CN109038353A - A kind of mobile inspecting rebot of variable distributing apparatus - Google Patents
A kind of mobile inspecting rebot of variable distributing apparatus Download PDFInfo
- Publication number
- CN109038353A CN109038353A CN201810879989.6A CN201810879989A CN109038353A CN 109038353 A CN109038353 A CN 109038353A CN 201810879989 A CN201810879989 A CN 201810879989A CN 109038353 A CN109038353 A CN 109038353A
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- swing arm
- sensor
- fixedly connected
- big
- rebot
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Classifications
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- 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
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of mobile inspecting rebot of variable distributing apparatus, include AGV trolley, and the control cabinet being set on AGV trolley small swing arm assembly, puts on arm assembly and main crane assembly, and is connected to the sensor unit put on arm assembly.The present invention periodically makes an inspection tour electrical equipment, data acquisition process using automation routine inspection mode, substitutes existing manual inspection mode, and comprehensive and systematic record analysis realizes intelligence, the modernization of routine inspection mode, also saves labour cost.
Description
Technical field
The present invention relates to distribution equipment management domain, specifically a kind of mobile inspecting rebot of variable distributing apparatus.
Background technique
Existing equipment routing inspection mode is manual inspection, and inspection worker timing daily carries out inspection to equipment, has at present more
A problem.(1) personnel issue, current electrician personnel supply deficiency, and maintenance personnel's level is limited, in addition operator on duty is chronically at
Overtime work, tired state virtually carry out hidden danger to the safety belt of distribution substation；(2) data problem uses manual inspection mode distribution
How imperfect room operation data record；(3) failure prediction problem due to the data volume manually acquired it is less, data class is not
Comprehensively.
Meanwhile in the market there is some other automatic crusing robots, such robot is typically used in outdoor, adopts
Camera and infrared temperature sensor is taken to carry out the detection of appearance and temperature to outdoor equipment, the information of acquisition is not sufficient enough, together
When can only obtain different perspectives by swinging head, can not omnibearing stereo obtain inspection result.It indoor is patrolled there are also a kind of
Robot is examined, this crusing robot needs to arrange running track indoors, and installation is complicated；Camera and infrared is also only installed
Temperature sensor, acquisition of information are less；It positive can only shoot electrical cabinet and carry out inspection, and can not move up and down, visual angle is very much
It is narrow.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of mobile inspecting rebot of variable distributing apparatus, using automation inspection side
Formula periodically makes an inspection tour electrical equipment, data acquisition process, substitutes existing manual inspection mode, comprehensive and systematic record
Analysis realizes intelligence, the modernization of routine inspection mode, also saves labour cost.
The technical solution of the present invention is as follows:
A kind of mobile inspecting rebot of variable distributing apparatus includes AGV trolley, and it is total to be set to control cabinet on AGV trolley, small swing arm
At, put on arm assembly and main crane assembly, and be connected to the sensor unit put on arm assembly；The small swing arm is total
At including the small swing arm reducer stent being fixedly installed on AGV trolley upper surface, be set on small swing arm reducer stent
And the small swing arm retarder driven by small swing arm drive motor, the small swing arm branch being connected on small swing arm retarder horizontal output end
The small swing arm and the lower camera being fixedly connected on small swing arm outer end that frame, inner end are connected on small oscillating arm bracket, it is described
Small swing arm is mutually perpendicular to small swing arm retarder horizontal output end；The described arm assembly of putting on includes that be fixedly installed on AGV small
Big swing arm reducer stent and wheeled stand on vehicle upper surface are set on big swing arm reducer stent and by big swing arm driving
Motor-driven big swing arm retarder, the big oscillating arm bracket being connected on big swing arm retarder horizontal output end, inner end are connected to
Big swing arm and transmission and sensor stand, the big swing arm and big swing arm retarder level on big oscillating arm bracket is defeated
Outlet is mutually perpendicular to, and the big swing arm is the hollow structure of both ends open, and transmission includes to be fixed on wheeled stand
Lower synchronous pulley, upper synchronous pulley and the synchronous belt being wound on lower synchronous pulley and upper synchronous pulley, the transmission
It is passed through out of big swing arm hollow structure, the bearing inner race on upper synchronous pulley is fixedly connected with shaft, both ends of shaft and big
The top of swing arm is fixedly connected, and the sensor stand is fixedly connected on synchronous pulley；The sensor unit packet
Flexible box is included, the linear bearing seat being set in flexible box internal backplane, is horizontally placed in linear bearing seat and reaches
Linear bearing outside flexible box, the sensor box being connected on linear bearing outer end, the holddown spring being set on linear bearing,
And it is set to discharge sensor, infrared temperature sensor and jogging sensor in sensor box, the holddown spring position
The outer wall of flexible box and the outer wall of sensor box are respectively held against in outside flexible box and both ends；The main crane assembly includes
The module base that is fixedly installed on AGV trolley upper surface, fixed connects the lifting sliding table mould group being fixedly installed in module base
The rail brackets that are connected on the mould group slide unit of lifting sliding table mould group, the biography down being connected to by lower bearing on rail brackets lower end
Driving wheel, is wound on lower driving wheel and upper driving wheel the upper driving wheel being connected on rail brackets upper end by upper bearing (metal)
Transmission belt, the upper transmission strip connecting plate being fixedly connected on transmission belt and underdrive connecting plate are fixedly installed on rail brackets
Vertical lifting guide rail, the lifting slider being slideably positioned on vertical lifting guide rail, the camera shooting that is fixedly connected on lifting slider
Head bracket, the rotary electric machine being set on camera bracket and upper camera, the upper transmission strip connecting plate are fixedly installed on
In lifting sliding table mould group, the underdrive connecting plate is fixedly connected with camera bracket, the output end of the rotary electric machine
It is fixedly connected straight up and with upper camera；Controller, the driving machine of the AGV trolley are provided in the control cabinet
Structure, small swing arm drive motor, big swing arm drive motor, the driving mechanism of lifting sliding table mould group, rotary electric machine with controller
Control output end connection, the lower camera, upper camera are connect with the Image Acquisition input terminal of controller, and described puts
Electric transducer, infrared temperature sensor and jogging sensor are connect with the sensor input of controller.
The top of the control cabinet is provided with the wind speed wind direction sensor and cigarette connecting with controller sensor input
Mist sensor and the indicator light being connect with controller indication output end.
The wheeled stand is U-bracket structure, and bottom end is fixed on big swing arm reducer stent, it is described similarly hereinafter
Step belt wheel is set in the U-lag mouth of wheeled stand and is fixedly connected with wheeled stand.
The sensor stand is the supporting plate of two inverted l-shaped structures, and the vertical portion of two supporting plates is respectively fixedly connected with
In in the both ends of the surface of upper synchronous pulley, there are two the both ends of the surface of relatively upper synchronous pulley respectively for the top connection of the big swing arm
Supporting plate, the both ends of the upper synchronous pulley upper shaft are each passed through after corresponding supporting plate and corresponding supporting plate is fixed connects
It connects.
It is horizontally disposed in the linear bearing seat there are two linear bearing, the outer end of two linear bearings is and sensor
The outer wall of box is fixedly connected.
It is connected with bracket base on the mould group slide unit of the lifting sliding table mould group, the bottom end of the rail brackets is fixed
It is connected on bracket base.
The upper transmission strip connecting plate and underdrive connecting plate are fixedly connected on the lateral surface of transmission belt, described
Be provided on the medial surface of transmission belt with the opposite upper transmission plate with pressure of upper transmission strip connecting plate and with lower drive belts connecting plate phase
Pair lower drive belts pressing plate.
The upper transmission strip connecting plate is fixedly installed on the upper end of lifting sliding table mould group.
The small swing arm retarder and big swing arm retarder select planetary reducer.
Advantages of the present invention:
(1), distribution equipment inspection of the present invention mechanism is all set up in above AGV trolley, and when walking does not expose outside car body, and AGV
What trolley was taken is differential turning, even if so that robot in narrow passageway, can detect electrical cabinet；
(2), what main crane assembly of the invention was taken is two-stage hoisting structure, the mould group slide unit lifting of lifting sliding table mould group
Meanwhile camera also goes up and down same height in the transmission for passing through transmission, i.e., the height of upper camera lifting is lifting sliding table
Two times of the mould group slide unit adjustable height of mould group；
(3), the lower camera that the present invention is installed on small swing arm assembly can be swung to below the car body of AGV trolley, reach one
A minimum camera detection position (0.4 meter) so that entire robot can with full face (from top to bottom) to electrical cabinet into
Row inspection；
(4), the upper camera on the main crane assembly of the present invention can also be driven by rotary electric machine rotates, before cooperating AGV trolley
After move, can multi-angle detection comparison is carried out to same electrical cabinet position；
(5), the present invention puts on the sensor unit on arm assembly, is provided with the holddown spring being set on linear bearing, so that
Sensor box can carry out telescopic moving relative to flexible box, and make sensor box be close to electricity under the effect of the elastic force of holddown spring
Gas holder panel accurately measures electrical cabinet discharge scenario and cabinet face temperature with this；
(6), control box top of the invention is additionally provided with wind speed wind direction sensor and smoke sensor device, readily available more electricity
Gas holder inspection information.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention;
Fig. 2 is the structural schematic diagram of the small swing arm assembly of the present invention;
Fig. 3 is the structural schematic diagram that the present invention puts on arm assembly;
Fig. 4 is the portion the A explosive view in Fig. 3;
Fig. 5 is the structural schematic diagram of inventive sensor assembly;
Fig. 6 is the schematic diagram of internal structure of flexible box of the present invention;
Fig. 7 is the structural schematic diagram of the main crane assembly of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
See that Fig. 1, a kind of mobile inspecting rebot of variable distributing apparatus include AGV trolley 1, the control being set on AGV trolley 1
Cabinet 2, puts on arm assembly 4 and main crane assembly 6 at small swing arm assembly 3, and to be connected to the sensor put on arm assembly 4 total
At 5；The top of control cabinet 2 is provided with wind speed wind direction sensor 7, smoke sensor device 8 and indicator light 9；
See that Fig. 2, small swing arm assembly 3 include the small swing arm reducer stent 31 being fixedly installed on 1 upper surface of AGV trolley, set
Be placed on small swing arm reducer stent 31 and driven by small swing arm drive motor 32 small swing arm retarder 33, be connected to small swing arm
Small oscillating arm bracket 34, inner end on 33 horizontal output end of retarder are connected to small swing arm 35 on small oscillating arm bracket 34, Yi Jigu
Surely the lower camera 36 being connected on small 35 outer end of swing arm, small swing arm 35 are mutually hung down with small 33 horizontal output end of swing arm retarder
Directly；
See Fig. 3 and Fig. 4, putting on arm assembly 4 includes the big swing arm reducer stent being fixedly installed on 1 upper surface of AGV trolley
41, the wheeled stand 42 for the U-shaped structure that bottom end is fixed on big swing arm reducer stent 41, be set to big swing arm reducer stent
The big swing arm retarder 44 that drives on 41 and by big swing arm drive motor 43 is connected on big 44 horizontal output end of swing arm retarder
Big oscillating arm bracket 45, inner end be connected to big swing arm 46 on big oscillating arm bracket 45 and transmission and sensor stand, put on
Arm 46 is mutually perpendicular to big 44 horizontal output end of swing arm retarder, and big swing arm 46 is the hollow structure of both ends open, transmission packet
Include lower synchronous pulley 47, upper synchronous pulley 48 and the synchronous belt being wound on lower synchronous pulley 47 and upper synchronous pulley 48
49, lower synchronous pulley 47 is set in the U-lag mouth of wheeled stand 42 and is fixedly connected with wheeled stand 42, and transmission is from putting on
It is passed through in the hollow structure of arm 46,411 inner ring of bearing on upper synchronous pulley 48 is fixedly connected with shaft 410, sensor stand
412 be the supporting plate of two inverted l-shaped structures, and the vertical portion of two supporting plates is respectively fixedly connected in the both ends of the surface of upper synchronous pulley 48
On, the connection of the top of big swing arm 46 is there are two the supporting plate 413 of relatively upper 48 both ends of the surface of synchronous pulley respectively, on upper synchronous pulley
The both ends of shaft 410 are fixedly connected after being each passed through corresponding supporting plate 412 with corresponding supporting plate 413；
See Fig. 5 and Fig. 6, sensor unit 5 includes flexible box 51, the linear bearing seat that is set in 51 internal backplane of flexible box
52, it is horizontally placed in linear bearing seat 52 and reaches two linear bearings 53 outside flexible box 51, be connected to two straight lines
Sensor box 54, two on 53 outer end of bearing are set in the holddown spring 55 on corresponding linear bearing 53 and are arranged
In discharge sensor 56, infrared temperature sensor 57 and jogging sensor 58 in sensor box 54, holddown spring 55, which is located at, to be stretched
Contracting box 51 is outer and both ends are respectively held against the outer wall of flexible box 51 and the outer wall of sensor box 54；
See that Fig. 7, main crane assembly 6 include the module base 61 being fixedly installed on 1 upper surface of AGV trolley, fixed setting
In in module base 61 lifting sliding table mould group 62, be fixedly connected on lifting sliding table mould group 62 mould group slide unit 63 on bracket bottom
Rail brackets 64 that seat, bottom end are fixedly connected on bracket base are connected on 64 lower end of rail brackets by lower bearing
Lower driving wheel 65, is wound in 65 and of lower driving wheel at the upper driving wheel 66 being connected on 64 upper end of rail brackets by upper bearing (metal)
Transmission belt 67 in upper driving wheel 66, upper transmission strip connecting plate 68 and the underdrive connecting plate being fixedly connected on transmission belt 67
69, the vertical lifting guide rail 610 being fixedly installed on rail brackets 64, the lifting being slideably positioned on vertical lifting guide rail 610
Sliding block, the camera bracket 611 being fixedly connected on lifting slider, 612 and of rotary electric machine being set on camera bracket 611
Upper camera 613, upper transmission strip connecting plate 68 are fixedly installed on the upper end of lifting sliding table mould group 62, underdrive connecting plate 69
It is fixedly connected with camera bracket 611, and upper transmission strip connecting plate 68 and underdrive connecting plate 69 are fixedly connected in transmission belt
On 67 lateral surface, the upper transmission with pressure plate 614 opposite with upper transmission strip connecting plate 68 is provided on the medial surface of transmission belt 67
The lower drive belts pressing plate 615 opposite with lower drive belts connecting plate 69, the output end of rotary electric machine 612 straight up and with above take the photograph
As first 613 bottom end is fixedly connected；
Wherein, small swing arm retarder 33 and big swing arm retarder 44 select planetary reducer；
Controller, the driving mechanism of AGV trolley 1, small swing arm drive motor 32, big swing arm drive motor are provided in control cabinet 2
43, the driving mechanism of lifting sliding table mould group 61, rotary electric machine 612 are connect with the control output end of controller, lower camera 36,
Upper camera 613 is connect with the Image Acquisition input terminal of controller, and wind speed wind direction sensor 7, smoke sensor device 8, electric discharge pass
Sensor 56, infrared temperature sensor 57 and jogging sensor 58 are connect with the sensor input of controller, indicator light 9 and control
The indication output end of device processed connects.
The working principle of the invention:
(1), AGV trolley 1 starts, and reaches terrestrial reference card mark position, i.e. arrival electrical cabinet operating position；
(2), small swing arm drive motor 32 rotates forward, and drives the small swing arm 35 on small oscillating arm bracket 34 to rotate, makes 36 turns of lower camera
Then the position below horizontal to 1 upper surface of AGV trolley takes pictures and reads distribution equipment switching status information；
(3), big swing arm drive motor 43 rotates forward, and drives the sensor in the big swing arm 46 and big swing arm 46 on big oscillating arm bracket 45
Assembly 5 rotates, and when jogging sensor 58 touches electrical cabinet, then rotates a fixed angle, keeps discharge sensor 56 complete
It fits on electrical cabinet entirely, discharge sensor 56 and infrared temperature sensor 57 are started to work, and equipment electric discharge and temperature letter are read
Breath；
(4), the driving mechanism of lifting sliding table mould group 61 rotates forward, and mould group slide unit 63 moves up, and rail brackets 64 are relative to lifting sliding table
Mould group 61 moves up, and the lower driving wheel 65 and upper driving wheel 66 being installed on rail brackets 64 move up, and is fixed on lifting sliding table mould group
Upper transmission strip connecting plate 68 on 61 can pull transmission belt 67 to rotate, the underdrive connecting plate being connected on transmission belt 67 at this time
69 pulling camera brackets 611 move up, and move to working position on upper camera 613 to drive, then record electrical cabinet gauge outfit letter
Breath and LED status, then rotary electric machine 612 drives upper camera 613 to rotate forward, and upper camera 613 takes pictures and detects electrical cabinet
Door folding condition, after the completion of detection, rotary electric machine 612 drives upper camera 613 to go back to initial position again；
Above-mentioned steps (2)-(4) carry out simultaneously；
(5), big swing arm drive motor 43 inverts, and drives the sensor in the big swing arm 46 and big swing arm 46 on big oscillating arm bracket 45
Assembly 5 resets；Then AGV trolley 1 starts, and reaches subsequent work position, step (3)-(4) is repeated, until all electrical cabinets patrol
The equal inspection of equipment is examined to complete.
(6), small swing arm drive motor 32 inverts, and big swing arm drive motor 43 inverts, the driving machine of lifting sliding table mould group 61
Structure reversion, make small swing arm assembly 3, put on arm assembly 4, main crane assembly 6 reaches initial position, AGV trolley 1 retracts charging
Position waits next monitoring time.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (9)
1. a kind of mobile inspecting rebot of variable distributing apparatus, it is characterised in that: include AGV trolley, the control being set on AGV trolley
Cabinet small swing arm assembly, puts on arm assembly and main crane assembly, and is connected to the sensor unit put on arm assembly；Institute
The small swing arm assembly stated includes the small swing arm reducer stent being fixedly installed on AGV trolley upper surface, is set to small swing arm
The small swing arm retarder that drives on reducer stent and by small swing arm drive motor is connected to small swing arm retarder horizontal output end
On small oscillating arm bracket, the small swing arm that is connected on small oscillating arm bracket of inner end and under being fixedly connected on small swing arm outer end
Camera, the small swing arm are mutually perpendicular to small swing arm retarder horizontal output end；The arm assembly of putting on includes solid
Surely the big swing arm reducer stent and wheeled stand that are set on AGV trolley upper surface are set on big swing arm reducer stent
And the big swing arm retarder driven by big swing arm drive motor, the big swing arm branch being connected on big swing arm retarder horizontal output end
Frame, inner end are connected to big swing arm on big oscillating arm bracket and transmission and sensor stand, the big swing arm and big swing arm
Retarder horizontal output end is mutually perpendicular to, and the big swing arm is the hollow structure of both ends open, and transmission includes to be fixed on
Lower synchronous pulley, upper synchronous pulley on wheeled stand and the synchronous belt being wound on lower synchronous pulley and upper synchronous pulley,
The transmission is passed through out of big swing arm hollow structure, and the bearing inner race on upper synchronous pulley is fixedly connected with shaft, is turned
The both ends of axis are fixedly connected with the top of big swing arm, and the sensor stand is fixedly connected on synchronous pulley；Described
Sensor unit includes flexible box, the linear bearing seat being set in flexible box internal backplane, is horizontally placed on linear bearing
On seat and reaches the linear bearing outside flexible box, the sensor box being connected on linear bearing outer end, is set in linear bearing
On holddown spring and the discharge sensor, infrared temperature sensor and the jogging sensor that are set in sensor box, it is described
Holddown spring be located at that flexible box is outer and both ends are respectively held against the outer wall of flexible box and the outer wall of sensor box；The main lifting
Frame assembly includes the module base being fixedly installed on AGV trolley upper surface, the lifting being fixedly installed in module base cunning
Platform mould group, the rail brackets being fixedly connected on the mould group slide unit of lifting sliding table mould group are connected to rail brackets by lower bearing
Lower driving wheel on lower end, is wound in lower driving wheel at the upper driving wheel being connected on rail brackets upper end by upper bearing (metal)
It is set with transmission belt, the upper transmission strip connecting plate that is fixedly connected on transmission belt and underdrive connecting plate in upper driving wheel, fixation
The vertical lifting guide rail that is placed on rail brackets, is fixedly connected on liter at the lifting slider being slideably positioned on vertical lifting guide rail
Camera bracket on sliding block, the rotary electric machine and upper camera being set on camera bracket drop, and the upper transmission belt connects
Fishplate bar is fixedly installed in lifting sliding table mould group, and the underdrive connecting plate is fixedly connected with camera bracket, and described turns
The output end of dynamic motor is fixedly connected straight up and with upper camera；Controller is provided in the control cabinet, it is described
The driving mechanism of AGV trolley, small swing arm drive motor, big swing arm drive motor, the driving mechanism of lifting sliding table mould group, rotation electricity
Machine is connect with the control output end of controller, and the lower camera, upper camera are inputted with the Image Acquisition of controller
End connection, the discharge sensor, infrared temperature sensor and jogging sensor connect with the sensor input of controller
It connects.
2. a kind of mobile inspecting rebot of variable distributing apparatus according to claim 1, it is characterised in that: the top of the control cabinet
End is provided with the wind speed wind direction sensor connecting with controller sensor input and smoke sensor device and indicates with controller
The indicator light of output end connection.
3. a kind of mobile inspecting rebot of variable distributing apparatus according to claim 1, it is characterised in that: the wheeled stand is
U-bracket structure, and bottom end is fixed on big swing arm reducer stent, the lower synchronous pulley is set to the U of wheeled stand
It is fixedly connected in shape notch and with wheeled stand.
4. a kind of mobile inspecting rebot of variable distributing apparatus according to claim 1, it is characterised in that: the sensor stand
For the supporting plate of two inverted l-shaped structures, the vertical portion of two supporting plates is respectively fixedly connected in the both ends of the surface of upper synchronous pulley, institute
There are two the supporting plate of the both ends of the surface of relatively upper synchronous pulley respectively, the upper synchronous pulleys for the top connection for the big swing arm stated
The both ends of upper shaft are fixedly connected after being each passed through corresponding supporting plate with corresponding supporting plate.
5. a kind of mobile inspecting rebot of variable distributing apparatus according to claim 1, it is characterised in that: the linear bearing seat
Above horizontally disposed there are two linear bearings, and the outer end of two linear bearings is fixedly connected with the outer wall of sensor box.
6. a kind of mobile inspecting rebot of variable distributing apparatus according to claim 1, it is characterised in that: the lifting sliding table mould
It is connected with bracket base on the mould group slide unit of group, the bottom end of the rail brackets is fixedly connected on bracket base.
7. a kind of mobile inspecting rebot of variable distributing apparatus according to claim 1, it is characterised in that: the upper transmission belt connects
Fishplate bar and underdrive connecting plate be fixedly connected on the lateral surface of transmission belt, be provided on the medial surface of the transmission belt with
The upper transmission opposite upper transmission plate with pressure of strip connecting plate and the lower drive belts pressing plate opposite with lower drive belts connecting plate.
8. a kind of mobile inspecting rebot of variable distributing apparatus according to claim 1, it is characterised in that: the upper transmission belt connects
Fishplate bar is fixedly installed on the upper end of lifting sliding table mould group.
9. a kind of mobile inspecting rebot of variable distributing apparatus according to claim 1, it is characterised in that: the small swing arm is slowed down
Device and big swing arm retarder select planetary reducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810879989.6A CN109038353B (en) | 2018-08-03 | 2018-08-03 | Inspection robot for power transformation and distribution equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810879989.6A CN109038353B (en) | 2018-08-03 | 2018-08-03 | Inspection robot for power transformation and distribution equipment |
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| Publication Number | Publication Date |
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| CN109038353A true CN109038353A (en) | 2018-12-18 |
| CN109038353B CN109038353B (en) | 2020-03-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810879989.6A Active CN109038353B (en) | 2018-08-03 | 2018-08-03 | Inspection robot for power transformation and distribution equipment |
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| CN110034511A (en) * | 2019-04-23 | 2019-07-19 | 国网安徽省电力有限公司电力科学研究院 | A kind of method of the miniature inspection device of cable duct of substation and its long-range monitoring cable duct |
| CN110125901A (en) * | 2019-05-24 | 2019-08-16 | 合肥工业大学 | Operation becomes the robotic device of power distribution cabinet |
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| WO2021077826A1 (en) * | 2019-10-22 | 2021-04-29 | 北京海益同展信息科技有限公司 | Image acquisition apparatus |
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| EP4000819A4 (en) * | 2019-09-10 | 2023-09-06 | Jingdong Technology Information Technology Co., Ltd. | Inspection robot and lifting apparatus thereof |
| CN117506964A (en) * | 2024-01-08 | 2024-02-06 | 江苏骠马智能工业设计研究有限公司 | Split type ground knife structure of operation robot for power distribution cabinet |
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| WO2021077826A1 (en) * | 2019-10-22 | 2021-04-29 | 北京海益同展信息科技有限公司 | Image acquisition apparatus |
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| CN115781703A (en) * | 2022-10-31 | 2023-03-14 | 超聚变数字技术有限公司 | Operation and maintenance robot |
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