CN117383456A - Automatic hoisting maintenance device for wheeled robot and operation method - Google Patents
Automatic hoisting maintenance device for wheeled robot and operation method Download PDFInfo
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- CN117383456A CN117383456A CN202311622811.0A CN202311622811A CN117383456A CN 117383456 A CN117383456 A CN 117383456A CN 202311622811 A CN202311622811 A CN 202311622811A CN 117383456 A CN117383456 A CN 117383456A
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- support arm
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- maintenance device
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- 238000012423 maintenance Methods 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000007689 inspection Methods 0.000 claims abstract description 30
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 238000004519 manufacturing process Methods 0.000 abstract description 17
- 230000008569 process Effects 0.000 abstract description 7
- 238000009434 installation Methods 0.000 description 3
- 230000006378 damage Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009529 body temperature measurement Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003331 infrared imaging Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000002940 repellent Effects 0.000 description 1
- 239000005871 repellent Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/02—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms suspended from ropes, cables, or chains or screws and movable along pillars
- B66F7/04—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms suspended from ropes, cables, or chains or screws and movable along pillars hydraulically or pneumatically operated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides an automatic lifting maintenance device of a wheeled robot and an operation method, comprising the following steps: the device comprises a clamp, a wheel support piece, a sliding rail, a supporting arm adapter plate and a lifting mechanism; the support arm comprises a first support arm and a second support arm which are respectively connected with the support arm adapter plate, wherein the first support arm is rotationally connected with at least two clamps, the second support arm is rotationally connected with at least two clamps, and the clamps on the first support arm and the clamps on the second support arm are symmetrically arranged one by one; the bottom of each clamp is connected with a wheel support piece for bearing the wheeled robot, the support arm adapter plate is in sliding connection with a sliding rail, and the sliding rail is connected with the moving end of the lifting mechanism; the invention improves the working efficiency of assembly, debugging, inspection and maintenance, effectively reduces the labor intensity of manual transportation of the wheel type inspection robot of the transformer substation in the assembly, debugging, overhauling and maintenance processes, prevents the occurrence of safety accidents, ensures the production quality and eliminates the safety risk of on-site production operation.
Description
Technical Field
The invention relates to the technical field of robot overhaul, in particular to an automatic hoisting overhaul device for a wheeled robot and an operation method.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The wheel type inspection robot for the transformer substation is a special power robot which is specially developed for adapting to development requirements of intelligent and unattended transformer substations, can replace or assist operation and maintenance personnel to carry out equipment inspection work, can accurately execute and stop to a designated place according to path planning and operation requirements, has the functions of infrared temperature measurement, meter reading record, abnormal state alarm and the like for inspection equipment, and realizes real-time uploading of inspection data.
The wheel type inspection robot of the transformer substation becomes an indispensable important component part of the operation and maintenance profession of the power system, bears more important responsibilities, and has wider application scenes, for example: technologies such as a robot, visible light equipment, infrared imaging equipment, a robot, a key sequential control, a robot, a digital remote meter, a robot, voiceprint detection, a robot, a bird repellent device, a robot, a mechanical arm, a robot, a protection pressing plate on-line monitoring and the like and products are sequentially put into power production, and the problems that the production quality and the efficiency of the products are influenced are particularly prominent when the transformer substation wheel type inspection robot is in a production and manufacturing link.
The inventor finds that when the substation wheel type inspection robot performs link operations such as assembly, debugging, inspection, maintenance and the like, the following three problems specifically exist to influence the inspection efficiency of the substation wheel type inspection robot:
(1) Because the robot product structure is complex, the internal component layout ensures that the bottom shell of the robot is only 18 cm away from the ground, the installation of the robot shell is required to install fasteners from bottom to top, the bottom operable space of the robot is severely limited, assembly staff cannot normally assemble the bottom shell and other parts, and only can lie on the ground or lie on the ground for operation;
(2) Because the whole weight of the robot is close to 100 kg, the robot is difficult to carry by operators in the production and manufacturing process, and in the carrying or moving process, the risk of smashing injury safety caused by tilting or the risk of damage to the robot exists;
(3) The installation of robot drain pan needs from bottom to top installation fastener, only can fix the fastener after need with drive assembly rotation 90 when assembling the drain pan, and assembly staff can't carry out the assembly operation in bottom space at current robot production line.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides the automatic lifting maintenance device and the operation method for the wheel type robot, which improve the working efficiency of assembly, debugging, inspection and maintenance, effectively reduce the labor intensity of manual transportation of the wheel type inspection robot of the transformer substation in the assembly, debugging, maintenance and repair processes, avoid the occurrence of safety accidents, ensure the production quality and eliminate the safety risk of on-site production operation.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
in a first aspect, the invention provides an automatic lifting maintenance device for a wheeled robot.
An automatic lifting maintenance device of a wheeled robot, comprising: the device comprises a clamp, a wheel support piece, a sliding rail, a supporting arm adapter plate and a lifting mechanism;
the support arm comprises a first support arm and a second support arm which are respectively connected with the support arm adapter plate, wherein the first support arm is rotationally connected with at least two clamps, the second support arm is rotationally connected with at least two clamps, and the clamps on the first support arm and the clamps on the second support arm are symmetrically arranged one by one;
the bottom of each clamp is connected with a wheel support piece for bearing the wheeled robot, the support arm adapter plate is in sliding connection with a sliding rail, and the sliding rail is connected with the moving end of the lifting mechanism.
As a further limitation of the first aspect of the invention, the wheel support is integrally formed with the clamp or detachably connected thereto, and the bottom of the wheel support is hollowed out.
As a further limitation of the first aspect of the invention, the lifting mechanism is connected with a driving mechanism, and the bottom of the driving mechanism is connected with a travelling wheel.
As a further limitation of the first aspect of the invention, the support arm adapter plate is connected with a slide rail through a slide block, and the slide rail is connected with a slide block stop block.
As a further limitation of the first aspect of the invention, the top of the clamp is connected to the support arm via a rotating shaft comprising a rotating shaft body and a cross rotor bearing and bearing sleeve connected to the rotating shaft body.
As a further limitation of the first aspect of the invention, the clip is in the shape of an outwardly protruding arc.
As a further limitation of the first aspect of the invention, the wheel support is adapted to the wheel profile configuration and size of the wheeled inspection robot.
As a further limitation of the first aspect of the invention, the wheels of the robot are rotatable with rotation of the gripper, the gripper being rotated through an angle in the range of-90 ° to 90 °.
As a further limitation of the first aspect of the invention, the support arm adapter comprises a first plate and a second plate which are integrally formed or detachably connected and are mutually perpendicular, the first vertical plate is connected with the support arm adapter, and the second horizontal plate is connected with the clamp.
In a second aspect, the invention provides a method for operating a wheeled robotic automatic lifting and maintenance device.
The invention relates to an operation method of an automatic wheel type robot lifting maintenance device, which comprises the following steps:
when the wheel type robot is ready to be lifted, each supporting arm is slid to two ends, the wheel type robot is pushed to a preset position, the supporting arms are pushed inwards, the wheels of the robot are supported by the wheel supporting pieces, and the supporting arms are fixed by the sliding block;
lifting is carried out according to the height of the operation requirement by using a lifting mechanism, the supporting arm is controlled after the lifting mechanism is lifted to a preset height, and the supporting arm is fixed after the angles of all the wheels are determined, so that an assembler can operate below the chassis of the wheel type inspection robot.
Compared with the prior art, the invention has the beneficial effects that:
the invention innovatively develops an automatic lifting maintenance device of a wheel robot, and provides an automatic lifting maintenance strategy of the wheel robot, wherein when the wheel inspection robot of a transformer substation needs to be assembled, debugged and maintained at the bottom, the wheel inspection robot of the transformer substation is supported and fixed through a clamp and a wheel supporting piece, when the crane robot is prepared, a supporting arm is firstly slid to two ends, the robot is pushed to a preset position, then the supporting arm is pushed inwards, the clamp supports the wheel of the robot and is fixed by using a sliding block stop block, the supporting arm is prevented from moving in the lifting process of the robot, then a lifting mechanism is used for lifting according to the required height during operation, and a positioning block is used for fixing a supporting module after lifting to the preset height.
Additional aspects of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
Fig. 1 is a front view of a wheeled robot automatic lifting maintenance device provided in embodiment 1 of the present invention;
fig. 2 is a schematic view illustrating the internal structure of a rotary shaft according to embodiment 1 of the present invention
Fig. 3 is a side view of the automatic lifting maintenance device for the wheeled robot provided in embodiment 1 of the present invention;
wherein, 1, a clamp; 2. a wheel support block; 3. a rotation shaft; 4. a slide rail; 5. a support arm; 6. a support arm adapter plate; 7. a lifting mechanism; 8. crossed rotor bearings; 9. a bearing sleeve; 10. a sliding block.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
Embodiments of the invention and features of the embodiments may be combined with each other without conflict.
Example 1:
as described in the background art, the robot weight approaches 100 kg, a reliable clamp connected with the robot body needs to be designed, the whole robot is clamped safely and can be lifted stably to a certain height and kept in a certain posture, then related production operation is performed, the assembly and maintenance work of the structure below the chassis of the transformer station wheel type inspection robot are satisfied, the requirements of the transformer station wheel type inspection robot on manufacturing and manufacturing are met, the robot can be clamped stably, lifted freely, and maintained safely, and in view of the above, the embodiment 1 of the invention provides an automatic lifting maintenance device for the wheel type robot, as shown in fig. 1, comprising: the device comprises a clamp 1, a wheel supporting block 2, a sliding rail 4, a supporting arm 5, a supporting arm adapter plate 6 and a lifting mechanism 7;
the support arm 5 comprises a first support arm and a second support arm which are respectively connected with the support arm adapter plate 6, wherein the first support arm is rotationally connected with at least two clamps 1, the second support arm is rotationally connected with at least two clamps 1, and the clamps on the first support arm and the clamps 1 on the second support arm are symmetrically arranged one by one;
the bottom of each fixture 1 is connected with a wheel supporting block 2 for bearing a wheeled robot, a supporting arm adapter plate 6 is in sliding connection with a sliding rail 4, the sliding rail 4 is connected with the moving end of a lifting mechanism 7, a single wheel only supports the wheeled inspection robot of a transformer substation through two points, and the single wheel can be replaced in the later stage according to the size of the wheel so as to adapt to wheel supporting pieces of different sizes and provide stable support.
In this embodiment, preferably, the lifting mechanism 7 includes a motor, a chain and a hydraulic cylinder assembly to realize lifting of the slide rail and a component directly or indirectly connected with the slide rail; specifically, elevating system 7 has the function of lifting the wheeled inspection robot of transformer substation, and effective lifting height is 1600mm, and the biggest lifting weight of can hanging is 600kg, adopts motor drive hydraulic cylinder to reciprocate, and hydraulic cylinder drives the chain, and the chain drives the support module and reciprocates, and assembly personnel is after lifting the robot to certain height, adopts motor self-locking function to prevent the emergence of falling risk of robot.
In this embodiment, preferably, two clamps 1 are arranged on the first support arm, and two clamps are also arranged on the second support arm, so as to be applied to the wheeled robot with four wheels;
it will be appreciated that in other implementations, three clamps are disposed on the first support arm and three clamps are also disposed on the second support arm to apply a wheeled robot with six wheels; of course, the adjustment can be performed according to the number of wheels, and will not be described here again.
In this embodiment, preferably, the wheel supporting block 2 is integrally formed with the fixture 1 or detachably connected, and the bottom of the wheel supporting block 2 is hollowed out, so that the related material cost can be saved, and the appearance of the wheel can be better observed.
In this embodiment, preferably, the lifting mechanism 7 is connected with a driving mechanism, and the bottom of the driving mechanism is connected with a travelling wheel, so that the lifting mechanism can be manually pushed or automatically moved.
In this embodiment, preferably, as shown in fig. 3, the support arm switching 6 board is connected with the slide rail 4 through the slide block 10, and the slide rail 4 is connected with a slide block stop block, where the slide block stop block can limit the sliding range of the slide block 10; when the robot is lifted, the supporting arms 5 are firstly slid to two ends, an assembler pushes the robot to a preset position, and then the supporting arms 5 are pushed inwards, so that the clamp bearing 1 supports the robot wheels and is fixed by the sliding block check blocks, the supporting arms 5 are prevented from moving in the lifting process of the robot, the stability of the body of the transformer station wheel type inspection robot in the lifting process can be ensured, and meanwhile, the safety of the assembler and the robot is ensured.
In this embodiment, preferably, as shown in fig. 2, the top of the fixture 1 is connected with the support arm through the rotation shaft 3, the rotation shaft 3 includes a rotation shaft body, and a cross rotor bearing 8 and a bearing sleeve 9 connected with the rotation shaft body, the cross rotor bearing 8 can bear radial force and axial force, the rotation shaft 3 can drive the fixture 1 to rotate, and the wheels of the robot can rotate 90 degrees along with the fixture, so as to meet the requirement of assembly personnel on assembly operation; after the rotation shaft 3 rotates to the working angle, a fixing pin is inserted, so that the clamp is fixed at a specific angle, rotation is not generated any more, and production safety is prevented.
In this embodiment, each of the jigs 1 preferably has an arc shape protruding outward, which can provide a larger space for the robot, prevent touching of peripheral devices mounted on the robot body, and can be applied to different types of wheeled robots.
In this embodiment, preferably, the wheel supporting block 2 is matched with the shape structure and the size of the wheel inspection robot, so as to ensure the lifting stability of the wheel inspection robot.
In this embodiment, preferably, the wheels of the robot can rotate along with the rotation of the fixture 1, and the rotation angle of the fixture 1 ranges from-90 ° to 90 °, so that better maintenance operation can be realized.
In this embodiment, preferably, the support arm adapter plate 6 includes a first plate and a second plate that are integrally formed or detachably connected and are perpendicular to each other, the first vertical plate is connected with the support arm adapter plate 6, and the second horizontal plate is connected with the fixture.
Example 2:
the embodiment 2 of the invention provides an operation method of the automatic wheel robot lifting maintenance device, which adopts the automatic wheel robot lifting maintenance device of the embodiment 1 and comprises the following steps:
s1: when the robot is ready to hoist, the supporting arms are firstly slid to two ends, the assembling personnel push the robot to a preset position, and then the supporting arms are inwards pushed, so that the fixture supports the wheels of the robot, and the supporting arms are fixed by the sliding block check blocks, so that the supporting arms are prevented from moving in the lifting process of the robot;
s2: lifting is carried out according to the height required during operation by using the lifting module, the supporting module is fixed by using the positioning block after the lifting module is lifted to the preset height, and assembly, debugging, overhauling and maintenance operations of the bottom of the robot can be carried out below the chassis of the transformer substation wheel type inspection robot by using an assembly staff.
The invention can improve the working efficiency of assembly, debugging, inspection and maintenance, effectively reduce the labor intensity of manual transportation of the wheel type inspection robot of the transformer substation in the assembly, debugging, overhauling and maintenance processes, prevent the occurrence of safety accidents, ensure the production quality and eliminate the safety risk of on-site production operation
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An automatic lifting maintenance device of a wheeled robot is characterized in that,
comprising the following steps: the device comprises a clamp, a wheel support piece, a sliding rail, a supporting arm adapter plate and a lifting mechanism;
the support arm comprises a first support arm and a second support arm which are respectively connected with the support arm adapter plate, wherein the first support arm is rotationally connected with at least two clamps, the second support arm is rotationally connected with at least two clamps, and the clamps on the first support arm and the clamps on the second support arm are symmetrically arranged one by one;
the bottom of each clamp is connected with a wheel support piece for bearing the wheeled robot, the support arm adapter plate is in sliding connection with a sliding rail, and the sliding rail is connected with the moving end of the lifting mechanism.
2. The automatic lifting maintenance device of the wheeled robot according to claim 1, wherein,
the wheel support piece is integrally formed with the clamp or detachably connected with the clamp, and the bottom of the wheel support piece is hollowed out.
3. The automatic lifting maintenance device of the wheeled robot according to claim 1, wherein,
the lifting mechanism is connected with the driving mechanism, and the bottom of the driving mechanism is connected with the travelling wheels.
4. The automatic lifting maintenance device of the wheeled robot according to claim 1, wherein,
the support arm adapter plate is connected with a sliding rail through a sliding block, and a sliding block stop block is connected to the sliding rail.
5. The automatic lifting maintenance device of the wheeled robot according to claim 1, wherein,
the top of anchor clamps is connected through the rotation axis with the support arm, and the rotation axis includes pivot body and the cross rotor bearing and the bearing housing of being connected with the pivot body.
6. The automatic lifting maintenance device of the wheeled robot according to claim 1, wherein,
the clamp is in an outwards protruding arc shape.
7. The automatic lifting maintenance device of the wheeled robot according to claim 1, wherein,
the wheel support is matched with the shape structure and the size of the wheel inspection robot.
8. The automatic lifting maintenance device of the wheeled robot according to claim 1, wherein,
the wheels of the robot can rotate along with the rotation of the clamp, and the rotation angle of the clamp ranges from-90 degrees to 90 degrees.
9. The automatic lifting maintenance device of the wheeled robot according to claim 1, wherein,
the support arm keysets include integrated into one piece or can dismantle and connect and mutually perpendicular's first plate and second plate, and vertical first plate is connected with the support arm keysets, and horizontal second plate is connected with anchor clamps.
10. A method of operating a wheeled robotic automatic lifting and maintenance device, characterized in that the wheeled robotic automatic lifting and maintenance device according to any one of claims 1-9 is utilized, comprising the following steps:
when the wheel type robot is ready to be lifted, each supporting arm is slid to two ends, the wheel type robot is pushed to a preset position, the supporting arms are pushed inwards, the wheels of the robot are supported by the wheel supporting pieces, and the supporting arms are fixed by the sliding block;
lifting is carried out according to the height of the operation requirement by using a lifting mechanism, the supporting arm is controlled after the lifting mechanism is lifted to a preset height, and the supporting arm is fixed after the angles of all the wheels are determined, so that an assembler can operate below the chassis of the wheel type inspection robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311622811.0A CN117383456A (en) | 2023-11-29 | 2023-11-29 | Automatic hoisting maintenance device for wheeled robot and operation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311622811.0A CN117383456A (en) | 2023-11-29 | 2023-11-29 | Automatic hoisting maintenance device for wheeled robot and operation method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117383456A true CN117383456A (en) | 2024-01-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311622811.0A Pending CN117383456A (en) | 2023-11-29 | 2023-11-29 | Automatic hoisting maintenance device for wheeled robot and operation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117383456A (en) |
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2023
- 2023-11-29 CN CN202311622811.0A patent/CN117383456A/en active Pending
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