CN114161447A - Indoor hanging rail inspection robot - Google Patents
Indoor hanging rail inspection robot Download PDFInfo
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- CN114161447A CN114161447A CN202111594800.7A CN202111594800A CN114161447A CN 114161447 A CN114161447 A CN 114161447A CN 202111594800 A CN202111594800 A CN 202111594800A CN 114161447 A CN114161447 A CN 114161447A
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- sliding
- inspection robot
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- 238000007689 inspection Methods 0.000 title claims abstract description 27
- 239000000872 buffer Substances 0.000 claims description 15
- 238000009434 installation Methods 0.000 claims description 12
- 230000006835 compression Effects 0.000 claims description 7
- 238000007906 compression Methods 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 6
- 238000010030 laminating Methods 0.000 claims description 4
- 238000012423 maintenance Methods 0.000 abstract description 7
- 230000000712 assembly Effects 0.000 abstract description 5
- 238000000429 assembly Methods 0.000 abstract description 5
- 230000002349 favourable effect Effects 0.000 abstract description 4
- 230000001737 promoting effect Effects 0.000 abstract description 4
- 238000005192 partition Methods 0.000 abstract description 2
- 230000001681 protective effect Effects 0.000 description 15
- 230000000694 effects Effects 0.000 description 8
- 238000003780 insertion Methods 0.000 description 8
- 230000037431 insertion Effects 0.000 description 8
- 238000006243 chemical reaction Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000004308 accommodation Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
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- 239000000463 material Substances 0.000 description 1
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- 238000003756 stirring Methods 0.000 description 1
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Classifications
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0058—Means for cleaning manipulators, e.g. dust removing means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
Abstract
The invention relates to the technical field of power grid inspection, in particular to an indoor rail hanging inspection robot, which comprises a slide rail, a support body, a main body, a controller, a quick-release mechanism and an operating mechanism, wherein a first electric push rod is inserted into the inner wall of the support body, a push plate is fixedly arranged at the output end of the support body, the quick-release mechanism comprises an inserting rod, a mounting seat, a release assembly and two locking assemblies, a mounting groove is formed in the inner wall of the main body, the operating mechanism comprises an adjusting assembly and a pressing assembly, a partition plate is arranged at the bottom of the inner side of the mounting groove in a high mode, a lifting plate is arranged on the inner wall of the lower half part of the mounting groove in a sliding mode, the pressing assembly is arranged at the top of the lifting plate, and the first electric push rod, the adjusting assembly and the pressing assembly are electrically connected with the controller, efficiency of patrolling and examining is higher, and the flexibility is stronger, makes things convenient for the dismouting simultaneously, is favorable to promoting maintenance efficiency.
Description
Technical Field
The invention relates to the technical field of power grid inspection, in particular to an indoor rail hanging inspection robot.
Background
The whole of the substation and the transmission and distribution line of various voltages in the power system is called a power grid. The system comprises three units of power transformation, power transmission and power distribution. The task of the power grid is to transmit and distribute electric energy and change voltage, and the switch room and the distribution room both belong to the field of power grids.
The prior art has the following defects:
1. the conventional operation means is to adjust the keys on the power equipment manually or to perform operations such as switching-off and the like, so that the working efficiency is low, the workload is large, and meanwhile, certain potential safety hazards are generated.
2. The main part and the supporter of current operation robot are connected for fixed usually, in case the main part breaks down, need pull down it and inspect and maintain, and the supporter of fixed design is wasted time and energy with the dismantlement of main part, has reduced the maintenance efficiency of robot, and then delays the work of patrolling and examining.
Disclosure of Invention
The invention aims to provide an indoor rail hanging inspection robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
provides an indoor rail hanging inspection robot, which comprises a slide rail and a support body, wherein the slide rail is fixedly arranged on a wall body, the support body is arranged on the outer wall of the slide rail in a sliding way through four pulleys, the slide rail adopts a sliding contact type power supply, the endurance of the robot can be ensured,
the quick-release mechanism comprises an inserting rod, a mounting seat, a release assembly and two locking assemblies, the inserting rod is fixedly arranged at the bottom of the push plate, the mounting seat is fixedly arranged at the top of the inner side of the main body through bolts, the inner wall of the main body is provided with jacks for the inserting rod to be inserted, the inserting rod penetrates through the mounting seat to be inserted into the jacks, the two locking assemblies are symmetrically arranged inside the mounting seat, the release assembly is inserted into the top of the main body, the main body is clamped and arranged on the quick-release mechanism, the controller is fixedly arranged inside the main body, a mounting groove is formed in the inner wall of the main body, the operating mechanism is arranged inside the mounting groove to replace manual work to complete an operation task, and the operating mechanism comprises an adjusting assembly and a pressing assembly, the inboard bottom of mounting groove highly is equipped with the baffle, and adjusting part establishes at the top of baffle, and the sliding is equipped with the lifter plate on the lower half inner wall of mounting groove, presses the subassembly to establish at the top of lifter plate, and first electric putter, adjusting part and pressing the subassembly and be electric connection with the controller.
Further, the adjusting part includes servo motor, swivel and ejector pin, and servo motor is fixed to be established on the inner wall of mounting groove, and the swivel is fixed to be established on its output, fixedly on the inner wall of mounting groove being equipped with the limiting plate, and the ejector pin is inserted and is established on the limiting plate, and the top of ejector pin and the bottom fixed connection of lifter plate, the rotatable ball that is provided with in bottom of ejector pin, the top laminating of ball and swivel, servo motor and controller electricity are connected.
Further, the outer wall of the ejector rod is sleeved with an expansion spring, a limiting ring is fixedly arranged on the outer wall of the ejector rod, and the bottom of the limiting plate and the top of the limiting ring are respectively abutted against two ends of the expansion spring.
Furthermore, the pressing component comprises a second electric push rod, a sliding plate, a roller, a sliding block and a buffer spring, a mounting plate is fixedly arranged at the top of the lifting plate, the second electric push rod is fixedly arranged on the outer wall of the mounting plate, the output end of the second electric push rod is fixedly connected with the outer wall of the sliding plate, two limit sleeves are symmetrically arranged on the outer wall of the mounting plate, the sliding plate is arranged between the two limit sleeves through a sliding rod in a sliding manner, an L-shaped plate is fixedly arranged on the outer wall of the lifting plate, the sliding block is arranged on the outer wall of the L-shaped plate in a sliding manner, the roller is rotatably arranged on the outer wall of the sliding block, an arc-shaped traction groove is formed in the sliding plate, the outer edge of the roller is attached to the inner wall of the arc-shaped traction groove, a guide rod is fixedly arranged on the outer wall of the sliding block, the buffer spring is sleeved on the outer wall of the guide rod, the outer wall of the sliding block and the outer wall of the L-shaped plate are respectively abutted against the two ends of the buffer spring, and a round pressing block is fixedly arranged at one end of the guide rod far away from the sliding rod, the second electric push rod is electrically connected with the controller.
Furthermore, the outer wall of the guide rod is fixedly provided with an installation block, the outer wall of the installation block is symmetrically provided with two inclined blocks, and a compression roller is rotatably arranged between the two inclined blocks.
Further, every locking Assembly all includes buckle and spacing spring, is the symmetry on the inner wall of mount pad and is provided with two spouts, and the buckle passes through the draw runner and slides the setting in the inside of spout, and spacing spring is fixed to be established between the inner wall of spout and the outer wall of buckle, is the symmetry on the ascending outer wall of the circumferencial direction of inserted bar and is provided with two and can supply buckle male draw-in grooves.
Further, the release subassembly includes two shifting blocks and two connecting rods, and every connecting rod is all fixed to be established on the outer wall of a buckle, and every shifting block is all fixed to be established in the one end that the buckle was kept away from to a connecting rod, all is the symmetry on the outer wall of mount pad and the top outer wall of main part and is provided with two grooves of dodging that can supply the connecting rod reciprocating sliding.
Further, the top one end that the buckle is close to the draw-in groove all is integrated into one piece with the bottom of inserted bar and is provided with the oblique angle.
Furthermore, the open end of mounting groove is provided with two guard gates in an articulated manner, the inner wall of the bottom of the main body is fixedly provided with a stepping motor, the output end of the main body is provided with a first connecting rod in an sleeved manner, the outer wall of each guard gate is provided with a second connecting rod in an articulated manner, one end of the first connecting rod, far away from the stepping motor, is articulated with one end of the two second connecting rods, far away from the guard gates, the first connecting rod is shorter than the second connecting rods, and the stepping motor is electrically connected with the controller.
Further, be the symmetry on the both ends outer wall of main part and be provided with two high definition digtal camera, every high definition digtal camera all is connected with the controller electricity.
The invention has the beneficial effects that:
1. according to the invention, by designing the sliding rail, the support body main body, the controller and the operating mechanism and designing the two high-definition cameras, the running condition of the power equipment in the power distribution room or the switch room can be monitored in real time, and when an abnormal condition is found, the power equipment can be adjusted in time through the operating mechanism.
2. According to the invention, through designing the adjusting assembly and the pressing assembly and designing the mounting block, the compression roller and the two inclined blocks, when a problem is found, the pressing operation of a key on the power equipment can be carried out in time, and the automatic emergency opening is carried out when a circuit fails, so that the fault circuit is cut off from the main circuit, the larger loss is avoided, the smooth power transmission is ensured, meanwhile, the buffer spring can play a buffer role, the circular pressing block is ensured to press the key with proper force, the key is prevented from being crushed due to the overlarge pressing force, and the effect of protecting the power equipment is achieved.
3. According to the invention, by designing the quick-release mechanism, namely the insertion rod, the mounting seat, the release assembly and the two locking assemblies, on one hand, the quick-release mechanism can be used for conveniently and quickly dismounting the main body and the support body of the robot, when a fault occurs in the main body, the main body can be timely dismounted from the support body for quickly checking the fault, the maintenance efficiency of the robot is improved, the service life of the robot is favorably prolonged, the inspection cost is further reduced, meanwhile, the inspection work is not delayed, the endurance is stronger, on the other hand, due to the locking and matching of the clamping groove and the buckle, after the main body and the support body are mounted, the main body cannot fall off from the support body on the premise of realizing the quick dismounting of the main body and the support body, the stable operation of the robot can be ensured, and the inspection efficiency is improved.
4. According to the invention, through designing the adjusting assembly, the height of the round pressing block or the compression roller on the lifting plate can be adjusted at will, so that keys or switch blades on electric equipment with different heights can be conveniently pressed and pulled down, the operation requirements of the robot on the keys and the brake separating of the electric equipment with different heights are met, and the overall practicability and compatibility of the robot are improved.
5. According to the robot, the stepping motor, the first connecting rod, the two second connecting rods and the two protective doors are designed, when the key pressing or the brake separating operation is not needed in daily routing inspection, the two protective doors are tightly closed, dust can be prevented from entering the dirty parts in the mounting groove, the parts can be protected, when the key pressing or the brake separating operation is needed, the two protective doors can be quickly opened through the stepping motor, the first connecting rod and the two second connecting rods, a series of operations can be carried out, manual intervention is not needed, time and labor are saved, and therefore the robot is more intelligent and convenient.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings in the embodiments of the present invention are briefly described below.
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a plan sectional view of the support body and the main body of the present invention;
FIG. 3 is an enlarged view taken at A in FIG. 2;
FIG. 4 is an enlarged view of FIG. 2 at B;
FIG. 5 is a schematic perspective view of a pressing assembly according to the present invention;
FIG. 6 is a schematic perspective view of a guide bar, a mounting block, a skew block, and a press roller according to the present invention;
FIG. 7 is an exploded perspective view of the support body, mounting base and main body of the present invention;
FIG. 8 is an enlarged view at C of FIG. 7;
FIG. 9 is a schematic view of the opening of two protective doors according to the present invention;
FIG. 10 is an enlarged view taken at D in FIG. 9;
in the figure: the device comprises a sliding rail 1, a pulley 10, a supporting body 2, a first electric push rod 20, a push plate 200, a main body 3, a partition plate 30, a lifting plate 31, an L-shaped plate 310, a protective door 32, a stepping motor 33, a first connecting rod 330, a second connecting rod 331, a high-definition camera 34, a quick-release mechanism 4, an inserted link 40, a bevel 400, a mounting seat 41, a release assembly 42, a shifting block 420, a connecting rod 421, a locking assembly 43, a buckle 430, a limiting spring 431, a sliding strip 432, an operating mechanism 5, an adjusting assembly 50, a servo motor 500, a rotating ring 501, a top rod 502, a limiting plate 503, a ball 504, a telescopic spring 505, a limiting ring 506, a pressing assembly 51, a second electric push rod 510, a sliding plate 511, a roller 512, a sliding block 513, a buffer spring 514, a sliding rod 515, an arc-shaped traction groove 516, a guide rod 517, a circular pressing block 518, a mounting block 519, a slanting block 5190 and a pressing roller 5191.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; to better illustrate the embodiments of the present invention, some components of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product.
Example one
The invention provides a technical scheme, referring to fig. 1, an indoor rail hanging inspection robot comprises a slide rail 1 and a support body 2, wherein the slide rail 1 is fixedly arranged on a wall body, the support body 2 is arranged on the outer wall of the slide rail 1 in a sliding mode through four pulleys 10, the slide rail 1 adopts a sliding contact type power supply mode to ensure the endurance of the robot,
the fast dismounting device comprises a main body 3, a controller, a fast dismounting mechanism 4 and an operating mechanism 5, wherein a first electric push rod 20 is inserted on the inner wall of a supporting body 2, the first electric push rod 20 plays a role in adjusting the monitoring height of the main body 3, and can be matched with an adjusting component 50 to realize the lifting operation of a pressing component 51 and play an auxiliary role, a push plate 200 is fixedly arranged on the output end of the fast dismounting mechanism, the fast dismounting mechanism 4 is arranged at the bottom of the push plate 200 to realize the fast dismounting of the supporting body 2 and the main body 3, the fast dismounting mechanism 4 comprises an inserting rod 40, a mounting seat 41, a releasing component 42 and two locking components 43, the inserting rod 40 is fixedly arranged at the bottom of the push plate 200, the mounting seat 41 is fixedly arranged at the top of the inner side of the main body 3 through bolts, a jack for the inserting rod 40 to be inserted is arranged on the inner wall of the main body 3, the inserting rod 40 is inserted into the jack through the mounting seat 41, and the two locking components 43 are symmetrically arranged inside the mounting seat 41, release assembly 42 inserts the top of establishing in main part 3, 3 joints of main part set up on quick detach mechanism 4, the fixed inside of establishing in main part 3 of controller, be equipped with the mounting groove on the inner wall of main part 3, operating device 5 establishes the inside in the mounting groove in order to replace artifical completion operation task, operating device 5 includes adjusting part 50 and presses down subassembly 51, the inboard bottom height of mounting groove is equipped with baffle 30, adjusting part 50 establishes the top at baffle 30, it is equipped with lifter plate 31 to slide on the lower half inner wall of mounting groove, press down subassembly 51 and establish the top at lifter plate 31, first electric putter 20, adjusting part 50 and pressing subassembly 51 are electric connection with the controller.
In order to realize the precise adjustment of the height of the lifting plate 31, an adjusting assembly 50 is designed, as shown in fig. 4, the adjusting assembly 50 includes a servo motor 500, a rotary ring 501 and a push rod 502, the servo motor 500 is fixedly arranged on the inner wall of the mounting groove, the rotary ring 501 is fixedly arranged on the output end of the mounting groove, a limit plate 503 is fixedly arranged on the inner wall of the mounting groove, the push rod 502 is inserted on the limit plate 503, the top end of the push rod 502 is fixedly connected with the bottom of the lifting plate 31, the bottom of the push rod 502 is rotatably provided with a ball 504, the ball 504 is attached to the top of the rotary ring 501, the servo motor 500 is electrically connected with a controller, after the two protective doors 32 are opened, the servo motor 500 is started through the controller, so as to drive the rotary ring 501 to rotate through the output end thereof, because the push rod 502 is inserted in the limit plate 503, the ball 504 is rotatably connected with the bottom of the push rod 502, and because the top of the conversion is designed as an inclined plane, in the initial state, the balls 504 are attached to the lower part of the top slope of the conversion part, and when the slope of the top of the conversion part is higher and the balls 504 are attached, the higher part of the slope is used for abutting against the balls 504, so that the push rod 502 is driven to ascend, and in addition, the top of the push rod 502 is fixedly connected with the bottom of the lifting plate 31, so that the lifting plate 31 is driven to ascend.
In order to ensure that the lifting plate 31 is lifted at a constant speed, as shown in fig. 4, an extension spring 505 is sleeved on the outer wall of the ejector rod 502, a limit ring 506 is fixedly arranged on the outer wall of the ejector rod 502, the bottom of the limit plate 503 and the top of the limit ring 506 are respectively abutted to two ends of the extension spring 505, the limit plate 503 and the limit ring 506 limit the extension spring 505, the extension spring 505 buffers the height of the lifting plate 31, and meanwhile, the process of adjusting the height of the lifting plate 31 is performed at a constant speed, so that the requirement for pressing on and off keys at different heights is met.
In order to press the keys in the switch room or the distribution room, a pressing assembly 51 is designed, as shown in fig. 5, the pressing assembly 51 includes a second electric push rod 510, a sliding plate 511, a roller 512, a sliding block 513 and a buffer spring 514, a mounting plate is fixedly arranged on the top of the lifting plate 31, the second electric push rod 510 is fixedly arranged on the outer wall of the mounting plate, the output end of the second electric push rod 510 is fixedly connected with the outer wall of the sliding plate 511, a miniature electric push rod can be adopted during material selection in consideration of the mounting position of the second electric push rod 510, the second electric push rod is conveniently mounted in the mounting groove, two limit sleeves are symmetrically arranged on the outer wall of the mounting plate, the sliding plate 511 is slidably arranged between the two limit sleeves through a sliding rod 515, an L-shaped plate 310 is fixedly arranged on the outer wall of the lifting plate 31, the sliding block 513 is slidably arranged on the outer wall of the L-shaped plate 310, the roller 512 is rotatably arranged on the outer wall of the sliding block 513, an arc-shaped traction groove 516 is arranged on the sliding plate 511, the outer edge of the roller 512 is attached to the inner wall of the arc-shaped traction groove 516, a guide rod 517 is fixedly arranged on the outer wall of the sliding block 513, a buffer spring 514 is sleeved on the outer wall of the guide rod 517, the outer wall of the sliding block 513 and the outer wall of the L-shaped plate 310 are respectively abutted against two ends of the buffer spring 514, a round pressing block 518 is fixedly arranged at one end of the guide rod 517, which is far away from the sliding rod 515, the second electric push rod 510 is electrically connected with the controller, when the lifting plate 31 drives the round pressing block 518 to be adjusted to be consistent with the height of the key, the second electric push rod 510 is started through the controller, so that the output end of the second electric push rod is contracted, the output end of the second electric push rod is fixedly connected with the sliding plate 511, the sliding plate 511 is slidably connected with the two limiting sleeves through the sliding rod 515, so as to drive the sliding plate 511 to slide towards one end far away from the lifting plate 31, and the sliding block 513 is rotatably connected with the roller 512, the sliding block 513 is slidably connected with the L-shaped plate 310, and the L-shaped plate 310 is fixedly connected with the mounting plate, inner wall and gyro wheel 512's outer fringe laminating of arc traction groove 516, guide arm 517 and slider 513 fixed connection, and the conflict power that produces when utilizing slide 511 to slide the contact of the outer fringe of gyro wheel 512 of its inner wall of arc traction groove 516 drives guide arm 517 and slides to the one end of keeping away from the mounting panel, in addition, the one end fixed connection of slider 513 is kept away from with guide arm 517 to circular briquetting 518, and then drive circular briquetting 518 and stretch out from the inside of mounting groove and press the button, buffer spring 514 plays the cushioning effect, guarantee that circular briquetting 518 presses the button with suitable dynamics, prevent to press the pressure power and excessively and press the button bad, play the effect of protection power equipment, avoid causing the loss.
In order to ensure the firm locking between the main body 3 and the support body 2, two locking assemblies 43 are provided, as shown in fig. 3, each locking assembly 43 includes a buckle 430 and a limiting spring 431, two sliding grooves are symmetrically provided on the inner wall of the mounting seat 41, the buckle 430 is slidably provided inside the sliding grooves through a sliding strip 432, the limiting spring 431 is fixedly provided between the inner wall of the sliding groove and the outer wall of the buckle 430, two clamping grooves into which the buckle 430 can be inserted are symmetrically provided on the outer wall of the insertion rod 40 in the circumferential direction, when the clamping grooves slide to the same height as the buckle 430 in the process of continuously inserting the insertion rod 40 into the insertion hole, the buckle 430 is not interfered by the outer wall of the insertion rod 40, the limiting spring 431 is reset, i.e. the contraction is changed to the extension, and further drives the buckle 430 to slide from the inside of the sliding groove to the clamping groove, and locks the insertion rod 40, so as to realize the fixed connection between the mounting seat 41 and the insertion rod 40, and then realize the assembly of supporter 2 and main part 3 of this robot, draw runner 432 plays the guide effect, guarantee the gliding stability of buckle 430, thereby guarantee in the accurate draw-in groove that inserts of buckle 430, can not produce the dislocation, because draw-in groove and buckle 430's locking cooperation, consequently, after main part 3 finishes with the installation of supporter 2, under the prerequisite of realizing the two quick assembly disassembly, main part 3 also can not drop from supporter 2, and then can guarantee the stable function of this robot.
In order to facilitate the quick detachment of the insertion rod 40 and the mounting seat 41, a release assembly 42 is designed, as shown in fig. 8, the release assembly 42 includes two shifting blocks 420 and two connecting rods 421, each connecting rod 421 is fixedly arranged on the outer wall of one buckle 430, each shifting block 420 is fixedly arranged at one end of one connecting rod 421 far away from the buckle 430, two avoiding grooves for the connecting rods 421 to slide back and forth are symmetrically arranged on the outer wall of the mounting seat 41 and the outer wall of the top of the main body 3, the support body 2 and the main body 3 of the conventional rail-mounted inspection robot are generally fixedly connected, once the main body 3 fails, the support body needs to be detached for inspection and maintenance, the detachment of the fixedly designed support body 2 and the main body 3 is time-consuming and labor-consuming, in order to solve the problem, the release assembly 42 is designed, when the main body 3 needs to be detached from the support body 2, only need stir two shifting blocks 420 to opposite reversal through the manual work, because every buckle 430 all is through a connecting rod 421 and a shifting block 420 fixed connection, therefore make two buckles 430 deviate from the inside of two draw-in grooves, the realization is to the release of inserted bar 40, pull out main part 3 from inserted bar 40 with 3 outer walls of gripping main part again, realize the separation of the two, compare in prior art, the dismantlement speed of supporter 2 has obviously been promoted, the convenient trouble to main part 3 is solved, be favorable to promoting the maintenance efficiency of this robot.
In order to ensure that the inserted link 40 at the bottom of the support body 2 can be rapidly inserted when being assembled with the mounting seat 41, as shown in fig. 3, the top end of the buckle 430 close to the clamping groove and the bottom of the inserted link 40 are both integrally formed and provided with an oblique angle 400, when the main body 3 and the support body 2 are required to be installed, firstly, the inserted link 40 is inserted into the jack at the top of the main body 3 through the mounting seat 41, when the inserted link 40 is initially inserted, because the top end of the buckle 430 close to the clamping groove and the bottom of the inserted link 40 are both integrally formed and provided with the oblique angle 400, therefore, when the bottom end of the inserted link 40 is abutted against the end of the two buckles 430 close to the oblique angle 400, the limiting spring 431 is contracted, thereby automatically driving the two buckles 430 to contract towards the inside of the two sliding grooves, and being beneficial to improving the assembling speed.
In order to protect and prevent dust for the components inside the installation slot, referring to fig. 9 and 10, two guard doors 32 are hinged to the open end of the installation slot, a stepping motor 33 is fixed to the inner wall of the bottom of the main body 3, a first connecting rod 330 is sleeved on the output end of the main body, a second connecting rod 331 is hinged to the outer wall of each guard door 32, one end of the first connecting rod 330 away from the stepping motor 33 is hinged to one end of the two second connecting rods 331 away from the guard doors 32, the first connecting rod 330 is shorter than the second connecting rod 331, the stepping motor 33 is electrically connected with the controller, when a key on the electrical equipment in the switch room or the distribution room needs to be pressed, the sliding of the robot is firstly stopped, then the stepping motor 33 is started through the controller, so that the first connecting rod 330 is driven to rotate through the output end of the controller, and each second connecting rod 331 is hinged to one guard door 32, each protective door 32 is hinged to the inner wall of the mounting groove, and because the end of the first connecting rod 330 away from the stepping motor 33 is hinged to the end of the two second connecting rods 331 away from the protective doors 32, the first connecting rod 330 is shorter than the second connecting rods 331, so that the two second connecting rods 331 are driven to rotate towards the end close to the protective doors 32, and the two protective doors 32 are opened.
In order to provide the field of vision in this robot real-time switch room or the distribution room, make things convenient for it to patrol and examine and operate, refer to fig. 2 and show, it is provided with two high definition digtal camera 34 to be the symmetry on the both ends outer wall of main part 3, every high definition digtal camera 34 all is connected with the controller electricity, when patrolling and examining the work, at first two high definition digtal camera 34 of controller start-up, monitor the circuit condition in switch room or the distribution room in real time, what supporter 2 and slide rail 1 adopted is the wiping formula power supply, slide rail 1 drives four pulley 10 and automatic sliding on slide rail 1, thereby drive this robot automatic sliding, conveniently detect each position in switch room or the distribution room, avoid monitoring the dead angle.
Example two
In order to realize the switching-off operation in the switching room or the distribution room, as shown in fig. 6, an installation block 519 is fixedly arranged on the outer wall of the guide rod 517, two inclined blocks 5190 are symmetrically arranged on the outer wall of the installation block 519, and a compression roller 5191 is rotatably arranged between the two inclined blocks 5190, when a circuit fails, in order to avoid great loss, the circuit of the failed part needs to be cut off from a main circuit, so that autonomous emergency switching-off needs to be performed, the installation block 519 is driven to descend by the lifting plate 31, because the two inclined blocks 5190 are both fixedly connected with the installation block 519, the compression roller 5191 is rotatably connected with the two inclined blocks 5190, and then the switch knife is pulled down by descending of the compression roller 5191.
The working principle of the invention is as follows: when patrolling and examining the work, at first the controller starts two high definition digtal camera 34, monitors the circuit condition in cubical switchboard or the distribution room in real time, and what supporter 2 and slide rail 1 adopted is the wiping formula power supply, and slide rail 1 drives four pulleys 10 and auto-sliding on slide rail 1 to drive this robot auto-sliding, conveniently detect each position in cubical switchboard or the distribution room, avoid monitoring the dead angle.
When a key on the power equipment in the switch room or the distribution room needs to be pressed, firstly, the robot stops sliding, then the stepping motor 33 is started through the controller, so that the output end of the stepping motor drives the first connecting rod 330 to rotate, because each second connecting rod 331 is hinged to one protective door 32, each protective door 32 is hinged to the inner wall of the mounting groove, and because one end of the first connecting rod 330, which is far away from the stepping motor 33, is hinged to one ends of the two second connecting rods 331, which are far away from the protective doors 32, the first connecting rod 330 is shorter than the second connecting rod 331, the two second connecting rods 331 are driven to rotate towards one end close to the protective doors 32, and then the two protective doors 32 are opened.
After two guard gate 32 are opened, start servo motor 500 through the controller, thereby it is rotatory to drive swivel 501 through its output, because ejector pin 502 pegs graft with limiting plate 503, ball 504 rotates with the bottom of ejector pin 502 to be connected, again because the top of conversion is the inclined plane design, initial state, ball 504 laminates with the lower department of conversion top inclined plane, and when the inclined plane of conversion rotation to its top was higher when being in the ball 504 laminating, utilize the higher department of inclined plane to contradict ball 504, thereby it rises to drive ejector pin 502, in addition, the top of ejector pin 502 and the bottom fixed connection of lifter plate 31, and then drive lifter plate 31 and rise, expanding spring 505 plays the cushioning effect, can guarantee simultaneously that the accommodation process at the height of lifter plate 31 is at the uniform velocity goes on, and then satisfy the pressing of the on & off switch of co-altitude not.
When the lifting plate 31 drives the circular pressing block 518 to be adjusted to be consistent with the height of the key, the controller starts the second electric push rod 510, so that the output end of the second electric push rod is contracted, the output end of the second electric push rod is fixedly connected with the sliding plate 511, the sliding plate 511 is slidably connected with the two limiting sleeves through the sliding rod 515, so that the sliding plate 511 is driven to slide towards one end far away from the lifting plate 31, the roller 512 is rotatably connected with the sliding block 513, the sliding block 513 is slidably connected with the L-shaped plate 310, the L-shaped plate 310 is fixedly connected with the mounting plate, the inner wall of the arc-shaped traction groove 516 is attached to the outer edge of the roller 512, the guide rod 517 is fixedly connected with the sliding block 513, and the guide rod 517 is driven to slide towards one end far away from the mounting plate by using the interference force generated when the inner wall of the arc-shaped traction groove 516 on the sliding plate 511 contacts the outer edge of the roller 512, and the circular pressing block 518 is fixedly connected with one end far away from the sliding block 513, so that the circular pressing block 518 is driven to extend out of the inside of the pressing block mounting groove to press the key, buffer spring 514 plays the cushioning effect, guarantees that circular briquetting 518 presses the button with suitable dynamics, prevents to press the pressure degree too big and press the button bad, plays the effect of protection power equipment, avoids causing the loss.
When needs installation main part 3 and supporter 2, at first insert the jack at main part 3 top with inserted bar 40 through mount pad 41, when inserted bar 40 was originally inserted, because buckle 430 is close to the top one end of draw-in groove and inserted bar 40's bottom all is integrated into one piece and is provided with oblique angle 400, therefore when two buckles 430 are close to the one end conflict of oblique angle 400 in the bottom of inserted bar 40, spacing spring 431 contracts, thereby automatically, drive two buckles 430 to the inside shrink of two spouts, be favorable to promoting the assembly speed.
Continue to insert the in-process to the jack at inserted bar 40, when the draw-in groove slides to the highly uniform with buckle 430, buckle 430 no longer receives the conflict of inserted bar 40 outer wall, spacing spring 431 resets, change to the extension by the shrink promptly, and then it slides to the draw-in groove to drive buckle 430 from the inside of spout, lock inserted bar 40, realize mount pad 41 and inserted bar 40's fixed connection, and then realize the assembly of supporter 2 and main part 3 of this robot, draw runner 432 plays the guide effect, guarantee the gliding stability of buckle 430, thereby guarantee in the accurate inserted draw-in groove of buckle 430, can not produce the dislocation.
The support body 2 and the main body 3 of the conventional rail-mounted inspection robot are generally fixedly connected, and once the main body 3 fails, the main body needs to be detached for inspection and maintenance, whereas the disassembly of the support body 2 from the body 3, of fixed design, is time-consuming and laborious, in order to solve this problem, a release assembly 42 is designed, when the main body 3 needs to be detached from the supporting body 2, the two shifting blocks 420 are manually shifted in opposite directions, since each of the catches 430 is fixedly connected with one of the shifting blocks 420 through one of the connecting rods 421, therefore make two buckles 430 deviate from the inside of two draw-in grooves, realize the release to inserted bar 40, pull out main part 3 from inserted bar 40 with 3 outer walls of gripping main part again, realize the separation of the two, compare in prior art, obviously promoted the dismantlement speed of supporter 2, conveniently solve the trouble of main part 3, be favorable to promoting the maintenance efficiency of this robot.
Claims (10)
1. The utility model provides an indoor string rail inspection robot, includes slide rail (1) and supporter (2), and slide rail (1) is fixed to be established on the wall body, and supporter (2) slide through four pulley (10) and set up on the outer wall of slide rail (1), its characterized in that: the quick-release mechanism (4) is arranged at the bottom of the push plate (200) to realize quick disassembly and assembly of the support body (2) and the main body (3), the quick-release mechanism (4) comprises an insert rod (40), a mounting seat (41), a release component (42) and two locking components (43), the insert rod (40) is fixedly arranged at the bottom of the push plate (200), the mounting seat (41) is fixedly arranged at the top of the inner side of the main body (3) through bolts, a jack for the insert rod (40) to be inserted is arranged on the inner wall of the main body (3), the insert rod (40) penetrates through the mounting seat (41) to be inserted with the jack, the two locking components (43) are symmetrically arranged inside the mounting seat (41), and the release component (42) is inserted at the top of the main body (3), main part (3) joint sets up on quick detach mechanism (4), the fixed inside of establishing in main part (3) of controller, be equipped with the mounting groove on the inner wall of main part (3), operating device (5) are established in the inside of mounting groove in order to replace artifical completion operation task, operating device (5) are including adjusting part (50) and pressing means (51), the inboard bottom of mounting groove highly is equipped with baffle (30), adjusting part (50) are established at the top of baffle (30), it is equipped with lifter plate (31) to slide on the lower half inner wall of mounting groove, pressing means (51) are established at the top of lifter plate (31), first electric putter (20), adjusting part (50) and pressing means (51) are electric connection with the controller.
2. The indoor rail-hanging inspection robot according to claim 1, characterized in that: adjusting part (50) includes servo motor (500), change (501) and ejector pin (502), servo motor (500) are fixed to be established on the inner wall of mounting groove, change (501) are fixed to be established on its output, fixed limiting plate (503) that are equipped with on the inner wall of mounting groove, ejector pin (502) are inserted and are established on limiting plate (503), and the top of ejector pin (502) and the bottom fixed connection of lifter plate (31), the rotatable ball (504) that is provided with in bottom of ejector pin (502), the top laminating of ball (504) and change (501), servo motor (500) are connected with the controller electricity.
3. The indoor rail-hanging inspection robot according to claim 2, characterized in that: the outer wall of the ejector rod (502) is sleeved with a telescopic spring (505), the outer wall of the ejector rod (502) is fixedly provided with a limiting ring (506), and the bottom of the limiting plate (503) and the top of the limiting ring (506) are respectively abutted against the two ends of the telescopic spring (505).
4. The indoor rail inspection robot according to claim 3, characterized in that: the pressing component (51) comprises a second electric push rod (510), a sliding plate (511), a roller (512), a sliding block (513) and a buffer spring (514), a mounting plate is fixedly arranged at the top of the lifting plate (31), the second electric push rod (510) is fixedly arranged on the outer wall of the mounting plate, the output end of the second electric push rod is fixedly connected with the outer wall of the sliding plate (511), two limiting sleeves are symmetrically arranged on the outer wall of the mounting plate, the sliding plate (511) is arranged between the two limiting sleeves in a sliding manner through a sliding rod (515), an L-shaped plate (310) is fixedly arranged on the outer wall of the lifting plate (31), the sliding block (513) is arranged on the outer wall of the L-shaped plate (310) in a sliding manner, the roller (512) is rotatably arranged on the outer wall of the sliding block (513), an arc-shaped traction groove (516) is formed in the sliding plate (511), the outer edge of the roller (512) is attached to the inner wall of the arc-shaped traction groove (516), a guide rod (517) is fixedly arranged on the outer wall of the sliding block (513), buffer spring (514) cover is established on the outer wall of guide arm (517), and the outer wall of slider (513) and the outer wall of L template (310) are contradicted with the both ends of buffer spring (514) respectively, and slide bar (515) is kept away from in guide arm (517) one end fixed circular briquetting (518) that is equipped with, and second electric putter (510) are connected with the controller electricity.
5. The indoor rail inspection robot according to claim 4, characterized in that: the outer wall of the guide rod (517) is fixedly provided with an installation block (519), the outer wall of the installation block (519) is symmetrically provided with two inclined blocks (5190), and a compression roller (5191) is rotatably arranged between the two inclined blocks (5190).
6. The indoor rail-hanging inspection robot according to claim 1, characterized in that: every locking Assembly (43) all includes buckle (430) and spacing spring (431), is the symmetry on the inner wall of mount pad (41) and is provided with two spouts, and buckle (430) slide through draw runner (432) and set up in the inside of spout, and spacing spring (431) are fixed to be established between the inner wall of spout and the outer wall of buckle (430), are the symmetry on the outer wall of inserted bar (40) on the circumferencial direction and are provided with two and can supply buckle (430) male draw-in grooves.
7. The indoor rail inspection robot according to claim 6, wherein: release subassembly (42) include two shifting blocks (420) and two connecting rods (421), and every connecting rod (421) all fix and establish on the outer wall of a buckle (430), and every shifting block (420) all fix and establish the one end of keeping away from buckle (430) in a connecting rod (421), all be the symmetry on the outer wall of mount pad (41) and the top outer wall of main part (3) and be provided with two grooves of dodging that can supply connecting rod (421) reciprocating sliding.
8. The indoor rail inspection robot according to claim 7, wherein: the top end of the buckle (430) close to the clamping groove and the bottom of the inserted link (40) are integrally formed with an oblique angle (400).
9. The indoor rail inspection robot according to claim 8, wherein: the opening of mounting groove is served and is articulated two guard gate (32) of being provided with, fixed step motor (33) of being equipped with on the bottom inner wall of main part (3), the cover is equipped with first connecting rod (330) on its output, all articulate on the outer wall of every guard gate (32) and be provided with second connecting rod (331), the one end that step motor (33) were kept away from in first connecting rod (330) is all articulated with the one end that guard gate (32) were kept away from in two second connecting rods (331), first connecting rod (330) are shorter than second connecting rod (331), step motor (33) are connected with the controller electricity.
10. The indoor rail-hanging inspection robot according to claim 9, characterized in that: two high-definition cameras (34) are symmetrically arranged on the outer walls of the two ends of the main body (3), and each high-definition camera (34) is electrically connected with the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111594800.7A CN114161447A (en) | 2021-12-24 | 2021-12-24 | Indoor hanging rail inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111594800.7A CN114161447A (en) | 2021-12-24 | 2021-12-24 | Indoor hanging rail inspection robot |
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| CN114161447A true CN114161447A (en) | 2022-03-11 |
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| CN202111594800.7A Pending CN114161447A (en) | 2021-12-24 | 2021-12-24 | Indoor hanging rail inspection robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117532636A (en) * | 2024-01-09 | 2024-02-09 | 河北雄安金杏智慧科技有限公司 | Child education robot and application method thereof |
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