CN108927794A - Robot and method are detected in a kind of Cartesian coordinate type substation room - Google Patents
Robot and method are detected in a kind of Cartesian coordinate type substation room Download PDFInfo
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- CN108927794A CN108927794A CN201810679609.4A CN201810679609A CN108927794A CN 108927794 A CN108927794 A CN 108927794A CN 201810679609 A CN201810679609 A CN 201810679609A CN 108927794 A CN108927794 A CN 108927794A
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- robot
- trussing
- truss
- detection
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses robot and method are detected in a kind of Cartesian coordinate type substation room, including robot body and trussing, the trussing includes X-direction truss, Z-direction truss and Y-direction truss, and the truss of all directions is adjustable relative to the truss position in other directions；Robot body is moved along trussing, with level(l)ing mechanism, holder and vertically modulating mechanism, the horizontal adjusting mechanism adjusts the horizontal attitude of robot, vertical rotating mechanism of the end with holder and the vertical pose of adjustment, the holder have the bearing space for carrying detection device；Using the dual adjustment of the pose of the mutual movement and robot body itself of three direction truss, realize that detection robot can be moved to any point in substation's interior space coordinate.
Description
Technical field
The present invention relates to robot and method are detected in a kind of Cartesian coordinate type substation room.
Background technique
The normal operation of electric system indoor equipment is most important, on the one hand needs enough reliabilities, on the other hand
Timely inspection is also required to find simultaneously potential risk existing for repair apparatus in time, it is ensured that system operates normally.Indoor power
Its reliable and secure operation is significant to guarantee for the real-time detection of equipment.It is laid out by the interior space and other monitored equipments
Limitation, will realize the function to the comprehensive detection of equipment, need robot that can be able to achieve in horizontal space and vertical space
The movement of larger stroke, it is clear that existing in-wheel driving or crawler type driving method are difficult to realize.
In addition to this, device location to be checked is higher in part substation room, is also required to inspection (such as right above equipment component
Valve hall water cooling chamber, the room GIS), existing routine inspection mode is even more to hang back.
In addition, track machine people in the substation room promoted and applied at present, mostly uses greatly single track bridge joint liftable machine
The mode of device people, although operational efficiency of the robot on single track is relatively high, the design limitation of single track machine
The use scope and utilization rate of device people detect robot can only for a row switch cabinet；In addition, in the mould of single track
Under formula, in order to guarantee that the detection covering of gamut in switchgear height may be implemented in robot, in the structure of liftable robot
Under, robot body inevitably needs to design long, so the robot under this structure can not to switchgear cabinet top region into
Row detection, and like the needs such as bus detect key equipment be all distributed in switch cabinet top, so the detection machine under such structure
Device people can not be really achieved the actual demand of user.
Summary of the invention
The present invention to solve the above-mentioned problems, proposes and detects robot and side in a kind of Cartesian coordinate type substation room
Method, robot body by being mounted on the robot truss with space coordinates by the present invention, in the fortune of robot truss
Under load, the detection to the indoor gamut of substation is completed, robot overall operation efficiency is high, and positioning accuracy is high, and can carry
Heavy load detection device is detected.
To achieve the goals above, the present invention adopts the following technical scheme:
Robot, including robot body and trussing, the truss are detected in a kind of Cartesian coordinate type substation room
System includes X-direction truss, Z-direction truss and Y-direction truss, truss position of the truss of all directions relative to other directions
It is adjustable；
The robot body is moved along trussing, has level(l)ing mechanism, holder and vertically modulating mechanism, described
Horizontal adjusting mechanism adjusts the horizontal attitude of robot, vertical rotating mechanism of the end with holder and the vertical pose of adjustment, institute
Stating holder has the bearing space for carrying detection device；
Using the dual adjustment of the pose of the mutual movement and robot body itself of three direction truss, inspection is realized
Any point in substation's interior space coordinate can be moved to by surveying robot.
Further, the X-direction truss includes the bracket for being set to two sides in substation room, and every side stand includes up and down
Two support rods arranged side by side, two side stands are symmetrical arranged.
Further, the Z-direction truss includes the support being set between the upper lower support bar of the every side of X-direction truss
Frame, and support frame can be slided along the side support bar.
Further, the Y-direction truss includes the cross bar for connecting two support frames, and the both ends of the cross bar can be along support
Frame sliding.
Above-mentioned sliding can be accomplished in several ways, as three direction truss main body on be provided with sliding slot, junction or
End is provided with the excrescence to match with sliding slot.
Or the convex body of evagination is provided in the main body of three direction truss, and junction or end are provided with and convex body phase
Matched groove.
Further, the Y-direction truss and Z-direction truss use dual-support structure.Preferably, can also be in machine
Such as image capture module additional equipment for facilitating substation's indoor monitoring is set on device human body.
Further, the robot body is connected by connecting pedestal with trussing, and is completed by trussing
Movement under substation's interior space coordinate.
Further, reversing mechanism is provided on the robot body, the reversing mechanism passes through rotary shaft and machine
The connection pedestal of human body is connected, and the level(l)ing mechanism, holder and vertically modulating mechanism are arranged at the end of reversing mechanism
Portion, by reversing mechanism along the rotation of rotary shaft, so that level(l)ing mechanism, holder and vertically modulating mechanism are relative to connection
Pedestal and rotary shaft transform to the other side.
Further, the level(l)ing mechanism is the first rotary shaft, and reversing mechanism and holder pass through level(l)ing mechanism
Connection guarantees that holder can carry out the adjustment of horizontal direction relative to reversing mechanism.
Further, the vertically modulating mechanism is the second rotary shaft, and the holder and detection device pass through vertical adjusting
Mechanism connection guarantees that detection device can carry out the adjustment of vertical direction relative to holder.
Based on the working method of above-mentioned robot, when determining the region to be measured for the switchgear for needing to detect in substation room,
It plans optimized operation path, starts trussing, under the premise of evading all switchgears, robot body is driven to come determination
Position is detected, robot adjusts pose, and the holder of end and detection device are navigated to the switchgear region for needing to detect, and completes
Corresponding Detection task；
Or, trussing drives robot body when needing the region to be measured of robot detection switch cabinet another side
Position is detected to determining, robot adjusts pose, and so that robot is integrally turned to 180 ° of completions using reversing mechanism and commutate
Complete the detection to switchgear another side；
Or, robot passes through the Z-direction purlin of trussing first when needing robot detection switch cabinet top area
Frame makes altitude range of the robot on the upside of switchgear, along the operating path of planning, trussing movement, band machine
Device people, which comes, determines detection position, adjusts vertical rotating mechanism, end point detection equipment is made to be directed at switch cabinet top area, complete
Detection.
Compared with prior art, the invention has the benefit that
1, the present invention provides the system schemes that gamut in a set of substation room detects, and improve robot progress
The efficiency of this generic operation；
2, the present invention solves under conventional ADS driving mode using simple space coordinate trussing as driving unit
The problems such as inefficient, low positioning accuracy；
3, the Y, Z-direction truss for the trussing that the present invention designs use the design of dual-gripper, to greatly increase
The load of trussing is conducive to the robot carrying heavier detection device of more weight (such as X-ray) and examines to switchgear
It surveys, to widen the application range of robot, increases the utilization rate of robot；
4, the present invention can be applicable to other interiors and set in addition to that can apply other than the detection of substation's cubicle switch cabinet
In standby detection, such as indoor GIS device；
5, the present invention provides a kind of novel substation's indoor detection methods, provide to detect in subsequent substation room
A kind of thinking.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.
Fig. 1 is overall structure of the present invention；
Fig. 2 is robot body structure schematic diagram of the present invention；
Fig. 3 is truss structure schematic diagram of the present invention；
Fig. 4 is the positive/negative face robot detection schematic diagram of switch cabinet body of the present invention；
Fig. 5 is robot detection schematic diagram on the upside of switch cabinet body of the present invention.
Wherein, 1, trussing, 2, robot body, 3, switchgear, 4, connection pedestal, 5, reversing mechanism, 6, horizontal tune
Complete machine structure, 7, holder, 8, vertical adjustment mechanism, 9, detection device, 10, X-direction truss, 11, Z-direction truss, 12, Y-direction purlin
Frame.
Specific embodiment:
The invention will be further described with embodiment with reference to the accompanying drawing.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
In the present invention, term for example "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", " side ",
The orientation or positional relationship of the instructions such as "bottom" is to be based on the orientation or positional relationship shown in the drawings, only to facilitate describing this hair
Bright each component or component structure relationship and the relative of determination, not refer in particular to either component or element in the present invention, cannot understand
For limitation of the present invention.
In the present invention, term such as " affixed ", " connected ", " connection " be shall be understood in a broad sense, and indicate may be a fixed connection,
It is also possible to be integrally connected or is detachably connected；It can be directly connected, it can also be indirectly connected through an intermediary.For
The related scientific research of this field or technical staff can determine the concrete meaning of above-mentioned term in the present invention as the case may be,
It is not considered as limiting the invention.
Robot system is detected in a kind of Cartesian coordinate type substation room, comprising: robot body, trussing, switch
Cabinet three parts composition；
The robot body includes connection pedestal, reversing mechanism, level(l)ing mechanism, holder, vertically modulating mechanism, inspection
Measurement equipment；
Trussing includes X-direction truss, Z-direction truss and Y-direction truss, passes through tri- direction truss of X-Y-Z
It mutually moves, the movement of any point in achievable substation's interior space coordinate；
Y-direction and Z-direction truss use the design of dual-gripper, so as to greatly increase the carrying capacity of truss；
Robot body is connected by connecting pedestal with trussing, and is completed by trussing in substation's Interior Space
Between movement under coordinate；
Robot body has horizontal adjusting mechanism, can be used for adjusting the horizontal attitude of robot body, and end has cloud
Platform and vertical rotating mechanism can be used for carrying detection device and the vertical pose of adjustment；
When needing robot detection switch cabinet front specific region, robot plans an optimal operation in backstage first
Path, then trussing starts, and under the premise of having evaded all switchgears, robot body is driven to come determining check bit
It sets, then robot adjusts pose, and the holder of end and detection device are navigated to the switchgear region for needing to detect, and completes phase
The Detection task answered；
It is similar with positive detection, it is only necessary to pass through reversing machine when needing robot detection switch cabinet reverse side specific region
Structure makes robot integrally turn to 180 ° of completion commutations, and the detection to switchgear reverse side can be completed；
When needing the regions such as robot detection switch cabinet top bus bar, robot passes through the Z-direction of trussing first
Truss makes altitude range of the robot on the upside of switchgear, then along the operating path of backstage planning, starts truss
System comes robot and determines detection position, adjusts vertical rotating mechanism, keeps end point detection equipment alignment switchgear cabinet top female
Detection is completed in the regions such as line.
As a kind of exemplary embodiments, as shown in Figure 1, robot system is detected in a kind of Cartesian coordinate type substation room,
Robot body is connect by connecting pedestal 4 with trussing 1, under the control of trussing 1, can reach substation's Interior Space
Between any position, under the control of the multiple-degree-of-freedom mechanism of robot body 2 itself, adjustable end point detection equipment 9 is horizontal
With vertical direction pose, end point detection equipment 9 is made to be further aligned the region for needing to detect, is completed in space coordinate to reach
The target of any point detection；
Specifically, as shown in Figures 1 and 3, trussing 1 is by X-direction truss 10, Z-direction truss 11 and Y-direction purlin
12 three parts of frame composition, wherein X-direction truss 10 includes left and right two parts, and every part is all made of upper and lower two truss, the side Y
It is composed in parallel to truss 12 by the two longer truss of root long degree, Z-direction truss 11 is also made of left and right two parts, and every part purlin
Frame is composed in parallel by two truss, and the structure of two truss of Y, Z ensure that the rigidity and load capacity of the truss in long length；
Robot body 2 include connection pedestal 4, reversing mechanism 5, horizontal adjusting mechanism 6, holder 7, vertical adjustment mechanism 8,
Detection device 9；Connection pedestal 4 is for robot body 2 to be connected with trussing 1, and reversing mechanism 5 is for robot to switch
When 3 reverse side of cabinet is detected, robot detection direction is adjusted, holder 7 is to carry all kinds of detection devices 9, horizontal adjusting mechanism 6
With vertical adjustment mechanism 8 to finely tune the posture of detection device 9, so that it is specific to guarantee that all kinds of detection devices 9 can be completed accurately
The detection in region；
Trussing 1 passes through the movement of truss on three directions, the movement of any point in achievable substation's interior space；
Robot body 2 and trussing 1 are combined rear, it can be achieved that fortune of the robot in substation room under any position
It is dynamic, and cooperate the multivariant adjustment mechanism and detection device 9 on robot body 2, complete the detection to each switchgear 3；
As shown in Fig. 4 (a), when needing robot detection switch cabinet front specific region, robot plans on backstage first
One optimal operating path, then trussing 1 starts, under the premise of having evaded all switchgears, band mobile robot sheet
Body 2, which is come, determines detection position, and then robot adjusts pose, and the holder 7 of end and detection device 9 are navigated to and need to detect
3 region of switchgear, complete corresponding Detection task；
It is similar with positive detection when needing robot detection switch cabinet reverse side specific region as shown in Fig. 4 (b), only need
So that robot is integrally turned to 180 ° of completion commutations by reversing mechanism 5, the detection to 3 reverse side of switchgear can be completed；
As shown in figure 5, robot passes through truss first when needing the regions such as 3 top bus bar of robot detection switch cabinet
The Z-direction truss 11 of system 1 makes robot generally in the altitude range of 3 upside of switchgear, then along the fortune of backstage planning
Walking along the street diameter starts trussing 1, comes robot and determines detection position, adjusts vertical rotating mechanism 8, set end point detection
The regions such as standby 9 alignment, 3 cabinet top bus of switchgear, complete detection.
It, can be by adjusting horizontal adjusting mechanism when robot end's detection device 9 and switchgear 3 have certain plane included angle
6, realize robot end's detection device 9 with switchgear 3 parallel.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (10)
1. robot is detected in a kind of Cartesian coordinate type substation room, it is characterized in that: including robot body and trussing, institute
Stating trussing includes X-direction truss, Z-direction truss and Y-direction truss, purlin of the truss of all directions relative to other directions
Rack position is adjustable；
The robot body is moved along trussing, has level(l)ing mechanism, holder and vertically modulating mechanism, the level
Adjustment mechanism adjusts the horizontal attitude of robot, vertical rotating mechanism of the end with holder and the vertical pose of adjustment, the cloud
Platform has the bearing space for carrying detection device；
Using the dual adjustment of the pose of the mutual movement and robot body itself of three direction truss, detection machine is realized
Device people can be moved to any point in substation's interior space coordinate.
2. robot detects in room in a kind of Cartesian coordinate type substation as described in claim 1, it is characterized in that: the X-direction
Truss includes the bracket for being set to two sides in substation room, and every side stand includes two support rods of setting side by side up and down, two sides
Bracket is symmetrical arranged.
3. robot detects in room in a kind of Cartesian coordinate type substation as described in claim 1, it is characterized in that: the Z-direction
Truss includes the support frame being set between the upper lower support bar of the every side of X-direction truss, and support frame can be sliding along the side support bar
It is dynamic.
4. robot detects in room in a kind of Cartesian coordinate type substation as described in claim 1, it is characterized in that: the Y-direction
Truss includes the cross bar for connecting two support frames, and the both ends of the cross bar can be slided along support frame.
5. robot detects in room in a kind of Cartesian coordinate type substation as described in claim 1, it is characterized in that: the Y-direction
Truss and Z-direction truss use dual-support structure；
Or, being provided with image capture module on robot body.
6. robot detects in room in a kind of Cartesian coordinate type substation as described in claim 1, it is characterized in that: the robot
Ontology is connected by connecting pedestal with trussing, and completes the shifting under substation's interior space coordinate by trussing
It is dynamic.
7. robot detects in room in a kind of Cartesian coordinate type substation as described in claim 1, it is characterized in that: the robot
Reversing mechanism is provided on ontology, the reversing mechanism is connected by rotary shaft with the connection pedestal of robot body, the water
Flat regulating mechanism, holder and vertically modulating mechanism are arranged at the end of reversing mechanism, by reversing mechanism along rotary shaft
Rotation, so that level(l)ing mechanism, holder and vertically modulating mechanism transform to the other side relative to connection pedestal and rotary shaft.
8. robot detects in room in a kind of Cartesian coordinate type substation as described in claim 1, it is characterized in that: the horizontal tune
Section mechanism is the first rotary shaft, and reversing mechanism is connect with holder by level(l)ing mechanism, guarantees that holder can be relative to commutation
The adjustment of mechanism progress horizontal direction.
9. robot detects in room in a kind of Cartesian coordinate type substation as described in claim 1, it is characterized in that: the vertical tune
Section mechanism is the second rotary shaft, and the holder is connect with detection device by vertically modulating mechanism, guarantees that detection device being capable of phase
The adjustment of vertical direction is carried out for holder.
10. based on the working method of robot as claimed in any one of claims 1-9 wherein, it is characterized in that: determining substation room
When the region to be measured of the interior switchgear for needing to detect, optimized operation path is planned, start trussing, evading all switchgears
Under the premise of, it drives robot body to come and determines detection position, robot adjusts pose, by the holder and detection device of end
The switchgear region for needing to detect is navigated to, corresponding Detection task is completed；
Or, trussing drives robot body to come really when needing the region to be measured of robot detection switch cabinet another side
Regular inspection location is set, and robot adjusts pose, and so that robot is integrally turned to 180 ° of completions using reversing mechanism and commutate, can be completed
Detection to switchgear another side；
Or, robot passes through the Z-direction truss of trussing first when needing robot detection switch cabinet top area, make
Altitude range of the robot on the upside of switchgear, along the operating path of planning, trussing movement, carrying machine people comes
Position is detected to determining, adjusts vertical rotating mechanism, end point detection equipment is made to be directed at switch cabinet top area, completes detection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810679609.4A CN108927794A (en) | 2018-06-27 | 2018-06-27 | Robot and method are detected in a kind of Cartesian coordinate type substation room |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810679609.4A CN108927794A (en) | 2018-06-27 | 2018-06-27 | Robot and method are detected in a kind of Cartesian coordinate type substation room |
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| CN108927794A true CN108927794A (en) | 2018-12-04 |
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| CN201810679609.4A Pending CN108927794A (en) | 2018-06-27 | 2018-06-27 | Robot and method are detected in a kind of Cartesian coordinate type substation room |
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Address after: 274000 No. 199 Zhonghua Road, Shandong, Heze Applicant after: Heze Power Supply Company, State Grid Shandong Electric Power Co., Ltd. Applicant after: National Network Intelligent Technology Co., Ltd. Address before: 274000 No. 199 Zhonghua Road, Shandong, Heze Applicant before: Heze Power Supply Company, State Grid Shandong Electric Power Co., Ltd. Applicant before: Shandong Luneng Intelligent Technology Co., Ltd. |
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Effective date of registration: 20201030 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Applicant after: National Network Intelligent Technology Co.,Ltd. Address before: 274000 No. 199 Zhonghua Road, Shandong, Heze Applicant before: State Grid Shandong Electric Power Company Heze Power Supply Co. Applicant before: National Network Intelligent Technology Co.,Ltd. |
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Application publication date: 20181204 |
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