CN207080779U - Cradle head mechanism and inspection robot of transformer station for inspection robot of transformer station - Google Patents
Cradle head mechanism and inspection robot of transformer station for inspection robot of transformer station Download PDFInfo
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- CN207080779U CN207080779U CN201720877153.3U CN201720877153U CN207080779U CN 207080779 U CN207080779 U CN 207080779U CN 201720877153 U CN201720877153 U CN 201720877153U CN 207080779 U CN207080779 U CN 207080779U
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- main support
- transformer station
- inspection robot
- cradle head
- head mechanism
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Abstract
The utility model discloses a kind of cradle head mechanism for inspection robot of transformer station and inspection robot of transformer station, including base, main support, head, the head is provided with image capturing system, rotary electric machine is provided with the main support with pitching motor, the main support is rotatably connected on base by first harmonic reductor, the rotary electric machine is connected by transmission mechanism with first harmonic speed reducer drive, the head is connected by crossing string pendulum arm and being swung with main support, and the flexion-extension motor is connected by second harmonic reductor with crossing the transmission of string pendulum arm.Main support and base are connected by using first harmonic reductor, connected using second harmonic reductor and pitch motor with crossing string pendulum arm, so that rotary electric machine has higher transmission accuracy with pitching motor during cradle head mechanism is driven so that cradle head mechanism can complete accurate rotational action or flexion-extension action in a small range.The utility model is applied to testing equipment field.
Description
Technical field
It the utility model is related to, patrolled more particularly to a kind of cradle head mechanism for inspection robot of transformer station and transformer station
Look into robot.
Background technology
At present, transformer substation robot has obtained large-scale application, and correspondingly, mechanical user tripod head has also obtained on a large scale
Using.However, the machine user tripod head of market sale at present is mostly security product, does not consider the actual demand of robot, exist
The defects of volume is big, and weight is big, and power consumption is big.The cradle head mechanism of market is mostly driven using turbine and worm at present simultaneously, is being controlled
When cradle head mechanism rotates or pitched motion, the precise motion of small range can not be accomplished.
Utility model content
In order to solve the above problems, the purpose of this utility model is to provide a kind of cloud for inspection robot of transformer station
Platform mechanism, it can effectively improve cradle head mechanism and rotate or pitching the precision of motion.
Technical scheme is used by the utility model：For transformer station inspection robot cradle head mechanism, including base,
Main support, head, the head are provided with image capturing system, and rotary electric machine is provided with the main support with pitching motor, institute
State main support to be rotatably connected on base by first harmonic reductor, the rotary electric machine passes through transmission mechanism and first harmonic
Speed reducer drive is connected, and the head is connected by crossing string pendulum arm and being swung with main support, and the flexion-extension motor passes through second harmonic
Reductor is connected with crossing the transmission of string pendulum arm.
As the further improvement of above-mentioned technical proposal, the second harmonic reductor is fixedly connected on the inwall of main support
On, described one end for crossing string pendulum arm is connected by bearing with a sidewall wobble of main support, and the other end passes through phase on main support
To another side wall after be connected with the transmission of the output end of second harmonic reductor, the input of the second harmonic reductor and
The output end transmission for pitching motor is connected.
As the further improvement of above-mentioned technical proposal, the first harmonic reductor is hollow type harmonic wave speed reducing machine, institute
The hollow intracavitary for stating first harmonic reductor was provided with line sleeve, and sleeve fixed plate, the set are fixed with the main support
Cylinder fixed plate is fixedly linked with crossing line sleeve.
As the further improvement of above-mentioned technical proposal, the transmission mechanism includes the first synchronous pulley, timing belt, second
Synchronous pulley, the output end of first synchronous pulley and rotary electric machine are fixedly linked, and second synchronous pulley is fixed and is arranged
On line sleeve is crossed, first synchronous pulley is connected with the second synchronous pulley by toothed belt transmission.
As the further improvement of above-mentioned technical proposal, the main support, which is provided with, can adjust the first synchronous pulley, same
Elastic slack adjuster between step band, the second synchronous pulley.
As the further improvement of above-mentioned technical proposal, the main support includes left panel, right panel and bottom plate, described
Left panel, right panel are connected to the both ends of bottom plate, and the string pendulum arm both ends of crossing are connected to left panel top and the right side
At the top of plate, the bottom plate is rotatably connected on base by first harmonic reductor.
As the further improvement of above-mentioned technical proposal, the left panel in right panel with being respectively equipped with stiffening column.
As the further improvement of above-mentioned technical proposal, described image acquisition system include being located at camera on head with it is red
Outer thermal imaging system.
Also have as the further improvement of above-mentioned technical proposal, on the head and be provided with sound pick-up, light compensating lamp and rain brush.
The utility model also provides a kind of transformer station's inspection robot, and used technical scheme is：
A kind of transformer station's inspection robot, including robot body, the robot body top are provided with above-mentioned for becoming
The cradle head mechanism of power station inspection robot.
The beneficial effects of the utility model：The utility model connects main support and bottom by using first harmonic reductor
Seat, connected using second harmonic reductor and pitch motor with crossing string pendulum arm so that rotary electric machine is with pitching motor in driving head
There is higher transmission accuracy during mechanism so that cradle head mechanism can a small range complete accurate rotational action or
Flexion-extension acts.
Brief description of the drawings
The utility model is further illustrated with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the utility model left view shaft side figure；
Fig. 2, which is that the utility model is right, regards shaft side figure；
Fig. 3 is the utility model section view.
Embodiment
Such as Fig. 1-3 cradle head mechanism for being used for inspection robot of transformer station, including base 1, main support 2, head 3, head 3
Image capturing system is provided with, be provided with rotary electric machine 4 in main support 2 is slowed down with pitching motor 5, main support 2 by first harmonic
Machine 6 is rotatably connected on base 1, and its rotation amplitude is 180 °, and base 1 is provided with the first limited block, and main support 2 is provided with the
The second corresponding limited block of one limited block, rotary electric machine 4 are connected by transmission mechanism with the transmission of first harmonic reductor 6.Head
Portion 3 is connected by crossing string pendulum arm 7 and being swung with main support 2, and its amplitude of fluctuation is 120 °, and wherein the amplitude of nutation is 90 °, faced upward
Amplitude is 30 °, crosses string pendulum arm 7 and is provided with the 3rd limited block, it is spacing that main support 2 is provided with fourth corresponding with the 3rd limited block
Block, pitch motor 5 and be connected by second harmonic reductor 8 with crossing the transmission of string pendulum arm 7.The present embodiment subtracts by using first harmonic
Fast machine 6 connects main support 2 and base 1, is connected using second harmonic reductor 8 and pitches motor 5 with crossing string pendulum arm 7 so that rotated
Motor 4 has higher transmission accuracy with pitching motor 5 during cradle head mechanism is driven so that cradle head mechanism can be small
In the range of complete the action of accurate rotational action or flexion-extension.
Preferably, second harmonic reductor 8 is fixedly connected on the inwall of main support 2, and the one end for crossing string pendulum arm 7 passes through axle
Hold 9 with a sidewall wobble of main support 2 to be connected, bearing 9 is fixedly linked by bearing baffle circle 10 and main support 2, the other end
Output end transmission on through main support 2 after another relative side wall with second harmonic reductor 8 is connected, and second harmonic slows down
Output end transmission of the input of machine 8 with pitching motor 5 is connected.
Preferably, first harmonic reductor 6 is hollow type harmonic wave speed reducing machine, and the hollow intracavitary of first harmonic reductor 6 is set
There is line sleeve 10, sleeve fixed plate 11 is fixed with main support 2, sleeve fixed plate 11 is fixedly linked with crossing line sleeve 10,
Sleeve fixed plate 11 is inverted U-shaped, crosses the middle part that line sleeve 10 is fixedly connected on U-shaped base, two U of sleeve fixed plate 11
The end on shape side is fixedly linked with main support 2 respectively.
Preferably, transmission mechanism includes the first synchronous pulley 12, timing belt 13, the second synchronous pulley 14, the first timing belt
The output end of wheel 12 and rotary electric machine 4 is fixedly linked, and the second synchronous pulley 14 is fixed and was set on line sleeve 10, and first is synchronous
Belt wheel 12 is connected with the second synchronous pulley 14 by the transmission of timing belt 13.
Preferably, main support 2 be provided with can adjust the first synchronous pulley 12, timing belt 13, the second synchronous pulley 14 it
Between elastic slack adjuster.Slack adjuster regulating block, regulating bolt, electric machine support and motor support plate, motor branch
Plate is slidably connected at the top of electric machine support, and rotary electric machine 4 is fixedly connected on motor support plate, and regulating block is solid respectively with electric machine support
Surely be connected on main support 2, regulating bolt is connected with regulating block screw thread, one end of adjusting nut pass through after regulating block with motor branch
Plate abuts.Staff drives rotary electric machine 4 to move by controlling to adjust slip of the nut come controlled motor support plate, motor support plate
Dynamic, rotary electric machine 4 drives the first synchronous pulley 12, to reach the first synchronous pulley 12 of regulation, timing belt 13, the second synchronous pulley
Elastic purpose between 14.
Preferably, main support 2 includes left panel 15, right panel 16 and bottom plate 17, and left panel 15, right panel 16 are led to respectively
The both ends that connecting angle pieces is connected to bottom plate 17 are crossed, the both ends of string pendulum arm 7 excessively are connected to the top of left panel 15 and pushed up with right panel 16
Portion, bottom plate 17 are rotatably connected on base 1 by first harmonic reductor 6.Left panel 15 and two corresponding ends of right panel 16
It is fixedly linked respectively by front panel and rear board.
Preferably, for left panel 15 with being respectively equipped with stiffening column 18 in right panel 16, stiffening column 18 is Z-shaped strength post.Due to a left side
Panel 15 bears higher moment of torsion with right panel 16 during head pitches motion, and stiffening column 18 can effectively increase a left side
Panel 15 and the intensity of right panel 16.
Preferably, image capturing system includes the camera 19 being located on head 3 and infrared thermography 20.Camera 19 with it is red
Outer thermal imaging system 20 is located on same head 3, the structure of simplified cradle head mechanism, reduces the volume of cradle head mechanism, simultaneously
So that camera 19 and the distance of infrared thermography 20 are closer to being provided with more preferable imaging effect.
Preferably, also have on head 3 and be provided with sound pick-up 21, light compensating lamp 22 and rain brush 23.Sound pick-up 21 can make head
Mechanism gathers sound；Light compensating lamp 22 enables to image capturing system to have more preferable collection effect；Rain brush 23 can rain
It is used, and is prevented image capturing system from being blocked by rainwater, is influenceed collection effect.
The present embodiment also provides a kind of transformer station's inspection robot, and used technical scheme is：
A kind of transformer station's inspection robot, including robot body, robot body top are used for transformer station provided with above-mentioned
The cradle head mechanism of inspection robot.
Certainly, the utility model is not limited to above-mentioned embodiment, and those skilled in the art are without prejudice to originally
Equivalent variations or replacement can be also made on the premise of spirit, these equivalent modifications or replacement are all contained in the application right
It is required that in limited range.
Claims (10)
1. the cradle head mechanism for inspection robot of transformer station, it is characterised in that：Including base (1), main support (2), head
(3), the head (3) is provided with image capturing system, and rotary electric machine (4) is provided with the main support (2) with pitching motor
(5), the main support (2) is rotatably connected on base (1) by first harmonic reductor (6), and the rotary electric machine (4) passes through
Transmission mechanism is connected with first harmonic reductor (6) transmission, and the head (3) is swung by crossing string pendulum arm (7) with main support (2)
It is connected, the flexion-extension motor (5) is connected by second harmonic reductor (8) with crossing string pendulum arm (7) transmission.
2. it is used for the cradle head mechanism of inspection robot of transformer station according to claim 1, it is characterised in that：The second harmonic
Reductor (8) is fixedly connected on the inwall of main support (2), and described one end for crossing string pendulum arm (7) passes through bearing (9) and main support
(2) a sidewall wobble is connected, the other end through after relative another side wall on main support (2) with second harmonic reductor
(8) output end transmission is connected, and the input of the second harmonic reductor (8) is driven phase with pitching the output end of motor (5)
Even.
3. it is used for the cradle head mechanism of inspection robot of transformer station according to claim 2, it is characterised in that：The first harmonic
Reductor (6) is hollow type harmonic wave speed reducing machine, and the hollow intracavitary of the first harmonic reductor (6) was provided with line sleeve (10),
Sleeve fixed plate (11) is fixed with the main support (2), the sleeve fixed plate (11) is with crossing line sleeve (10) stationary phase
Even.
4. it is used for the cradle head mechanism of inspection robot of transformer station according to claim 3, it is characterised in that：The transmission mechanism
Including the first synchronous pulley (12), timing belt (13), the second synchronous pulley (14), first synchronous pulley (12) is with rotating electricity
The output end of machine (4) is fixedly linked, and the second synchronous pulley (14) fixation was set on line sleeve (10), and described first is same
Step belt wheel (12) is connected with the second synchronous pulley (14) by timing belt (13) transmission.
5. it is used for the cradle head mechanism of inspection robot of transformer station according to claim 4, it is characterised in that：The main support
(2) elastic tune elastic between the first synchronous pulley (12), timing belt (13), the second synchronous pulley (14) can be adjusted by being provided with
Regulating device.
6. it is used for the cradle head mechanism of inspection robot of transformer station according to any one of claim 1 to 5, it is characterised in that：Institute
Stating main support (2) includes left panel (15), right panel (16) and bottom plate (17), the left panel (15), right panel (16) point
The both ends of bottom plate (17) are not connected to, and described string pendulum arm (7) both ends of crossing are connected to left panel (15) top and right panel
(16) top, the bottom plate (17) are rotatably connected on base (1) by first harmonic reductor (6).
7. it is used for the cradle head mechanism of inspection robot of transformer station according to claim 6, it is characterised in that：The left panel
(15) with being respectively equipped with stiffening column (18) in right panel (16).
8. it is used for the cradle head mechanism of inspection robot of transformer station according to any one of claim 1 to 5, it is characterised in that：Institute
State camera (19) and infrared thermography (20) that image capturing system includes being located on head (3).
9. it is used for the cradle head mechanism of inspection robot of transformer station according to claim 8, it is characterised in that：The head (3)
It is upper to be also provided with sound pick-up (21), light compensating lamp (22) and rain brush (23).
The robot 10. a kind of transformer station patrols, it is characterised in that：Including robot body, it is provided with the top of the robot body
The cradle head mechanism for being used for inspection robot of transformer station described in any one of claim 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720877153.3U CN207080779U (en) | 2017-07-18 | 2017-07-18 | Cradle head mechanism and inspection robot of transformer station for inspection robot of transformer station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720877153.3U CN207080779U (en) | 2017-07-18 | 2017-07-18 | Cradle head mechanism and inspection robot of transformer station for inspection robot of transformer station |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207080779U true CN207080779U (en) | 2018-03-09 |
Family
ID=61423816
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720877153.3U Active CN207080779U (en) | 2017-07-18 | 2017-07-18 | Cradle head mechanism and inspection robot of transformer station for inspection robot of transformer station |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207080779U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109227606A (en) * | 2018-10-26 | 2019-01-18 | 深圳市朗驰欣创科技股份有限公司 | A kind of Intelligent Mobile Robot holder |
| CN114017621A (en) * | 2021-11-22 | 2022-02-08 | 无锡巨蟹智能驱动科技有限公司 | Flat harmonic reducer for monitoring cradle head and cradle head |
-
2017
- 2017-07-18 CN CN201720877153.3U patent/CN207080779U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109227606A (en) * | 2018-10-26 | 2019-01-18 | 深圳市朗驰欣创科技股份有限公司 | A kind of Intelligent Mobile Robot holder |
| CN114017621A (en) * | 2021-11-22 | 2022-02-08 | 无锡巨蟹智能驱动科技有限公司 | Flat harmonic reducer for monitoring cradle head and cradle head |
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