CN104908627A - Transformer substation patrol robot transportation device and method - Google Patents
Transformer substation patrol robot transportation device and method Download PDFInfo
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- CN104908627A CN104908627A CN201510290552.5A CN201510290552A CN104908627A CN 104908627 A CN104908627 A CN 104908627A CN 201510290552 A CN201510290552 A CN 201510290552A CN 104908627 A CN104908627 A CN 104908627A
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- crusing robot
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Abstract
The invention discloses a transformer substation patrol robot transportation device and a method. The device comprises a lifting platform and a fixing device that are fixed on a patrol robot transportation platform, wherein the lifting platform is connected with a lifting control device, and a patrol robot is fixed on the patrol robot transportation platform by the fixing device, and is moved in or out of the patrol robot transportation platform by the lifting platform. The device and the method have the benefits that the movement of the patrol robot in a transportation process can be limited effectively; harms to a robot body and relevant electronic components in the transportation process are reduced; and the safety of the patrol robot in the transportation process is ensured.
Description
Technical field
The present invention relates to Intelligent Mobile Robot technical field of transportation, particularly relate to a kind of Intelligent Mobile Robot conveying arrangement and method.
Background technology
Inspecting substation equipment is the frame work effectively ensureing substation equipment safe operation, improve power supply reliability, and at present, Mobile Robot for Substation Equipment Inspection system instead of manual inspection gradually, and the application in substation inspection is increasingly extensive.When carrying out patrol task, need as required Intelligent Mobile Robot to be transported to corresponding substation in advance; But in transportation, crusing robot moves or moves lower transport vehicle by the main mode of a dead lift that relies on, and this mode exists following defect:
1, crusing robot is in handling process, there is very large potential safety hazard; At Mobile Robot for Substation Equipment Inspection in transit, because jolting of road causes rocking of crusing robot, also certain infringement can be caused to robot body and relative electronic components.
2, crusing robot in transit, and because self is not provided with anchor fitting, the simple external strength that relies on is fixed it, can not avoid crusing robot appearance movement to a certain degree itself, can cause certain infringement equally to robot body.
Summary of the invention
Object of the present invention is exactly to solve the problem, propose a kind of Intelligent Mobile Robot conveying arrangement and method, this device and method effectively can limit the motion of crusing robot in transportation, reduces the infringement to robot body and relative electronic components in transportation.
To achieve these goals, the present invention adopts following technical scheme:
A kind of Intelligent Mobile Robot conveying arrangement, comprising: crusing robot shipping platform, lifting table, apparatus for controlling of lifting and anchor fitting;
Described lifting table and anchor fitting are all fixed on crusing robot shipping platform, and lifting table is connected with apparatus for controlling of lifting; Crusing robot is fixed on crusing robot shipping platform by anchor fitting, and crusing robot is moved into by lifting table or shifts out crusing robot shipping platform.
Described lifting table comprises: base, hydraulic efficiency gear, support platform and lifting arm;
Described base is fixed on Intelligent Mobile Robot shipping platform, and hydraulic efficiency gear one end is fixed on base, and the other end is connected with lifting arm, and hydraulic efficiency gear is connected with hydraulic control device, and described lifting arm is connected with support platform; Described support platform can overturn along the axis be connected with lifting arm, and described lifting arm can overturn along the axis be connected with hydraulic efficiency gear.
Front end and the left and right sides of described support platform are respectively equipped with baffle plate, and the baffle plate of described front end can rotate along axis.
Arrange between described base and Intelligent Mobile Robot shipping platform and strengthen liner plate one, position corresponding with described reinforcement liner plate one bottom Intelligent Mobile Robot shipping platform is arranged strengthens liner plate two.
Described anchor fitting comprises: be fixed on the circuit orbit on crusing robot shipping platform, each circuit orbit described is provided with the retractor device for being connected with crusing robot, with automatic tightening device on described retractor device.
Described retractor device one end is fixed on circuit orbit, the other end is connected with crusing robot by hook or eye-splice.
Described retractor device is tractor, is provided with the ribbon that can stretch in tractor.
Described anchor fitting comprises: be separately fixed at least one the electric expansion device on crusing robot shipping platform side plate and base plate, and described electric expansion device one end is connected with crusing robot shipping platform, the other end is fixed with electromagnetic lock for connecting crusing robot.
The electric expansion device be connected with crusing robot top is provided with at the top of crusing robot shipping platform.
At least one electric expansion device at crusing robot shipping platform base plate, side plate or top is replaced with the tractor for being connected with crusing robot, and described tractor is connected with the circuit orbit be arranged on crusing robot shipping platform.
Described anchor fitting also comprises: be fixed on the crusing robot drive wheel pinch device on crusing robot shipping platform;
Described crusing robot drive wheel pinch device comprises: permanent magnet chuck, pressing plate, self-locking gas spring and bearing;
Described permanent magnet chuck is connected with bearing, and described pressing plate one end is fixed on bearing, the other end is connected with crusing robot drive wheel, and described self-locking gas spring one end is fixed on bearing, the other end is connected respectively with pressing plate and crusing robot.
Described pressing plate inside is inlaid with V-type rubber.
Described crusing robot shipping platform, lifting table and apparatus for controlling of lifting share a set of Power supply.
A method for Intelligent Mobile Robot conveying arrangement, comprising: robot moves near Intelligent Mobile Robot shipping platform, and apparatus for controlling of lifting controls lifting table and drops to concordant with ground, and crusing robot automatic moving is on lifting table;
Apparatus for controlling of lifting controls lifting table and rises to concordant with Intelligent Mobile Robot transport deck height, and robot, on anchor fitting, is fixed by anchor fitting by crusing robot automatic moving;
Apparatus for controlling of lifting controls lifting table to be continued to rise, until fold completely into Intelligent Mobile Robot shipping platform.
Apparatus for controlling of lifting and crusing robot carry out communication with remote control terminal respectively, by remote control terminal to apparatus for controlling of lifting sending controling instruction, control the movement of crusing robot simultaneously.
The invention has the beneficial effects as follows:
1, apparatus of the present invention effectively can limit the motion of crusing robot in transportation, reduce the infringement to robot body and relative electronic components in transportation, ensure the safety of crusing robot in transportation.By arranging automatic tightening device, ensure that the steadiness be connected with crusing robot, crusing robot can be protected better.
2, the drive wheel pinch device in Intelligent Mobile Robot transportation, under not making any change to transport vehicle, effectively can compress the drive wheel of crusing robot, ensures the fixed effect of crusing robot.
Accompanying drawing explanation
Fig. 1 is Intelligent Mobile Robot conveying arrangement structural representation of the present invention;
Fig. 2 is Intelligent Mobile Robot conveying arrangement lifting table structural representation of the present invention;
Fig. 3 is the folding rear view of Intelligent Mobile Robot conveying arrangement lifting table of the present invention;
Fig. 4 is that Intelligent Mobile Robot conveying arrangement lifting table of the present invention and shipping platform fix schematic diagram;
Fig. 5 is Intelligent Mobile Robot conveying arrangement fixture structure schematic diagram one of the present invention;
Fig. 6 is Intelligent Mobile Robot conveying arrangement fixture structure schematic diagram two of the present invention;
Fig. 7 is Intelligent Mobile Robot conveying arrangement drive wheel pinch device structural representation of the present invention.
Wherein, 1. crusing robot shipping platform, 2. anchor fitting, 3. lifting table, 4. crusing robot, 5. the baffle plate of front end, 6. support platform, 7. lifting arm, 8. control unit, 9. hydraulic efficiency gear, 10. base, 11. communication units, 12. strengthen liner plate one, 13. strengthen liner plate two, 14. circuit orbits, 15. tractors, 16. hooks, 17. suspension ring, 18. buttons, 19. side plates, 20. electric expansion devices, 21. electromagnetic locks, 22. adsorption plates, 23. base plates, 24. crusing robot drive wheels, 25. pressing plates, 26. bearings, 27. permanent magnet chucks, 28. self-locking gas springs.
Detailed description of the invention:
Below in conjunction with accompanying drawing and embodiment, the present invention will be further described:
As shown in Figure 1, a kind of specific embodiment of Intelligent Mobile Robot 4 conveying arrangement, comprising: crusing robot shipping platform 1, lifting table 3, apparatus for controlling of lifting and anchor fitting 2; Lifting table 3 and anchor fitting 2 are all fixed on crusing robot shipping platform 1, and lifting table 3 is connected with apparatus for controlling of lifting; Crusing robot 4 is fixed on crusing robot shipping platform 1 by anchor fitting 2, and crusing robot 4 moves into or shift out crusing robot shipping platform 1 by lifting table 3.
Ying Zhi, crusing robot shipping platform 1 of the present invention can adopt transport vehicle or other can the shipping platform of movement.For shipping platform, whether there is base plate 23, side plate 19 and top board simultaneously, then sets itself according to actual needs.
About lifting table 3, as shown in Figure 2, lifting table 3 comprises: base 10, hydraulic efficiency gear 9, support platform 6, lifting arm 7; Base 10 is fixed on Intelligent Mobile Robot shipping platform 1, and hydraulic efficiency gear 9 one end is fixed on base 10, and the other end is connected with lifting arm 7, and lifting arm 7 is connected with support platform 6.
Front end and the left and right sides of support platform 6 are respectively equipped with baffle plate, and the baffle plate 5 of front end can rotate along the axis be connected with support platform 6, when baffle plate 5 and the ground of front end are adjacent to, can ensure that robot moves to support platform 6 smoothly; When the baffle plate 5 of front end is upturned, robot landing can be prevented.
Lifting arm 7 can overturn along the axis be connected with hydraulic efficiency gear 9, drives support platform 6 to rise and decline.Support platform 6 can be carried out 0-90 degree scope and be overturn along the axis be connected with lifting arm 7.When not needing lifting table 3, support platform 6 and lifting arm 7 can fit tightly, and reduce floor area.
As shown in Figure 4, add one piece between lifting table 3 and Intelligent Mobile Robot shipping platform 1 chassis and strengthen liner plate 1, prevent the fracture that crusing robot shipping platform 1 chassis strength of material causes not, crusing robot shipping platform 1 bottom is added one piece equally and is strengthened liner plate 2 13, prevents the excessive bolt caused of capsizing moment from penetrating crusing robot shipping platform 1 chassis.Strengthen liner plate 1 and strengthen liner plate 2 13 being all fixed by bolt.
Specific works process is:
Robot moves near Intelligent Mobile Robot shipping platform 1, hydraulic efficiency gear 9 drives lifting arm 7 to decline, the baffle plate 5 of support platform 6 front end falls, robot is walked lifting table 3 position voluntarily, the baffle plate 5 of support platform 6 front end tilts, prevent robot from tumbling, now hydraulic efficiency gear 9 setting in motion, lifting arm 7 slowly rises, until support platform 6 rises to and base 10 flush position, now lifting arm 7 stop motion, robot ambulation is inner to shipping platform, and use anchor fitting 2 to be fixed, after robot is fixing, lifting arm 7 and support platform 6 start to carry out along axle center respectively conter clockwise, and to revolve transport dynamic, Intelligent Mobile Robot shipping platform 1 inside is moved to until enter completely, position shown in Fig. 3 be lifting table 3 folding after state.
In other embodiment, in order to realize the automated communications of jacking system and crusing robot 4, make crusing robot 4 control jacking system automatic lifting, lifting arm 7 is respectively equipped with communication unit 11, control unit 8, position transduser and distance measuring sensor;
Communication unit 11 adopts communication to communicate with robot, and concrete signalling methods can be the mode such as WiFi, radio communication.
Control unit 8 is by microcontroller (such as micro controller system, DSP etc.) or microprocessor (such as ARM, PowerPC, intel treater etc.), memory cell, formation such as input and output (I/O) module, analogue collection module etc.What the present embodiment adopted is micro controller system.Control unit 8 and communication unit 11 are designed to one in the design.
Whether the effect of position transduser detects each connection (or contact) to put in place.Whether such as robot walks a certain position; Physical construction stretches or whether contraction puts in place;
Distance measuring sensor can carry out range observation; Detect and whether cross a certain distance value or within the scope of a certain distance value.
About anchor fitting 2, as shown in Figure 5, anchor fitting 2 comprises: be fixed on four circuit orbits 14 on robotic conveyance's platform, each circuit orbit 14 is all arranged a tractor 15, tractor 15 one end is stuck on circuit orbit 14, and the other end is fixed on by hook 16 and is arranged on the suspension ring 17 on robot chassis.Four tractors 15 all with automatic tightening device, during vehicle operating, also can automatic tightening.
After robot moves to the desired location of crusing robot shipping platform 1, hold hook 16, press the button 18 on tractor 15, ribbon in tractor 15 is extracted out, and hook 16 is hung on suspension ring 17, release button 18, ribbon automatic retracted is tightened, and completes robot fixing on crusing robot shipping platform 1 base plate 23.
Ying Zhi, tractor 15 and crusing robot 4 also can adopt other connection modes, the other end of such as tractor 15 by eye-splice and the mode such as the buckling device being arranged on robot chassis is connected, therefore, the connection mode that the application provides just one more preferably embodiment wherein.
Further, in order to better be fixed crusing robot 4, the anchor fitting 2 be connected with crusing robot 4 top is provided with at the top of crusing robot shipping platform 1.
Further, in order to better be fixed crusing robot 4, the anchor fitting 2 be connected with crusing robot 4 side is provided with in the side of crusing robot shipping platform 1.
In other embodiment, anchor fitting 2 can also be following structure, as shown in Figure 6, comprise: be fixed on two electric expansion devices 20 on vehicle side wall 19 and base plate 23, be fixed on the electromagnetic lock 21 of electric expansion device 20 other end, and be separately fixed at the adsorption plate 22 of crusing robot 4 front portion and bottom.
After robot moves to the desired location of crusing robot shipping platform 1 base plate 23, the action of horizontal and vertical automatic telescopic device, after the electromagnetic lock 21 on automatic telescopic device contacts with the adsorption plate 22 on crusing robot 4, electromagnetic lock 21 is fixed on one piece by electromagnetic force and adsorption plate 22, completes robot fixing on crusing robot shipping platform 1 base plate 23.
Further, in order to better be fixed crusing robot 4, the electric expansion device 20 be connected with crusing robot 4 top is provided with at the top of crusing robot shipping platform 1.The adsorption plate 22 corresponding with the electromagnetic lock 21 of electric expansion device 20 is provided with in the corresponding position at the top of crusing robot 4.
In other embodiment, at least one electric expansion device 20 on crusing robot shipping platform 1 side, bottom or top is replaced with the tractor 15 for being connected with crusing robot 4, and tractor 15 is connected with the circuit orbit 14 be arranged on crusing robot shipping platform 1.With automatic tightening device on tractor 15, tractor 15 one end is fixed on circuit orbit 14, the other end is connected with crusing robot 4 by hook 16 or eye-splice.The suspension ring 17 or buckling device that match with hook 16 or eye-splice are set in the corresponding position of crusing robot 4.
Further, in order to better be fixed crusing robot 4, the movement of restriction crusing robot 4, carry out on the basis of the fixed sturcture combined at above-mentioned two kinds of fixed sturctures or two kinds of fixed sturctures, crusing robot drive wheel 24 pinch device is set, as shown in Figure 7, drive wheel pinch device comprises: permanent magnet chuck 27, pressing plate 25, self-locking gas spring 28 and bearing 26; Permanent magnet chuck 27 is connected with bearing 26, pressing plate 25 one end is fixed on bearing 26, the other end is connected with crusing robot drive wheel 24, self-locking gas spring 28 one end is fixed on bearing 26, the other end is connected respectively with pressing plate 25 and crusing robot 4, and V-type rubber is inlayed in pressing plate 25 inside.
After robot moves to the desired location of crusing robot shipping platform 1 base plate 23, permanent magnet chuck 27 is adsorbed on crusing robot shipping platform 1 base plate 23, with self-locking gas spring 28, pressing plate 25 is pressed on crusing robot drive wheel 24, and by the auto-lock function of self-locking gas spring 28 by gas spring self-locking, thus robot drive wheel is pressed on crusing robot shipping platform 1 base plate 23, complete robot fixing on crusing robot shipping platform 1 base plate 23.
Crusing robot shipping platform 1, lifting table 3 can share a set of Power supply; Also different power-supply systems can be adopted to power respectively.
The method of work of Intelligent Mobile Robot 4 conveying arrangement, comprise: robot moves near Intelligent Mobile Robot shipping platform 1, apparatus for controlling of lifting controls lifting table 3 and drops to concordant with ground, and crusing robot 4 automatic moving is on lifting table 3;
Apparatus for controlling of lifting controls lifting table 3 and rises to highly concordant with Intelligent Mobile Robot shipping platform 1, and robot, on anchor fitting 2, is fixed by anchor fitting 2 by crusing robot 4 automatic moving;
Apparatus for controlling of lifting controls lifting table 3 to be continued to rise, until fold completely into Intelligent Mobile Robot shipping platform 1.
In other embodiment, in order to realize the Long-distance Control to jacking system and crusing robot 4, apparatus for controlling of lifting and crusing robot 4 carry out communication with remote control terminal respectively, by remote control terminal to apparatus for controlling of lifting sending controling instruction, control the movement of crusing robot 4 simultaneously.
By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection scope of the present invention.
Claims (10)
1. an Intelligent Mobile Robot conveying arrangement, is characterized in that, comprising: crusing robot shipping platform, lifting table, apparatus for controlling of lifting and anchor fitting;
Described lifting table and anchor fitting are all fixed on crusing robot shipping platform, and lifting table is connected with apparatus for controlling of lifting; Crusing robot is fixed on crusing robot shipping platform by anchor fitting, and crusing robot is moved into by lifting table or shifts out crusing robot shipping platform.
2. a kind of Intelligent Mobile Robot conveying arrangement as claimed in claim 1, it is characterized in that, described lifting table comprises: base, hydraulic efficiency gear, support platform and lifting arm;
Described base is fixed on Intelligent Mobile Robot shipping platform, and hydraulic efficiency gear one end is fixed on base, and the other end is connected with lifting arm, and hydraulic efficiency gear is connected with hydraulic control device, and described lifting arm is connected with support platform; Described support platform can overturn along the axis be connected with lifting arm, and described lifting arm can overturn along the axis be connected with hydraulic efficiency gear.
3. a kind of Intelligent Mobile Robot conveying arrangement as claimed in claim 2, it is characterized in that, arrange between described base and Intelligent Mobile Robot shipping platform and strengthen liner plate one, position corresponding with described reinforcement liner plate one bottom Intelligent Mobile Robot shipping platform is arranged strengthens liner plate two.
4. a kind of Intelligent Mobile Robot conveying arrangement as claimed in claim 1, it is characterized in that, described anchor fitting comprises: be fixed on the circuit orbit on crusing robot shipping platform, each circuit orbit described is provided with the retractor device for being connected with crusing robot, with automatic tightening device on described retractor device.
5. a kind of Intelligent Mobile Robot conveying arrangement as claimed in claim 1, it is characterized in that, described anchor fitting comprises: be separately fixed at least one the electric expansion device on crusing robot shipping platform side plate and base plate, and described electric expansion device one end is connected with crusing robot shipping platform, the other end is fixed with electromagnetic lock for connecting crusing robot.
6. a kind of Intelligent Mobile Robot conveying arrangement as claimed in claim 5, is characterized in that, is provided with the electric expansion device be connected with crusing robot top at the top of crusing robot shipping platform.
7. a kind of Intelligent Mobile Robot conveying arrangement as claimed in claim 6, it is characterized in that, at least one electric expansion device at crusing robot shipping platform base plate, side plate or top is replaced with the tractor for being connected with crusing robot, and described tractor is connected with the circuit orbit be arranged on crusing robot shipping platform.
8. any one the Intelligent Mobile Robot conveying arrangement as described in claim 1 or 4 or 5, it is characterized in that, described anchor fitting also comprises: be fixed on the crusing robot drive wheel pinch device on crusing robot shipping platform;
Described crusing robot drive wheel pinch device comprises: permanent magnet chuck, pressing plate, self-locking gas spring and bearing;
Described permanent magnet chuck is connected with bearing, and described pressing plate one end is fixed on bearing, the other end is connected with crusing robot drive wheel, and described self-locking gas spring one end is fixed on bearing, the other end is connected respectively with pressing plate and crusing robot.
9. the method for an Intelligent Mobile Robot conveying arrangement as claimed in claim 1, it is characterized in that, comprise: robot moves near Intelligent Mobile Robot shipping platform, apparatus for controlling of lifting controls lifting table and drops to concordant with ground, and crusing robot automatic moving is on lifting table;
Apparatus for controlling of lifting controls lifting table and rises to concordant with Intelligent Mobile Robot transport deck height, and robot, on anchor fitting, is fixed by anchor fitting by crusing robot automatic moving;
Apparatus for controlling of lifting controls lifting table to be continued to rise, until fold completely into Intelligent Mobile Robot shipping platform.
10. the method for a kind of Intelligent Mobile Robot conveying arrangement as claimed in claim 9, it is characterized in that, apparatus for controlling of lifting and crusing robot carry out communication with remote control terminal respectively, by remote control terminal to apparatus for controlling of lifting sending controling instruction, control the movement of crusing robot simultaneously.
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| CN201510290552.5A CN104908627B (en) | 2015-05-29 | 2015-05-29 | Intelligent Mobile Robot conveying arrangement and method |
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| CN201510290552.5A CN104908627B (en) | 2015-05-29 | 2015-05-29 | Intelligent Mobile Robot conveying arrangement and method |
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| CN105347066A (en) * | 2015-11-30 | 2016-02-24 | 国家电网公司 | Loading lifting gear for substation inspection robot |
| CN106376198A (en) * | 2016-11-10 | 2017-02-01 | 南京铁道职业技术学院 | Positioning type transformer substation centralized dispatching system and method |
| CN107458721A (en) * | 2017-09-20 | 2017-12-12 | 柳州欧卡机器人有限公司 | A kind of fixed mechanism of Mobile Industrial Robot |
| CN107962996A (en) * | 2017-06-09 | 2018-04-27 | 山东鲁能智能技术有限公司 | A kind of substation equipment living water washing robot transferring platform |
| CN108583397A (en) * | 2018-04-20 | 2018-09-28 | 辽宁工程技术大学 | A kind of intelligence counterweight automatic loading/unloading type engineering truck |
| CN109204108A (en) * | 2018-09-27 | 2019-01-15 | 浙江经贸职业技术学院 | A kind of transport vehicle of Intelligent Mobile Robot |
| CN112841163A (en) * | 2021-01-26 | 2021-05-28 | 国网福建省电力有限公司 | Mouse catching robot for communication machine room |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105347066A (en) * | 2015-11-30 | 2016-02-24 | 国家电网公司 | Loading lifting gear for substation inspection robot |
| CN106376198A (en) * | 2016-11-10 | 2017-02-01 | 南京铁道职业技术学院 | Positioning type transformer substation centralized dispatching system and method |
| CN107962996A (en) * | 2017-06-09 | 2018-04-27 | 山东鲁能智能技术有限公司 | A kind of substation equipment living water washing robot transferring platform |
| CN107458721A (en) * | 2017-09-20 | 2017-12-12 | 柳州欧卡机器人有限公司 | A kind of fixed mechanism of Mobile Industrial Robot |
| CN107458721B (en) * | 2017-09-20 | 2019-06-25 | 柳州欧卡机器人有限公司 | A kind of fixed mechanism of Mobile Industrial Robot |
| CN108583397A (en) * | 2018-04-20 | 2018-09-28 | 辽宁工程技术大学 | A kind of intelligence counterweight automatic loading/unloading type engineering truck |
| CN108583397B (en) * | 2018-04-20 | 2019-07-26 | 辽宁工程技术大学 | A kind of intelligence counterweight automatic loading/unloading type engineering truck |
| CN109204108A (en) * | 2018-09-27 | 2019-01-15 | 浙江经贸职业技术学院 | A kind of transport vehicle of Intelligent Mobile Robot |
| CN109204108B (en) * | 2018-09-27 | 2020-03-10 | 浙江经贸职业技术学院 | Transport vehicle for transformer substation inspection robot |
| CN112841163A (en) * | 2021-01-26 | 2021-05-28 | 国网福建省电力有限公司 | Mouse catching robot for communication machine room |
| CN112841163B (en) * | 2021-01-26 | 2022-06-07 | 国网福建省电力有限公司 | Mouse catching robot for communication machine room |
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