CN108321726A - A kind of crusing robot power double rod type telescopic device - Google Patents

A kind of crusing robot power double rod type telescopic device Download PDF

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Publication number
CN108321726A
CN108321726A CN201810372248.9A CN201810372248A CN108321726A CN 108321726 A CN108321726 A CN 108321726A CN 201810372248 A CN201810372248 A CN 201810372248A CN 108321726 A CN108321726 A CN 108321726A
Authority
CN
China
Prior art keywords
roller
telescopic
belt
crusing robot
telescopic rod
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.)
Pending
Application number
CN201810372248.9A
Other languages
Chinese (zh)
Inventor
吴益飞
陈鑫
陶卫军
郭健
陈庆伟
金立伟
高熠
关妍
范成旺
高珺宁
张通
丛宇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing University of Science and Technology
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Nanjing University of Science and Technology
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Nanjing University of Science and Technology filed Critical Nanjing University of Science and Technology
Publication of CN108321726A publication Critical patent/CN108321726A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
    • B61F5/00—Constructional details of bogies; Connections between bogies and vehicle underframes; Arrangements or devices for adjusting or allowing self-adjustment of wheel axles or bogies when rounding curves
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B13/00—Other railway systems
    • B61B13/04—Monorail systems
    • B61B13/06—Saddle or like balanced type

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)
  • Toys (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention discloses a kind of crusing robot power double rod type telescopic device, including mounting bracket, the shaft being arranged on mounting bracket, roller, two telescopic rods, belt, the mounting platform for being fixed on telescopic rod lower end, driving the driving device of rolling；The roller, power supply are arranged at mounting bracket upper end；Described two telescopic rods are parallel to be fixed on mounting bracket lower end；The axial direction of the shaft is parallel with the axial direction of roller；One end of the belt is connected with roller, and the other end is located at telescopic rod center by being stretched into inside telescopic rod after shaft, and is connected with telescopic rod bottom plate；Described two telescopic rods are connected by a belt with roller respectively；The driving device drives roller rotation, roller that belt, shaft is driven to convert belt to vertical up-or-down movement along the rotation of roller, and belt is further driven to telescopic rod and stretches up and down, to drive mounting platform to move up and down；This invention ensures that synchronism when double-telescopic rod moves, increases encoder to accurately control flexible height.

Description

A kind of crusing robot power double rod type telescopic device
Technical field
The invention belongs under technical field of electric power, and in particular to a kind of crusing robot power double rod type telescopic device.
Background technology
As a kind of expansion link mechanism for vertical up-or-down movement, it is widely used a variety of in detection, shooting, transport etc. Occasion.Currently used telescopic rod mostly uses single pole or double-rod structure, single lever-type telescopic rod hang heavier object be can be by Movement in the horizontal direction leads to the more serious of telescopic rod swing, is unfavorable for hanging transport；Double rod telescopic rod is then The phenomenon different in size that will appear the asynchronism moved due to two when telescopic rod being caused to move, it is asynchronous when occurring It is that telescopic rod power plant loading moment can be caused to become larger, stuck situation occurs；Double-telescopic rod does not account for every section fortune simultaneously Dynamic synchronism affects telescopic rod beauty；In addition to this, current double-telescopic rod, cannot due to without position detecting device Determine telescopic rod move distance, it is unfavorable to be brought to telescopic rod motion control.
And for the telescopic rod suitable for power distribution room crusing robot, due to being hung with gondola under telescopic rod, gondola is built-in There are the detection devices such as sensor in east, in robot when moving in the horizontal direction, telescopic rod will ensure enough stability, with Ensure that detection device 2 can accurately detect the data of instrument and meter in power distribution room in gondola, this requires telescopic rods used to adopt With double rod mode；Power distribution room detector machine people using battery powered and want cube as far as possible under, therefore for the work(of motor Rate and volume have to higher requirement, under the conditions of double rod type telescopic rod, ensure two telescopic rods movement synchronism to close weight It wants；Robot detects instrument and meter in power distribution room, very high to the accuracy requirement of movement position, therefore telescopic rod must have inspection The device that location is set monitors telescopic rod move distance, determines moving height information in real time.
Therefore, because the synchronism and stability for movement and functional requirement, from preferably making telescopic rod to be detected Position, designs reliable and stable in a kind of motion process, and can ensure the synchronism of double-telescopic rod during the motion, entire It is extremely necessary that the telescopic device of telescopic rod move distance can be detected in motion process in real time.
Invention content
Technical problem solved by the invention is to provide a kind of crusing robot power double rod type telescopic device, to solve Current telescopic rod position fluctuation of service and the problem of cannot accurately control.
Realize that the technical solution of the object of the invention is：
A kind of crusing robot power double rod type telescopic device, including mounting bracket, the shaft being arranged on mounting bracket, rolling Cylinder, two telescopic rods, belt, the mounting platform for being fixed on telescopic rod lower end, driving the driving device of rolling；
The roller, power supply are arranged at mounting bracket upper end；Described two telescopic rods are parallel to be fixed on mounting bracket lower end；Institute The axial direction for stating shaft is parallel with the axial direction of roller；One end of the belt is connected with roller, and the other end is stretched by being stretched into after shaft Inside contracting bar, and it is located at telescopic rod center, and is connected with telescopic rod bottom plate；Described two telescopic rods respectively by a belt with Roller is connected；The driving device drives roller rotation, roller to drive belt, and shaft converts belt to along the rotation of roller vertical Straight to move up and down, belt is further driven to telescopic rod and stretches up and down, to drive mounting platform to move up and down.
Compared with prior art, the present invention its remarkable advantage：
(1) a kind of crusing robot power double rod type telescopic device of the invention is equipped with double rod type telescopic rod, using roller The motion for adding double belts ensure that synchronism when double-telescopic rod movement；Telescopic rod in every section telescopic bar bottom synchronizes Plate ensure that the synchronism of every section telescopic bar movement；
(2) power plant that brush direct current motor and worm type of reduction gearing are used on power, ensure efficiently to move Under the premise of, it is ensured that telescopic rod when power is off will not autonomous slide downward under the effect of gravity；
(3) encoder is increased, it is accurate to determine height convenient for the distance of detection telescopic rod movement, it is the control of telescopic rod It is convenient to provide.
Present invention is further described in detail below in conjunction with the accompanying drawings.
Description of the drawings
Fig. 1 is the general structure schematic diagram of power distribution room crusing robot power double rod type telescopic device.
Fig. 2 is that the telescopic device of the present invention is applied to the general structure schematic diagram of power distribution room crusing robot.
Specific implementation mode
In order to illustrate technical scheme of the present invention and technical purpose, below in conjunction with the accompanying drawings and specific embodiment is the present invention It is further to introduce.
In conjunction with Fig. 1, a kind of crusing robot power double rod type telescopic device of the invention, including mounting bracket 21, setting exist Shaft 25 on mounting bracket, belt 26, the mounting platform 31 for being fixed on 23 lower end of telescopic rod, is used 22, two telescopic rods 23 of roller With the driving device of driving rolling 22；
The roller 22, power supply 32 are arranged at 21 upper end of mounting bracket；Described two telescopic rods 23 are parallel to be fixed on installation 21 lower end of frame；The axial direction of the shaft 25 is parallel with the axial direction of roller 22；One end of the belt 26 is connected with roller 22, another End is located at 23 center of telescopic rod by being stretched into inside telescopic rod 23 after shaft 25, and is connected with 23 bottom plate of telescopic rod；Described two A telescopic rod 23 is connected by a belt 26 with roller 22 respectively；The driving device drives roller 22 to rotate, 22 band of roller Dynamic belt 26, shaft 25 convert belt 26 to vertical up-or-down movement along the rotation of roller 22, and belt 26 is further driven to stretch About 23 bar is flexible, to drive mounting platform 31 to move up and down.Belt 26 is arranged inside telescopic rod 23, can reduce whole device Occupied space, and can avoid external equipment interference.
As an implementation, the driving device includes direct current generator 33, retarder 20, for supplying direct current generator The power supply 32 of electricity；The direct current generator 33 is connected by flexible clutch with retarder 20；20 output shaft of the retarder and rolling 22 one end of cylinder are coaxially connected；
Further, the accelerator 20 uses worm gear type retarder, and worm type of reduction gearing is due to there is self-locking Function, it is ensured that when crusing robot system powers off suddenly, and telescopic rod direct current generator can not provide power, telescopic rod will not Slide downward under the effect of gravity.
Further, the power supply 32 uses lithium battery, mounting bracket 21 to be equipped with the charging end stroma being connected with lithium battery, To charge to lithium battery.
Further, 22 other end of the roller is additionally provided with encoder 27, and the encoder 27 coaxially connects with roller 22, uses The detection move distance on roller 22 of belt 26 is connect in detection, positions 23 moving height of telescopic rod.
Further, the telescopic rod 23 is multistage retractable rod, the end of the corresponding telescopic rod at the same level of two telescopic rods 23 End is equipped with synchronous plate 34, and two telescopic rods 23 are connected by the synchronous plate 34, to ensure two 23 synchronization telescopes of telescopic rod.
Further, a kind of crusing robot power double rod type telescopic device of the invention, 31 bottom of the mounting platform It is further fixed on aviation plug 35, is convenient for the electrical connection of entire telescopic device and detection device 2, separation detecting device easy to disassemble 2 and Telescopic rod device.
Further, a kind of crusing robot power double rod type telescopic device of the present invention, the setting of control box 24 exist Between two telescopic rods 23, the occupied space of entire telescopic device can be further decreased；In some embodiments, the control Box 24 processed also can be this on mounting bracket 21, on small rail car 1 or in detection device 2.
In conjunction with Fig. 2, a kind of crusing robot power double rod type telescopic device of the invention, 21 upper end of mounting bracket and track are small Vehicle 1 is connected, and mounting platform 31 is connected with detection device 2, and at work, Telescopic rod device is small in track for power distribution room crusing robot Vehicle 1 is moved horizontally to the corresponding orbital position of power distribution room under driving, detection device 2 is transported to specified by telescopic device up and down motion Highly, the multiple sensors in detection device complete the information collection of power distribution room inspection, and the information of acquisition is passed to scene Monitor terminal completes inspection.

Claims (10)

1. a kind of crusing robot power double rod type telescopic device, which is characterized in that including mounting bracket (21), be arranged in mounting bracket On shaft (25), roller (22), two telescopic rods (23), belt (26), the mounting platform for being fixed on telescopic rod (23) lower end (31), to drive rolling (22) driving device；
The roller (22), power supply (32) are arranged at mounting bracket (21) upper end；Described two telescopic rods (23) are parallel to be fixed on Mounting bracket (21) lower end；The axial direction of the shaft (25) is parallel with the axial direction of roller (22)；One end of the belt (26) and rolling Cylinder (22) is connected, and the other end is internal by stretching into telescopic rod (23) after shaft (25), and is located at telescopic rod (23) center, and with stretch Contracting bar (23) bottom plate is connected；Described two telescopic rods (23) are connected by a belt (26) with roller (22) respectively；The drive Dynamic device drives roller (22) to rotate, and roller (22) drives belt (26), shaft (25) to turn belt (26) along roller (22) Turn turns to vertical up-or-down movement, and belt (26) is further driven to telescopic rod (23) and stretches up and down, to drive mounting platform (31) It moves up and down.
2. a kind of crusing robot power double rod type telescopic device according to claim 1, which is characterized in that the driving Device includes direct current generator (33), retarder (20), the power supply (32) for powering to direct current generator；The direct current generator (33) It is connected with retarder (20) by flexible clutch；Retarder (20) output shaft and roller (22) one end are coaxially connected.
3. a kind of crusing robot power double rod type telescopic device according to claim 2, which is characterized in that the direct current Motor uses brush direct current motor (33).
4. a kind of crusing robot power double rod type telescopic device according to claim 2, which is characterized in that the acceleration Device (20) uses worm gear type retarder.
5. a kind of crusing robot power double rod type telescopic device according to claim 2, which is characterized in that the power supply (32) lithium battery is used, mounting bracket (21) is equipped with the charging end stroma (19) being connected with lithium battery, to be filled to lithium battery Electricity.
6. a kind of crusing robot power double rod type telescopic device according to claim 1, which is characterized in that the roller (22) other end is additionally provided with encoder (27), the encoder (27) with roller (22) is coaxial connects, connect detection belt for detecting (26) move distance on roller (22) positions telescopic rod (23) moving height.
7. a kind of crusing robot power double rod type telescopic device according to claim 1, which is characterized in that described flexible Bar (23) is multistage retractable rod, and the end of the corresponding telescopic rod at the same level of two telescopic rods (23) is equipped with synchronous plate (34), institute It states synchronous plate (34) two telescopic rods (23) are connected.
8. a kind of crusing robot power double rod type telescopic device according to claim 1, which is characterized in that the installation Platform (31) lower end is additionally provided with aviation plug (35).
9. a kind of crusing robot power double rod type telescopic device according to claim 1, which is characterized in that telescopic device Control box (24) be arranged between two telescopic rods (23).
10. a kind of crusing robot power double rod type telescopic device according to claim 1, which is characterized in that mounting bracket (21) upper end is connected with small rail car (1), and mounting platform (31) is connected with detection device (2).
CN201810372248.9A 2017-12-20 2018-04-24 A kind of crusing robot power double rod type telescopic device Pending CN108321726A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201711386072 2017-12-20
CN2017113860724 2017-12-20

Publications (1)

Publication Number Publication Date
CN108321726A true CN108321726A (en) 2018-07-24

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Family Applications (6)

Application Number Title Priority Date Filing Date
CN201820588751.3U Active CN208289934U (en) 2017-12-20 2018-04-24 A kind of crusing robot detection device
CN201810371952.2A Pending CN108609027A (en) 2017-12-20 2018-04-24 A kind of motor-driven carrier device being used for straight rail or arc orbit
CN201810371953.7A Pending CN108381603A (en) 2017-12-20 2018-04-24 A kind of crusing robot detection device
CN201810372248.9A Pending CN108321726A (en) 2017-12-20 2018-04-24 A kind of crusing robot power double rod type telescopic device
CN201820597289.3U Active CN208299325U (en) 2017-12-20 2018-04-24 A kind of crusing robot power double rod type telescopic device
CN201810372242.1A Pending CN108381564A (en) 2017-12-20 2018-04-24 A kind of modular crusing robot of multiple degrees of freedom

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Application Number Title Priority Date Filing Date
CN201820588751.3U Active CN208289934U (en) 2017-12-20 2018-04-24 A kind of crusing robot detection device
CN201810371952.2A Pending CN108609027A (en) 2017-12-20 2018-04-24 A kind of motor-driven carrier device being used for straight rail or arc orbit
CN201810371953.7A Pending CN108381603A (en) 2017-12-20 2018-04-24 A kind of crusing robot detection device

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Application Number Title Priority Date Filing Date
CN201820597289.3U Active CN208299325U (en) 2017-12-20 2018-04-24 A kind of crusing robot power double rod type telescopic device
CN201810372242.1A Pending CN108381564A (en) 2017-12-20 2018-04-24 A kind of modular crusing robot of multiple degrees of freedom

Country Status (1)

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CN (6) CN208289934U (en)

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CN208289934U (en) 2018-12-28

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