CN205419692U - Operation device with turn to function - Google Patents

Operation device with turn to function Download PDF

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Publication number
CN205419692U
CN205419692U CN201620139047.0U CN201620139047U CN205419692U CN 205419692 U CN205419692 U CN 205419692U CN 201620139047 U CN201620139047 U CN 201620139047U CN 205419692 U CN205419692 U CN 205419692U
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China
Prior art keywords
rod
platform
gripper shoe
link
work
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Active
Application number
CN201620139047.0U
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Chinese (zh)
Inventor
姜勇
王慧刚
王洪光
王峰
凌烈
白小保
宋屹峰
张帅
胡明伟
贾雷亮
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenyang Institute of Automation of CAS
Maintenance Branch of State Grid Shanxi Electric Power Co Ltd
Original Assignee
Shenyang Institute of Automation of CAS
Maintenance Branch of State Grid Shanxi Electric Power Co Ltd
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Priority to CN201620139047.0U priority Critical patent/CN205419692U/en
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Publication of CN205419692U publication Critical patent/CN205419692U/en
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Abstract

The utility model relates to a robot device that the power transmission and transformation facility detected, specifically speaking is an operation device with turn to function. Including locomotive, revolving stage, elevating platform, connectivity platform and rotary mechanism, wherein the revolving stage is rotationally installed on the locomotive, the elevating platform links firmly with the revolving stage, connectivity platform set up in the top of elevating platform, rotary mechanism installs on connectivity platform. The utility model discloses a locomotive combines with elevating system, has ground walking and operation function, and through elevating platform realization tool's lift, reliable operation, bearing capacity is strong, the utility model is suitable for a robot under the power transmission and transformation environment detects the operation, and the range of application is wide.

Description

There is the apparatus for work of turning function
Technical field
This utility model relates to the robot device of a kind of power transformating and supplying facility detection, a kind of apparatus for work with turning function.
Background technology
Transmission line of electricity is the ingredient that power system is particularly important, in order to ensure that it safely and steadily runs, needs periodically to carry out walkaround inspection.The method that current power transmission line data-logging uses mainly has manual inspection and helicopter routing inspection.The efficiency of manual inspection is low, and labor intensity is big, dangerous high;The cost of helicopter routing inspection is high, patrols and examines the impact of quality easy climate.Therefore develop the robot device of a kind of power transmission facility detection, substitute manual inspection, improve working performance, alleviate the labor intensity of workman.
Utility model content
For the problems referred to above, the purpose of this utility model is to provide a kind of apparatus for work with turning function, and this equipment has that translational speed is fast, obstacle climbing ability is strong, security protection is good, end power tool turning function.
The purpose of this utility model is achieved through the following technical solutions:
A kind of apparatus for work with turning function, including locomotive, turntable, lifting platform, connecting platform and rotating mechanism, its intermediate station is installed in rotation on locomotive, described lifting platform is connected with turntable, described connecting platform is arranged at the top of described lifting platform, and described rotating mechanism is arranged on connecting platform.
Described rotating mechanism includes gear a, gear b, fixed plate and drives motor, wherein fixed plate is arranged on described connecting platform by sliding bearing, described fixed plate is connected with gear a, described driving motor is arranged on described connecting platform and outfan and is connected with gear b, and described gear b engages with gear a.
nullDescribed lifting platform includes motor、Electric cylinder、Gripper shoe、First connecting rod、Second connecting rod、Third connecting rod、Fourth link and the 5th connecting rod,Wherein gripper shoe is arranged on described turntable,Described first connecting rod and second connecting rod cross-articulation、And it is positioned at one end of gripper shoe,Described third connecting rod and fourth link cross-articulation、And it is positioned at the other end of gripper shoe,Described first connecting rod is parallel with fourth link,Described second connecting rod is parallel with third connecting rod,One end of described first connecting rod and fourth link is hinged with described gripper shoe,The other end is slidably connected with described connecting platform,One end of described second connecting rod and third connecting rod is slidably connected with described gripper shoe,The other end is hinged with described connecting platform,Described second connecting rod and third connecting rod are connected by the 5th connecting rod near one end of gripper shoe,Described motor and electric cylinder are arranged in described gripper shoe、And it is connected,The output shaft of described electric cylinder is connected with described 5th connecting rod.
Described second connecting rod and third connecting rod are connected by seven-link assembly, and described first connecting rod and fourth link are connected by six-bar linkage, and described 5th connecting rod and six-bar linkage are connected by the 8th connecting rod.
Described six-bar linkage and seven-link assembly are all horizontally disposed with, and described six-bar linkage is positioned at described second connecting rod and third connecting rod one end near connecting platform, and described seven-link assembly is positioned at the position near centre of described first connecting rod and fourth link.
Described gripper shoe be respectively arranged at two ends with gripper shoe track, one end of described second connecting rod and third connecting rod is respectively equipped with the first scroll wheel and the 3rd scroll wheel can walked on described gripper shoe track.
The bottom of described connecting platform is respectively arranged at two ends with platform track, and the other end of described first connecting rod and fourth link is respectively equipped with the second scroll wheel and the 4th scroll wheel can walked on platform track.
The output shaft of described electric cylinder is connected with described 5th connecting rod by connector.
Described turntable is connected with locomotive by the rotary joint being disposed vertically, and can realize the rotation of turntable.
Described locomotive includes that car body and road wheel, the bottom of described car body are provided with multiple road wheel, and each road wheel is driven by independent motor and harmonic wave speed reducing machine respectively.
Advantage of the present utility model with good effect is:
1. this utility model uses locomotive to be combined with elevating mechanism, has ground running and detection operation function.
2. this utility model realizes the lifting of power tool, reliable operation by lifting platform, and bearing capacity is strong.
3. this utility model end power tool has turning function, portability detection power tool.
4. the robot under this utility model is applicable to power transmission and transformation environment patrols and examines operation, applied range.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the structural representation of locomotive in this utility model;
Fig. 3 is one of structural representation of elevating mechanism in this utility model;
Fig. 4 is in this utility model the two of the structural representation of elevating mechanism;
Fig. 5 is the structural representation of rotating mechanism in this utility model.
nullWherein: 1 is locomotive,101 is car body,102 is road wheel,2 is turntable,3 is lifting platform,301 is motor,302 is electric cylinder,303 is gripper shoe,304 is first connecting rod,305 is second connecting rod,306 is third connecting rod,307 is fourth link,308 is the 5th connecting rod,309 is six-bar linkage,310 is seven-link assembly,311 is connector,312 is the first rotary joint,313 is the second rotary joint,314 is the 3rd rotary joint,315 is the 4th rotary joint,316 is the 5th rotary joint,317 is the 6th rotary joint,318 is the 7th rotary joint,319 is the 8th rotary joint,320 is the 9th rotary joint,321 is the tenth rotary joint,322 is the 11st rotary joint,323 is the 12nd rotary joint,324 is the first scroll wheel,325 is the second scroll wheel,326 is the 3rd scroll wheel,327 is the 4th scroll wheel,328 is the 8th connecting rod,4 is connecting platform,5 is gear a,6 is gear b.
Detailed description of the invention
The utility model is described in further detail below in conjunction with the accompanying drawings.
As shown in Figure 1, a kind of apparatus for work with turning function that this utility model provides, including locomotive 1, turntable 2, lifting platform 3, connecting platform 4 and rotating mechanism, its intermediate station 2 is installed in rotation on locomotive 1, described lifting platform 3 is connected with turntable 2, described connecting platform 4 is arranged at the top of described lifting platform 3, and described rotating mechanism is arranged on connecting platform 4.
As shown in Figure 5, described rotating mechanism includes gear a5, gear b6, fixed plate 7 and drives motor, wherein fixed plate 7 is arranged on described connecting platform 4 by sliding bearing, described fixed plate 7 is connected with gear a5, described driving motor is arranged on described connecting platform 4 and outfan is connected with gear b6, described gear b6 engages with gear a5, and described fixed plate 7 can rotate together in company with gear a5.Described driving motor-driven gear b6 rotates, thus driven gear b6 and fixed plate 7 rotate, and described fixed plate 7 can arrange detection power tool.
In the present embodiment, described turntable 2 is connected with locomotive 1 by the rotary joint being disposed vertically, and can realize the rotation of turntable 2.
Fig. 2 is the structural representation of locomotive in this utility model;As in figure 2 it is shown, described locomotive 1 includes that car body 101 and road wheel 102, the bottom of described car body 101 are provided with multiple road wheel 102, each road wheel 102 is driven by independent motor and harmonic wave speed reducing machine respectively.
In the present embodiment, the bottom of described car body 101 is provided with four road wheels 102, the first row travelling wheel and the second road wheel are positioned at left side, and the third line travelling wheel and fourth line travelling wheel are positioned at right side, and each road wheel 102 drives walking by connected independent motor and harmonic wave speed reducing machine respectively.
When the first row travelling wheel, the second road wheel, the third line travelling wheel and the synchronized advance of fourth line travelling wheel or retrogressing, locomotive 1 is capable of advancing or retreating.Left row travelling wheel rotates with V1 speed, and right side road wheel rotates with V2 speed, V1 and V2 exists speed difference between the two, can realize the turning motion of locomotive 1.
Fig. 3 is one of structural representation of elevating mechanism in this utility model;As shown in Figure 3, described lifting platform 3 includes motor 301, electric cylinder 302, gripper shoe 303, first connecting rod 304, second connecting rod 305, third connecting rod 306, fourth link 307 and the 5th connecting rod 308, wherein gripper shoe 303 is fixedly mounted on described turntable 2, described first connecting rod 304 and second connecting rod 305 cross-articulation and be positioned at one end of gripper shoe 303, described third connecting rod 306 and fourth link 307 cross-articulation and be positioned at the other end of gripper shoe 303.Described first connecting rod 304 is parallel with fourth link 307, and described second connecting rod 305 is parallel with third connecting rod 306, and one end of described first connecting rod 304 and fourth link 307 is hinged with described gripper shoe 303, and the other end is slidably connected with described connecting platform 4.One end of described second connecting rod 305 and third connecting rod 306 is slidably connected with described gripper shoe 303, and the other end is hinged with described connecting platform 4, and described second connecting rod 305 and third connecting rod 306 are connected by the 5th connecting rod 308 near one end of gripper shoe 303.Described motor 301 is arranged in described gripper shoe 303 with electric cylinder 302 and is connected, and the output shaft of described electric cylinder 302 is connected with described 5th connecting rod 308.
Described motor 301 drives electric cylinder 302, and described electric cylinder 302 promotes described second connecting rod 305 and third connecting rod 306 advance in described gripper shoe 303 or retreat by described 5th connecting rod 308.
Described second connecting rod 305 and third connecting rod 306 are connected by seven-link assembly 310, and described first connecting rod 304 and fourth link 307 are connected by six-bar linkage 309.Described six-bar linkage 309 and seven-link assembly 310 are all horizontally disposed with, described six-bar linkage 309 is positioned at described second connecting rod 305 and third connecting rod 306 near one end of connecting platform 4, described seven-link assembly 310 be positioned at described first connecting rod 304 and fourth link 307 near middle position.Described 5th connecting rod 308 and six-bar linkage 309 are hinged by the 8th connecting rod 328.
In the present embodiment, described gripper shoe 303 be respectively arranged at two ends with gripper shoe track, one end of described second connecting rod 305 and third connecting rod 306 is respectively equipped with the first scroll wheel 324 and the 3rd scroll wheel 326 can walked on described gripper shoe track.The bottom of described connecting platform 4 is respectively arranged at two ends with platform track, and the other end of described first connecting rod 304 and fourth link 307 is respectively equipped with the second scroll wheel 325 and the 4th scroll wheel 327 can walked on platform track.The output shaft of described electric cylinder 302 is connected with described 5th connecting rod 308 by connector 311.
Fig. 4 is in this utility model the two of the structural representation of elevating mechanism;As shown in Figure 4, in the present embodiment, described first connecting rod 304 and second connecting rod 305 are connected by the 5th rotary joint 316, and third connecting rod 306 and fourth link 307 are connected by the 12nd rotary joint 323;First connecting rod 304 and second connecting rod 305 are connected with gripper shoe 303 by the first rotary joint 312 and the second rotary joint 313 respectively, are connected with connecting platform 4 by the 3rd rotary joint 314 and the 4th rotary joint 315 respectively;Third connecting rod 306 and fourth link 307 are connected with gripper shoe 303 by the 7th rotary joint 318 and the 8th rotary joint 319 respectively, are connected with connecting platform 4 by the 9th rotary joint 320 and the tenth rotary joint 321 respectively;Seven-link assembly 310 is connected with the 5th rotary joint the 316 and the 12nd rotary joint 323, plays a supporting role;Six-bar linkage 309 is connected with 304 fourth link 307 of first connecting rod by the 6th rotary joint the 317 and the 11st rotary joint 3-22 respectively;
5th connecting rod 308, second connecting rod 305 and the first scroll wheel 324 are connected by the second rotary joint 313,5th connecting rod 308, third connecting rod 306 and the 3rd scroll wheel 326 are connected by the 7th rotary joint 318, and the first scroll wheel 324 and the 3rd scroll wheel 326 can be along the gripper shoe track travels of gripper shoe 303;Second connecting rod 305 is connected with connecting platform 4 by the 3rd rotary joint 314, and third connecting rod 306 is connected with connecting platform 4 by the 9th rotary joint 320.
First connecting rod 304 is connected with the second scroll wheel 325 by the 4th rotary joint 315, and the second scroll wheel 325 can be walked along the platform track of connecting platform 4, and the other end of first connecting rod 304 is connected with gripper shoe 303 by the first rotary joint 312;Fourth link 307 is connected with the 4th scroll wheel 327 by the tenth rotary joint 321, and the 4th scroll wheel 327 can be walked along the platform track of connecting platform 4, and fourth link 307 other end is connected with gripper shoe 303 by the 8th rotary joint 319.
Motor 301 promotes electric cylinder 302, by connector 311 and the 5th connecting rod 308, promote the first scroll wheel 324 and the 3rd scroll wheel 326 along the advance of gripper shoe 303 guide rail or retrogressing, first connecting rod 304 and second connecting rod 305, and the angle of the crossing of third connecting rod 306 and fourth link 307 diminishes, promote the second scroll wheel 325 and the 4th scroll wheel 327 along the advance of the guide rail of connecting platform 4 or retrogressing simultaneously, and then realize the raising and lowering of connecting platform 4.
Driving motor by gear a5 and gear b6 transmission, drive fixed plate 7 to rotate, fixed plate 7 is arranged on connecting platform 4 by sliding bearing, so achieve fixed plate 7 can be along connecting platform 4 circular-rotation.Detection power tool may be installed fixed plate 7, and detection power tool can realize the circular-rotation along connecting platform 4.

Claims (10)

1. an apparatus for work with turning function, it is characterized in that, including locomotive (1), turntable (2), lifting platform (3), connecting platform (4) and rotating mechanism, its intermediate station (2) is installed in rotation on locomotive (1), described lifting platform (3) is connected with turntable (2), described connecting platform (4) is arranged at the top of described lifting platform (3), and described rotating mechanism is arranged on connecting platform (4).
The apparatus for work with turning function the most according to claim 1, it is characterized in that, described rotating mechanism includes gear a (5), gear b (6), fixed plate (7) and drives motor, wherein fixed plate (7) is arranged on described connecting platform (4) by sliding bearing, described fixed plate (7) is connected with gear a (5), described driving motor is arranged on described connecting platform (4) and outfan and is connected with gear b (6), and described gear b (6) is engaged with gear a (5).
nullThe apparatus for work with turning function the most according to claim 1,It is characterized in that,Described lifting platform (3) includes motor (301)、Electric cylinder (302)、Gripper shoe (303)、First connecting rod (304)、Second connecting rod (305)、Third connecting rod (306)、Fourth link (307) and the 5th connecting rod (308),Wherein gripper shoe (303) is arranged on described turntable (2),Described first connecting rod (304) and second connecting rod (305) cross-articulation、And it is positioned at one end of gripper shoe (303),Described third connecting rod (306) and fourth link (307) cross-articulation、And it is positioned at the other end of gripper shoe (303),Described first connecting rod (304) is parallel with fourth link (307),Described second connecting rod (305) is parallel with third connecting rod (306),One end of described first connecting rod (304) and fourth link (307) is hinged with described gripper shoe (303),The other end is slidably connected with described connecting platform (4),One end of described second connecting rod (305) and third connecting rod (306) is slidably connected with described gripper shoe (303),The other end is hinged with described connecting platform (4),Described second connecting rod (305) and third connecting rod (306) are connected by the 5th connecting rod (308) near one end of gripper shoe (303),Described motor (301) and electric cylinder (302) are arranged in described gripper shoe (303)、And it is connected,The output shaft of described electric cylinder (302) is connected with described 5th connecting rod (308).
The apparatus for work with turning function the most according to claim 3, it is characterized in that, described second connecting rod (305) and third connecting rod (306) are connected by seven-link assembly (310), described first connecting rod (304) and fourth link (307) are connected by six-bar linkage (309), and described 5th connecting rod (308) and six-bar linkage (309) are connected by the 8th connecting rod (328).
The apparatus for work with turning function the most according to claim 4, it is characterized in that, described six-bar linkage (309) and seven-link assembly (310) are all horizontally disposed with, described six-bar linkage (309) is positioned at described second connecting rod (305) and third connecting rod (306) one end near connecting platform (4), and described seven-link assembly (310) is positioned at the position near centre of described first connecting rod (304) and fourth link (307).
The apparatus for work with turning function the most according to claim 3, it is characterized in that, described gripper shoe (303) be respectively arranged at two ends with gripper shoe track, one end of described second connecting rod (305) and third connecting rod (306) is respectively equipped with the first scroll wheel (324) and the 3rd scroll wheel (326) can walked on described gripper shoe track.
The apparatus for work with turning function the most according to claim 3, it is characterized in that, the bottom of described connecting platform (4) is respectively arranged at two ends with platform track, and the other end of described first connecting rod (304) and fourth link (307) is respectively equipped with the second scroll wheel (325) and the 4th scroll wheel (327) can walked on platform track.
The apparatus for work with turning function the most according to claim 3, it is characterised in that the output shaft of described electric cylinder (302) is connected with described 5th connecting rod (308) by connector (311).
The apparatus for work with turning function the most according to claim 1, it is characterised in that described turntable (2) is connected with locomotive (1) by the rotary joint being disposed vertically, and can realize the rotation of turntable (2).
The apparatus for work with turning function the most according to claim 1, it is characterized in that, described locomotive (1) includes car body (101) and road wheel (102), the bottom of described car body (101) is provided with multiple road wheel (102), and each road wheel (102) is driven by independent motor and harmonic wave speed reducing machine respectively.
CN201620139047.0U 2016-02-24 2016-02-24 Operation device with turn to function Active CN205419692U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201620139047.0U CN205419692U (en) 2016-02-24 2016-02-24 Operation device with turn to function

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201620139047.0U CN205419692U (en) 2016-02-24 2016-02-24 Operation device with turn to function

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108545656A (en) * 2018-06-07 2018-09-18 华中科技大学 A kind of double shear blade rotary elevating platform
CN111591653A (en) * 2020-05-25 2020-08-28 南京航空航天大学苏州研究院 Compact AGV with independent position compensation rotating platform and control method

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108545656A (en) * 2018-06-07 2018-09-18 华中科技大学 A kind of double shear blade rotary elevating platform
CN111591653A (en) * 2020-05-25 2020-08-28 南京航空航天大学苏州研究院 Compact AGV with independent position compensation rotating platform and control method

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