CN110768150A - Anti-falling power inspection robot - Google Patents
Anti-falling power inspection robot Download PDFInfo
- Publication number
- CN110768150A CN110768150A CN201911112988.XA CN201911112988A CN110768150A CN 110768150 A CN110768150 A CN 110768150A CN 201911112988 A CN201911112988 A CN 201911112988A CN 110768150 A CN110768150 A CN 110768150A
- Authority
- CN
- China
- Prior art keywords
- vehicle body
- rod
- inspection robot
- servo motor
- lead screw
- 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.)
- Granted
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Abstract
The invention discloses a tilting-prevention electric power inspection robot which comprises a vehicle body, wherein traveling wheels for driving the vehicle body to run are arranged below the vehicle body, a hinged frame is arranged at the upper end of the vehicle body, and a monitoring camera is arranged on the hinged frame; a connecting rod is fixed on the side wall of the vehicle body, a supporting rod is hinged to the outer end of the connecting rod, an installation groove with an opening in the outer end is formed in the inner wall of the vehicle body, a servo motor is arranged in the installation groove, an output shaft of the servo motor is fixedly connected with a lead screw, a nut is connected to the lead screw in a threaded fit manner, a pushing rod is hinged to one side of the nut, and the other end of the pushing rod is hinged to the middle of the supporting rod; the servo motor is used for intermittently rotating forwards and backwards and is used for intermittently pushing out and retracting the supporting rod. The invention can support and align the toppled inspection robot, prevent the inspection robot from being in a toppled state, facilitate the inspection of the inspection robot, facilitate the use and improve the operation effect.
Description
The technical field is as follows:
the invention relates to the technical field of inspection robots, in particular to a tilting-prevention power inspection robot.
Background art:
in recent years, with the continuous development of comprehensive technologies such as computers, automatic control, sensing detection, precision machinery and the like, in the process of multidisciplinary cross fusion, the research of robot technology has made a great breakthrough, and the use of robots to replace human work has become a historical inevitable trend. Under the condition of insufficient labor resources caused by aging of population, part of high-risk industries face the problem of labor shortage, and the application of robots in special fields is forced to become more urgent. The inspection robot is a device for performing all-weather inspection, data acquisition, video monitoring, temperature and humidity measurement and air pressure detection on the power transmission and transformation equipment, and improves the safe operation of the equipment in the power transmission and transformation station. When the transformer substation inspection robot is used, the cameras are symmetrically arranged at the top of the device to monitor the power transmission and transformation equipment.
When the inspection robot monitors the power transmission and transformation equipment, the inspection robot is easily blown down by wind or other objects knock down, and the existing inspection robot cannot stand after dumping, so that great inconvenience is brought to inspection and inspection for use.
The invention content is as follows:
the invention aims to solve the technical problems that the existing inspection robot cannot stand after toppling over and brings great inconvenience to inspection and utilization, and provides an anti-toppling power inspection robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
a falling-proof electric power inspection robot comprises a vehicle body, wherein traveling wheels for driving the vehicle body to run are arranged below the vehicle body, a hinged frame is arranged at the upper end of the vehicle body, and a monitoring camera is arranged on the hinged frame; a connecting rod is fixed on the side wall of the vehicle body, a supporting rod is hinged to the outer end of the connecting rod, an installation groove with an opening in the outer end is formed in the inner wall of the vehicle body, a servo motor is arranged in the installation groove, an output shaft of the servo motor is fixedly connected with a lead screw, a nut is connected to the lead screw in a threaded fit manner, a pushing rod is hinged to one side of the nut, and the other end of the pushing rod is hinged to the middle of the supporting rod; the servo motor is used for intermittently rotating forwards and backwards and is used for intermittently pushing out and retracting the supporting rod.
Furthermore, servo motor's output shaft fixed connection is in the one end of shaft coupling, the other end and the lead screw fixed connection of shaft coupling, be close to servo motor one side in the mounting groove and be equipped with the backup pad, open the through-hole in the backup pad, the card has the bearing in the through-hole, being close to servo motor one end outer wall of lead screw is equipped with one section polished rod, the bearing is worn to overlap on the polished rod.
Furthermore, the upper side and the lower side of the mounting groove are provided with guide grooves, the length direction of the guide grooves is consistent with the axis direction of the screw rod, the upper side and the lower side of the nut are provided with guide columns, and the guide columns are embedded in the guide grooves in a clamping mode and can slide along the guide grooves.
Further, the lower extreme of bracing piece is equipped with the recess, it has the gyro wheel to articulate in the recess, the diameter of gyro wheel is greater than the diameter of bracing piece.
Furthermore, the side walls around the vehicle body are uniformly provided with connecting rods.
Furthermore, the connecting rod, the supporting rod, the screw rod and the pushing rod are all made of stainless steel materials.
The invention provides a tilting-prevention power inspection robot which has the following beneficial effects: patrol and examine the robot at the operation in-process, servo motor intermittent type is just reversing to drive the lead screw rotatory to make a round trip to rotate the nut drive, the nut promotes the bracing piece through the pushing rod and makes a round trip to outwards release or withdraw, through release the bracing piece intermittent type with withdraw can support the robot of patrolling and examining of empting and just, prevent to patrol and examine the robot and be in and empty the state, make things convenient for its inspection of patrolling and examining, facilitate the use improves the operation effect.
Description of the drawings:
the following detailed description of embodiments of the invention is provided in conjunction with the appended drawings:
FIG. 1 is a schematic structural view of an anti-falling power inspection robot provided by the invention;
FIG. 2 is a partial structural view of the portion A in FIG. 1;
fig. 3 is a schematic structural view of an opening state of a support rod in the anti-falling power inspection robot provided by the invention.
The reference numbers in the figures illustrate: 1-vehicle body, 11-road wheel, 12-hinged frame, 13-mounting groove, 131-guide groove, 2-monitoring camera, 3-connecting rod, 4-supporting rod, 41-roller, 5-servo motor, 51-coupler, 6-screw rod, 7-nut, 71-guide column, 8-pushing rod and 9-supporting plate.
The specific implementation mode is as follows:
it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up-down-left-right-front-back … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components in a specific posture (as shown in the figure) -motion situation, etc., and if the specific posture is changed, the directional indicators are changed accordingly, and the connection may be a direct connection or an indirect connection.
As shown in fig. 1, 2 and 3, the anti-falling power inspection robot comprises a vehicle body 1, wherein traveling wheels 11 for driving the vehicle body 1 to run are arranged below the vehicle body 1, a hinged frame 12 is arranged at the upper end of the vehicle body 1, and a monitoring camera 2 is arranged on the hinged frame 12; a connecting rod 3 is fixed on the side wall of the vehicle body 1, a supporting rod 4 is hinged to the outer end of the connecting rod 3, an installation groove 13 with an open outer end is formed in the inner wall of the vehicle body 1, a servo motor 5 is arranged in the installation groove 13, an output shaft of the servo motor 5 is fixedly connected with a lead screw 6, a nut 7 is connected onto the lead screw 6 in a threaded fit manner, a pushing rod 8 is hinged to one side of the nut 7, and the other end of the pushing rod 8 is hinged to the middle of the supporting rod 4; the servo motor 5 is used for intermittent forward and backward rotation for intermittently pushing out and retracting the support rod 4.
Adopt above-mentioned technical scheme, the robot of patrolling and examining is at the operation in-process, and servo motor 5 intermittent type is just reversing to rotate and drive lead screw 6 rotatory to make a round trip to rotatory 7 drives the nut, nut 7 promotes bracing piece 4 through pushing the pole 8 and makes a round trip to outwards release or withdraw, through releasing bracing piece 4 intermittent type and withdrawing can support the robot of patrolling and examining of empting and return just, prevents to patrol and examine the robot and be in and empty the state, makes things convenient for its inspection of patrolling and examining, facilitates the use, improves the operation effect.
Specifically, output shaft fixed connection of servo motor 5 is in the one end of shaft coupling 51, the other end and the 6 fixed connection of lead screw of shaft coupling 51, it is equipped with backup pad 9 to be close to servo motor 5 one side in mounting groove 13, open in the backup pad 9 and be equipped with the through-hole, the inlay card has the bearing in the through-hole, be close to servo motor 5 one end outer wall of lead screw 6 and be equipped with one section polished rod, the bearing is worn to overlap on the polished rod. Support lead screw 6 through backup pad 9, be connected through the shaft coupling between servo motor 5 and the lead screw 6, reduce the gravity of lead screw 6 and pass 8 effort and produce radial moment of torsion to servo motor 5, avoid causing the harm to servo motor 5, improve the persistence of device operation.
Specifically, the upper and lower sides of the mounting groove 13 are provided with guide grooves 131, the length direction of the guide grooves 131 is consistent with the axial direction of the screw 6, the upper and lower sides of the nut 7 are provided with guide posts 71, and the guide posts 71 are embedded in the guide grooves 131 and can slide along the guide grooves 131. The guide post 71 is matched with the guide groove 131 for guiding movement, so that the lead screw 6 is prevented from being stressed and deviated; and the screw rod 6 is supported by the guide post 71 in the movement process of the nut 7, so that the screw rod can be prevented from being bent in a suspension manner, and the structure stability is improved.
Specifically, the lower extreme of bracing piece 4 is equipped with the recess, it has gyro wheel 41 to articulate in the recess, the diameter of gyro wheel 41 is greater than the diameter of bracing piece 4. The roller 41 is in contact with the ground and moves in a rolling mode, so that the resistance between the pushing rod 8 and the ground when the pushing rod 8 is pushed out is reduced, and the pushing rod 8 is convenient to push out to centralize the vehicle body.
Specifically, the connecting rods 3 are uniformly arranged on the peripheral side walls of the vehicle body 1. The periphery is arranged to prevent falling in multiple directions all around.
Specifically, the connecting rod 3, the supporting rod 4, the screw rod 6 and the pushing rod 8 are all made of stainless steel materials. Prevent that the structure from rustting, keep the structure operation effective.
The foregoing shows and describes the general principles, essential features, and inventive features of this 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 invention as claimed. The scope of the invention is to be protected by the following claims and their equivalents.
Claims (6)
1. The utility model provides a robot is patrolled and examined to power of preventing falling which characterized in that: the monitoring camera comprises a vehicle body (1), wherein traveling wheels (11) for driving the vehicle body (1) to run are arranged below the vehicle body (1), a hinged frame (12) is arranged at the upper end of the vehicle body (1), and a monitoring camera (2) is erected on the hinged frame (12); be fixed with connecting rod (3) on the lateral wall of automobile body (1), the outer end of connecting rod (3) articulates there is bracing piece (4), set up open mounting groove (13) in outer end on automobile body (1) inner wall, be equipped with servo motor (5) in mounting groove (13), the output shaft fixedly connected with lead screw (6) of servo motor (5), be connected with nut (7) through screw-thread fit on lead screw (6), one side of nut (7) articulates there is transition pole (8), the other end of transition pole (8) articulates the middle part at bracing piece (4).
2. The anti-falling power inspection robot according to claim 1, characterized in that: the output shaft fixed connection of servo motor (5) is in the one end of shaft coupling (51), the other end and lead screw (6) fixed connection of shaft coupling (51), it is equipped with backup pad (9) to be close to servo motor (5) one side in mounting groove (13), open in backup pad (9) and be equipped with the through-hole, the card has the bearing in the through-hole, be equipped with one section polished rod on being close to servo motor (5) one end outer wall of lead screw (6), the cover is worn on the polished rod to the bearing.
3. The anti-falling power inspection robot according to claim 1, characterized in that: the upper side and the lower side of the mounting groove (13) are provided with guide grooves (131), the length direction of the guide grooves (131) is consistent with the axial direction of the screw rod (6), the upper side and the lower side of the nut (7) are provided with guide columns (71), and the guide columns (71) are embedded in the guide grooves (131) in a clamping mode and can slide along the guide grooves (131).
4. The anti-falling power inspection robot according to claim 1, characterized in that: the lower extreme of bracing piece (4) is equipped with the recess, it has gyro wheel (41) to articulate in the recess, the diameter of gyro wheel (41) is greater than the diameter of bracing piece (4).
5. The anti-falling power inspection robot according to claim 1, characterized in that: and the connecting rods (3) are uniformly arranged on the peripheral side walls of the vehicle body (1).
6. The anti-falling power inspection robot according to claim 1, characterized in that: the connecting rod (3), the supporting rod (4), the screw rod (6) and the pushing rod (8) are all made of stainless steel materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911112988.XA CN110768150B (en) | 2019-11-14 | 2019-11-14 | Anti-falling power inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911112988.XA CN110768150B (en) | 2019-11-14 | 2019-11-14 | Anti-falling power inspection robot |
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| CN110768150A true CN110768150A (en) | 2020-02-07 |
| CN110768150B CN110768150B (en) | 2021-03-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911112988.XA Active CN110768150B (en) | 2019-11-14 | 2019-11-14 | Anti-falling power inspection robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111230904A (en) * | 2020-04-01 | 2020-06-05 | 安徽影动文化科技有限公司 | Prevent falling intelligent security protection inspection robot |
| CN111618875A (en) * | 2020-06-09 | 2020-09-04 | 安徽励展文化科技有限公司 | Positioning navigation system of exhibition room robot |
| CN112428306A (en) * | 2020-11-17 | 2021-03-02 | 林美娟 | Anti-toppling supporting device for robot |
| CN112503313A (en) * | 2020-11-05 | 2021-03-16 | 江苏金成源实业投资有限公司 | Camera lifting and falling control method for monitoring robot |
| CN113460196A (en) * | 2021-07-14 | 2021-10-01 | 中国水利水电第十四工程局有限公司 | Inspection robot |
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| US5141195A (en) * | 1989-06-19 | 1992-08-25 | Shin Caterpillar Mitsubishi Ltd. | Counterweight removal device |
| US5303788A (en) * | 1991-02-12 | 1994-04-19 | Jobs S.P.A. | Robotic vehicle having flexible chassis |
| KR20100116958A (en) * | 2009-04-23 | 2010-11-02 | 군산대학교산학협력단 | Robot |
| CN204454283U (en) * | 2015-02-06 | 2015-07-08 | 湖南中铁五新重工有限公司 | Gate type portal gantry installation supporting leg supporting |
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| CN206645735U (en) * | 2017-03-16 | 2017-11-17 | 吉林省东能电力工程有限公司 | A kind of engineering arrangement for crane machinery arm assembly of high security |
| CN108994846A (en) * | 2018-07-05 | 2018-12-14 | 深圳市乐业科技有限公司 | A kind of good automatic patrol security robot of protecting effect |
| CN109378728A (en) * | 2018-12-04 | 2019-02-22 | 安徽明都电气有限公司 | A kind of electrical cabinet being moved easily |
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Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US5141195A (en) * | 1989-06-19 | 1992-08-25 | Shin Caterpillar Mitsubishi Ltd. | Counterweight removal device |
| US5303788A (en) * | 1991-02-12 | 1994-04-19 | Jobs S.P.A. | Robotic vehicle having flexible chassis |
| KR20100116958A (en) * | 2009-04-23 | 2010-11-02 | 군산대학교산학협력단 | Robot |
| CN204454283U (en) * | 2015-02-06 | 2015-07-08 | 湖南中铁五新重工有限公司 | Gate type portal gantry installation supporting leg supporting |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111230904A (en) * | 2020-04-01 | 2020-06-05 | 安徽影动文化科技有限公司 | Prevent falling intelligent security protection inspection robot |
| CN111618875A (en) * | 2020-06-09 | 2020-09-04 | 安徽励展文化科技有限公司 | Positioning navigation system of exhibition room robot |
| CN112503313A (en) * | 2020-11-05 | 2021-03-16 | 江苏金成源实业投资有限公司 | Camera lifting and falling control method for monitoring robot |
| CN112428306A (en) * | 2020-11-17 | 2021-03-02 | 林美娟 | Anti-toppling supporting device for robot |
| CN112428306B (en) * | 2020-11-17 | 2022-06-24 | 史塔克工业装备(山东)有限公司 | Anti-toppling supporting device for robot |
| CN113460196A (en) * | 2021-07-14 | 2021-10-01 | 中国水利水电第十四工程局有限公司 | Inspection robot |
| CN113460196B (en) * | 2021-07-14 | 2022-09-02 | 中国水利水电第十四工程局有限公司 | Inspection robot |
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| CN110768150B (en) | 2021-03-05 |
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