CN108436938A - A kind of high-tension switch cabinet detection end effector of robot - Google Patents
A kind of high-tension switch cabinet detection end effector of robot Download PDFInfo
- Publication number
- CN108436938A CN108436938A CN201810388321.1A CN201810388321A CN108436938A CN 108436938 A CN108436938 A CN 108436938A CN 201810388321 A CN201810388321 A CN 201810388321A CN 108436938 A CN108436938 A CN 108436938A
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- CN
- China
- Prior art keywords
- joint
- executive agent
- end effector
- connect
- interface
- 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
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 44
- 239000012636 effector Substances 0.000 title claims abstract description 25
- 239000003795 chemical substances by application Substances 0.000 claims abstract description 45
- 238000003780 insertion Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims description 3
- 238000007689 inspection Methods 0.000 abstract description 4
- 238000013024 troubleshooting Methods 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 5
- 230000002159 abnormal effect Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000000803 paradoxical effect Effects 0.000 description 1
Classifications
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/0096—Radiation pyrometry, e.g. infrared or optical thermometry for measuring wires, electrical contacts or electronic systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1227—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials
Abstract
The present invention provides a kind of high-tension switch cabinet detection end effector of robot, the end effector includes the first joint, second joint, third joint, executive agent and detection operation equipment, wherein the first joint, third joint are connect with second joint respectively, first joint is vertical revolute joint, the second joint is pitching joint, and the third joint is horizontal rotation joint；The executive agent includes at least two interfaces, and the executive agent is connected by first interface with third joint, and operating equipment with the detection by other interfaces is attached.Through the invention, it solves the problems, such as that existing routing inspection efficiency is low, intelligent level is not high and carries out troubleshooting safety in dangerous situation.
Description
Technical field
The present invention relates to robot automation's technical fields more particularly to a kind of high-tension switch cabinet detection robot end to hold
Row device.
Background technology
With the popularization of power grid regulation one operational mode, the mode of traditional substation's manual patrol and operation has expired
The foot not requirement of development of the situation, for hyperbaric chamber in substation daily tour, charge infrared or partial discharge detection, emergent point
The workloads such as lock operation are very huge.Traditional artificial live detection works there are instrument and equipment relative distribution, and test efficiency is low,
The not high problems of intelligent level.Further, since the good and bad jumbled together for switchgear producer, equipment quality is irregular, causes to set
The probability to break down in received shipment row is higher.When switchgear breaks down, may set off an explosion and the failures such as on fire, if not
It can find and handle in time, it would be possible to jeopardize personal safety, and significant impact is generated to other non-faulty equipments.
Invention content
In order to solve the above technical problems, the present invention provides a kind of high-tension switch cabinet detection end effector of robot, with solution
Certainly existing problem.
A kind of high-tension switch cabinet provided by the invention detects end effector of robot, and the end effector includes first
Joint, second joint, third joint, executive agent and detection operation equipment, wherein：
First joint, third joint are connect with second joint respectively, and first joint is vertical revolute joint, and described second closes
Section is pitching joint, and the third joint is horizontal rotation joint；
The executive agent connects third joint by one of interface, passes through including at least two interfaces, the executive agent
Other interfaces are attached with detection operation equipment.
Further, the detection operation equipment includes emergent sub-switching operation device and linear motion unit, wherein：
One interface of the emergent sub-switching operation device and the executive agent right end is connect；
The mechanical divide-shut brake knob of insertion in the end of the emergent sub-switching operation device；
The emergent sub-switching operation device is hollow shell structure, and the linear motion unit is placed in the emergent sub-switching operation dress
Set inside.
Further, the detection operation equipment further includes partial discharge detection instrument, wherein：
The partial discharge detection instrument is connect with the interface of the executive agent upper end one；
The partial discharge detection instrument is set to executive agent upper end internal stent, and executive agent upper end holder is hollow shell
Body structure.
Further, detection operation equipment further includes industrial camera and light source, wherein：
The industrial camera is connect with an interface on the right side of the executive agent；
The industrial camera is set to internal stent on the right side of executive agent, and holder is hollow shell knot on the right side of the executive agent
Structure.
Further, the light source is set to internal stent on the right side of executive agent, the industrial camera and the light source position
It sets and is relatively fixed.
Further, the detection operation equipment further includes infrared video camera, wherein：
The thermal infrared imager is connect with the interface of the executive agent lower end one；
The thermal infrared imager is set to executive agent lower end internal stent, and executive agent lower end holder is hollow shell
Body structure.
Implement the present invention, has the advantages that：
Through the invention, position and the posture of executive agent are controlled using the first joint, second joint, the cooperation of third joint,
To take pictures pinpoint the problems, detect heat pinpoint the problems, detect electric discharge pinpoint the problems and operation button to button carry out
Pressing operation, solve that routing inspection efficiency of the existing technology is low, intelligent level is not high and carried out under dangerous situation therefore
The problem of barrier processing safety.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is the structure chart of high-tension switch cabinet detection end effector of robot provided by the invention.
Fig. 2, which is end effector provided in an embodiment of the present invention, takes pictures detecting state figure to high-tension switch cabinet.
Fig. 3 is the partial discharge detection instrument detection discharge condition figure of end effector provided in an embodiment of the present invention.
Fig. 4 is the emergent sub-switching operation state diagram of end effector provided in an embodiment of the present invention.
Specific implementation mode
This patent core content is the different types joints such as the first joint, second joint and third joint cooperation adjustment appearance
State and position are dynamically taken pictures, detect heat, detection electric discharge and carry out switching manipulation, below in conjunction with attached drawing and implementation
Example is described further the end effector structures specific implementation mode.
A kind of high-tension switch cabinet detection end effector of robot embodiment provided by the invention is described more fully below.
As shown in Figure 1, the embodiment of the present invention provides a kind of high-tension switch cabinet detection end effector of robot, the end
Actuator includes the first joint 101, second joint 102, third joint 103, executive agent 104, partial discharge detection instrument 105, meets an urgent need
Sub-switching operation device 106, linear motion unit 107, industrial camera 108, light source 109 and infrared video camera 110.
First joint 101 and third joint 103 are connect with second joint 102 respectively, and the first joint 101 is that vertical revolution is closed
Section, second joint 102 are pitching joint, and third joint is horizontal rotation joint；Above three joint cooperates and may be implemented
The component oscilaltion being connect with joint and angle adjustment.
In the present embodiment, executive agent 104 is connect by first interface with third joint, passes through other interfaces and detection
Operation equipment is attached.
Partial discharge detection instrument 105, emergent sub-switching operation device 106, linear motion unit 107, industrial camera 108, light source 109
Can exist together as detection operation equipment with infrared video camera 110, can also be carried out according to usage and at this part
Configuration is configured with all above-mentioned inspection operation equipment in the present embodiment.
Emergent sub-switching operation device 107 is connect with 104 right end second interface of executive agent, sub-switching operation device 107 of meeting an urgent need
The mechanical divide-shut brake knob of end insertion, the emergent sub-switching operation device 107 are hollow shell structure, the linear motion unit
106 are placed in inside the emergent sub-switching operation device 107；Above-mentioned linear motion unit 106 and emergent sub-switching operation device 107 are matched
It closes, for separating brake of meeting an urgent need under fault condition.
Partial discharge detection instrument 105 is connect with the third interface of 104 upper end of executive agent, and above-mentioned partial discharge detection instrument 105 is set to
104 upper end internal stent of the executive agent, the 104 upper end holder of executive agent are hollow shell structure, and partial discharge detection is arranged
The purpose of instrument is for detecting power equipment with the presence or absence of abnormal electric discharge.
Industrial camera 108 is connect with 104 the 4th interface of right side of executive agent；The industrial camera 108 and light source 109 are arranged
Holder is hollow shell structure on the right side of 104 right side internal stent of executive agent, the executive agent, and industrial camera 108 is used for
Check that indicator light, electrification display indicate whether normally on high-tension switch cabinet screen, mode of operation selecting switch, mechanically actuated handle
Whether switching position is correct, controls power supply and voltage circuit power supply divide-shut brake indicates whether correctly.Industrial camera 108 and light source
109 positions are relatively fixed, and light source 109 is used to provide sufficient light source for industrial camera.
Thermal infrared imager 110 is connect with the 5th interface of 104 lower end of the executive agent；The thermal infrared imager 110 is arranged
In 104 lower end internal stent of the executive agent, 104 lower end holder of the executive agent is hollow shell structure, infrared thermal imagery
Instrument 110 for detect high-tension switch cabinet whether abnormal heating.
It takes pictures detecting state to high-tension switch cabinet as shown in Fig. 2, the embodiment of the present invention provides end effector, end is held
Row device is moved to suitable position in front of high-tension switch cabinet, adjusts the first joint, industrial camera 8 is directed at high-voltage switch gear by second joint
Top immediately ahead of cabinet, is examined in indicator light, electrification display on high-tension switch cabinet screen and indicates whether normally, mode of operation selection
Whether switch, mechanically actuated handle switching position are correct, control power supply and voltage circuit power supply divide-shut brake indicates whether correctly.
As shown in figure 3, the partial discharge detection instrument that the embodiment of the present invention provides end effector detects discharge condition, second is adjusted
Partial discharge detection instrument alignment height is pressed off partial discharge detection instrument working face alignment high-tension switch cabinet front, control robot by joint respectively
The upper, middle and lower immediately ahead of cabinet is closed, whether there is paradoxical discharge inside detection high-tension switch cabinet；A row switch to be done
Behind cabinet front, then switchgear reverse side is detected, when checking switchgear reverse side, by machine where end effector
People is moved to switchgear reverse side, checks the upper, middle and lower of switchgear；It similarly can also be by second joint by infrared photography
Instrument is adjusted to the corresponding position in the high-tension switch cabinet back side, checks and whether there is abnormal heating inside high-tension switch cabinet.
As shown in figure 4, the embodiment of the present invention provides the emergent sub-switching operation state of end effector, when an emergency situation is encountered
When, sub-switching operation is carried out to mechanical divide-shut brake button using emergent sub-switching operation device；Separating brake of meeting an urgent need is driven using third joint
Operating device rotates, 45 ° of turn knob counterclockwise；Using linear motion unit inside the emergent sub-switching operation device, to pressing
Button carries out pressing operation, completes sub-switching operation of meeting an urgent need.
Implement the present invention, has the advantages that：
Through the invention, position and the posture of executive agent are controlled using the first joint, second joint, the cooperation of third joint,
To take pictures pinpoint the problems, detect heat pinpoint the problems, detect electric discharge pinpoint the problems and operation button to button carry out
Pressing operation, solve that routing inspection efficiency of the existing technology is low, intelligent level is not high and carried out under dangerous situation therefore
The problem of barrier processing safety.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
The specific implementation of the present invention is confined to these explanations.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to the present invention's
Protection domain.
Claims (6)
1. a kind of high-tension switch cabinet detects end effector of robot, which is characterized in that the end effector includes the first pass
Section, second joint, third joint, executive agent and detection operation equipment, wherein：
First joint, third joint are connect with second joint respectively, and first joint is vertical revolute joint, and described second closes
Section is pitching joint, and the third joint is horizontal rotation joint；
The executive agent includes at least two interfaces, and the executive agent is connected by first interface with third joint；It is logical
Other interfaces are crossed to be attached with detection operation equipment.
2. end effector as described in claim 1, which is characterized in that the detection operation equipment includes emergent sub-switching operation
Device and linear motion unit, wherein：
The emergent sub-switching operation device is connect with the second interface of the executive agent right end；
The mechanical divide-shut brake knob of insertion in the end of the emergent sub-switching operation device；
The emergent sub-switching operation device is hollow shell structure, and the linear motion unit is placed in the emergent sub-switching operation dress
Set inside.
3. end effector as claimed in claim 2, which is characterized in that the detection operation equipment further includes partial discharge detection
Instrument, wherein：
The partial discharge detection instrument is connect with the third interface of the executive agent upper end；
The partial discharge detection instrument is set to executive agent upper end internal stent, and executive agent upper end holder is hollow shell
Body structure.
4. end effector as claimed in claim 3, which is characterized in that detection operation equipment further include industrial camera and
Light source, wherein：
The industrial camera is connect with the 4th interface on the right side of the executive agent；
The industrial camera is set to internal stent on the right side of executive agent, and holder is hollow shell knot on the right side of the executive agent
Structure.
5. end effector as claimed in claim 4, which is characterized in that the light source is set on the right side of executive agent in holder
Portion, the industrial camera and the light source position are relatively fixed.
6. end effector as claimed in claim 5, which is characterized in that the detection operation equipment further includes infrared photography
Instrument, wherein：
The thermal infrared imager is connect with the 5th interface of the executive agent lower end；
The thermal infrared imager is set to executive agent lower end internal stent, and executive agent lower end holder is hollow shell
Body structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810388321.1A CN108436938A (en) | 2018-04-26 | 2018-04-26 | A kind of high-tension switch cabinet detection end effector of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810388321.1A CN108436938A (en) | 2018-04-26 | 2018-04-26 | A kind of high-tension switch cabinet detection end effector of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108436938A true CN108436938A (en) | 2018-08-24 |
Family
ID=63201689
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810388321.1A Pending CN108436938A (en) | 2018-04-26 | 2018-04-26 | A kind of high-tension switch cabinet detection end effector of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108436938A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110936361A (en) * | 2019-12-16 | 2020-03-31 | 中国科学院沈阳自动化研究所 | A cooperation type removes operation robot mechanism for high-voltage chamber patrols and examines |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100298978A1 (en) * | 2009-05-19 | 2010-11-25 | Canon Kabushiki Kaisha | Manipulator with camera |
| CN104037010A (en) * | 2014-05-27 | 2014-09-10 | 安徽明远电力设备制造有限公司 | Mechanical emergency tripping device and tripping method thereof |
| CN204278012U (en) * | 2014-11-26 | 2015-04-22 | 深圳控石智能系统有限公司 | A kind of six axle joint industrial robots |
| CN104663138A (en) * | 2015-02-26 | 2015-06-03 | 西北农林科技大学 | Apply picking manipulator |
| CN204883369U (en) * | 2015-09-11 | 2015-12-16 | 国网安徽省电力公司检修公司 | Unattended substation protection device operation machine people |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110936361A (en) * | 2019-12-16 | 2020-03-31 | 中国科学院沈阳自动化研究所 | A cooperation type removes operation robot mechanism for high-voltage chamber patrols and examines |
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| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Huang Ronghui Inventor after: Xiang Zhen Inventor after: Zhang Hongzhao Inventor after: Ai Jingwen Inventor after: Liu Shungui Inventor after: Wu Guoxing Inventor after: Lv Qishen Inventor after: Hu Zihang Inventor before: Huang Ronghui Inventor before: Zhang Hongzhao Inventor before: Ai Jingwen Inventor before: Liu Shungui Inventor before: Wu Guoxing Inventor before: Xiang Zhen |
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