CN206578822U - A kind of rope parallel robot of primary and secondary configuration - Google Patents
A kind of rope parallel robot of primary and secondary configuration Download PDFInfo
- Publication number
- CN206578822U CN206578822U CN201720283902.XU CN201720283902U CN206578822U CN 206578822 U CN206578822 U CN 206578822U CN 201720283902 U CN201720283902 U CN 201720283902U CN 206578822 U CN206578822 U CN 206578822U
- Authority
- CN
- China
- Prior art keywords
- robot
- rope
- driving
- primary
- female
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
- 238000001514 detection method Methods 0.000 claims description 17
- 238000012360 testing method Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 3
- 230000003028 elevating effect Effects 0.000 claims description 3
- 238000009987 spinning Methods 0.000 claims description 3
- 238000004804 winding Methods 0.000 abstract description 5
- 230000006978 adaptation Effects 0.000 abstract description 4
- 238000007689 inspection Methods 0.000 description 14
- 238000005259 measurement Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 1
- 238000009529 body temperature measurement Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model embodiment discloses a kind of rope parallel robot of primary and secondary configuration, for solving existing rope parallel robot system, it is used for large area clear area, the local adaptation ability more to obstacles such as transformer stations is poor, especially need technical problem the problems such as close to the interference and winding that when seeing that table shows reading, easily produce rope and equipment.The utility model embodiment includes：First driving rope fixator, the first driving rope, the first driver, Female Robot, the second driving rope, child robot, the second driver；One end of first driving rope is connected with Female Robot, and the other end of the first driving rope is connected with the first driving rope fixator；First driver is connected with the other end of the first driving rope, for controlling driving Female Robot；Female Robot is connected by the second driving rope with child robot；Second driver is connected with the second driving rope, for controlling driving child robot.
Description
Technical field
The utility model is related to rope parallel robot field, more particularly to a kind of rope parallel robot of primary and secondary configuration.
Background technology
Rope parallel robot is all an important branch of parallel robot all the time, and photography in the air, signal are received
Position adjustment, carrying, processing and other fields have important application.
At present, in China's network system, indoor substation is more and more, to indoor inspection machine Man's Demands also increasingly
Greatly.Current inspection solution is usually to use rail mounted robot, but is limited to track position and cost, promoted extension
It is limited.Rope parallel robot is run in the air, effectively avoidance and can be arrived at most places, is the feasible side of indoor inspection
One of case.
Existing rope parallel robot system, is used for large area clear area, the ground more to obstacles such as transformer stations
Square adaptability is poor.Especially need to ask with winding etc. close to when seeing that table shows reading, easily producing the interference of rope and equipment
Topic.
Utility model content
The utility model embodiment discloses a kind of rope parallel robot of primary and secondary configuration, in parallel for solving existing rope
Robot system, is used for large area clear area, and the local adaptation ability more to obstacles such as transformer stations is poor, especially
Need technical problem the problems such as close to the interference and winding that when seeing that table shows reading, easily produce rope and equipment.
The utility model embodiment provides a kind of rope parallel robot of primary and secondary configuration, including：
First driving rope fixator, the first driving rope, the first driver, Female Robot, the second driving rope, child robot,
Second driver；
One end of first driving rope is connected with Female Robot, and the other end of the first driving rope and the first driving rope fixator connect
Connect；
First driver is connected with the other end of the first driving rope, for controlling driving Female Robot；
Female Robot is connected by the second driving rope with child robot；
Second driver is connected with the second driving rope, for controlling driving child robot.
Preferably, the second driver is installed and is equipped on Female Robot or child robot, for passing through the second driving rope control
System driving child robot is in vertical motion or elevating movement.
Preferably, installed on Female Robot and be equipped with Rotation Controllers, for controlling child robot to carry out spinning movement.
Preferably, installed on Female Robot and be equipped with infrared detection equipment and/or visible detection equipment and/or sound inspection
Measurement equipment and/or temperature testing equipment.
Preferably, installed on child robot and be equipped with infrared detection equipment and/or visible detection equipment and/or sound inspection
Measurement equipment and/or temperature testing equipment.
Preferably, it is equipped with battery on child robot.
Preferably, Wireless Telecom Equipment is equipped with Female Robot, is connected for carrying out communication with control centre.
Preferably, the first driver includes program control stepper motor.
Preferably, the first driving rope is insulating cord or nonisulated rope.
Preferably, the second driving rope is insulating cord or nonisulated rope.
As can be seen from the above technical solutions, the utility model embodiment has advantages below：
The utility model embodiment, which provides a kind of rope parallel robot of primary and secondary configuration, to be included：First driving rope is fixed
Device, the first driving rope, the first driver, Female Robot, the second driving rope, child robot, the second driver；First driving rope
One end is connected with Female Robot, and the other end of the first driving rope is connected with the first driving rope fixator；First driver and first
The other end connection of rope is driven, for controlling driving Female Robot；Female Robot is connected by the second driving rope with child robot；
Second driver is connected with the second driving rope, for controlling driving child robot.Robot is decomposed into primary and secondary in the present embodiment
Liang Ge robots, and be driven respectively by flexible drive cable so that Female Robot is responsible for the overall water of control machine people
Prosposition puts the direction with child robot, and drives child robot to control rope adjustment to bow by flexible rope by the second driver
Elevation angle degree and height, thus by using cooperatively for primary and secondary robot, can have in space with obstacle close to device display screen or table
Relevant parameter is read, patrol task is completed, labor intensity is effectively reduced, reduction transformer station O＆M cost, raising is normally patrolled
Intellectuality and the automatization level of operation and management are examined, is that intelligent substation and unattended operation transformer station provide detection means and complete
The safety guarantee in orientation, solves existing rope parallel robot system, is used for large area clear area, to transformer station etc.
The more local adaptation ability of obstacle is poor, especially needs, close to when seeing that table shows reading, easily to produce the dry of rope and equipment
Relate to technical problem the problems such as with winding.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
Or the accompanying drawing used required in description of the prior art is briefly described, it should be apparent that, drawings in the following description are only
It is some embodiments of the present utility model, for those of ordinary skill in the art, before creative labor is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of structural representation of the rope parallel robot of primary and secondary configuration provided in the utility model embodiment.
Illustrate, A is the first driving rope fixator；B is the first driving rope；C is Female Robot；D is the second driving rope；
E is child robot, and F is the first driver.
Embodiment
The utility model embodiment discloses a kind of rope parallel robot of primary and secondary configuration, solves existing rope parallel machine
Device people's system, is used for large area clear area, and the local adaptation ability more to obstacles such as transformer stations is poor, especially needs
The technical problem of will be close to the interference and winding that when seeing that table shows reading, easily produce rope and equipment the problems such as.
Referring to Fig. 1, an a kind of reality of the rope parallel robot of the primary and secondary configuration provided in the utility model embodiment
Applying example includes：
First driving rope fixator A, the first driving rope B, the first driver F, Female Robot C, the second driving rope D, handset
Device people E, the second driver；
First driving rope B one end is connected with Female Robot C, and the first driving rope B other end is fixed with the first driving rope
Device A connections；
First driver F is connected with the first driving rope B other end, for controlling driving Female Robot C；
Female Robot C is connected by the second driving rope D with child robot E；
Second driver is connected with the second driving rope D, for controlling driving child robot E.
Further, the second driver is installed and is equipped on Female Robot C or child robot E, for passing through the second driving
Rope D control drivings child robot E is in vertical motion or elevating movement.
Further, installed on Female Robot C and be equipped with Rotation Controllers, it is dynamic for controlling child robot E to carry out rotation
Make.
Further, installed on Female Robot C and be equipped with infrared detection equipment and/or visible detection equipment and/or sound
Sound detection device and/or temperature testing equipment.
Further, installed on child robot E and be equipped with infrared detection equipment and/or visible detection equipment and/or sound
Sound detection device and/or temperature testing equipment.
Further, it is equipped with battery on child robot E.
Further, Wireless Telecom Equipment is equipped with Female Robot C, is connected for carrying out communication with control centre.
Further, the first driver F includes program control stepper motor or other program-controlled motors.
Further, the first driving rope B is insulating cord or nonisulated rope, can be actually needed according to scene to driving Suo Jinhang
Select insulating cord or nonisulated rope.
Further, the second driving rope D is insulating cord or nonisulated rope, can be actually needed according to scene to driving Suo Jinhang
Select insulating cord or nonisulated rope.
In the utility model, Female Robot C is mainly responsible for horizontal level positioning, and child robot E is real by the second driving rope D
Existing vertical direction positioning, after Female Robot C horizontal locations are stable, Female Robot C can drive rope D by handset by second
Device people E vertical drops carry out pitching motion or spinning movement, appoint so that child robot E can smoothly complete inspection
Business, can solve the problem that the problem of rope parallel robot is run in low latitude in the environment for be disposed with large number quipments, without attachment rail,
Easy for installation, inspection ability is strong, can also solve the crusing robot in the space that storage has equipment and be asked close to equipment reading etc.
Topic, and the second driving rope D is substantially perpendicular to the ground, it is small with equipment interference possibility.
In order to make it easy to understand, the following rope that will illustrate a kind of primary and secondary configuration that the utility model is provided with a specific embodiment
The operation principle of parallel robot.
First, robot and inspection device are matched as needed
The present embodiment is the crusing robot for indoor substation GIS device, and patrol task includes：Table shows reading note
Record, key point temperature survey, key equipment state observe three tasks.
1st, each module type selecting
First driving rope fixator A：The present embodiment is by taking 4 rope parallel drive systems as an example；
First driving rope B：It can select lightweight insulating cord；
Female Robot C：The second driver, child robot E Rotation Controllers, indoor temperature measurement sensing are carried in the present embodiment selection
Device, ultrasonic radar and Female Robot C batteries, child robot E only carry the equipment that must be carried, and mitigate weight.
Second driving rope D：From lightweight insulating cord；
Child robot E：Carry infrared, visible image capturing head, battery, ultrasonic radar feedback device；
First driver F：Program control step motor control.
The charging of wireless charging platform is moveable to when Female Robot C, child robot E not inspections, channel radio is used in inspection
The mode of news is contacted with console, and the action of synchronous each rope driver.
2nd, implementation process
Relevant position can be typically arrived at by following Flow driving robot and carries out inspection：
Female Robot C packs up child robot E driving ropes, and son, Female Robot C stop aloft position；
Female Robot C is driven to reach inspection position overhead；
Female Robot C drivings child robot E drops to up to inspection position；
Female Robot C driving child robots E the second driving rope, adjustment child robot E posture；
Corresponding data is recorded, including Female Robot C records room temperature, position and child robot E take pictures, infrared measurement of temperature；
Data are passed control centre back and handled；
Female Robot C reclaims child robot E；
Driving Female Robot C, which goes to another inspection position or terminates patrol task, returns to charging platform.
A kind of rope parallel robot of primary and secondary configuration provided by the utility model is described in detail above, for
Those of ordinary skill in the art, the thought of foundation the utility model embodiment, in specific embodiments and applications
It will change, in summary, this specification content should not be construed as to limitation of the present utility model.
Claims (10)
1. a kind of rope parallel robot of primary and secondary configuration, it is characterised in that including：
First driving rope fixator, the first driving rope, the first driver, Female Robot, the second driving rope, child robot, second
Driver；
One end of the first driving rope is connected with the Female Robot, and the other end of the first driving rope drives with described first
Dynamic search fixator is connected；
First driver is connected with the other end of the described first driving rope, for controlling driving Female Robot；
The Female Robot is connected by the second driving rope with the child robot；
Second driver is connected with the described second driving rope, for controlling the driving child robot.
2. the rope parallel robot of primary and secondary configuration according to claim 1, it is characterised in that second driver is installed
It is equipped on the Female Robot or the child robot, for driving the child robot to carry out by the second driving rope control
Vertical movement or elevating movement.
3. the rope parallel robot of primary and secondary configuration according to claim 1, it is characterised in that installed on the Female Robot
Rotation Controllers is equipped with, for controlling the child robot to carry out spinning movement.
4. the rope parallel robot of primary and secondary configuration according to claim 1, it is characterised in that installed on the Female Robot
It is equipped with infrared detection equipment and/or visible detection equipment and/or sound detection equipment and/or temperature testing equipment.
5. the rope parallel robot of primary and secondary configuration according to claim 1, it is characterised in that installed on the child robot
It is equipped with infrared detection equipment and/or visible detection equipment and/or sound detection equipment and/or temperature testing equipment.
6. the rope parallel robot of primary and secondary configuration according to claim 1, it is characterised in that carried on the child robot
There is battery.
7. the rope parallel robot of primary and secondary configuration according to claim 1, it is characterised in that carried on the Female Robot
There is Wireless Telecom Equipment, be connected for carrying out communication with control centre.
8. the rope parallel robot of primary and secondary configuration according to claim 1, it is characterised in that first driver includes
Program control stepper motor.
9. the rope parallel robot of primary and secondary configuration according to claim 1, it is characterised in that the first driving rope is exhausted
Edge rope or nonisulated rope.
10. the rope parallel robot of primary and secondary configuration according to claim 1, it is characterised in that the second driving rope is
Insulating cord or nonisulated rope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720283902.XU CN206578822U (en) | 2017-03-22 | 2017-03-22 | A kind of rope parallel robot of primary and secondary configuration |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720283902.XU CN206578822U (en) | 2017-03-22 | 2017-03-22 | A kind of rope parallel robot of primary and secondary configuration |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206578822U true CN206578822U (en) | 2017-10-24 |
Family
ID=60114898
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720283902.XU Withdrawn - After Issue CN206578822U (en) | 2017-03-22 | 2017-03-22 | A kind of rope parallel robot of primary and secondary configuration |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206578822U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107116532A (en) * | 2017-03-22 | 2017-09-01 | 广东电网有限责任公司电力科学研究院 | A kind of rope parallel robot of primary and secondary configuration |
-
2017
- 2017-03-22 CN CN201720283902.XU patent/CN206578822U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107116532A (en) * | 2017-03-22 | 2017-09-01 | 广东电网有限责任公司电力科学研究院 | A kind of rope parallel robot of primary and secondary configuration |
| CN107116532B (en) * | 2017-03-22 | 2024-01-19 | 广东电网有限责任公司电力科学研究院 | Rope parallel robot with primary-secondary configuration |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Alhassan et al. | Power transmission line inspection robots: A review, trends and challenges for future research | |
| CN108537913A (en) | A kind of cruising inspection system | |
| CN111409720A (en) | Power distribution inspection robot | |
| CN102097860A (en) | Intelligent robot patrol system for safety detection of substation | |
| CN110866993A (en) | Intelligent track inspection machine and method thereof | |
| CN202068445U (en) | Mobile monitoring system | |
| CN107390676A (en) | Tunnel crusing robot and tunnel cruising inspection system | |
| CN105807776A (en) | Machine room unmanned inspection robot | |
| CN103455036A (en) | Scene aerial patrol method and aircraft | |
| CN209767682U (en) | Intelligent patrol trolley based on 5G network and VR live broadcast | |
| CN111438677A (en) | Robot is patrolled and examined to unmanned on duty computer lab | |
| CN104122891A (en) | Intelligent robot inspection system for city underground railway detection | |
| US11034245B1 (en) | System and method for generating power | |
| CN207268846U (en) | Electric inspection process robot | |
| US11897630B2 (en) | Drone landing ground station with magnetic fields | |
| CN110445055A (en) | A kind of power transmission line unmanned cruising inspection system | |
| CN203405734U (en) | Quad-rotor aerial photography positioning unmanned aerial vehicle | |
| CN206578822U (en) | A kind of rope parallel robot of primary and secondary configuration | |
| CN112184944A (en) | Building site safety inspection system based on BIM model location and unmanned aerial vehicle take photo by plane | |
| CN111531560B (en) | Patrol and examine robot applied to indoor and outdoor environment of transformer substation | |
| CN206728172U (en) | A kind of video monitoring apparatus | |
| US11479357B1 (en) | Perspective angle acquisition and adjustment of security camera drone | |
| CN107116532A (en) | A kind of rope parallel robot of primary and secondary configuration | |
| CN115617080B (en) | Unmanned aerial vehicle inspection system and method for transformer substation | |
| CN204270054U (en) | The supervisory system of image application supervisory-controlled robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20171024 Effective date of abandoning: 20240119 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20171024 Effective date of abandoning: 20240119 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |