equipment temperature data, identifies equipment faults, and automatically issues alarms. It also replaces or assists manual substation inspections with fully autonomous mobility. By enabling all-weather, all-encompassing, and fully autonomous intelligent inspection and monitoring of substations, the AGV significantly reduces labor intensity and operational costs, providing an excellent solution for unmanned inspections.

[0003] Current AGVs take up a lot of space when turning, but the space inside a substation is limited, making turning inconvenient and prone to collisions. If they encounter obstacles, the AGVs will experience bumps during driving, resulting in poor driving stability. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide an AGV inspection vehicle for the above-mentioned prior art, which can turn on the spot to avoid collision and improve driving stability.

[0005] The technical solution adopted by the present invention to solve the above-mentioned problem is as follows: an AGV inspection vehicle comprises a frame, two wheel groups are symmetrically arranged front and back at the bottom of the frame, each wheel group comprises two wheels symmetrically arranged left and right, the distances between the wheels and the center of the frame are the same, the wheels are respectively provided with hub motors, the hub motors respectively drive the corresponding wheels to turn, so as to realize the in-situ turning of the frame; the wheels are respectively connected to the frame via buffer units; a mechanical arm is provided on the frame, an end piece is provided on the mechanical arm, a pneumatic quick-change part and a power supply module are provided on the end piece, the pneumatic quick-change part is used for quickly assembling and disassembling the end actuator on the end piece, and the power supply module supplies power to the end piece;

[0006] Any of the buffer units respectively includes a wheel mounting frame, the wheel mounting frame is arranged on the inner side of the wheel, the frame mounting frame is arranged on the outer side of the frame, and an obliquely arranged buffer member is provided between the frame mounting frame and the wheel mounting frame, the top end of the wheel mounting frame is hinged to one end of the upper connecting frame, and the other end of the upper connecting frame is connected to the top end of the frame mounting frame and one end of the buffer member through an upper pin shaft; the bottom end of the frame mounting frame is hinged to one end of the lower connecting frame, and the other end of the lower connecting frame is connected to the bottom end of the wheel mounting frame and the other end of the buffer member through a lower pin shaft.

[0007] The vehicle frame is made of waterproof material.

[0008] The buffer is a pneumatic spring.

[0009] The end piece includes an end housing. On the side of the end housing, a three-in-one partial discharge detector, a depth camera, and a thermal imager are successively arranged from bottom to top. The three-in-one partial discharge detector, the depth camera, and the thermal imager are respectively connected to the data processing module in a signal manner.

[0010] A visible light camera and a light supplement machine are also provided. The visible light camera and the light supplement machine are arranged on the end housing; a noise acquisition module is arranged on the side of the end housing; a voice interaction module is arranged on the top of the robotic arm.

[0011] Compared with the prior art, the advantages of the present utility model are as follows: For an AGV inspection trolley, the four wheels can turn with the center of the vehicle frame as the center of the circle, realizing in-situ turning, avoiding collisions between the AGV inspection trolley and switch cabinets, etc. The buffer unit has a shock-absorbing effect on the vehicle frame, improving the driving stability of the vehicle frame. A three-in-one partial discharge detector, a depth camera, a thermal imager, and a visible light camera are arranged on the side of the end housing and transmit data to the data processing module, expanding the use scenarios of the trolley and improving the detection ability of the trolley. Description of the Drawings

[0012] Figure 1 is a three-dimensional view of an AGV inspection trolley according to an embodiment of the present utility model;

[0013] Figure 2 is Figure 1 the front view of

[0014] Figure 3 is Figure 1 the side view of

[0015] Figure 4 is the three-dimensional view of the end piece;

[0016] Figure 5 is the schematic diagram of the buffer unit;

[0017] In the figure, 1 is a six-axis collaborative robotic arm, 2 is a vehicle frame, 3 is a buffer unit, 3.1 is a wheel mounting bracket, 3.2 is a lower connecting bracket, 3.3 is an upper connecting bracket, 3.4 is a vehicle frame mounting bracket, 3.5 is a pneumatic spring, 4 is a wheel, 4.1 is a line pipeline, 4.2 is a hub, 4.3 is a tire, 5 is an end piece, 5.1 is an end housing, 5.2 is a connecting flange, 5.3 is a three-in-one partial discharge detector, 5.4 is a depth camera, 5.5 is a thermal imager, 5.6 is a pneumatic quick-change part, 5.7 is a power supply module, 5.8 is a noise acquisition module, 5.9 is a voice interaction module. Detailed Embodiment

[0018] The present utility model will be further described in detail below in conjunction with the embodiments of the drawings.

[0019] As Figure 1 , 2 , as shown in Figure 3, an AGV inspection trolley in this embodiment includes a frame 2. Two wheel groups are symmetrically arranged at the front and rear of the bottom of the frame 2. Any one of the wheel groups includes two wheels 4 symmetrically arranged on the left and right. The wheels 4 are respectively arranged on a circle with the center of the frame as the center, so that the distance between the wheels and the center of the frame is the same. Each wheel 4 is internally provided with a hub motor, and the hub motors respectively drive the corresponding wheels to turn, thereby realizing in-situ turning and reducing the occupied space during turning. Buffer units 3 are respectively arranged between the wheels 4 and the frame 2, and the buffer units 3 have a shock-absorbing effect on the frame 2, improving the driving stability of the frame. A six-axis collaborative robotic arm 1 is arranged on the top of the frame 2. An end piece 5 is arranged at the output end of the six-axis collaborative robotic arm 1. A pneumatic quick-change piece 5.6 and a power supply module 5.7 are arranged on the end piece 5. The pneumatic quick-change piece 5.6 is used for the quick installation and disassembly of the end effector on the end piece, and thus for quick installation and disassembly. The power supply module supplies power to the end piece 5.7. The hub motors and the six-axis collaborative robotic arm are controlled by a general controller, and the general controller controls the actions of the wheels and the six-axis collaborative robotic arm.

[0020] The above-mentioned frame is made of waterproof material, which avoids external water from entering the frame and protects the modules inside the frame.

[0021] As Figure 5 shown, any one of the buffer units 3 respectively includes a wheel mounting bracket 3.1. A line pipe 4.1 for the output of the hub motor wires is provided on the inner side of the wheel 4. The wheel mounting bracket 3.1 is fixed to the line pipe 4.1. Frame mounting brackets 3.4 are respectively arranged on the outer side of the frame 2. An inclined pneumatic spring 3.5 is arranged between the frame mounting bracket 3.4 and the wheel mounting bracket 3.1. One end of the top of the wheel mounting bracket 3.1 is hinged to one end of the upper connecting bracket 3.3. The other end of the upper connecting bracket 3.3 is connected to the top end of the frame mounting bracket 3.4 and the top end of the pneumatic spring 3.5 through an upper pin shaft. One end of the bottom of the frame mounting bracket 3.4 is hinged to one end of the lower connecting bracket 3.2. The other end of the lower connecting bracket 3.2 is connected to the bottom end of the wheel mounting bracket 3.1 and the bottom end of the pneumatic spring 3.5 through a lower pin shaft. During driving, when encountering bumps, the pneumatic spring plays a role in shock absorption and vibration reduction.

[0022] As Figure 4As shown, the end unit 5 comprises an end housing 5.1. The side of end housing 5.1 is equipped, from bottom to top, with a three-in-one partial discharge detector 5.3, a depth camera 5.4, and a thermal imager 5.5. The three-in-one partial discharge detector 5.3 is used to detect and evaluate the insulation status of operating switchgear, etc.; the depth camera 5.4 feeds depth image information back to the data processing module; and the thermal imager 5.5 monitors the surrounding environment and transmits the detected ambient temperature information to the data processing module, improving the AGV's adaptability and responsiveness. End housing 5.1 is also equipped with a visible light camera and a fill light. In dim environments, the fill light is activated to provide additional light and improve brightness; the visible light camera also feeds image information back to the data processing module.

[0023] A noise collection module 5.8 is provided on the side of the terminal housing to collect on-site noise data and feed it back to the data processing module. A voice interaction module 5.9 is provided on the top of the six-axis collaborative robot arm 1 to enable human-machine interaction.

[0024] The four wheels of this application can steer around the center of the frame, achieving in-situ steering, preventing collisions between the AGV inspection vehicle and switchgear. The buffer unit provides shock absorption for the frame, improving driving stability. The side of the terminal housing is equipped with a three-in-one partial discharge detector, depth camera, thermal imager, and visible light camera, which transmit data to a data processing module, expanding the vehicle's use cases and improving its detection capabilities.

[0025] In addition to the above embodiments, the present invention also includes other implementation methods. Any technical solutions formed by equivalent transformation or equivalent replacement should fall within the scope of protection of the claims of the present invention.

Claims

1. An AGV inspection trolley, characterized in that: It includes a vehicle frame. Two wheel groups are symmetrically arranged at the front and rear of the bottom of the vehicle frame. Any one of the wheel groups respectively includes two wheels symmetrically arranged left and right. The distances between the wheels and the center of the vehicle frame are the same. Hub motors are respectively arranged inside the wheels. The hub motors respectively drive the corresponding wheels to turn, so as to realize the in-situ turning of the vehicle frame. The wheels and the vehicle frame are respectively connected through buffer units. A robotic arm is arranged on the vehicle frame. An end piece is arranged on the robotic arm. An air-powered quick-change part and a power supply module are arranged on the end piece. The air-powered quick-change part is used for the quick installation and disassembly of the end effector on the end piece. The power supply module supplies power to the end piece. Any one of the buffer units respectively includes a wheel mounting bracket. The wheel mounting bracket is arranged on the inner side surface of the wheel. A vehicle frame mounting bracket is arranged on the outer side surface of the vehicle frame. An inclined buffer member is arranged between the vehicle frame mounting bracket and the wheel mounting bracket. The top end of the wheel mounting bracket is hinged to one end of an upper connecting bracket. The other end of the upper connecting bracket is connected to the top end of the vehicle frame mounting bracket and one end of the buffer member through an upper pin shaft. The bottom end of the vehicle frame mounting bracket is hinged to one end of a lower connecting bracket. The other end of the lower connecting bracket is connected to the bottom end of the wheel mounting bracket and the other end of the buffer member through a lower pin shaft.

2. The AGV inspection trolley according to claim 1, characterized in that: The vehicle frame is made of a waterproof material.

3. The AGV inspection trolley according to claim 1, characterized in that: The buffer member is a pneumatic spring.

4. An AGV inspection trolley according to claim 1, characterized in that: The end piece includes an end housing. A three-in-one partial discharge detector, a depth camera and a thermal imager are sequentially arranged on the side surface of the end housing from bottom to top. The three-in-one partial discharge detector, the depth camera and the thermal imager are respectively in signal connection with a data processing module.

5. An AGV inspection trolley according to claim 4, characterized in that: A visible light camera and a light compensator are also provided. The visible light camera and the light compensator are arranged on the end housing. A noise acquisition module is arranged on the side surface of the end housing. A voice interaction module is arranged on the top of the robotic arm.

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