CN206242059U - The structural system of converter valve hall inwall clean robot - Google Patents
The structural system of converter valve hall inwall clean robot Download PDFInfo
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- CN206242059U CN206242059U CN201621229156.8U CN201621229156U CN206242059U CN 206242059 U CN206242059 U CN 206242059U CN 201621229156 U CN201621229156 U CN 201621229156U CN 206242059 U CN206242059 U CN 206242059U
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Abstract
The utility model discloses a kind of structural system of converter valve hall inwall clean robot, including color steel inwall, also include the cleaning module, drive module, avoidance module, messenger wire module, oriented module, adsorption module and the singlechip chip that are arranged on color steel inwall, described drive module is direct-connected with adsorption module, and described singlechip chip is connected with cleaning module, drive module, avoidance module, messenger wire module, oriented module, adsorption module respectively.The utility model integrates the functions such as climbing absorption, straight-line travelling, obstacle identification and effective cleaning, meets basic use requirement；Secondly, based on halbach arrays, it is proposed that the adsorption structure of a kind of " permanent magnetic wheels+Timing Belt ", the wall adsorption function of robot is realized；Finally, function modoularization method is applied in the structure design of clean robot, makes it have the features such as interchangeability is strong, operability is high.
Description
Technical field
The utility model is related to a kind of structural system of converter valve hall inwall clean robot.
Background technology
Current conversion station is in HVDC transmission system, in order to complete the conversion of direct current and alternating current, and to reach electric power
The website that system is set up for safety and stability and the quality of power supply.Converter valve is the nucleus equipment of DC transmission engineering, by according to
Secondary three-phase alternating voltage is connected into DC terminal to obtain desired DC voltage and realize control to power, its value accounts for changing
The 22~25% of stream station complete set of equipments total price.Converter valve hall is the closing building for placing converter valve, the dust of its inwall accumulation
If cleaning can be diffused into air not in time, so as to be produced a very large impact to the normal operation of converter valve and service life.At present,
The cleaning of wall need to buy professional hoisting machine by being accomplished manually, and efficiency is low, dangerous high and wastes substantial amounts of manpower
And material resources, to ensure converter valve hall cleaning inside, converter valve operation stability is improved, develop automatic cleaner device people's gesture and exist
Must go.
For the technical barrier of converter valve hall inwall cleaning, a kind of knot of converter valve hall inwall clean robot is proposed
Construction system.When carrying out clean robot structure design, 4 kinds of key technical problems need to be solved：(1) driving and absorption of reliable design
Mechanism, realizes climbing absorption of the robot to wall, (2) guiding reasonable in design and avoidance mechanism, realizes the straight line of robot
Walking and obstacle avoidance, (3) cleaning mechanism reasonable in design, realize that robot has the effective clear of type face to converter valve hall inwall
Clean, (4) small volume, lightweight, cleaning efficiency are high.
The content of the invention
For the above mentioned problem for overcoming existing converter valve hall inwall cleaning to exist, the utility model provides a kind of converter valve
The structural system of hall inwall clean robot.
The technical solution adopted in the utility model is：
The structural system of converter valve hall inwall clean robot, including color steel inwall, it is characterised in that：Also include setting
Put cleaning module on color steel inwall, drive module, avoidance module, messenger wire module, oriented module, adsorption module and monolithic
Movement piece, described drive module is direct-connected with adsorption module, described singlechip chip respectively with cleaning module, drive module,
Avoidance module, messenger wire module, oriented module, adsorption module connection；Wherein,
Described color steel inwall is concavo-convex orderly have type wall；
Described cleaning module is placed in robot front end, including long slab, " U " type cleaning brush, upper mounted plate, electric pushrod,
Bottom plate, described " U " type cleaning brush is installed on described long slab, and the up and down motion of described cleaning module is controlled by institute
The electric pushrod stated；The upper end of described electric pushrod is connected by described upper mounted plate with frame plate, and lower end is by described
Bottom plate be connected with described long slab；
Described drive module is placed in frame plate lower section, including stepper motor, controllor for step-by-step motor and stepper motor
Driver, described stepper motor is fixed on frame plate by stepper motor fixed plate, and described controllor for step-by-step motor leads to
Stepper motor driver is crossed to be connected with described stepper motor；
Described avoidance module is placed in the front end of frame plate, and described messenger wire module is placed in the rear portion of robot and and frame
Plate is connected, and described messenger wire module is used to furl the power line of power supply；
Described oriented module include plastic conical wheel, directive wheel rear axle, directive wheel fixed plate, end cap, directive wheel front axle,
U-shaped plate, described plastic conical wheel fits with the projection of described color steel inwall, and by directive wheel front axle or guiding
Wheel rear axle, directive wheel fixed plate, end cap are fixed with described frame plate, and described U-shaped plate is fixed on frame plate；
Described adsorption module includes Timing Belt, yoke, central axle sleeve, magnetic patch, rear end cap, synchronous pulley, drive end bearing bracket, institute
The axial both sides of the magnetic patch stated are fixed by rear end cap and drive end bearing bracket respectively, and radially opposite sides are fixed by yoke and synchronous pulley,
Central axle sleeve is installed, described central axle sleeve is fixed on described drive end bearing bracket by fastening bolt on the inside of described yoke
On, connected by Timing Belt between frame plate former and later two adsorption modules.
Described " U " type cleaning brush is set to 4 sets, and is fixed on long slab by 8 studs and 8 clamp nuts.
Described stepper motor uses rear-guard form.
Described avoidance module images principle using flake.
Described oriented module is provided with three sets altogether using mechanical guiding, and the front end of frame plate sets a set of, frame plate
Rear end both sides respectively set a set of.
Described magnetic patch is magnetized using halbach arrays.
Technology design of the present utility model is：To reduce robot overall dimensions, plank frame is used during design；To realize
The functions such as robot absorption, climbing, straight-line travelling, avoidance and cleaning, are designed with modular method to robot architecture；For
Robot adsorption function is realized, based on halbach arrays, a special permanent magnetism magnet-wheel is devised；To increase robot with color steel
The frictional force of plate inwall, magnet-wheel periphery sets Timing Belt；To realize robot climbing function, using driving stepper motor, and adopt
With magnet-wheel and motor direct-connected form；To realize robot straight-line travelling function, a set of oriented module is devised, oriented module is divided into
Front center is oriented to and rear side two ends are oriented to, it is ensured that the linearity that robot advances；To realize robot obstacle-avoiding function, it is based on
Flake images principle, devises a set of avoidance module, realizes that robot keeps away by Context awareness, environment rebuilt and path planning
Barrier；To realize robot cleaner function, a set of cleaning module is devised, the cleaning module once cleanable four grooves, effect
Rate is higher.
The beneficial effects of the utility model are：
First, for converter valve hall inwall cleaning technical barrier, it is proposed that a kind of inwall clean robot it is complete
Organization plan, makes it integrate the functions such as climbing absorption, straight-line travelling, obstacle identification and effective cleaning, and satisfaction is used substantially
It is required that；
Secondly, based on halbach arrays, it is proposed that the adsorption structure of a kind of " permanent magnetic wheels+Timing Belt ", robot is realized
Wall adsorption function；
Finally, function modoularization method is applied in the structure design of clean robot, make it have interchangeability it is strong, can
The features such as operability is high.
Brief description of the drawings
Fig. 1 is the utility model overall structure bitmap one.
Fig. 2 is the utility model overall structure bitmap two.
Fig. 3 is the utility model adsorption module structural representation.
Specific embodiment
Referring to figs. 1 to Fig. 3, the structural system of converter valve hall inwall clean robot, including color steel inwall 1 are also wrapped
Include cleaning module 2, drive module 3, avoidance module 4, messenger wire module 5, oriented module 6, the absorption being arranged on color steel inwall 1
Module 7 and singlechip chip 8, described drive module 3 are direct-connected with adsorption module 7, described singlechip chip 8 respectively with cleaning
Module 2, drive module 3, avoidance module 4, messenger wire module 5, oriented module 6, adsorption module 7 are connected；Wherein,
Described color steel inwall 1 orderly has type wall for concavo-convex；
Described cleaning module 2 is placed in robot front end, including long slab 201, " U " type cleaning brush 204, upper mounted plate 205,
Electric pushrod 206, bottom plate 207, described " U " type cleaning brush 204 are installed on described long slab 201, described cleaning
The up and down motion of module 2 is controlled by described electric pushrod 206；The upper end of described electric pushrod 206 is upper solid described in
Fixed board 205 is connected with frame plate, and lower end is connected by described bottom plate 207 with described long slab 201；
Described drive module 3 is placed in frame plate lower section, including stepper motor 303, controllor for step-by-step motor 302 and step
Stepper motor driver 304, described stepper motor 303 is fixed on frame plate by stepper motor fixed plate 301, described step
Stepper motor controller 302 is connected by stepper motor driver 304 with described stepper motor 303；
Described avoidance module 4 is placed in the front end of frame plate, and described messenger wire module 5 is placed in the rear portion of robot and and machine
Frame plate is connected, and described messenger wire module 5 is used to furl the power line of power supply；
Described oriented module 6 includes plastic conical wheel 601, directive wheel rear axle 602, directive wheel fixed plate 603, end cap
604th, directive wheel front axle 605, U-shaped plate 606, described plastic conical wheel 601 are affixed with the projection of described color steel inwall 1
Close, and by directive wheel front axle 605 or directive wheel rear axle 602, directive wheel fixed plate 603, end cap 604 and described frame plate
Fixed, described U-shaped plate 606 is fixed on frame plate；
Described adsorption module 7 includes Timing Belt 701, yoke 702, central axle sleeve 703, magnetic patch 705, rear end cap 706, same
Step belt wheel 707, drive end bearing bracket 708, the axial both sides of described magnetic patch 705 are fixed by rear end cap 806 and drive end bearing bracket 708 respectively,
Radially opposite sides are fixed by yoke 702 and synchronous pulley 707, and the inner side of described yoke 702 is provided with central axle sleeve 703, institute
The central axle sleeve 703 stated is fixed on described drive end bearing bracket 708 by fastening bolt 704, frame plate former and later two adsorption modules 7
Between connected by Timing Belt 701.
Described " U " type cleaning brush 204 is set to 4 sets, and is fixed on by 8 studs 202 and 8 clamp nuts 203
On long slab 201.
Described stepper motor 303 uses rear-guard form.
Described avoidance module 4 images principle using flake.
Described oriented module 6 is provided with three sets altogether using mechanical guiding, and the front end of frame plate sets a set of, frame
The rear end both sides of plate respectively set a set of.
Described magnetic patch 705 is magnetized using halbach arrays.
Technology design of the present utility model is：To reduce robot overall dimensions, plank frame is used during design；To realize
The functions such as robot absorption, climbing, straight-line travelling, avoidance and cleaning, are designed with modular method to robot architecture；For
Robot adsorption function is realized, based on halbach arrays, a special permanent magnetism magnet-wheel is devised；To increase robot with color steel
The frictional force of plate inwall, magnet-wheel periphery sets Timing Belt；To realize robot climbing function, using driving stepper motor, and adopt
With magnet-wheel and motor direct-connected form；To realize robot straight-line travelling function, a set of oriented module is devised, oriented module is divided into
Front center is oriented to and rear side two ends are oriented to, it is ensured that the linearity that robot advances；To realize robot obstacle-avoiding function, it is based on
Flake images principle, devises a set of avoidance module, realizes that robot keeps away by Context awareness, environment rebuilt and path planning
Barrier；To realize robot cleaner function, a set of cleaning module is devised, the cleaning module once cleanable four grooves, effect
Rate is higher.
The specific work process of the present embodiment is：
(1) robot is located at wall bottom original state, and avoidance module 4 is opened, and robot enters cognitive disorders state；
(2) electric pushrod 206 obtains electric, and push rod stretches out, and " U " type cleaning brush 204 vertically declines until touching wall, electric pushrod
206 dead electricity；
(3) stepper motor 303 obtains electric, and Timing Belt 701 is moved, and robot is climbed upwards；
(4) the plastic conical wheel 601 of oriented module 6 and inwall projection contacts, are oriented in real time；
(5) robot is travelled upwardly, and cleaning brush 204 cleans wall；
(6) avoidance module 4 recognizes obstacle or hall top surface, the dead electricity of stepper motor 303, robot parking；
(7) electric pushrod 206 obtains electric, push rod retraction, and the vertical ascent of " U " type cleaning brush 204 is until initial state, electric pushrod
206 dead electricity；
(8) stepper motor 303 obtains electric, and Timing Belt 701 is moved, robot return walking；
(9) to initial state, the dead electricity of stepper motor 303, robot stops robot return；
(10) dead electricity of avoidance module 4, robot closes cognitive disorders function.
Content described in this specification embodiment is only enumerating to the way of realization of inventive concept, of the present utility model
Protection domain is not construed as being only limitted to the concrete form that embodiment is stated, protection domain of the present utility model is also and in this
Art personnel according to the utility model design it is conceivable that equivalent technologies mean.
Claims (6)
1. the structural system of converter valve hall inwall clean robot, including color steel inwall, it is characterised in that：Also include setting
Cleaning module, drive module, avoidance module, messenger wire module, oriented module, adsorption module and single-chip microcomputer on color steel inwall
Chip, described drive module is direct-connected with adsorption module, described singlechip chip respectively with cleaning module, drive module, keep away
Barrier module, messenger wire module, oriented module, adsorption module connection；Wherein,
Described color steel inwall is concavo-convex orderly have type wall；
Described cleaning module is placed in robot front end, including long slab, " U " type cleaning brush, upper mounted plate, electric pushrod, lower solid
Fixed board, described " U " type cleaning brush is installed on described long slab, ups and down motion of described cleaning module be controlled by described in
Electric pushrod；The upper end of described electric pushrod passes through described upper mounted plate and is connected with frame plate, under lower end is described in
Fixed plate is connected with described long slab；
Described drive module is placed in frame plate lower section, including stepper motor, controllor for step-by-step motor and driving stepper motor
Device, described stepper motor is fixed on frame plate by stepper motor fixed plate, and described controllor for step-by-step motor is by step
Stepper motor driver is connected with described stepper motor；
Described avoidance module is placed in the front end of frame plate, and described messenger wire module is placed in the rear portion of robot and consolidates with frame plate
Even, described messenger wire module is used to furl the power line of power supply；
Described oriented module includes plastic conical wheel, directive wheel rear axle, directive wheel fixed plate, end cap, directive wheel front axle, U-shaped
Plate, described plastic conical wheel fits with the projection of described color steel inwall, and by directive wheel front axle or directive wheel
Rear axle, directive wheel fixed plate, end cap are fixed with described frame plate, and described U-shaped plate is fixed on frame plate；
Described adsorption module includes Timing Belt, yoke, central axle sleeve, magnetic patch, rear end cap, synchronous pulley, drive end bearing bracket, described
The axial both sides of magnetic patch are fixed by rear end cap and drive end bearing bracket respectively, and radially opposite sides are fixed by yoke and synchronous pulley, described
Yoke on the inside of central axle sleeve is installed, described central axle sleeve is fixed on described drive end bearing bracket by fastening bolt, machine
Connected by Timing Belt between frame plate former and later two adsorption modules.
2. the structural system of converter valve hall inwall clean robot as claimed in claim 1, it is characterised in that：Described
" U " type cleaning brush is set to 4 sets, and is fixed on long slab by 8 studs and 8 clamp nuts.
3. the structural system of converter valve hall inwall clean robot as claimed in claim 2, it is characterised in that：Described step
Stepper motor uses rear-guard form.
4. the structural system of converter valve hall inwall clean robot as claimed in claim 3, it is characterised in that：Described keeps away
Barrier module images principle using flake.
5. the structural system of converter valve hall inwall clean robot as claimed in claim 4, it is characterised in that：Described leads
To module using mechanical guiding, three sets are provided with altogether, the front end of frame plate sets a set of, and the rear end both sides of frame plate are respectively set
It is a set of.
6. the structural system of converter valve hall inwall clean robot as claimed in claim 5, it is characterised in that：Described magnetic
Block is magnetized using halbach arrays.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621229156.8U CN206242059U (en) | 2016-11-16 | 2016-11-16 | The structural system of converter valve hall inwall clean robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621229156.8U CN206242059U (en) | 2016-11-16 | 2016-11-16 | The structural system of converter valve hall inwall clean robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206242059U true CN206242059U (en) | 2017-06-13 |
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ID=58999420
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621229156.8U Withdrawn - After Issue CN206242059U (en) | 2016-11-16 | 2016-11-16 | The structural system of converter valve hall inwall clean robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN206242059U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106378782A (en) * | 2016-11-16 | 2017-02-08 | 浙江工业大学 | Structural system of robot for cleaning inner walls of converter valve hall |
| CN108999358A (en) * | 2018-09-05 | 2018-12-14 | 东莞市正品五金电子有限公司 | A kind of asperities type decorative ceramic board |
-
2016
- 2016-11-16 CN CN201621229156.8U patent/CN206242059U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106378782A (en) * | 2016-11-16 | 2017-02-08 | 浙江工业大学 | Structural system of robot for cleaning inner walls of converter valve hall |
| CN106378782B (en) * | 2016-11-16 | 2018-11-13 | 浙江工业大学 | The structural system of converter valve hall inner wall clean robot |
| CN108999358A (en) * | 2018-09-05 | 2018-12-14 | 东莞市正品五金电子有限公司 | A kind of asperities type decorative ceramic board |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170613 Effective date of abandoning: 20181113 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20170613 Effective date of abandoning: 20181113 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |