CN109129505B - Folded form GIS intracavity overhauls robot - Google Patents
Folded form GIS intracavity overhauls robot Download PDFInfo
- Publication number
- CN109129505B CN109129505B CN201811045192.2A CN201811045192A CN109129505B CN 109129505 B CN109129505 B CN 109129505B CN 201811045192 A CN201811045192 A CN 201811045192A CN 109129505 B CN109129505 B CN 109129505B
- Authority
- CN
- China
- Prior art keywords
- module
- gis
- lead screw
- arc
- body module
- 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.)
- Expired - Fee Related
Links
- 230000033001 locomotion Effects 0.000 claims abstract description 33
- 238000001514 detection method Methods 0.000 claims abstract description 19
- 230000009193 crawling Effects 0.000 claims abstract description 4
- 238000012423 maintenance Methods 0.000 claims description 26
- 238000004140 cleaning Methods 0.000 claims description 18
- 230000007246 mechanism Effects 0.000 claims description 10
- 230000008439 repair process Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000006872 improvement Effects 0.000 description 5
- 230000007547 defect Effects 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Images
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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
Abstract
The utility model provides a folded form GIS intracavity overhauls robot, includes lower part of the body module, upper module and installs left manipulator module and right manipulator module in upper module, and upper module sets up on the lower part of the body module to upper module sets up and passes through screw nut at the lower part of the body module and connect, realizes robot crawling motion and rotary motion, and left manipulator end is provided with the detection instrument that is used for the GIS intracavity, and right manipulator end is provided with the repair burnisher that is used for GIS intracavity trouble surface. The invention has compact integral structure, can adapt to narrow and complex working space in a GIS cavity, can realize stepping rotary motion, stepping motion and robot folding, can enter the GIS cavity through a narrow access hole, and can clean small foreign matters and overhaul in the cavity, reduce overhaul time in the GIS cavity and reduce the loss of industrial and agricultural shutdown.
Description
Technical Field
The invention belongs to the technical field of robots, particularly relates to a GIS (geographic information System) intracavity maintenance robot, and particularly relates to a folding type GIS intracavity maintenance robot.
Background
In recent years, the GIS loading amount is increasing, the annual average growth rate exceeds 13 percent by 2017, the requirements on power supply reliability and safe and stable operation are improved, and GIS combined electrical equipment is increasingly used by all levels of power grids. When the GIS is broken down or detects defects to be disassembled and inspected, the defect position inside the equipment and the defect reason can not be effectively found due to the fact that the length of the tank body is long, the space is small or dead angles exist in part of the equipment, the foreign matters inside the equipment can not be directly cleaned, and the required power failure maintenance time is long and difficult. In recent years, with the rapid development of the robot technology, numerous scholars combine the robot technology with an intracavity mechanical structure, and utilize the characteristics of high motion precision, accurate data acquisition, strong interactivity, small size and the like of the robot to assist or replace workers to complete the overhaul and cleaning in the cavity, and the GIS intracavity overhaul robot is produced accordingly. The GIS intracavity maintenance robot makes up the defects of traditional GIS intracavity maintenance and cleaning to a certain extent.
Chinese utility model patent CN201720144908.9 discloses a survey robot for GIS HGIS pipeline, including track running gear, cloud platform and armored case, but it exists following not enough: the device cannot be applied to a vertically placed GIS cavity; the detection device has no maintenance mechanical arm and cannot detect the top space in the cavity; only the detection function has no repair and cleaning functions, and the maintenance and cleaning integration can not be achieved.
Chinese patent No. cn201610049434.x discloses a flexible self-adaptive support type intracavity detection robot, which comprises a flexible self-adaptive support mechanism, a drive mechanism, a detection mechanism and a camera mechanism, but has the following disadvantages: because the axis in the GIS cavity contains the contact head, the robot cannot adapt to the work in the GIS cavity; the robot can only complete the detection function and has a single function.
Chinese utility model patent CN201620547146.2 discloses a marching type intracavity robot, including two sets of symmetric connection's module group, step motion is realized in turn to two sets of modules, nevertheless has following not enough: the functions of overhauling and cleaning in the GIS cavity are not available; only a single step movement is possible but no rotational movement is possible.
Disclosure of Invention
The invention aims to provide a folding type GIS intracavity maintenance robot.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
the utility model provides a folded form GIS intracavity overhauls robot, includes lower part of the body module, upper body module and installs left manipulator module and right manipulator module in upper body module, and upper body module sets up on the lower part of the body module to upper body module passes through screw nut with lower part of the body module and is connected, realizes robot crawling motion and rotary motion, and left manipulator end is provided with the detection instrument that is used for the GIS intracavity, and right manipulator end is provided with the repair burnisher that is used for GIS intracavity trouble surface.
The invention has the further improvement that the lower body module and the upper body module are both arc-shaped and are major arcs, the lower body module and the upper body module both comprise three parts which are connected together, two adjacent parts of the lower body module are hinged with each other, and two adjacent parts of the upper body module are hinged with each other.
The invention is further improved in that each part of the lower body module comprises a lower module body, a first telescopic cylinder driven robot foot is arranged on the outer edge of the lower module body, a lower body rotating slideway is arranged on the upper surface of the lower module body, a first lead screw nut device is arranged in the lower module body, a lead screw of the first lead screw nut device is fixedly connected with the lower module body, a nut of the first lead screw nut device is connected with the lower body rotating slideway, and when the first lead screw nut device is driven, the lower body rotating slideway and the lower module body can rotate relatively.
The invention has the further improvement that each part of the upper body module comprises an upper supporting plate, the outer wall of the upper supporting plate is provided with a second telescopic cylinder driving type robot foot, and the second cylinder driving type robot foot extends out and is supported on the inner wall of the GIS cavity when the robot crawls and rotates; the upper supporting plate is arranged on the lower body rotating slideway.
The invention is further improved in that a lead screw is arranged on the lower body rotating slideway of each part; the bottom surface of the upper supporting plate is provided with a threaded hole matched with a screw rod on the lower body rotating slideway.
The invention further improves that the left mechanical arm module comprises a second lead screw nut device for driving the left arc-shaped mechanical arm to swing, the left arc-shaped mechanical arm, a detection tool and a first arc-shaped push rod, wherein the second lead screw nut device and the left arc-shaped mechanical arm are arranged on the upper supporting plate, the second lead screw nut device is connected with the left arc-shaped mechanical arm through the first arc-shaped push rod, and the detection tool is arranged at the end part of the left arc-shaped mechanical arm.
The invention has the further improvement that one end of the first arc-shaped push rod is connected with the left arc-shaped mechanical arm, and the other end of the first arc-shaped push rod is connected with the nut of the second lead screw nut device; the left arc-shaped mechanical arm, the first arc-shaped push rod and the second lead screw nut device form a slider-crank mechanism, and the left arc-shaped mechanical arm can be driven to lift through the second lead screw nut device.
The invention is further improved in that the right manipulator module comprises a third lead screw nut device, a right arc-shaped mechanical arm, a second arc-shaped push rod and a GIS repairing and cleaning tool, wherein the third lead screw nut device is used for driving the right arc-shaped mechanical arm to swing, the right arc-shaped mechanical arm is arranged on the upper supporting plate, the third lead screw nut device is connected with the right arc-shaped mechanical arm through the second arc-shaped push rod, and the GIS repairing and cleaning tool is arranged at the tail end of the right arc-shaped mechanical arm.
The invention has the further improvement that one end of the second arc-shaped push rod is connected with the right arc-shaped mechanical arm, and the other end of the second arc-shaped push rod is connected with a nut of the third lead screw nut device; the right side arc-shaped mechanical arm, the second arc-shaped push rod and the third lead screw nut device form a slider-crank mechanism, and the right side arc-shaped mechanical arm can be driven to lift through the third lead screw nut device.
A further improvement of the invention consists in the realization of a step movement: when the robot moves forwards, the first cylinder driven robot foot of the lower body module extends to support the inner wall of the GIS cavity, the second cylinder driven robot foot of the upper body module is in a retraction state, the lead screw of the lower body module rotates, the upper body module moves forwards, the second cylinder driven robot foot of the upper body module extends to support the inner wall of the GIS, and the first cylinder driven robot foot of the lower body module is in a retraction state; the lead screw of the lower body module rotates, and the lower body module moves forwards to complete one-time forward stepping movement; conversely, a backward stepping motion can be accomplished;
implementation of the stepwise rotary motion: when the lower body module rotates clockwise from top to bottom, a first cylinder driven robot foot of the lower body module extends to support the inner wall of a GIS cavity, a second cylinder driven robot foot of the upper body module is in a retraction state, and a lower module body of the lower body module rotates clockwise relative to a lower body rotating slideway under the driving of a first lead screw nut device; the second cylinder driving type robot foot of the upper body module extends outwards to support the inner wall of the GIS, and the first cylinder driving type robot foot of the lower body module is in a retraction state; the lower module body of the lower body module is driven by the first lead screw nut device to rotate anticlockwise relative to the lower body rotating slideway, so that one-time clockwise stepping rotation is completed, and the anticlockwise stepping rotation can be completed on the contrary.
Compared with the prior art, the invention has the beneficial effects that:
according to the folding type GIS intracavity maintenance robot, after the mechanical arm is retracted, the robot can be unfolded through the connecting part by the lower body module and the upper body module, so that the function of entering the GIS cavity from a narrow maintenance hole can be realized; to current GIS cavity internal robot can not realize at vertical intracavity motion, can't pass through the inner line cross section 8 of intracavity, can't get into the GIS intracavity through the access hole, traditional machinery body and arm can't adapt to the environment that the narrow and small space in GIS intracavity is complicated etc. not enough, use this maintenance robot, thereby can shorten GIS's maintenance time greatly and reduce the power off time, reduce the loss of industrial and agricultural production shut down, because more trouble can all be overhauld by the robot, can reduce the number of times that GIS disintegrates and overhauls, the efficiency that GIS maintained is improved. Because the three parts of robot are incomplete and the ring structures that are articulated each other, so can adapt to the environment that contains mechanical structure in the GIS intracavity, simultaneously, open structure can pass through the junction of GIS intracavity circuit to reach all positions in the GIS intracavity. The cylinder driving type robot foot adopting the lower body module and the upper body module alternately stretches, the requirement that the robot moves in vertical and horizontal GIS cavities can be met by matching with the work of the lead screw nut, and meanwhile, the rotary motion of the robot can be achieved through the rotary module of the lower body module. By adopting the working mode of the two mechanical arms, the left arc-shaped mechanical arm can realize visual detection in the GIS cavity, and the right arc-shaped mechanical arm can realize repair of contacts in the GIS cavity and cleaning in the GIS cavity. The invention has compact integral structure, can adapt to narrow and complex working space in a GIS cavity, can realize stepping rotary motion, stepping motion and robot folding, can enter the GIS cavity through a narrow access hole, and can clean small foreign matters and overhaul in the cavity, reduce overhaul time in the GIS cavity and reduce the loss of industrial and agricultural shutdown.
Furthermore, the arc-shaped mechanical arm and the arc-shaped push rod can adapt to the narrow and complex work space of the GIS.
Further, the mechanical arm adopting the structure is matched with the rotation and the movement of the robot body, and the end effector can reach any position in the space.
Drawings
FIG. 1 is a schematic diagram of a folded GIS intracavity maintenance robot of the present invention in a GIS chamber;
FIG. 2 is a schematic diagram of the unfolding state of the folding type GIS intracavity maintenance robot of the invention;
FIG. 3 is a schematic view of the working form of the folding GIS intracavity maintenance robot of the present invention;
FIG. 4 is an overall schematic view of the folding type GIS intracavity maintenance robot of the present invention;
FIG. 5 is a schematic view of a lower body module of the folding GIS intracavity overhaul robot of the present invention;
FIG. 6 is a schematic diagram of an upper module of the folding GIS intracavity overhaul robot of the invention;
FIG. 7 is a schematic diagram of a left manipulator module of the folding GIS intracavity maintenance robot of the present invention;
FIG. 8 is a schematic diagram of a right manipulator module of the folding GIS intracavity maintenance robot of the present invention;
in the figure:
1 is a lower body module, 101 is a lower body rotating slideway, 102 is a lower module body, 103 is a first lead screw nut device, 104 is a lead screw, and 105 is a first cylinder driving type robot foot;
2, an upper module, 201 an upper supporting plate, 202 a second cylinder driving type robot foot and 203 a threaded hole;
3, a left manipulator module, 301 a second lead screw nut device, 302 a left arc-shaped mechanical arm, 303 a first arc-shaped push rod and 304 a detection tool;
and 4, a right manipulator module, 401, a third lead screw nut device, 402, a second arc-shaped push rod, 403, a right arc-shaped mechanical arm and 404, wherein the GIS repairing and cleaning tool is a GIS repairing and cleaning tool.
5 is the robot, 6 is the GIS intracavity wall, 7 is internal mechanical structure, 8 is the internal line crossing, 9 is the explosion chamber.
Detailed Description
The invention is described in detail below with reference to the accompanying drawings so that the advantages and features of the invention will be more readily understood by those skilled in the art, and the scope of the invention will be clearly and clearly defined.
Referring to fig. 4, the foldable GIS intracavity maintenance robot provided by the invention comprises a lower body module 1, an upper body module 2, and a left manipulator module 3 and a right manipulator module 4 which are mounted on the upper body module 2, wherein the upper body module 2 is arranged on the lower body module 1, the upper body module 2 and the lower body module 1 are connected and driven by a screw nut to realize crawling motion and rotating motion of the robot, a detection tool 304 for a GIS intracavity is arranged at the tail end of the left manipulator, and a repair cleaning tool 404 for a fault surface in the GIS intracavity is arranged at the tail end of the right manipulator.
Referring to fig. 3, the lower body module 1 and the upper body module 2 are both arc-shaped and are major arcs, the lower body module 1 and the upper body module 2 are three parts connected together, two adjacent parts of the lower body module 1 are hinged with each other, and two adjacent parts of the upper body module 2 are hinged with each other, so as to meet the complex environment operation in the narrow space in the GIS cavity and the function of entering the GIS cavity from the narrow access hole.
Since the two adjacent sections are hinged to each other, when the three sections are unfolded, see fig. 2, and when the three sections are combined, see fig. 3.
Referring to fig. 5, each part of the lower module 1 includes a lower module body 102, a first cylinder-driven robot foot 105 is disposed on an outer edge of the lower module body 102, a lower body rotating slideway 101 is disposed on an upper surface of the lower module body 102, a first lead screw nut device 103 is disposed in the lower module body 102, a lead screw of the first lead screw nut device 103 is fixedly connected with the lower module body 102, a nut of the first lead screw nut device 103 is connected with the lower body rotating slideway 101, and when the first lead screw nut device 103 is driven, the lower body rotating slideway 101 and the lower module body 102 can rotate relatively. A lead screw 104 is provided on the lower body rotating chute 101 of each section.
The lower module body 102 and the lower body rotary slideway 101 form a sliding pair, the lower module body 102 is driven to rotate by the first lead screw nut device 103, and the lower module body 102 can rotate relative to the lower body rotary slideway 101. Each part of the outer edge of the lower body module 1 is provided with a first telescopic cylinder driving type robot foot 105, and the first cylinder driving type robot foot 105 extends out and is supported on the inner wall of a GIS cavity when the robot crawls and rotates;
referring to fig. 6, since the three parts of the upper body module 2 are hinged, the three parts of the upper body module 2 can be folded; each part of the upper body module 2 comprises an upper support plate 201, the outer wall of the upper support plate 201 is provided with a second telescopic cylinder driven type robot foot 202, and the second cylinder driven type robot foot 202 extends out and is supported on the inner wall of a GIS cavity when the robot crawls and rotates; the upper support plate 201 is provided on the lower body rotation chute 101. The bottom surface of the upper supporting plate 201 is provided with a threaded hole 203 matched with the screw 104 on the lower body rotating slideway 101.
Referring to fig. 7, the left manipulator module 3 includes a second lead screw nut device 301 for driving the left arc-shaped mechanical arm 302 to swing, a left arc-shaped mechanical arm 302, a detection tool 304 and a first arc-shaped push rod 303, wherein the second lead screw nut device 301 and the left arc-shaped mechanical arm 302 are disposed on the upper support plate 201, the second lead screw nut device 301 and the left arc-shaped mechanical arm 302 are connected through the first arc-shaped push rod 303, specifically, one end of the first arc-shaped push rod 303 is connected to the left arc-shaped mechanical arm 302, and the other end is connected to a nut of the second lead screw nut device 301. Left side arc arm 302 and first arc push rod 303 all adopt the arc structure in order to adapt to the narrow and small space of GIS and accomplish complicated intracavity operation, left side arc arm 302, slider-crank mechanism is constituteed to first arc push rod 303 and second lead screw nut device 301, wherein, left side arc arm 302 is the crank, first arc push rod 303 is the connecting rod, the nut of second lead screw nut device 301 is the slider, and the crank, through ball hinged joint between connecting rod and the slider three, rely on the lift that left side arc arm 302 can be realized in the drive of second lead screw nut device 301. The inspection tool 304 is disposed at the end of the left arc robot arm 302.
Referring to fig. 8, the right manipulator module 4 includes a third screw nut device 401 for driving the right arc-shaped mechanical arm 403 to swing, a right arc-shaped mechanical arm 403, a second arc-shaped push rod 402 and a GIS repairing and cleaning tool 404, wherein the third screw nut device 401 and the right arc-shaped mechanical arm 403 are disposed on the upper support plate 201, the third screw nut device 401 and the right arc-shaped mechanical arm 403 are connected through the second arc-shaped push rod 402, specifically, one end of the second arc-shaped push rod 402 is connected to the right arc-shaped mechanical arm 403, and the other end is connected to a nut disposed on the third screw nut device 401. Right side arc arm 403 and second arc push rod 402 all adopt the arc structure in order to adapt to the narrow and small space of GIS and accomplish complicated intracavity operation, right side arc arm 403, slider-crank mechanism is constituteed to second arc push rod 402 and third screw nut device 401, wherein, right side arc arm 403 is the crank, second arc push rod 402 is the connecting rod, the nut of third screw nut device 401 is the slider, and the crank, connecting rod and slider three are through ball hinged joint, rely on the lift that right side arc arm 403 can be realized to the drive of third screw nut device 401, GIS repairs burnisher 404 and installs at right side arc arm 403 terminal.
Referring to fig. 2, the foldable GIS intracavity maintenance robot provided by the invention can conveniently enter a GIS cavity from a maintenance hole with a narrow space after being unfolded.
Referring to fig. 1, the robot 5 of the present invention can be manufactured on the GIS cavity inner wall 6 by the first cylinder-driven robot leg 105 and the second cylinder-driven robot leg 202, and is located outside the arc-extinguishing chamber 9 and the internal mechanical structure 7, and because it is arc-shaped and not circular, the internal line intersection 8 in the GIS cavity can be avoided. Namely, the obstacle can be reasonably avoided through rotation so as to move to any position in the GIS cavity.
The working process of the invention is as follows:
the implementation of the step motion of the invention: when the robot moves forward, the first cylinder driven robot leg 105 of the lower body module 1 extends to support the inner wall of the GIS cavity, the second cylinder driven robot leg 202 of the upper body module 2 is in a retraction state, the lead screw 104 of the lower body module 1 rotates, the upper body module 2 moves forward, the second cylinder driven robot leg 202 of the upper body module 2 extends to support the inner wall of the GIS, and the first cylinder driven robot leg 105 of the lower body module 1 is in a retraction state. The lead screw 104 of the lower body module 1 rotates, and the lower body module 1 moves forward to complete one forward stepping movement. Instead a backward stepping movement can be accomplished.
The implementation of the step-by-step rotary motion of the invention: when the lower body module 1 rotates clockwise from top to bottom, the first cylinder driven robot foot 105 of the lower body module 1 extends to support the inner wall of the GIS cavity, the second cylinder driven robot foot 202 of the upper body module 2 is in a retraction state, and the lower module body 102 of the lower body module 1 rotates clockwise relative to the lower body rotating slideway 101 under the driving of the first lead screw nut device 103; the second cylinder driven robot foot 202 of the upper body module 2 extends to support the inner wall of the GIS, and the first cylinder driven robot foot 105 of the lower body module 1 is in a retraction state. The lower module body 102 of the lower body module 1 is driven by the first lead screw nut device 103 to rotate counterclockwise relative to the lower body rotating slideway 101, and completes one clockwise stepping rotation and can complete counterclockwise stepping rotation on the contrary.
The realization of the manipulator operation of the invention: the second lead screw nut device 301 of the left manipulator module 3 drives to complete the lifting of the left arc-shaped manipulator 302, and the detection tool 304 rotates to realize 360-degree visual detection in the cavity; and the third lead screw nut device 401 of the right manipulator module 4 drives to complete the lifting of the right arc-shaped mechanical arm 403, and the repairing and cleaning of the contact are realized through a GIS repairing and cleaning tool 404.
The invention enters the cavity from the access hole to realize that: the incomplete ring structure of lower part of the body module 1 and upper module 2 can make the robot body realize folding, send into the GIS chamber with the robot through the access hole after, the robot body is outer along pressing close to behind the GIS inner wall, and the robot resumes operating condition, forms incomplete ring shape.
The invention discloses a folding type GIS (geographic information System) intracavity maintenance robot which comprises an upper body module, a lower body module, a left manipulator module and a right manipulator module. The upper body module can support the inner wall of the GIS, realize rotation of the robot body and realize folding of the robot body; the upper module can realize the support of the inner wall in the GIS cavity; the left manipulator module can realize visual detection in the GIS cavity; and the right manipulator module can realize polishing and repairing of contacts in the GIS cavity and cleaning of small foreign matters. The invention has compact integral structure, can adapt to narrow and complex working space in a GIS cavity, can realize stepping rotary motion, stepping motion and robot folding, can enter the GIS cavity through a narrow access hole, and can clean small foreign matters and overhaul in the cavity, reduce overhaul time in the GIS cavity and reduce the loss of industrial and agricultural shutdown.
The foregoing illustrates and describes the principles, essential features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the appended claims.
The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. A folding type GIS (geographic information System) intracavity maintenance robot is characterized by comprising a lower body module (1), an upper body module (2), a left manipulator module (3) and a right manipulator module (4) which are arranged on the upper body module (2), wherein the upper body module (2) is arranged on the lower body module (1), the upper body module (2) is connected with the lower body module (1) through a lead screw nut to realize crawling motion and rotating motion of the robot, a detection tool (304) used in a GIS cavity is arranged at the tail end of a left manipulator, and a GIS repairing and cleaning tool (404) used for a GIS cavity inner fault surface is arranged at the tail end of a right manipulator;
the lower body module (1) and the upper body module (2) are both arc-shaped and are major arcs, the lower body module (1) and the upper body module (2) both comprise three parts which are connected together, two adjacent parts of the lower body module (1) are hinged with each other, and two adjacent parts of the upper body module (2) are hinged with each other;
each part of the lower body module (1) comprises a lower module body (102), a first telescopic cylinder-driven robot foot (105) is arranged on the outer edge of the lower module body (102), a lower body rotating slideway (101) is arranged on the upper surface of the lower module body (102), a first lead screw nut device (103) is arranged in the lower module body (102), a lead screw of the first lead screw nut device (103) is fixedly connected with the lower module body (102), a nut of the first lead screw nut device (103) is connected with the lower body rotating slideway (101), and when the first lead screw nut device (103) is driven, the lower body rotating slideway (101) and the lower module body (102) can rotate relatively.
2. The folding type GIS intracavity maintenance robot as claimed in claim 1, wherein each part of the upper body module (2) comprises an upper support plate (201), a second cylinder driven type robot foot (202) which can be extended and retracted is arranged on the outer wall of the upper support plate (201), and the second cylinder driven type robot foot (202) is extended and supported on the inner wall of the GIS cavity when the robot crawls and rotates; the upper supporting plate (201) is arranged on the lower body rotating slideway (101).
3. The folding GIS intracavity service robot as claimed in claim 2, wherein a lead screw (104) is provided on the lower body rotating chute (101) of each section; the bottom surface of the upper supporting plate (201) is provided with a threaded hole (203) matched with a screw rod (104) on the lower body rotating slideway (101).
4. The folding type GIS intracavity maintenance robot as claimed in claim 3, wherein the left manipulator module (3) comprises a second lead screw nut device (301) for driving the left arc-shaped mechanical arm (302) to swing, the left arc-shaped mechanical arm (302), a detection tool (304) and a first arc-shaped push rod (303), wherein the second lead screw nut device (301) and the left arc-shaped mechanical arm (302) are arranged on the upper supporting plate (201), the second lead screw nut device (301) is connected with the left arc-shaped mechanical arm (302) through the first arc-shaped push rod (303), and the detection tool (304) is arranged at the end of the left arc-shaped mechanical arm (302).
5. The folded GIS intracavity service robot as claimed in claim 4 wherein the first arc push rod (303) has one end connected to the left arc mechanical arm (302) and the other end connected to the nut of the second lead screw nut device (301); the left arc-shaped mechanical arm (302), the first arc-shaped push rod (303) and the second lead screw nut device (301) form a slider-crank mechanism, and the left arc-shaped mechanical arm (302) can be driven to lift through the second lead screw nut device (301).
6. The folding type GIS intracavity maintenance robot as claimed in claim 4, wherein the right manipulator module (4) comprises a third lead screw nut device (401) for driving the right arc-shaped mechanical arm (403) to swing, a right arc-shaped mechanical arm (403), a second arc-shaped push rod (402) and a GIS repairing and cleaning tool (404), wherein the third lead screw nut device (401) and the right arc-shaped mechanical arm (403) are arranged on the upper support plate (201), the third lead screw nut device (401) and the right arc-shaped mechanical arm (403) are connected through the second arc-shaped push rod (402), and the GIS repairing and cleaning tool (404) is arranged at the tail end of the right arc-shaped mechanical arm (403).
7. The folded GIS intracavity service robot as claimed in claim 6 wherein the second arc push rod (402) has one end connected to the right arc mechanical arm (403) and the other end connected to the nut of the third lead screw nut device (401); the right arc-shaped mechanical arm (403), the second arc-shaped push rod (402) and the third lead screw nut device (401) form a slider-crank mechanism, and the right arc-shaped mechanical arm (403) can be driven to lift through the third lead screw nut device (401).
8. The folded GIS intracavity service robot of claim 7,
and (3) realizing stepping motion: when the robot moves forward, a first cylinder driven robot foot (105) of the lower body module (1) extends to support the inner wall of a GIS cavity, a second cylinder driven robot foot (202) of the upper body module (2) is in a retraction state, a lead screw (104) of the lower body module (1) rotates, the upper body module (2) moves forward, the second cylinder driven robot foot (202) of the upper body module (2) extends to support the inner wall of the GIS, and the first cylinder driven robot foot (105) of the lower body module (1) is in the retraction state; the lead screw (104) of the lower body module (1) rotates, and the lower body module (1) moves forwards to complete one-time forward stepping movement; conversely, a backward stepping motion can be accomplished;
implementation of the stepwise rotary motion: when the lower body module (1) rotates clockwise from top to bottom, a first cylinder driven robot foot (105) of the lower body module (1) extends to support the inner wall of a GIS cavity, a second cylinder driven robot foot (202) of the upper body module (2) is in a retraction state, and a lower module body (102) of the lower body module (1) rotates clockwise relative to a lower body rotating slideway (101) under the driving of a first lead screw nut device (103); a second cylinder driven robot foot (202) of the upper body module (2) extends out to support the inner wall of the GIS, and a first cylinder driven robot foot (105) of the lower body module (1) is in a retraction state; the lower module body (102) of the lower body module (1) is driven by the first lead screw nut device (103) to rotate anticlockwise relative to the lower body rotating slideway (101) to complete clockwise stepping rotation, and conversely, the lower module body can complete anticlockwise stepping rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811045192.2A CN109129505B (en) | 2018-09-07 | 2018-09-07 | Folded form GIS intracavity overhauls robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811045192.2A CN109129505B (en) | 2018-09-07 | 2018-09-07 | Folded form GIS intracavity overhauls robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109129505A CN109129505A (en) | 2019-01-04 |
| CN109129505B true CN109129505B (en) | 2020-07-28 |
Family
ID=64823837
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811045192.2A Expired - Fee Related CN109129505B (en) | 2018-09-07 | 2018-09-07 | Folded form GIS intracavity overhauls robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109129505B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109746931A (en) * | 2019-03-13 | 2019-05-14 | 厦门中高智能电器科学研究院有限公司 | A kind of polymorphic type foreign matter removing robot towards GIS cavity |
| CN110308344B (en) * | 2019-06-19 | 2021-12-03 | 深圳供电局有限公司 | Detection robot |
| CN115240687B (en) * | 2022-06-30 | 2024-08-30 | 国网安徽省电力有限公司电力科学研究院 | GIS voiceprint signal acquisition device |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| MY181795A (en) * | 2008-04-30 | 2021-01-07 | Total Marine Tech Pty Ltd | Underwater pipe monitoring apparatus |
| CN201615316U (en) * | 2010-02-24 | 2010-10-27 | 罗勇 | Pipeline inner wall crawling device |
| KR101231910B1 (en) * | 2011-07-13 | 2013-02-08 | 한국전력기술 주식회사 | Inspecting apparatus for pipelines and inspecting method using the same |
| CN106314583B (en) * | 2016-09-18 | 2018-11-30 | 三峡大学 | Articulated type pole-climbing detects robot |
| CN106737621B (en) * | 2016-12-30 | 2019-12-13 | 河南理工大学 | Composite robot for climbing pole by using auxiliary rod |
| CN107064297B (en) * | 2017-02-15 | 2017-11-14 | 东北石油大学 | A kind of open endless tube is creeped detection means |
| CN107166135B (en) * | 2017-06-30 | 2019-04-19 | 广船国际有限公司 | A kind of pipeline inter-process device |
| CN107271571B (en) * | 2017-07-31 | 2019-08-02 | 浙江海洋大学 | A kind of pipeline outside weld detection device |
-
2018
- 2018-09-07 CN CN201811045192.2A patent/CN109129505B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN109129505A (en) | 2019-01-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109129505B (en) | Folded form GIS intracavity overhauls robot | |
| CN102227973B (en) | End effector of ball-like fruit picking robot | |
| CN204578631U (en) | A kind of can the ball-shaped camera cover of automated cleaning | |
| CN102490174B (en) | Mechanical arm with frame-type extension arm | |
| KR20220019618A (en) | A car washing robot based manipulator | |
| CN205129842U (en) | Many articulated mechanism of level | |
| CN105673310A (en) | Multi-dimensional floater type parallel ocean power generation device | |
| CN110340899A (en) | A overhaul robot for oil-immersed transformer | |
| CN105082169A (en) | Large-tolerance mini-sized end effector having electromechanical output function | |
| CN106217389A (en) | A kind of monitoring camera clean robot | |
| CN108161917B (en) | A snakelike arm for shield constructs blade disc and detects | |
| CN109333510B (en) | Coordinate type zero-coupling parallel mechanism for translating two rotating balls | |
| CN209022101U (en) | A kind of robot wrist structure of motor direct-drive end effector | |
| CN113594950B (en) | Uninterrupted remote intelligent inspection equipment for converter station site | |
| CN107338752A (en) | A kind of space connecting-rod formula refuse cleaner | |
| CN109404735A (en) | A kind of pipeline exploration soft robot with cleaning structure | |
| CN109732565B (en) | 3-RPaRR-3-RRPaR mechanism capable of three-dimensional translation | |
| CN212407978U (en) | Chemical pipeline high pressure cleaning mobile device | |
| CN114406557A (en) | Welding equipment for assembly type building | |
| CN108161927A (en) | A kind of robot arm | |
| CN210452804U (en) | Swing mechanical arm for oil well maintenance | |
| CN210358262U (en) | Automatic cleaning device of welding gun head of welding robot | |
| CN209269574U (en) | A kind of sweeping robot | |
| CN209648737U (en) | A kind of assembling processing integrated mechanical hand | |
| CN218965424U (en) | Intelligent inspection robot with high station flexibility |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200728 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |