CN109927045A - A kind of power distribution cabinet crusing robot - Google Patents
A kind of power distribution cabinet crusing robot Download PDFInfo
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- CN109927045A CN109927045A CN201910196380.3A CN201910196380A CN109927045A CN 109927045 A CN109927045 A CN 109927045A CN 201910196380 A CN201910196380 A CN 201910196380A CN 109927045 A CN109927045 A CN 109927045A
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Abstract
The present invention provides a kind of power distribution cabinet crusing robot, including body part, unlocking part, turn part, enabling part, body part includes rotating basis, rotating seat, first stepper motor, second stepper motor, third stepper motor, T-block, first mounting plate, first screw rod, second screw rod, third screw rod, camera, image bar, double set squares, first electric cylinders, image double rod, 4th stepper motor, main transmission belt, first gear, 5th stepper motor, second gear, rotating bracket, when use, body is partially moved to need near the power distribution cabinet of inspection, it unlocks and partially turns distribution cabinet lock, it is popped up with rear locking and twists block, it turns part and stubborn block is rotated 90 °, cabinet door flicks at this time, then it opens the door and partially opens cabinet door, body part is scanned inspection to power distribution cabinet inside.
Description
Technical field
The present invention relates to power distribution cabinet technical field, in particular to a kind of power distribution cabinet crusing robot.
Background technique
Nowadays, power distribution cabinet is widely used in each field, and for communal facility, power distribution cabinet is generally focused at one
It places, needs the problem of often inspection is carried out to power distribution cabinet, finds power distribution cabinet in time and security risk, now design a kind of power distribution cabinet
Crusing robot, a kind of existing design about power distribution cabinet crusing robot, such as number of patent application CN201720688492.7
A kind of internal withdraw type power distribution cabinet door opener is disclosed, which may be implemented automatic switch distribution cabinet door, but actually use not
It is convenient, and can not unlock；Such as patent No. CN201620578129.5 discloses a kind of electric power distributing cabinet mounting device, it should
Device can realize the installation of power distribution cabinet, but can not carry out inspection to power distribution cabinet.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of power distribution cabinet crusing robot, main body includes body part, unlocking portion
Divide, turn part, enabling part；In use, body is partially moved to need near the power distribution cabinet of inspection, unlock distribution partially
Cabinet, which is locked, to be turned, and is popped up with rear locking and is twisted block, is turned part for stubborn block and is rotated 90 °, and cabinet door flicks at this time, is then opened the door cabinet partially
Door is opened, and body part is scanned inspection to power distribution cabinet inside.
Technical solution used in the present invention is: a kind of power distribution cabinet crusing robot, including body part, unlock part,
Part, enabling part are turned, body part includes rotating basis, rotating seat, the first stepper motor, second stepper motor, third
Stepper motor, T-block, the first mounting plate, the first screw rod, the second screw rod, third screw rod, camera, camera shooting bar, double set squares,
First electric cylinders, camera shooting double rod, the 4th stepper motor, main transmission belt, first gear, the 5th stepper motor, second gear, rotation branch
Frame, the first two-way asynchronous machine, elevating screw, the first elevating lever, the second elevating lever, third elevating lever, the 4th elevating lever, backspin
Turn lifting seat, excessive round seat, third gear, the 6th stepper motor, the 4th gear, walker, driven wheel, driving wheel, walking shoe
Band, the second two-way asynchronous machine, the rotating seat are rotatably installed on rotating basis；T-block left end is fixedly mounted on rotation base
On seat, right end is fixedly connected with the first mounting plate；First stepper motor is fixedly mounted on T-block left end, motor shaft and
Two screw rods are fixedly connected；Second screw rod right end is rotatably installed in T-block；Second stepper motor is fixedly mounted on the first mounting plate
On, motor shaft is fixedly connected with the first screw rod；First screw rod left end is rotatably installed on rotating seat；Third stepper motor is fixed
It is mounted on the first mounting plate, motor shaft is fixedly connected with third screw rod；Third screw rod left end is rotatably installed on rotating seat；
First electric cylinders bottom end and rotating basis are hinged, and telescopic rod top end and double set squares are hinged；Image double rod one end and rotating basis
Hingedly, the other end and double set squares are hinged；It images bar and double set squares is rotatablely connected, front end is fixedly installed with camera；
Rotating basis lower end shaft is connect with disk rotational in rotating bracket；5th stepper motor is fixedly mounted on disk in rotating bracket
On, motor shaft is fixedly connected with first gear；First gear is engaged with second gear；Second gear is fixedly mounted on rotation base
In the shaft of seat lower end；Elevating screw one end is rotatably installed in rotating bracket lower end, the other end and the first two-way asynchronous machine electricity
Arbor is fixedly connected；First elevating lever and the second elevating lever upper end are threadedly coupled with elevating screw respectively；First elevating lever and
Two elevating levers are hinged；First elevating lever lower end and the 4th elevating lever upper end are hinged；On second elevating lever lower end and third elevating lever
End is hinged；Third elevating lever and the 4th elevating lever are hinged；Third elevating lever and the 4th elevating lever lower end respectively with lower rotation and lifting
Seat is hinged；Lower rotation lifting seat and excessive round seat are rotatablely connected；Third gear is fixedly mounted in the shaft of lower rotation lifting seat,
It is engaged with the 4th gear；4th gear is fixedly mounted on the motor shaft of the 6th stepper motor；6th stepper motor is fixedly mounted
In excessive round seat；Walker is fixedly mounted on excessive round seat lower end surface；Driven wheel and driving wheel are rotatably installed on walker；
Traveling crawler is set on driven wheel and driving wheel；Second two-way asynchronous machine is fixedly mounted in excessive round seat, motor shaft
It is fixedly connected with the shaft of driving wheel；The upper sliding shoe of the unlocking part is connect with the first wire rod thread；Upper sliding shoe lower end
Sliding block is slidably connected with T-block；The downslide motion block for turning part is connect with third wire rod thread；Downslide motion block upper end sliding block
It is slidably connected with T-block；The sideslip motion block of the enabling part is connect with the second wire rod thread；Sideslip motion block and T-block glazing
Bar is slidably connected.
Further, unlocking part include: upper sliding shoe, the second electric cylinders, ball disk, upper electric cylinders connector, two-way electric cylinders,
Lower electric cylinders connector, third electric cylinders, lower double rod, Z-shaped block, rotation shallow bid, the 7th stepper motor, upper H-post, the 4th electric cylinders, the 5th
Gear, the 8th stepper motor, the 6th gear, rotation basis, forked type switch block, the 9th stepper motor, the 7th gear, eighth gear,
Rotation operation disk, the tenth stepper motor, key, transmission belt；Upper sliding shoe right end is fixedly connected with left side ball disk；Two-way electric cylinders with
Right side ball disk is fixedly connected；The second electric cylinders are installed between left side ball disk and right side ball disk；The telescopic rod top at two-way electric cylinders both ends
End is fixedly connected with upper electric cylinders connector and lower electric cylinders connector respectively；Third electric cylinders bottom end and upper electric cylinders connector are hinged, telescopic rod
Top and Z-shaped block are hinged；Lower double rod one end and lower electric cylinders connector are hinged, and the other end and Z-shaped block are hinged；7th stepper motor is solid
On Z-shaped block, motor shaft is fixedly connected with rotation shallow bid for Dingan County；Upper H-post one end is connect with rotation shallow bid, another
End and rotation basis are hinged；4th electric cylinders bottom end and rotation basis are hinged, and telescopic rod top end and upper H-post are hinged；8th step
On the basis of being fixedly mounted on rotation into motor, motor shaft is fixedly connected with the 5th gear；5th gear is engaged with the 6th gear；
Forked type switch block is connect with rotation foundation rotation, and the shaft of lower end is fixedly installed with the 6th gear；The fixed peace of 9th stepper motor
On forked type switch block, motor shaft is fixedly connected with the 7th gear；7th gear is engaged with eighth gear；Eighth gear is fixed
It is mounted in rotation operation disk shaft；Rotation operation disk shaft and forked type switch block are rotatablely connected；Tenth stepper motor is fixedly mounted
On rotation operation disk；Key turns are mounted on rotation operation disk；Transmission belt is set in the gear and key of the tenth stepper motor
On gear in spoon shaft.
Further, turning part includes: downslide motion block, the 5th electric cylinders, double rod, triangle transit plate, the 11st stepping electricity
Machine, upper boom, the 6th electric cylinders, the 7th electric cylinders, interior empty set square, the tenth two stepping motor, telescopic seat, telescopic screw rod, telescoping end,
13rd stepper motor, end disk, the 8th electric cylinders, clamping seats, clamping plate, the 9th electric cylinders；5th electric cylinders bottom end and downslide motion block
Hingedly, telescopic rod top end and triangle transit plate are hinged；Double rod one end and downslide motion block are hinged, the other end and triangle transit plate
Hingedly；11st stepper motor is fixedly mounted on triangle transit plate side, and motor shaft and the 6th electric cylinders bottom end are fixedly mounted；On
Bar one end and triangle transit plate are hinged, and the other end and interior empty set square are rotatablely connected；7th electric cylinders bottom end and interior empty set square
Rotation connection, telescopic rod top end and telescopic seat are rotatablely connected；Interior sky set square and telescopic seat are rotatablely connected；12nd stepping electricity
Machine is fixedly mounted on telescopic seat, and motor shaft is fixedly connected with telescopic screw rod；The telescopic screw rod other end and telescopic seat rotation connect
It connects；Telescoping end is threadedly coupled with telescopic screw rod；13rd stepper motor is fixedly mounted on telescoping end, motor shaft and end
End plate is fixedly connected；8th electric cylinders are fixedly mounted on end disc side, and telescopic rod top end is fixedly connected with clamping seats；9th electricity
Cylinder is fixedly mounted on clamping seats, and telescopic rod top end is fixedly connected with clamping plate.
Further, door opening portion point include: sideslip motion block, double drive rods, the tenth electric cylinders, outer set square, the 11st electric cylinders,
It is driven double rod, base plate in parallel, the 12nd electric cylinders, loong shunt bar, special-shaped block, the 13rd electric cylinders, interior and joining beam, three blocks, simultaneously
Join end disk, the 9th gear, the 14th stepper motor, the tenth gear, rotating disc, the 14th electric cylinders, rotation end, the 15th step
Block is taken off into motor, end, double drive rod one end and sideslip motion block are hinged, and the other end and outer set square are hinged；Tenth electric cylinders bottom
End is hinged with sideslip motion block, and telescopic rod top end and outer set square one end are hinged；11st electric cylinders bottom end and outer set square are hinged,
Its telescopic rod top end and base plate in parallel are hinged；Set square is hinged outside transmission double rod one end, and the other end is cut with scissors with base plate in parallel
It connects；12nd electric cylinders bottom end and base plate in parallel are hinged, and telescopic rod top end is hinged with special-shaped block；Loong shunt bar one end with it is in parallel
Base plate is hinged, and the other end is hinged with special-shaped block；13rd electric cylinders bottom end and special-shaped block are hinged, telescopic rod top end with three
Block is hinged；Interior and joining beam one end and special-shaped block are hinged, and the other end and three blocks are hinged；Three blocks and end disk in parallel are hinged；
The shaft of rotating disc is rotatablely connected with end disk in parallel；9th gear is fixedly mounted in the shaft of rotating disc, with the tenth tooth
Wheel engagement；Tenth gear is fixedly mounted on the 14th stepper motor motor shaft；14th stepper motor is fixedly mounted on parallel connection
In end disk；14th electric cylinders bottom end and rotating disc are hinged, and telescopic rod top end and rotation end are hinged；Rotate end lower end with
Rotating disc is hinged；The shaft that block is taken off in end is rotatably installed on rotation end；The motor shaft of 15th stepper motor is taken off with end
The shaft of block is fixedly connected.
Since present invention employs above-mentioned technical proposals, the invention has the following advantages that
Enough freedom degrees are provided for joint 1. being provided with multiple parallel institutions on unlocking part, and can realize rotation, flexible etc.
Movement, may be implemented to insert a key into lockhole, complete unlock, and can be switched multiple and different keys to different power distribution cabinets into
Row is unlocked.
2. turning part to be provided with parallel institution and can realize that the functions such as rotation, flexible, satisfaction turn required for stubborn block
Freedom degree can thoroughly unlock distribution cabinet door.
It is equipped with parallel institution 3. door opening portion sets up separately and can realize the functions such as rotation, flexible, can satisfy needed for door opening action
The freedom degree wanted, block is taken off in the end of end can catch on distribution cabinet door opening.
4. the functions such as lifting and mobile, rotation may be implemented in main part, pedestal is provided for multiple mechanical arms, and can control
Robot processed is mobile, substantially increases the mobility of robot.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention.
Fig. 2 is body partial structure diagram of the invention.
Fig. 3 is body part partial structural diagram of the invention.
Fig. 4 is body partial rear partial structural diagram of the invention.
Fig. 5 is unlocking partial structure diagram of the invention.
Fig. 6 is unlocking part partial structural diagram of the invention.
Fig. 7 turns partial structure diagram for of the invention.
Fig. 8 is enabling partial structure diagram of the invention.
Drawing reference numeral: 1- body part；2- unlocking part；3- turns part；4- enabling part；5- power distribution cabinet；101- rotation
Turn pedestal；102- column spinner；The first stepper motor of 103-；104- second stepper motor；105- third stepper motor；106- first
Screw rod；The second screw rod of 107-；108- third screw rod；109- camera；110- images bar；The bis- set squares of 111-；The first electricity of 112-
Cylinder；113- images double rod；The 4th stepper motor of 114-；115- main transmission belt；116- first gear；The 5th stepper motor of 117-；
118- second gear；119- rotating bracket；The two-way asynchronous machine of 120- first；121- elevating screw；The first elevating lever of 122-；
The second elevating lever of 123-；124- third elevating lever；The 4th elevating lever of 125-；Lifting seat is rotated under 126-；The excessive round seat of 127-；
128- third gear；The 6th stepper motor of 129-；The 4th gear of 130-；131- walker；132- driven wheel；133- driving wheel；
134- traveling crawler；The two-way asynchronous machine of 135- second；The upper sliding shoe of 201-；The second electric cylinders of 202-；203- ball disk；204- is powered on
Cylinder connector；The two-way electric cylinders of 205-；Electric cylinders connector under 206-；207- third electric cylinders；Double rod under 208-；209-z type block；210- rotation
Shallow bid；The 7th stepper motor of 211-；The upper H-post of 212-；The 4th electric cylinders of 213-；The 5th gear of 214-；215- the 8th stepping electricity
Machine；The 6th gear of 216-；217- rotation basis；218- forked type switch block；The 9th stepper motor of 219-；The 7th gear of 220-；221-
Eighth gear；222- rotation operation disk；The tenth stepper motor of 223-；224- key；225- transmission belt；301- downslide motion block；
The 5th electric cylinders of 302-；303- double rod；304- triangle transit plate；The 11st stepper motor of 305-；306- upper boom；The 6th electricity of 307-
Cylinder；The 7th electric cylinders of 308-；Empty set square in 309-；The tenth two stepping motor of 310-；311- telescopic seat；312- telescopic screw rod；
313- telescoping end；The 13rd stepper motor of 314-；315- end disk；The 8th electric cylinders of 316-；317- clamping seats；318- is clamped
Plate；The 9th electric cylinders of 319-；401- sideslip motion block；The bis- drive rods of 402-；The tenth electric cylinders of 403-；The outer set square of 404-；405- the tenth
One electric cylinders；406- is driven double rod；407- parallel connection base plate；The 12nd electric cylinders of 408-；409- loong shunt bar；410- special-shaped block；
The 13rd electric cylinders of 411-；The interior simultaneously joining beam of 412-；Tri- blocks of 413-；414- parallel connection end disk；The 9th gear of 415-；416- the 14th
Stepper motor；The tenth gear of 417-；418- rotating disc；The 14th electric cylinders of 419-；420- rotates end；421- the 15th stepping electricity
Machine；422- takes off block in end.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, a kind of power distribution cabinet crusing robot, including
Body part 1, unlocking part 2 turn part 3, enabling part 4, and body part 1 includes rotating basis 101, rotating seat 102, the
One stepper motor 103, second stepper motor 104, third stepper motor 105, T-block, the first mounting plate, the first screw rod 106,
Two screw rods 107, third screw rod 108, camera 109, camera shooting bar 110, double set squares 111, the first electric cylinders 112, camera shooting double rod
113, the 4th stepper motor 114, main transmission belt 115, first gear 116, the 5th stepper motor 117, second gear 118, rotation
Bracket 119, the first two-way asynchronous machine 120, elevating screw 121, the first elevating lever 122, the second elevating lever 123, third lifting
Bar 124, the 4th elevating lever 125, lower rotation lifting seat 126, excessive round seat 127, third gear 128, the 6th stepper motor 129,
4th gear 130, walker 131, driven wheel 132, driving wheel 133, traveling crawler 134, the second two-way asynchronous machine 135, institute
Rotating seat 102 is stated to be rotatably installed on rotating basis 101；T-block left end is fixedly mounted on rotating basis 101, right end with
First mounting plate is fixedly connected；First stepper motor 103 is fixedly mounted on T-block left end, and motor shaft and the second screw rod 107 are solid
Fixed connection；Second screw rod, 107 right end is rotatably installed in T-block；Second stepper motor 104 is fixedly mounted on the first mounting plate
On, motor shaft is fixedly connected with the first screw rod 106；First screw rod, 106 left end is rotatably installed on rotating seat 102；Third step
It is fixedly mounted on the first mounting plate into motor 105, motor shaft is fixedly connected with third screw rod 108；108 left end of third screw rod
It is rotatably installed on rotating seat 102；First electric cylinders, 112 bottom end and rotating basis 101 are hinged, telescopic rod top end and double set squares
111 is hinged；It images 113 one end of double rod and rotating basis 101 is hinged, the other end and double set squares 111 are hinged；Image bar 110
It is rotatablely connected with double set squares 111, front end is fixedly installed with camera 109；101 lower end shaft of rotating basis and rotating bracket
Disk rotational connects on 119；5th stepper motor 117 is fixedly mounted in rotating bracket 119 on disk, motor shaft and first
Gear 116 is fixedly connected；First gear 116 is engaged with second gear 118；Second gear 118 is fixedly mounted on rotating basis 101
In the shaft of lower end；121 one end of elevating screw is rotatably installed in 119 lower end of rotating bracket, the other end and the first two-way asynchronous electricity
120 motor shaft of machine is fixedly connected；First elevating lever 122 and 123 upper end of the second elevating lever connect with 121 screw thread of elevating screw respectively
It connects；First elevating lever 122 and the second elevating lever 123 are hinged；First elevating lever, 122 lower end and 125 upper end of the 4th elevating lever are hinged；
Second elevating lever, 123 lower end and 124 upper end of third elevating lever are hinged；Third elevating lever 124 and the 4th elevating lever 125 are hinged；The
Three elevating levers 124 and 125 lower end of the 4th elevating lever are hinged with lower rotation lifting seat 126 respectively；Lower rotation lifting seat 126 with excessively
Round seat 127 is rotatablely connected；Third gear 128 is fixedly mounted in the shaft of lower rotation lifting seat 126, is nibbled with the 4th gear 130
It closes；4th gear 130 is fixedly mounted on the motor shaft of the 6th stepper motor 129；6th stepper motor 129 was fixedly mounted on
It spends in round seat 127；Walker 131 is fixedly mounted on excessive 127 lower end surface of round seat；Driven wheel 132 and driving wheel 133 are rotatablely installed
On walker 131；Traveling crawler 134 is set on driven wheel 132 and driving wheel 133；Second two-way asynchronous machine 135 is fixed
It is mounted in excessive round seat 127, motor shaft is fixedly connected with the shaft of driving wheel 133；The upper sliding shoe of the unlocking part 2
201 are threadedly coupled with the first screw rod 106；Upper 201 lower end sliding block of sliding shoe is slidably connected with T-block；It is described to turn under part 3
Sliding shoe 301 is threadedly coupled with third screw rod 108；301 upper end sliding block of downslide motion block is slidably connected with T-block；The door opening portion
4 sideslip motion block 401 is divided to be threadedly coupled with the second screw rod 107；Sideslip motion block 401 is slidably connected with polished rod in T-block.
Further, the unlocking part 2 includes: upper sliding shoe 201, the second electric cylinders 202, ball disk 203, upper electric cylinders connector
204, two-way electric cylinders 205, lower electric cylinders connector 206, third electric cylinders 207, lower double rod 208, Z-shaped block 209, rotation shallow bid the 210, the 7th
Stepper motor 211, upper H-post 212, the 4th electric cylinders 213, the 5th gear 214, the 8th stepper motor 215, the 6th gear 216,
Rotate basic 217, forked type switch block 218, the 9th stepper motor 219, the 7th gear 220, eighth gear 221, rotation operation disk
222, the tenth stepper motor 223, key 224, transmission belt 225；Upper 201 right end of sliding shoe is fixedly connected with left side ball disk 203；It is double
It is fixedly connected to electric cylinders 205 with right side ball disk 203；Second electric cylinders 202 are installed between left side ball disk 203 and right side ball disk 203；
The telescopic rod top end at two-way 205 both ends of electric cylinders is fixedly connected with upper electric cylinders connector 204 and lower electric cylinders connector 206 respectively；Third electricity
207 bottom end of cylinder and upper electric cylinders connector 204 are hinged, and telescopic rod top end and Z-shaped block 209 are hinged；Lower 208 one end of double rod and lower electric cylinders
Connector 206 is hinged, and the other end and Z-shaped block 209 are hinged；7th stepper motor 211 is fixedly mounted on Z-shaped block 209, motor
Axis is fixedly connected with rotation shallow bid 210；Upper 212 one end of H-post is connect with rotation shallow bid 210, the other end and rotation basis
217 is hinged；4th electric cylinders, 213 bottom end and rotation basis 217 are hinged, and telescopic rod top end and upper H-post 212 are hinged；8th step
It is fixedly mounted on rotation basis 217 into motor 215, motor shaft is fixedly connected with the 5th gear 214；5th gear 214 with
The engagement of 6th gear 216；Forked type switch block 218 and rotation basis 217 are rotatablely connected, and the shaft of lower end is fixedly installed with the 6th tooth
Wheel 216；9th stepper motor 219 is fixedly mounted on forked type switch block 218, and motor shaft is fixedly connected with the 7th gear 220；The
Seven gears 220 are engaged with eighth gear 221；Eighth gear 221 is fixedly mounted in 222 shaft of rotation operation disk；Rotation operation
222 shaft of disk and forked type switch block 218 are rotatablely connected；Tenth stepper motor 223 is fixedly mounted on rotation operation disk 222；Key
224 are rotatably installed on rotation operation disk 222；Transmission belt 225 is set in the gear of the tenth stepper motor 223 and 224 turns of key
On gear on axis.
Further, turn part 3 include: downslide motion block 301, the 5th electric cylinders 302, double rod 303, triangle transit plate 304,
11st stepper motor 305, upper boom 306, the 6th electric cylinders 307, the 7th electric cylinders 308, interior empty set square 309, the 12nd stepping electricity
Machine 310, telescopic seat 311, telescopic screw rod 312, telescoping end 313, the 13rd stepper motor 314, end disk 315, the 8th electric cylinders
316, clamping seats 317, clamping plate 318, the 9th electric cylinders 319；5th electric cylinders, 302 bottom end and downslide motion block 301 are hinged, telescopic rod
Top and triangle transit plate 304 are hinged；303 one end of double rod and downslide motion block 301 are hinged, the other end and triangle transit plate 304
Hingedly；11st stepper motor 305 is fixedly mounted on 304 side of triangle transit plate, and motor shaft and 307 bottom end of the 6th electric cylinders are solid
Dingan County's dress；306 one end of upper boom and triangle transit plate 304 are hinged, and the other end and interior empty set square 309 are rotatablely connected；7th electricity
308 bottom end of cylinder and interior empty set square 309 are rotatablely connected, and telescopic rod top end and telescopic seat 311 are rotatablely connected；Interior sky set square
309 are rotatablely connected with telescopic seat 311；Tenth two stepping motor 310 is fixedly mounted on telescopic seat 311, motor shaft and flexible
Screw rod 312 is fixedly connected；312 other end of telescopic screw rod and telescopic seat 311 are rotatablely connected；Telescoping end 313 and telescopic screw rod 312
It is threadedly coupled；13rd stepper motor 314 is fixedly mounted on telescoping end 313, motor shaft and the fixed company of end disk 315
It connects；8th electric cylinders 316 are fixedly mounted on 315 side of end disk, and telescopic rod top end is fixedly connected with clamping seats 317；9th electricity
Cylinder 319 is fixedly mounted on clamping seats 317, and telescopic rod top end is fixedly connected with clamping plate 318.
Further, enabling part 4 includes: sideslip motion block 401, double drive rods 402, the tenth electric cylinders 403, outer set square
404, the 11st electric cylinders 405, transmission double rod 406, base plate 407, the 12nd electric cylinders 408, loong shunt bar 409, special-shaped block in parallel
410, the 13rd electric cylinders 411, interior and 412, three blocks 413 of joining beam, end disk 414, the 9th gear 415, the 14th stepping in parallel
Motor 416, the tenth gear 417, rotating disc 418, the 14th electric cylinders 419, rotation end 420, the 15th stepper motor 421, end
Block 422 is taken off at end, and double 402 one end of drive rod and sideslip motion block 401 are hinged, and the other end and outer set square 404 are hinged；Tenth electric cylinders
403 bottom ends and sideslip motion block 401 are hinged, and telescopic rod top end and outer 404 one end of set square are hinged；11st electric cylinders, 405 bottom end
Hinged with outer set square 404, telescopic rod top end and base plate 407 in parallel are hinged；It is driven set square 404 outside 406 one end of double rod
Hingedly, the other end and base plate 407 in parallel are hinged；12nd electric cylinders, 408 bottom end and base plate 407 in parallel are hinged, stretch
Bar top and special-shaped block 410 are hinged；409 one end of loong shunt bar and base plate 407 in parallel are hinged, the other end and special-shaped block 410
Hingedly；13rd electric cylinders, 411 bottom end and special-shaped block 410 are hinged, and telescopic rod top end is hinged with three blocks 413；Interior and joining beam 412
One end and special-shaped block 410 are hinged, and the other end and three blocks 413 are hinged；Three blocks 413 and end disk 414 in parallel are hinged；Rotation
The shaft of disk 418 is rotatablely connected with end disk 414 in parallel；9th gear 415 is fixedly mounted in the shaft of rotating disc 418,
It is engaged with the tenth gear 417；Tenth gear 417 is fixedly mounted on 416 motor shaft of the 14th stepper motor；14th stepping electricity
Machine 416 is fixedly mounted in end disk 414 in parallel；14th electric cylinders, 419 bottom end and rotating disc 418 are hinged, telescopic rod top end
It is hinged with rotation end 420；It rotates 420 lower end of end and rotating disc 418 is hinged；The shaft that block 422 is taken off in end is rotatably installed in
It rotates on end 420；The motor shaft of 15th stepper motor 421 is fixedly connected with the shaft that block 422 is taken off in end.
The working principle of the invention: this power distribution cabinet crusing robot passes through the second two-way asynchronous electricity of body part 1 first
Machine 135 drive driving wheel 133 rotate, and then control robot be moved near the power distribution cabinet of required inspection, unlocking part 2 and
Connection mechanism controls key 224 turns distribution cabinet lock, twists block pop-up so that locking, then turns the parallel institution and the 9th of part 3
Electric cylinders 319 control clamping plate 318 and the cooperation of clamping seats 317 and the stubborn block of pop-up are reversed 90 °, the parallel machine of subsequent enabling part 4
Structure control end takes off block 422 and opens distribution cabinet door, and several stepper motors and electric cylinders of subsequent body part 1 control camera
Inspection is carried out inside 109 pairs of power distribution cabinets.
Claims (4)
1. a kind of power distribution cabinet crusing robot, including body part (1), part (2) of unlocking, turn part (3), enabling part
(4), it is characterised in that: body part (1) includes rotating basis (101), rotating seat (102), the first stepper motor (103),
Two stepping motor (104), third stepper motor (105), T-block, the first mounting plate, the first screw rod (106), the second screw rod
(107), third screw rod (108), camera (109), camera shooting bar (110), double set squares (111), the first electric cylinders (112), camera shooting
Double rod (113), the 4th stepper motor (114), main transmission belt (115), first gear (116), the 5th stepper motor (117),
Two gears (118), rotating bracket (119), the first two-way asynchronous machine (120), elevating screw (121), the first elevating lever
(122), the second elevating lever (123), third elevating lever (124), the 4th elevating lever (125), lower rotation lifting seat (126), excessively
Round seat (127), third gear (128), the 6th stepper motor (129), the 4th gear (130), walker (131), driven wheel
(132), driving wheel (133), traveling crawler (134), the second two-way asynchronous machine (135), rotating seat (102) rotational installation
On rotating basis (101)；T-block left end is fixedly mounted on rotating basis (101), right end and the fixed company of the first mounting plate
It connects；First stepper motor (103) is fixedly mounted on T-block left end, and motor shaft is fixedly connected with the second screw rod (107)；Second
Screw rod (107) right end is rotatably installed in T-block；Second stepper motor (104) is fixedly mounted on the first mounting plate, motor
Axis is fixedly connected with the first screw rod (106)；First screw rod (106) left end is rotatably installed on rotating seat (102)；Third stepping electricity
Machine (105) is fixedly mounted on the first mounting plate, and motor shaft is fixedly connected with third screw rod (108)；Third screw rod (108) is left
End is rotatably installed on rotating seat (102)；First electric cylinders (112) bottom end and rotating basis (101) hingedly, telescopic rod top end with
Double set squares (111) are hinged；Image double rod (113) one end and rotating basis (101) hingedly, the other end and double set squares
(111) hinged；It images bar (110) and double set squares (111) is rotatablely connected, front end is fixedly installed with camera (109)；Rotation
Pedestal (101) lower end shaft is connect with disk rotational on rotating bracket (119)；5th stepper motor (117), which is fixedly mounted on, to be turned
On dynamic bracket (119) on disk, motor shaft is fixedly connected with first gear (116)；First gear (116) and second gear
(118) it engages；Second gear (118) is fixedly mounted in the shaft of rotating basis (101) lower end；Elevating screw (121) one end turns
Dynamic to be mounted on rotating bracket (119) lower end, the other end is fixedly connected with the first two-way asynchronous machine (120) motor shaft；First
Elevating lever (122) and the second elevating lever (123) upper end are threadedly coupled with elevating screw (121) respectively；First elevating lever (122) and
Second elevating lever (123) is hinged；First elevating lever (122) lower end and the 4th elevating lever (125) upper end are hinged；Second elevating lever
(123) lower end and third elevating lever (124) upper end are hinged；Third elevating lever (124) and the 4th elevating lever (125) are hinged；Third
Elevating lever (124) and the 4th elevating lever (125) lower end are hinged with lower rotation lifting seat (126) respectively；Lower rotation lifting seat (126)
It is rotatablely connected with excessive round seat (127)；Third gear (128) is fixedly mounted in the shaft of lower rotation lifting seat (126), with the
Four gears (130) engagement；4th gear (130) is fixedly mounted on the motor shaft of the 6th stepper motor (129)；6th stepping electricity
Machine (129) is fixedly mounted on excessive round seat (127)；Walker (131) is fixedly mounted on excessive round seat (127) lower end surface；From
Driving wheel (132) and driving wheel (133) are rotatably installed on walker (131)；Traveling crawler (134) is set in driven wheel (132)
On driving wheel (133)；Second two-way asynchronous machine (135) is fixedly mounted on excessive round seat (127), motor shaft and active
The shaft of wheel (133) is fixedly connected；The upper sliding shoe (201) for unlocking part (2) is threadedly coupled with the first screw rod (106)；
Upper sliding shoe (201) lower end sliding block is slidably connected with T-block；The downslide motion block (301) and third screw rod for turning part (3)
(108) it is threadedly coupled；Downslide motion block (301) upper end sliding block is slidably connected with T-block；The sideslip motion block of the part (4) of opening the door
(401) it is threadedly coupled with the second screw rod (107)；The sideslip motion block (401) is slidably connected with polished rod in T-block.
2. a kind of power distribution cabinet crusing robot according to claim 1, it is characterised in that: unlocking part (2) includes:
Upper sliding shoe (201), the second electric cylinders (202), ball disk (203), upper electric cylinders connector (204), two-way electric cylinders (205), lower electric cylinders connect
Head (206), third electric cylinders (207), lower double rod (208), Z-shaped block (209), rotation shallow bid (210), the 7th stepper motor (211),
Upper H-post (212), the 5th gear (214), the 8th stepper motor (215), the 6th gear (216), turns the 4th electric cylinders (213)
Dynamic basis (217), forked type switch block (218), the 9th stepper motor (219), the 7th gear (220), eighth gear (221), rotation
Operation disk (222), the tenth stepper motor (223), key (224), transmission belt (225)；Upper sliding shoe (201) right end and left side ball
Disk (203) is fixedly connected；Two-way electric cylinders (205) are fixedly connected with right side ball disk (203)；Left side ball disk (203) and right side ball disk
(203) the second electric cylinders (202) are installed between；The telescopic rod top end at two-way electric cylinders (205) both ends respectively with upper electric cylinders connector
(204) it is fixedly connected with lower electric cylinders connector (206)；Third electric cylinders (207) bottom end and upper electric cylinders connector (204) hingedly, are stretched
Bar top and Z-shaped block (209) are hinged；Lower double rod (208) one end and lower electric cylinders connector (206) hingedly, the other end and Z-shaped block
(209) hinged；7th stepper motor (211) is fixedly mounted on Z-shaped block (209), motor shaft and rotating disc (210) fixed company
It connects；Upper H-post (212) one end is connect with rotation shallow bid (210), and the other end and rotation basic (217) are hinged；4th electric cylinders
(213) hingedly, telescopic rod top end and upper H-post (212) are hinged for bottom end and rotation basic (217)；8th stepper motor
(215) it is fixedly mounted on rotation basic (217), motor shaft is fixedly connected with the 5th gear (214)；5th gear (214)
It is engaged with the 6th gear (216)；Forked type switch block (218) and rotation basic (217) are rotatablely connected, and the shaft of lower end is fixedly mounted
There is the 6th gear (216)；9th stepper motor (219) is fixedly mounted on forked type switch block (218), motor shaft and the 7th gear
(220) it is fixedly connected；7th gear (220) is engaged with eighth gear (221)；Eighth gear (221) is fixedly mounted on rotation and makees
In industry disk (222) shaft；Rotation operation disk (222) shaft and forked type switch block (218) are rotatablely connected；Tenth stepper motor (223)
It is fixedly mounted on rotation operation disk (222)；Key (224) is rotatably installed on rotation operation disk (222)；Transmission belt (225)
It is set on the gear of the tenth stepper motor (223) and the gear in key (224) shaft.
3. a kind of power distribution cabinet crusing robot according to claim 1, it is characterised in that: turning part (3) includes: to glide
Motion block (301), the 5th electric cylinders (302), double rod (303), triangle transit plate (304), the 11st stepper motor (305), upper boom
(306), the 6th electric cylinders (307), the 7th electric cylinders (308), interior empty set square (309), the tenth two stepping motor (310), telescopic seat
(311), telescopic screw rod (312), telescoping end (313), the 13rd stepper motor (314), end disk (315), the 8th electric cylinders
(316), clamping seats (317), clamping plate (318), the 9th electric cylinders (319)；5th electric cylinders (302) bottom end and downslide motion block (301)
Hingedly, telescopic rod top end and triangle transit plate (304) are hinged；Double rod (303) one end and downslide motion block (301) are hingedly, another
One end and triangle transit plate (304) are hinged；11st stepper motor (305) is fixedly mounted on triangle transit plate (304) side,
Motor shaft and the 6th electric cylinders (307) bottom end are fixedly mounted；Upper boom (306) one end and triangle transit plate (304) hingedly, the other end
It is rotatablely connected with interior empty set square (309)；7th electric cylinders (308) bottom end and interior empty set square (309) are rotatablely connected, telescopic rod
Top and telescopic seat (311) are rotatablely connected；Interior sky set square (309) and telescopic seat (311) is rotatablely connected；Tenth two stepping motor
(310) it is fixedly mounted on telescopic seat (311), motor shaft is fixedly connected with telescopic screw rod (312)；Telescopic screw rod (312) is another
One end and telescopic seat (311) are rotatablely connected；Telescoping end (313) is threadedly coupled with telescopic screw rod (312)；13rd stepper motor
(314) it is fixedly mounted on telescoping end (313), motor shaft is fixedly connected with end disk (315)；8th electric cylinders (316) are solid
Dingan County is mounted in end disk (315) side, and telescopic rod top end is fixedly connected with clamping seats (317)；The fixed peace of 9th electric cylinders (319)
On clamping seats (317), telescopic rod top end is fixedly connected with clamping plate (318).
4. a kind of power distribution cabinet crusing robot according to claim 1, it is characterised in that: part (4) of opening the door includes: to break away
Motion block (401), double drive rods (402), the tenth electric cylinders (403), outer set square (404), the 11st electric cylinders (405), transmission double rod
(406), base plate (407) in parallel, the 12nd electric cylinders (408), loong shunt bar (409), special-shaped block (410), the 13rd electric cylinders
(411), interior and joining beam (412), three blocks (413), end disk (414) in parallel, the 9th gear (415), the 14th stepper motor
(416), the tenth gear (417), rotating disc (418), the 14th electric cylinders (419), rotation end (420), the 15th stepper motor
(421), end is taken off block (422), double drive rod (402) one end and sideslip motion block (401) hingedly, the other end and outer set square
(404) hinged；Tenth electric cylinders (403) bottom end and sideslip motion block (401) hingedly, telescopic rod top end and outer set square (404) one
End is hinged；Hingedly, telescopic rod top end is cut with scissors with base plate in parallel (407) for 11st electric cylinders (405) bottom end and outer set square (404)
It connects；Being driven set square (404) outside double rod (406) one end, hingedly, the other end is hinged with base plate in parallel (407)；12nd electricity
Hingedly, telescopic rod top end and special-shaped block (410) are hinged for cylinder (408) bottom end and base plate in parallel (407)；Loong shunt bar (409)
Hingedly, the other end and special-shaped block (410) are hinged for one end and base plate in parallel (407)；13rd electric cylinders (411) bottom end and abnormity
Hingedly, telescopic rod top end is hinged with three blocks (413) for block (410)；Interior and joining beam (412) one end and special-shaped block (410) hingedly,
Its other end and three blocks (413) are hinged；Three blocks (413) are hinged with end disk in parallel (414)；The shaft of rotating disc (418)
It is rotatablely connected with end disk in parallel (414)；9th gear (415) is fixedly mounted in the shaft of rotating disc (418), with the tenth
Gear (417) engagement；Tenth gear (417) is fixedly mounted on the 14th stepper motor (416) motor shaft；14th stepping electricity
Machine (416) is fixedly mounted on end disk in parallel (414)；14th electric cylinders (419) bottom end and rotating disc (418) hingedly, are stretched
Contracting bar top and rotation end (420) are hinged；It rotates end (420) lower end and rotating disc (418) is hinged；Block (422) are taken off in end
Shaft be rotatably installed in rotation end (420) on；Block (422) is taken off in the motor shaft of 15th stepper motor (421) and end
Shaft is fixedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910196380.3A CN109927045A (en) | 2019-03-15 | 2019-03-15 | A kind of power distribution cabinet crusing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910196380.3A CN109927045A (en) | 2019-03-15 | 2019-03-15 | A kind of power distribution cabinet crusing robot |
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| Publication Number | Publication Date |
|---|---|
| CN109927045A true CN109927045A (en) | 2019-06-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910196380.3A Pending CN109927045A (en) | 2019-03-15 | 2019-03-15 | A kind of power distribution cabinet crusing robot |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110665919A (en) * | 2019-09-23 | 2020-01-10 | 邵阳学院 | Mechanical cleaning device for public garbage can |
| CN111409720A (en) * | 2019-12-27 | 2020-07-14 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Power distribution inspection robot |
| CN112123368A (en) * | 2020-09-04 | 2020-12-25 | 国网宁夏电力有限公司检修公司 | Mechanical arm structure and detection robot |
| CN113146646A (en) * | 2021-01-22 | 2021-07-23 | 广东电网有限责任公司广州供电局 | Detection robot control system suitable for operation of vehicle-mounted switch cabinet robot |
| CN113183126A (en) * | 2021-04-16 | 2021-07-30 | 上海亿为科技有限公司 | Multi-stage lifting type wide-range inspection robot based on machine vision |
| CN113815512A (en) * | 2021-08-31 | 2021-12-21 | 江苏澳联科技开发有限公司 | Paint spraying and polishing lifting type engineering truck with auxiliary recovery function |
| CN114300994A (en) * | 2022-03-07 | 2022-04-08 | 东莞赋安实业有限公司 | Remote operation and inspection device for switch cabinet |
| CN114734464A (en) * | 2022-06-10 | 2022-07-12 | 福建（泉州）哈工大工程技术研究院 | Automatic door opening and closing chamber mobile robot and door opening and closing method |
| CN116032015A (en) * | 2023-02-17 | 2023-04-28 | 青岛华欧集团四海自动化控制工程有限公司 | Power distribution cabinet operation and maintenance state inspection device |
| CN117086904A (en) * | 2023-10-20 | 2023-11-21 | 国网安徽省电力有限公司合肥供电公司 | Inspection robot for switch cabinet deflector rod type emergency brake separating mechanism |
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| CN113146646A (en) * | 2021-01-22 | 2021-07-23 | 广东电网有限责任公司广州供电局 | Detection robot control system suitable for operation of vehicle-mounted switch cabinet robot |
| CN113183126A (en) * | 2021-04-16 | 2021-07-30 | 上海亿为科技有限公司 | Multi-stage lifting type wide-range inspection robot based on machine vision |
| CN113183126B (en) * | 2021-04-16 | 2022-08-05 | 上海亿为科技有限公司 | Robot is patrolled and examined to multistage over-and-under type wide range based on machine vision |
| CN113815512A (en) * | 2021-08-31 | 2021-12-21 | 江苏澳联科技开发有限公司 | Paint spraying and polishing lifting type engineering truck with auxiliary recovery function |
| CN114300994A (en) * | 2022-03-07 | 2022-04-08 | 东莞赋安实业有限公司 | Remote operation and inspection device for switch cabinet |
| CN114734464B (en) * | 2022-06-10 | 2022-08-09 | 福建（泉州）哈工大工程技术研究院 | Automatic door opening and closing chamber mobile robot and door opening and closing method |
| CN114734464A (en) * | 2022-06-10 | 2022-07-12 | 福建（泉州）哈工大工程技术研究院 | Automatic door opening and closing chamber mobile robot and door opening and closing method |
| CN116032015A (en) * | 2023-02-17 | 2023-04-28 | 青岛华欧集团四海自动化控制工程有限公司 | Power distribution cabinet operation and maintenance state inspection device |
| CN117086904A (en) * | 2023-10-20 | 2023-11-21 | 国网安徽省电力有限公司合肥供电公司 | Inspection robot for switch cabinet deflector rod type emergency brake separating mechanism |
| CN117086904B (en) * | 2023-10-20 | 2024-01-12 | 国网安徽省电力有限公司合肥供电公司 | Inspection robot for switch cabinet deflector rod type emergency brake separating mechanism |
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Application publication date: 20190625 |
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