CN114161447B - Indoor rail-hanging inspection robot - Google Patents
Indoor rail-hanging inspection robot Download PDFInfo
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- CN114161447B CN114161447B CN202111594800.7A CN202111594800A CN114161447B CN 114161447 B CN114161447 B CN 114161447B CN 202111594800 A CN202111594800 A CN 202111594800A CN 114161447 B CN114161447 B CN 114161447B
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- 238000007689 inspection Methods 0.000 title claims abstract description 25
- 238000009434 installation Methods 0.000 claims description 13
- 230000005611 electricity Effects 0.000 claims description 5
- 238000005096 rolling process Methods 0.000 claims 1
- 230000000712 assembly Effects 0.000 abstract description 4
- 238000000429 assembly Methods 0.000 abstract description 4
- 238000005192 partition Methods 0.000 abstract description 2
- 230000001681 protective effect Effects 0.000 description 12
- 238000006243 chemical reaction Methods 0.000 description 9
- 238000012423 maintenance Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000000926 separation method Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 3
- 230000003111 delayed effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000010030 laminating Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of electric power grid inspection, in particular to an indoor rail hanging inspection robot which comprises a sliding rail, a supporting 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 supporting body, a push plate is fixedly arranged at the output end of the supporting body, the quick-release mechanism comprises a plug rod, a mounting seat, a release assembly and two locking assemblies, a mounting groove is arranged on 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, a lifting plate is slidably arranged on the inner wall of the lower half of the mounting groove, 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.
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 power substation and the power transmission and distribution line of various voltages in the power system is called a power grid. The power transformation, transmission and distribution system comprises three units. 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 manually adjust keys on the power equipment or perform operations such as opening the gate, so that the working efficiency is low, the work load is large, and meanwhile, certain potential safety hazards are provided.
2. The main body and the supporting body of the existing operation robot are usually fixedly connected, once the main body fails, the main body needs to be detached for inspection and maintenance, and the fixedly designed supporting body and the main body are detached, so that time and labor are wasted, the maintenance efficiency of the robot is reduced, and further the inspection work is delayed.
Disclosure of Invention
The invention aims to provide an indoor rail-hanging inspection robot.
To achieve the purpose, the invention adopts the following technical scheme:
The indoor rail-hanging inspection robot 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 sliding contact type power supply, the cruising time of the robot can be ensured,
Still include main part, a controller, quick detach mechanism and operating device, insert on the inner wall of supporter and be equipped with first electric putter, be fixed on its output and be equipped with the push pedal, quick detach mechanism establishes the bottom in the push pedal in order to realize the quick detach of supporter and main part, quick detach mechanism includes the inserted bar, the mount pad, release subassembly and two locking subassembly, the bottom in the push pedal is established to the inserted bar is fixed, the mount pad passes through the bolt fastening and establishes at the inboard top of main part, be equipped with the jack that supplies the inserted bar to peg graft on the inner wall of main part, the inserted bar passes mount pad and jack grafting, two locking subassemblies are the symmetry setting in the inside of mount pad, release subassembly inserts the top of establishing at the main part, main part joint sets up on quick detach mechanism, the controller is fixed to be established in the inside of main part, be equipped with the mounting groove on the inner wall of main part, operating device establishes in order to replace the manual work and accomplishes the operation task, operating device includes adjusting part and pressing assembly, the inboard bottom height of mounting groove is equipped with the baffle, the adjusting part is established at the top of baffle, slide is equipped with the lifter on the lower half inner wall of mounting groove, pressing assembly establishes at the top of lifter, first electric putter, equal electric connection with the controller.
Further, 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, is fixed to be equipped with the limiting plate on the inner wall of mounting groove, 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 laminating of ball and the top of swivel, servo motor and controller electricity are connected.
Further, the outer wall of the ejector rod is sleeved with the telescopic spring, the outer wall of the ejector rod is fixedly provided with the limiting ring, and the bottom of the limiting plate and the top of the limiting ring are respectively abutted against the two ends of the telescopic spring.
Further, press the subassembly and include second electric putter, the slide, the gyro wheel, the slider and buffer spring, the fixed mounting panel that is equipped with in top of lifter plate, the second electric putter is fixed to be established on the outer wall of mounting panel, its output and the outer wall fixed connection of slide, be the symmetry on the outer wall of mounting panel and be provided with two stop collars, the slide passes through the slide bar and slides and set up between two stop collars, the fixed L template that is equipped with on the outer wall of lifter plate, the slider slides and sets up on the outer wall of L template, the rotatable setting of gyro wheel is on the outer wall of slider, the arc traction groove has been seted up on the slide, the outer fringe of gyro wheel is laminated with the inner wall of arc traction groove, the fixed guide arm that is equipped with on the outer wall of slider, buffer spring cover is established on the outer wall of guide arm, the outer wall of slider and the outer wall of L template are contradicted with buffer spring respectively, the one end that the slide bar was kept away from to the guide arm is fixed and is equipped with circular briquetting, the second electric putter is connected with the controller electricity.
Further, the outer wall of the guide rod is fixedly provided with a mounting block, two inclined blocks are symmetrically arranged on the outer wall of the mounting block, and a compression roller is rotatably arranged between the two inclined blocks.
Further, each locking assembly comprises a buckle and a limiting spring, two sliding grooves are symmetrically arranged on the inner wall of the mounting seat, the buckle is arranged inside the sliding groove in a sliding mode through sliding strips, the limiting springs are fixedly arranged between the inner wall of the sliding groove and the outer wall of the buckle, and two clamping grooves for the buckle to be inserted are symmetrically arranged on the outer wall of the inserting rod in the circumferential direction.
Further, release assembly includes two dials piece and two connecting rods, and every connecting rod is all fixed to be established on the outer wall of a buckle, and every dials piece 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 and supplies the connecting rod to reciprocate gliding groove of dodging.
Further, the buckle is close to the top one end of draw-in groove and the bottom of inserted bar and all is integrated into one piece and is provided with the oblique angle.
Further, the open end of the mounting groove is hinged with two protective doors, a stepping motor is fixedly arranged on the inner wall of the bottom of the main body, a first connecting rod is sleeved on the output end of the main body, the outer wall of each protective door is hinged with a second connecting rod, one end of the first connecting rod, which is far away from the stepping motor, is hinged with one ends of the two second connecting rods, which are far away from the protective doors, the first connecting rod is shorter than the second connecting rod, and the stepping motor is electrically connected with the controller.
Further, two high-definition cameras are symmetrically arranged on the outer walls of the two ends of the main body, and each high-definition camera is electrically connected with the controller.
The invention has the beneficial effects that:
1. According to the invention, through designing the sliding rail, the supporting body main body, the controller and the operating mechanism, and simultaneously through 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, when an abnormal condition is found, the power equipment can be adjusted through the operating mechanism in time, compared with the prior art, the manual operation task can be replaced or assisted, the workload of a worker is greatly reduced, the fault processing time is shortened, the personal safety and the power grid safety of the worker are ensured, and the occurrence of power accidents is reduced.
2. According to the invention, through designing the adjusting component and the pressing component and designing the mounting block, the pressing roller and the two inclined blocks, when a problem is found, the pressing operation of the keys on the power equipment can be timely performed, and when a circuit fails, the automatic emergency brake separation is performed, the fault circuit and the main circuit are cut off, so that larger loss is avoided, smooth power transmission is ensured, meanwhile, the buffer spring can play a role in buffering, the round pressing block is ensured to press the keys with proper force, and the key is prevented from being crushed due to overlarge pressing force, so that the effect of protecting the power equipment is achieved.
3. According to the invention, the quick-dismantling mechanism, namely the inserted link, the mounting seat, the release assembly and the two locking assemblies, can be used for facilitating the quick dismantling of the main body and the support body of the robot, and can be dismantled from the support body in time for quick detection of faults when faults occur in the main body, so that the maintenance efficiency of the robot is improved, the service life of the robot is prolonged, the inspection cost is further reduced, meanwhile, the inspection work is not delayed, the cruising performance is higher, and on the other hand, the clamping groove is matched with the locking of the clamping buckle, so that the main body cannot fall off from the support body on the premise of realizing the quick dismantling of the main body and the support body after the main body and the support body are arranged, and the stable operation of the robot can be ensured, and the inspection efficiency is improved.
4. According to the invention, the height of the round pressing block or the pressing roller on the lifting plate can be randomly adjusted by designing the adjusting component, so that keys or blades on power equipment with different heights can be conveniently pressed and pulled down, the operating requirements of the robot on the keys and the brake separation of the power equipment with different heights are met, and the overall practicability and compatibility of the robot are improved.
5. According to the invention, by designing the stepping motor, the first connecting rod, the two second connecting rods and the two protective doors, when a key or a brake separating operation is not needed in daily inspection, the two protective doors are tightly closed, dust can be prevented from entering dirt parts in the mounting groove, meanwhile, the function of protecting the parts is achieved, and when the key 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 to perform a series of operations, manual intervention is not needed, time and labor are saved, and further the robot is more intelligent and convenient.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present invention, the following description briefly describes the drawings in the embodiments of the present invention.
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a plan cross-sectional view of the support and body of the present invention;
FIG. 3 is an enlarged view at A in FIG. 2;
FIG. 4 is an enlarged view at B in FIG. 2;
FIG. 5 is a schematic perspective view of a pressing assembly according to the present invention;
FIG. 6 is a schematic perspective view of the guide bar, mounting block, bevel block and pressure roller of the present invention;
FIG. 7 is an exploded perspective view of the support, mount and body of the present invention;
FIG. 8 is an enlarged view at C in FIG. 7;
FIG. 9 is a schematic view showing the opening of two guard doors according to the present invention;
Fig. 10 is an enlarged view of D in fig. 9;
In the figure: slide rail 1, pulley 10, support body 2, first electric putter 20, push plate 200, main body 3, partition plate 30, lifter plate 31, l-shaped plate 310, guard gate 32, stepping motor 33, first link 330, second link 331, high definition camera 34, quick release mechanism 4, plunger 40, bevel 400, mount 41, release assembly 42, dial 420, connecting rod 421, lock assembly 43, buckle 430, stopper spring 431, slide bar 432, operating mechanism 5, adjustment assembly 50, servo motor 500, swivel 501, ejector pin 502, stopper plate 503, ball 504, extension spring 505, stopper ring 506, pressing assembly 51, second electric putter 510, slide 511, roller 512, slider 513, buffer spring 514, slide bar 515, arc-shaped traction groove 516, guide bar 517, circular press block 518, mounting block 519, bevel 5190, press roller 5191.
Detailed Description
The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.
Wherein the drawings are for illustrative purposes only and are shown in schematic, non-physical, and not intended to be limiting of the present patent; for the purpose of better illustrating embodiments of the invention, certain elements of the drawings may be omitted, enlarged or reduced in size and do not represent the actual product dimensions.
Example 1
The invention provides a technical proposal, referring to fig. 1, an indoor track-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 way through four pulleys 10, the slide rail 1 adopts sliding contact type power supply, the cruising of the robot can be ensured,
The quick-release mechanism 4 is arranged at the bottom of the push plate 200 to realize the quick-release of the support body 2 and the main body 3, the quick-release mechanism 4 comprises an inserting rod 40, an installation seat 41, a release assembly 42 and two locking assemblies 43, the inserting rod 40 is fixedly arranged at the bottom of the push plate 200, the installation seat 41 is fixedly arranged at the top of the inner side of the main body 3 through bolts, the inner wall of the main body 3 is provided with a jack for inserting the inserting rod 40, the inserted link 40 passes mount pad 41 and jack grafting, two locking subassembly 43 are the symmetry and set up in the inside of mount pad 41, release subassembly 42 inserts the top of establishing at main part 3, main part 3 joint sets up on quick detach mechanism 4, the inside at main part 3 is established to the controller is fixed, be equipped with the mounting groove on the inner wall of main part 3, operating device 5 establishes in the inside of mounting groove in order to replace the manual work to accomplish the operation task, operating device 5 includes adjusting part 50 and presses subassembly 51, the inboard bottom height of mounting groove is equipped with baffle 30, adjusting part 50 establishes at the top of baffle 30, the slip is equipped with lifter plate 31 on the lower half inner wall of mounting groove, press the top at lifter plate 31 is established to subassembly 51, first electric putter 20, adjusting part 50 and press subassembly 51 are electric connection with the controller.
In order to realize the accurate regulation of the height of the lifting plate 31, an adjusting component 50 is designed, referring to fig. 4, the adjusting component 50 comprises a servo motor 500, a swivel 501 and a push rod 502, the servo motor 500 is fixedly arranged on the inner wall of a mounting groove, the swivel 501 is fixedly arranged on the output end of the swivel 501, a limiting plate 503 is fixedly arranged on the inner wall of the mounting groove, the push rod 502 is inserted on the limiting plate 503, the top end of the push rod 502 is fixedly connected with the bottom of the lifting plate 31, a ball 504 is rotatably arranged at the bottom of the push rod 502, the ball 504 is attached to the top of the swivel 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 that the swivel 501 is driven to rotate through the output end of the swivel 502, the ball 504 is connected with the bottom of the push rod 502 in a bevel design, in an initial state, the ball 504 is attached to the lower part of the bevel of the top of the conversion, and when the bevel of the top of the conversion is higher part of the conversion part is located at the top of the conversion part, the bevel is attached to the ball 504 by the higher part of the bevel, the ball 504, so that the ball 504 is attached to the upper part of the bevel is rotatably, and the upper part of the ball is attached to the top of the conversion part, and the top of the conversion part is, and the top of the top is fixedly attached to the top of the push rod 502, and the top of the top is.
In order to ensure that the lifting plate 31 is lifted at a uniform speed, referring to fig. 4, a telescopic spring 505 is sleeved on the outer wall of the ejector rod 502, a limiting ring 506 is fixedly arranged on the outer wall of the ejector rod 502, the bottom of the limiting plate 503 and the top of the limiting ring 506 respectively collide with two ends of the telescopic spring 505, the limiting plate 503 and the limiting ring 506 play a limiting role on the telescopic spring 505, the telescopic spring 505 plays a buffering role, and meanwhile, the height adjustment process of the lifting plate 31 can be guaranteed to be performed at a uniform speed, and then the pressing of on-off keys at different heights is met.
In order to realize the pressing of the key inside the switch room or the power distribution room, a pressing component 51 is designed, referring to fig. 5, 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, the top of the lifting plate 31 is fixedly provided with a mounting plate, 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, the mounting position of the second electric push rod 510 is considered, a miniature electric push rod can be conveniently arranged inside the mounting groove during material selection, 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 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 plate 513, a buffer spring 514 is sleeved on the outer wall of the guide rod 517, the outer wall of the sliding plate 513 and the outer wall of the L-shaped plate 310 are respectively abutted against two ends of the buffer spring 514, one end of the guide rod 517, which is far away from the sliding rod 515, is fixedly provided with a circular pressing block 518, a second electric push rod 510 is electrically connected with a controller, when the lifting plate 31 drives the circular pressing block 518 to be adjusted to be consistent with the height of a key, the second electric push rod 510 is started by the controller, so that the output end of the second electric push rod 510 is contracted, the output end of the second electric push rod is fixedly connected with the sliding plate 511, the sliding plate 511 is slidingly connected with 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 rotationally connected with the sliding plate 513, and the L-shaped plate 310, l-shaped plate 310 and mounting panel fixed connection, the inner wall of arc traction groove 516 is laminated with the outer fringe of gyro wheel 512, guide arm 517 and slider 513 fixed connection, and then the interference force that produces when utilizing the inner wall of its last arc traction groove 516 to the contact of gyro wheel 512 outer fringe when slide 511 slides drives guide arm 517 to keeping away from the one end of mounting panel and slide, and in addition, the one end fixed connection of slider 513 is kept away from to circular briquetting 518 and guide arm 517, 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 dynamics too big and press the button, play the effect of protection power equipment, avoid causing the loss.
In order to ensure firm locking of the main body 3 and the supporting body 2, two locking assemblies 43 are established, refer to fig. 3, each locking assembly 43 comprises a buckle 430 and a limiting spring 431, two sliding grooves are symmetrically formed in the inner wall of the installation seat 41, the buckle 430 is slidably arranged in the sliding grooves through sliding strips 432, the limiting springs 431 are fixedly arranged between the inner wall of the sliding grooves and the outer wall of the buckle 430, two clamping grooves for the insertion of the buckle 430 are symmetrically formed in the outer wall of the inserting rod 40 in the circumferential direction, the buckle 430 is prevented from being interfered by the outer wall of the inserting rod 40 in the inserting process when the clamping grooves slide to be consistent with the height of the buckle 430, the limiting springs 431 are reset, namely, the limiting springs are retracted to extend and convert, and then the buckle 430 is driven to slide into the clamping grooves from the inside of the sliding grooves, the locking of the inserting rod 40 is achieved, the supporting body 2 and the main body 3 of the robot are further achieved, the sliding strips 432 play a guiding role, the sliding stability of the buckle 430 is guaranteed, the accurate insertion of the buckle 430 is guaranteed, the buckle 430 is prevented from being accurately inserted into the clamping grooves, the clamping grooves cannot be matched with the main body 3, and the main body 2 can be stably assembled and disassembled, and assembled and disassembled, and the main body 2 can be stably and assembled.
In order to facilitate the quick disassembly of the insert rod 40 and the mounting seat 41, a release assembly 42 is designed, referring to fig. 8, the release assembly 42 comprises 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 avoidance grooves for the connecting rod 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 supporting body 2 and the main body 3 of the conventional rail-mounted inspection robot are usually fixedly connected, once the main body 3 fails, the main body 3 needs to be disassembled for inspection and maintenance, the disassembly of the support body 2 and the main body 3 which are fixedly designed is time-consuming and labor-consuming, and in order to solve the problem, the release assembly 42 is designed, when the main body 3 is required to be disassembled from the support body 2, only the two shifting blocks 420 are required to be reversely shifted by manpower, as each buckle 430 is fixedly connected with one shifting block 420 through one connecting rod 421, the two buckles 430 are separated from the interiors of the two clamping grooves, the release of the inserting rod 40 is realized, the main body 3 is pulled out from the inserting rod 40 by the outer wall of the grasping main body 3, and the separation of the two is realized.
In order to ensure that the insert rod 40 at the bottom of the support body 2 can be quickly inserted when being assembled with the mounting seat 41, referring to fig. 3, one end of the buckle 430 close to the top of the clamping groove and the bottom of the insert rod 40 are provided with the bevel angles 400 in an integrated manner, when the main body 3 and the support body 2 are required to be mounted, the insert rod 40 is firstly inserted into the jack at the top of the main body 3 through the mounting seat 41, and the bevel angles 400 are provided with the buckle 430 close to the top of the clamping groove and the bottom of the insert rod 40 in an integrated manner when the insert rod 40 is initially inserted, so that when the bottom end of the insert rod 40 is abutted against one end of the two buckles 430 close to the bevel angles 400, the limiting springs 431 shrink, thereby automatically driving the two buckles 430 to shrink inwards of the two sliding grooves, and being beneficial to improving the assembly speed.
In order to protect and prevent dust for the parts inside the installation groove, referring to fig. 9 and 10, the open end of the installation groove is hinged with two protection doors 32, a stepping motor 33 is fixedly arranged on the inner wall of the bottom of the main body 3, a first connecting rod 330 is sleeved on the output end of the installation groove, a second connecting rod 331 is hinged on the outer wall of each protection door 32, one end of the first connecting rod 330 far away from the stepping motor 33 is hinged with one ends of the two second connecting rods 331 far away from the protection doors 32, the first connecting rod 330 is shorter than the second connecting rods 331, the stepping motor 33 is electrically connected with the controller, when the pressing of keys on electric equipment in a switching room or a distribution room is needed, the sliding of the robot is stopped at first, 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, and the two second connecting rods 331 are further driven to be close to the two protection doors 32 because the end of the first connecting rod 330 far away from the stepping motor 33 is hinged with the inner wall of the installation groove.
In order to provide the visual field in this robot real-time switch room or the distribution room, make things convenient for its inspection and operation, refer to the fig. 2 and show, be the symmetry on the both ends outer wall of main part 3 and be provided with two high definition digtal cameras 34, every high definition digtal camera 34 all is connected with the controller electricity, when the work of patrolling and examining, first two high definition digtal cameras 34 are started to the controller, monitor the circuit condition in switch room or the distribution room in real time, supporter 2 and slide rail 1 adopt the smooth touch power supply, slide rail 1 drives four pulleys 10 and slides on slide rail 1 voluntarily, 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 opening operation in the switch room or the distribution room, referring to 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, a pressing roller 5191 is rotatably arranged between the two inclined blocks 5190, when a circuit fails, in order to avoid causing great loss, the circuit of the failed part needs to be disconnected from the main circuit, so that the automatic emergency opening operation is required, the installation block 519 is driven to descend through the lifting plate 31, and the pressing roller 5191 is rotationally connected with the two inclined blocks 5190 due to the fact that the two inclined blocks 5190 are fixedly connected with the installation block 519, and then the knife switch is pulled down through the descent of the pressing roller 5191.
The working principle of the invention is as follows: when the inspection work is carried out, the controller starts the two high-definition cameras 34 at first, monitors the circuit condition in the switch room or the power distribution room in real time, the support body 2 and the slide rail 1 adopt sliding contact type power supply, and the slide rail 1 drives the four pulleys 10 to automatically slide on the slide rail 1, so that the robot is driven to automatically slide, each position in the switch room or the power distribution room is conveniently detected, and the monitoring dead angle is avoided.
When the pressing of the key on the electric equipment in the switch room or the distribution room is needed, the sliding of the robot is stopped firstly, 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 stepping motor, as each second connecting rod 331 is hinged with one protective door 32, each protective door 32 is hinged with the inner wall of the installation groove, and as one end of the first connecting rod 330 far away from the stepping motor 33 is hinged with one ends of the two second connecting rods 331 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 ends close to the protective doors 32, and the two protective doors 32 are opened.
After two guard gates 32 are opened, start servo motor 500 through the controller, thereby drive swivel 501 through its output and rotate, because ejector pin 502 is pegged graft with limiting plate 503, ball 504 is connected with the bottom rotation of ejector pin 502, again because the top of conversion is the inclined plane design, initial condition, ball 504 is laminated with the lower department of conversion top inclined plane, and when the inclined plane that the conversion was rotatory to its top is higher when being in ball 504 laminating, utilize the higher department of inclined plane to contradict ball 504, thereby drive ejector pin 502 and rise, and 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, telescopic spring 505 plays the cushioning effect, can guarantee simultaneously that the adjustment process at the height of lifter plate 31 is at the uniform velocity, and then satisfy the pressing to the on-off key of different co-altitude.
When the lifting plate 31 drives the round press 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 in sliding connection with 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 rotationally connected with the sliding block 513, the sliding block 513 is in sliding connection 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 further, the guide rod 517 is driven to slide towards one end far away from the mounting plate by the contact force generated when the inner wall of the arc-shaped traction groove 516 slides by the sliding plate 511, in addition, the round press block 518 and the guide rod 517 are fixedly connected with one end far away from the sliding block 513, so that the round press block 518 is driven to extend out from the inside of the mounting groove to press the key, and the buffer spring 514 plays a role in buffering, the fact that the round press block 518 is pressed against the key with proper force, the key is prevented from being pressed, and the key is crushed, and loss is caused by the electric equipment is prevented.
When the main body 3 and the supporting body 2 need to be installed, firstly, the inserting rod 40 is inserted into the jack at the top of the main body 3 through the mounting seat 41, and when the inserting rod 40 is initially inserted, the oblique angle 400 is formed by integrally forming one end of the buckle 430 close to the top of the clamping groove and the bottom of the inserting rod 40, so that when the bottom end of the inserting rod 40 is abutted against one end of the two buckles 430 close to the oblique angle 400, the limiting spring 431 contracts, thereby automatically driving the two buckles 430 to contract towards the interiors of the two sliding grooves, and being beneficial to improving the assembly speed.
In the process of inserting the inserted link 40 into the jack, when the clamping groove slides to be consistent with the height of the buckle 430, the buckle 430 is not interfered by the outer wall of the inserted link 40, the limiting spring 431 is reset, namely, is changed from shrinkage to extension, and then drives the buckle 430 to slide in the clamping groove from the inside of the sliding groove, the inserted link 40 is locked, the fixed connection of the mounting seat 41 and the inserted link 40 is realized, and then the assembly of the support body 2 and the main body 3 of the robot is realized, the slide bar 432 plays a guiding role, the sliding stability of the buckle 430 is ensured, and therefore, the buckle 430 is ensured to be accurately inserted into the clamping groove without dislocation.
The supporter 2 and the main body 3 of the conventional rail-mounted inspection robot are usually fixedly connected, once the main body 3 breaks down, the main body 3 needs to be disassembled for inspection and maintenance, and the disassembly of the fixedly designed supporter 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 disassembled from the supporter 2, only the two shifting blocks 420 are required to be reversely shifted by manpower, as each buckle 430 is fixedly connected with one shifting block 420 through one connecting rod 421, the two buckles 430 are separated from the interiors of the two clamping grooves, the release of the inserted rod 40 is realized, the main body 3 is pulled out of the inserted rod 40 by the outer wall of the grasping main body 3, and the separation of the two is realized.
Claims (5)
1. The utility model provides an indoor rail robot of patrolling and examining of hanging, includes slide rail (1) and supporter (2), and slide rail (1) are fixed to be established on the wall body, and supporter (2) are through four pulley (10) slip setting on the outer wall of slide rail (1), its characterized in that: the quick release mechanism (4) comprises a plug rod (40), a mounting seat (41), a release component (42) and two locking components (43), the plug rod (40) is fixedly arranged at the bottom of the push plate (200), the mounting seat (41) is fixedly arranged at the bottom of the push plate (200) through bolts, a jack for plugging the plug rod (40) is arranged on the inner wall of the main body (3), the plug rod (40) penetrates through the mounting seat (41) and is plugged with the jack, the two locking components (43) are symmetrically arranged in the mounting seat (41), the release component (42) is plugged at the top of the main body (3), the main body (3) is clamped and arranged on the quick release mechanism (4), the controller is fixedly arranged at the inner wall (3) of the main body (3) and is provided with an operation groove (50) for replacing the manual operation mechanism (5), the inside bottom height of mounting groove is equipped with baffle (30), adjusting part (50) are established at the top of baffle (30), slide on the lower half inner wall of mounting groove and be equipped with lifter plate (31), press part (51) to establish the top at lifter plate (31), first electric putter (20), adjusting part (50) and press part (51) and controller are electric connection, adjusting part (50) are electric connection, including servo motor (500), swivel (501) and ejector pin (502), servo motor (500) are fixed to be established on the inner wall of mounting groove, swivel (501) are fixed to be established on its output, be equipped with limiting plate (503) 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) is equipped with ball (504) with the bottom fixed connection of lifter plate (31), the bottom rotatable of ejector pin (502), ball (504) are laminated with the top of swivel (501), servo motor (500) are connected with the controller electricity, the cover is equipped with telescopic spring (505) on the outer wall of ejector pin (502), the outer wall of ejector pin (506) is equipped with the outer wall of fixed to establish on the inner wall of fixed limiting plate (506), the fixed spring (506) is equipped with the top of ejector pin (502) and the top of two limiting plates (506), the top of ejector pin (502) is equipped with limiting plate (503) is pressed separately, the top of two limiting plates (503) are pressed separately, top of ejector pin (502) is pressed separately, top of the top of ejector pin (502) is pressed down, the top of the lifting plate (31) is fixedly provided with a mounting plate, 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 slidably arranged between the two limiting 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 rolling wheel (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), 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 the two ends of the buffer spring (514), a round pressing block (518) is fixedly arranged at one end, far away from the sliding rod (515), of the guide rod (517), a second electric push rod (510) is electrically connected with the controller, 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 mounting block (519), a pressing roller (5191) is rotatably arranged between the two inclined blocks (5190), each locking assembly (43) comprises a buckle (430) and a limiting spring (431), two sliding grooves are symmetrically arranged on the inner wall of the mounting seat (41), the buckle (430) is slidably arranged inside the sliding groove through a sliding strip (432), the limiting springs (431) are fixedly arranged between the inner wall of the sliding groove and the outer wall of the buckle (430), and two clamping grooves for the buckle (430) to be inserted are symmetrically arranged on the outer wall of the inserting rod (40) in the circumferential direction.
2. The indoor rail-mounted inspection robot of claim 1, wherein: the release assembly (42) comprises 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, far away from the buckle (430), of one connecting rod (421), and two avoidance grooves capable of allowing the connecting rod (421) to slide in a reciprocating mode are symmetrically arranged on the outer wall of the mounting seat (41) and the outer wall of the top of the main body (3).
3. The indoor rail-hanging inspection robot according to claim 2, wherein: the end of the buckle (430) close to the top of the clamping groove and the bottom of the inserted link (40) are integrally formed and provided with bevel angles (400).
4. An indoor rail-mounted inspection robot according to claim 3, wherein: the open end of mounting groove articulates and is provided with two guard gates (32), fixed being equipped with step motor (33) 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) was kept away from to first connecting rod (330) is all articulated with the one end that guard gate (32) was kept away from to 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.
5. The indoor rail-mounted inspection robot of claim 4, wherein: 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.
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| CN202111594800.7A CN114161447B (en) | 2021-12-24 | 2021-12-24 | Indoor rail-hanging inspection robot |
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| CN202111594800.7A CN114161447B (en) | 2021-12-24 | 2021-12-24 | Indoor rail-hanging inspection robot |
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| CN117532636B (en) * | 2024-01-09 | 2024-04-12 | 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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