CN112536788A - Portable track inspection robot rail transfer device of GIS and inspection robot - Google Patents
Portable track inspection robot rail transfer device of GIS and inspection robot Download PDFInfo
- Publication number
- CN112536788A CN112536788A CN202011304919.1A CN202011304919A CN112536788A CN 112536788 A CN112536788 A CN 112536788A CN 202011304919 A CN202011304919 A CN 202011304919A CN 112536788 A CN112536788 A CN 112536788A
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- CN
- China
- Prior art keywords
- driving wheel
- motor
- track
- gis
- inspection robot
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- 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
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- 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
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- 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
Abstract
The invention discloses a GIS portable track inspection robot rail transfer device and an inspection robot.A driving wheel mechanism comprises a driving wheel capable of advancing along a driving wheel track and a driving wheel motor for driving the driving wheel; the driving wheel lifting mechanism lifts the driving wheel mechanism when the rail transfer is needed; the driving wheel translation mechanism is used for driving the driving wheel mechanism and the driving wheel lifting mechanism to integrally translate when the track is changed; the driving wheel rotating mechanism is used for driving the driving wheel mechanism, the driving wheel lifting mechanism and the driving wheel translation mechanism to integrally rotate when the rail is changed; when the track change is needed and the driving wheel mechanism is lifted, the track change of the inspection robot is realized through the matching of the driving wheel translation mechanism and the driving wheel rotation mechanism. The invention can independently control any one mechanism or simultaneously control a plurality of mechanisms to cooperate with each other to cooperatively steer, thereby achieving the requirement of accurate steering.
Description
Technical Field
The invention belongs to the technical field of inspection of high-voltage transformer substations, and particularly relates to a transformer substation GIS equipment inspection robot.
Background
Due to the fact that metal particles, sharp-end spurs, insulator air gaps and the like exist in GIS equipment of the transformer substation, partial discharge can occur, and if problems cannot be found in time, serious consequences can be caused to the transformer substation. At present, GIS equipment basically depends on manual inspection, so that the time and the labor are wasted, and personal safety risks can be caused. The GIS track inspection robot replaces operation and maintenance personnel, and can realize high-precision all-weather detection tasks.
The traditional GIS track inspection robot has the following technical problems: CN 207155778U-a track inspection robot running gear, CN 107263441A-a be applicable to patrolling and examining accurate location running gear and method of robot, CN 203982191U-a track inspection robot in the patent of mechanism etc. robot does not set up independent change rail mechanism, and the robot just turns round along the track itself, therefore turn round not enough nimble, can not accurate control the angle of turning to reduce the friction of robot to the track.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide the GIS portable track inspection robot track transfer device which is independent from a robot body and is flexible and accurate in steering.
In order to solve the technical problems, the invention adopts the following technical scheme: the utility model provides a portable track of GIS patrols and examines robot orbital transfer device, has laid the drive wheel track along the route of patrolling and examining the robot, the orbital transfer device includes:
a drive wheel mechanism including a drive wheel that can travel along a drive wheel track and a drive wheel motor that drives the drive wheel;
the driving wheel lifting mechanism lifts the driving wheel mechanism when the track change is needed;
the driving wheel translation mechanism is arranged at one end, far away from the driving wheel mechanism, of the driving wheel lifting mechanism and is used for driving the driving wheel mechanism and the driving wheel lifting mechanism to integrally translate during rail transfer;
the driving wheel rotating mechanism is arranged at one end, far away from the driving wheel mechanism, of the driving wheel translation mechanism and is used for driving the driving wheel mechanism, the driving wheel lifting mechanism and the driving wheel translation mechanism to integrally rotate during rail transfer;
when the track change is needed and the driving wheel mechanism is lifted, the track change of the inspection robot is realized through the matching of the driving wheel translation mechanism and the driving wheel rotation mechanism.
Preferably, the driving wheel track is a chain, and the driving wheel is a driving sprocket matched with the chain.
Preferably, the driving wheel mechanism further comprises a driving wheel reduction box, the driving wheel motor and the driving wheel reduction box are mounted on the motor support, a motor shaft of the driving wheel motor is connected with an input shaft of the driving wheel reduction box, and an output shaft of the driving wheel reduction box is connected with the driving sprocket.
Preferably, drive wheel elevating system includes elevator motor, lift lead screw and guiding axle, elevator motor fixes on the motor mounting panel, the lift lead screw passes through the nut seat and is connected with the lifter plate of motor mounting panel below, the motor mounting panel passes through guiding axle and linear bearing's cooperation and links to each other with the lifter plate, the lifter plate is connected with motor support.
Preferably, drive wheel translation mechanism includes translation guide rail and translation motor, the motor mounting panel be connected with translation guide rail complex rail block, the translation motor drive wheel elevating system is along the translation of translation guide rail.
Preferably, the driving wheel rotating mechanism comprises a rotating platform, a rotating motor and a rotating reduction gearbox, a motor shaft of the rotating motor is connected with an input shaft of the rotating reduction gearbox, an output shaft of the rotating reduction gearbox is connected with the rotating platform, and the rotating platform is connected with the translation guide rail.
Preferably, the portable track inspection robot further comprises a track transfer sensor, wherein the track transfer sensor is used for detecting whether the GIS portable track inspection robot reaches a specified track transfer position.
Preferably, the track transfer sensor is arranged at any position of the driving wheel mechanism, the driving wheel lifting mechanism, the driving wheel translation mechanism and the driving wheel rotating mechanism, and the track transfer sensor is a photoelectric sensor or a position sensor.
Preferably, the lifting motor and the rotating motor are driven simultaneously, or the lifting motor and the rotating motor are driven in a time-sharing manner.
The invention also provides a GIS portable track inspection robot which comprises the track transfer device.
By adopting the technical scheme, the invention has the following beneficial effects:
when the rail is required to be changed, the driving wheel lifting mechanism vertically lifts the driving wheel mechanism, the driving wheel translation mechanism is used for driving the driving wheel mechanism and the driving wheel lifting mechanism to integrally translate, and the driving wheel rotating mechanism is used for driving the driving wheel mechanism, the driving wheel lifting mechanism and the driving wheel translation mechanism to integrally rotate. The robot can control any one mechanism independently or simultaneously control a plurality of mechanisms to cooperate to cooperatively perform steering operation, so that the requirement of accurate steering can be met.
And because the rotating platform exists, the rotating platform is rotationally connected with the robot body, so that the track transfer device is independent from the robot body, and the normal work of the robot cannot be influenced in the track transfer steering process.
The following detailed description of the present invention will be provided in conjunction with the accompanying drawings.
Drawings
The invention is further described with reference to the accompanying drawings and the detailed description below:
fig. 1 is a schematic structural view of the inspection robot of the present invention.
Fig. 2 is a schematic structural diagram of the GIS portable track inspection robot track transfer device.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the 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. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. 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 will be appreciated by those skilled in the art that features from the examples and embodiments described below may be combined with each other without conflict.
Example one
Referring to fig. 1 and 2, a GIS portable track inspection robot track transfer device 900 is installed on a robot body 300, and the robot body 300 is provided with a mechanical arm 600, a traveling wheel and other necessary structures for traveling and inspection, which may specifically refer to the prior art and is not described herein again.
In addition, the route of patrolling and examining along patrolling and examining the robot has laid the drive wheel track, the device of becoming the rail includes:
a drive wheel mechanism 910 comprising a drive wheel that can travel along a drive wheel track and a drive wheel motor that drives the drive wheel;
the driving wheel lifting mechanism lifts the driving wheel mechanism when the track change is needed;
the driving wheel translation mechanism 931 is arranged at one end, far away from the driving wheel mechanism, of the driving wheel lifting mechanism and is used for driving the driving wheel mechanism and the driving wheel lifting mechanism to integrally translate during rail transfer;
the driving wheel rotating mechanism is arranged at one end, far away from the driving wheel mechanism, of the driving wheel translation mechanism and is used for driving the driving wheel mechanism, the driving wheel lifting mechanism and the driving wheel translation mechanism to integrally rotate during rail transfer;
when the track change is needed and the driving wheel mechanism is lifted, the track change of the inspection robot is realized through the matching of the driving wheel translation mechanism and the driving wheel rotation mechanism. The robot can control any one mechanism independently or simultaneously control several mechanisms to cooperate.
In one embodiment, the driving wheel track is a chain, and the driving wheel is a driving sprocket engaged with the chain. The driving wheel mechanism further comprises a driving wheel reduction box, the driving wheel motor and the driving wheel reduction box are mounted on the motor support, a motor shaft of the driving wheel motor is connected with an input shaft of the driving wheel reduction box, and an output shaft of the driving wheel reduction box is connected with the driving chain wheel. Of course, it will be understood by those skilled in the art that the drive wheel mechanism may take other forms known in the art that are capable of performing the function of driving rotation.
As an embodiment, drive wheel elevating system includes elevator motor 922, lift lead screw and guiding axle, elevator motor fixes on the motor mounting panel, the motor mounting panel passes through the lead screw supporting seat and links to each other with the lift lead screw, the lift lead screw passes through the nut seat and is connected with lift platform 921 of motor mounting panel below, the motor mounting panel passes through the cooperation of guiding axle and linear bearing and links to each other with lift platform, lift platform and motor leg joint, foretell lift platform includes the lifter plate, and lift platform is the rectangle box structure in this embodiment. Of course, it will be understood by those skilled in the art that the drive wheel lifting mechanism may take other forms known in the art that are capable of performing the lifting function.
As an implementation mode, drive wheel translation mechanism includes translation guide rail and translation motor, the motor mounting panel be connected with translation guide rail complex rail block, the translation motor drive wheel elevating system is along translation guide rail translation, specifically drive rail block slides along translation guide rail. Of course, it will be appreciated by those skilled in the art that the drive wheel translation mechanism may take other forms known in the art that are capable of performing the translation function.
As an embodiment, the driving wheel rotating mechanism includes a rotating platform 941, a rotating motor 942, and a rotating reduction box, wherein a motor shaft of the rotating motor is connected to an input shaft of the rotating reduction box, and an output shaft of the rotating reduction box is connected to the rotating platform. The rotating motor and the rotating reduction box can be fixed on the robot body, the rotating platform is rotatably connected with the robot body, and meanwhile, the rotating platform is connected with the translation guide rail. Due to the existence of the rotating platform, the rail transfer device is independent from the robot body, so that the normal work of the robot cannot be influenced in the rail transfer steering process. Of course, it will be appreciated by those skilled in the art that the drive wheel rotation mechanism may take other forms known in the art that are capable of performing the rotation function.
And further, the system also comprises an orbit transferring sensor, wherein the orbit transferring sensor is used for detecting whether the GIS portable track inspection robot reaches the appointed orbit transferring position. The track-changing sensor can be arranged at any position on the driving wheel mechanism, the driving wheel lifting mechanism, the driving wheel translation mechanism and the driving wheel rotating mechanism. The track change sensor is a photoelectric sensor or also a position sensor. It can be understood by those skilled in the art that the specific form and installation position of the orbital transfer sensor are not limited as long as the sensor can be used to detect whether the GIS portable track inspection robot reaches the designated orbital transfer position.
According to the driving wheel lifting mechanism, the driving wheel translation mechanism and the driving wheel rotation mechanism, the robot can independently control any one mechanism or simultaneously control a plurality of mechanisms to cooperate with each other to cooperatively steer. For example, the lift motor and the rotary motor may be driven simultaneously, or the lift motor and the rotary motor may be driven time-divisionally.
Example two
The utility model provides a GIS portable track patrols and examines robot, adopts embodiment one GIS portable track patrols and examines robot transfer device.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that the invention is not limited thereto, and may be embodied in other forms without departing from the spirit or essential characteristics thereof. Any modification which does not depart from the functional and structural principles of the present invention is intended to be included within the scope of the claims.
Claims (10)
1. The utility model provides a portable track of GIS patrols and examines robot orbital transfer device, has laid the drive wheel track along the route of patrolling and examining the robot, its characterized in that, orbital transfer device includes:
a drive wheel mechanism including a drive wheel that can travel along a drive wheel track and a drive wheel motor that drives the drive wheel;
the driving wheel lifting mechanism lifts the driving wheel mechanism when the track change is needed;
the driving wheel translation mechanism is arranged at one end, far away from the driving wheel mechanism, of the driving wheel lifting mechanism and is used for driving the driving wheel mechanism and the driving wheel lifting mechanism to integrally translate during rail transfer;
the driving wheel rotating mechanism is arranged at one end, far away from the driving wheel mechanism, of the driving wheel translation mechanism and is used for driving the driving wheel mechanism, the driving wheel lifting mechanism and the driving wheel translation mechanism to integrally rotate during rail transfer;
when the track change is needed and the driving wheel mechanism is lifted, the track change of the inspection robot is realized through the matching of the driving wheel translation mechanism and the driving wheel rotation mechanism.
2. The GIS portable track inspection robot rail transfer device of claim 1, characterized in that: the driving wheel track is a chain, and the driving wheel is a driving chain wheel matched with the chain.
3. The GIS portable track inspection robot rail transfer device of claim 2, characterized in that: the driving wheel mechanism further comprises a driving wheel reduction box, the driving wheel motor and the driving wheel reduction box are mounted on the motor support, a motor shaft of the driving wheel motor is connected with an input shaft of the driving wheel reduction box, and an output shaft of the driving wheel reduction box is connected with the driving chain wheel.
4. The GIS portable track inspection robot rail transfer device of claim 3, characterized in that: the driving wheel lifting mechanism comprises a lifting motor, a lifting screw rod and a guide shaft, the lifting motor is fixed on a motor mounting plate, the lifting screw rod is connected with a lifting plate below the motor mounting plate through a nut seat, the motor mounting plate is connected with the lifting plate through the guide shaft and a linear bearing, and the lifting plate is connected with a motor support.
5. The GIS portable track inspection robot rail transfer device of claim 4, characterized in that: the driving wheel translation mechanism comprises a translation guide rail and a translation motor, the motor mounting plate is connected with a guide rail sliding block matched with the translation guide rail, and the translation motor drives the driving wheel lifting mechanism to translate along the translation guide rail.
6. The GIS portable track inspection robot rail transfer device of claim 5, characterized in that: the driving wheel rotating mechanism comprises a rotating platform, a rotating motor and a rotating reduction gearbox, wherein a motor shaft of the rotating motor is connected with an input shaft of the rotating reduction gearbox, an output shaft of the rotating reduction gearbox is connected with the rotating platform, and the rotating platform is connected with the translation guide rail.
7. The GIS portable track inspection robot rail transfer device according to any one of claims 1 to 6, characterized in that: still include the orbital transfer sensor, the orbital transfer sensor is used for detecting whether the portable track of GIS patrols and examines the robot and arrives appointed orbital transfer position.
8. The GIS portable track inspection robot rail transfer device of claim 7, characterized in that: the track transfer sensor is arranged at any position on the driving wheel mechanism, the driving wheel lifting mechanism, the driving wheel translation mechanism and the driving wheel rotating mechanism, and is a photoelectric sensor or a position sensor.
9. The GIS portable track inspection robot rail transfer device of claim 6, characterized in that: the lifting motor and the rotating motor are driven simultaneously, or the lifting motor and the rotating motor are driven in a time-sharing mode.
10. The utility model provides a robot is patrolled and examined to portable track of GIS which characterized in that: comprising a track-changing device as claimed in any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011304919.1A CN112536788A (en) | 2020-11-19 | 2020-11-19 | Portable track inspection robot rail transfer device of GIS and inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011304919.1A CN112536788A (en) | 2020-11-19 | 2020-11-19 | Portable track inspection robot rail transfer device of GIS and inspection robot |
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| Publication Number | Publication Date |
|---|---|
| CN112536788A true CN112536788A (en) | 2021-03-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011304919.1A Pending CN112536788A (en) | 2020-11-19 | 2020-11-19 | Portable track inspection robot rail transfer device of GIS and inspection robot |
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| CN (1) | CN112536788A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114047749A (en) * | 2021-10-22 | 2022-02-15 | 国网河北省电力有限公司检修分公司 | Cable trench inspection system |
-
2020
- 2020-11-19 CN CN202011304919.1A patent/CN112536788A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114047749A (en) * | 2021-10-22 | 2022-02-15 | 国网河北省电力有限公司检修分公司 | Cable trench inspection system |
| CN114047749B (en) * | 2021-10-22 | 2023-11-10 | 国网河北省电力有限公司检修分公司 | Cable trench inspection system |
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Application publication date: 20210323 |