CN207830927U - A kind of lifting gear for hanging rail intelligent inspection robot - Google Patents

Abstract

The utility model discloses a kind of lifting gear for hanging rail intelligent inspection robot, control platform and detection platform for connecting robot body；Including drive component and halliard, drive component includes roller, lifting motor, synchronous pulley, key axis and key set, trapezoidal screw and trapezoidal nut；For halliard one ends wound on roller, other end connecting detection platform, halliard outside is cased with flexible ring；Synchronous pulley is mounted on by transmitting band connection lifting motor, synchronous pulley on key axis, and idler wheel is mounted on the key set outside to match with key axis；Trapezoidal screw one end is fixed on idler wheel, and the other end coordinates with trapezoidal nut；Control module is equipped in the control platform, control module controls lifting motor work.The utility model has the function of automatic winding displacement, and the trapezoidal screw of roller rotation, which screws, drives roller to move left and right, and the line footpath for often enclosing mobile distance and rope is equal, avoids rope Chong Die with rope or phase mutual friction.

Description

A kind of lifting gear for hanging rail intelligent inspection robot

Technical field

The utility model belongs to substation detection robot field, more particularly to a kind of extension rail intelligent inspection robot Lifting gear.

Background technology

It is the monitoring robot system for being specifically applied to the indoor each room of substation to hang rail intelligent inspection robot, alternative It is accomplished manually a variety of inspections, detection, monitoring, fault diagnosis, early warning and alarming function.By the motor platform of an autonomous operation and It carries one group of high-performance detecting instrument and round-the-clock monitoring is carried out to station equipment, consolidating needed for " intelligent substation " can be greatly reduced The installation number of fixed pattern sensor and instrument is being dropped without largely connecting up, it is not necessary that existing switch gear room, the rooms GIS and relay protection room is transformed While low comprehensive operation cost, advanced operation level is improved.

It hangs rail intelligent inspection robot and integrates newest electromechanical integration and informationization technology, using autonomous or remote control side Formula, partial alternative people carries out the detections such as visible light, infrared, shelf depreciation, sound to switch gear room, the rooms GIS and relay protection room, to inspection Data carry out comparison and trend analysis, find accident potential and the failure tendency of switchgear operation in time, improve switch gear room, GIS The automatization level of the digitized degree and conduct monitoring at all levels of room and relay protection room, it is ensured that equipment safety reliability service promotes high pressure Intelligent patrol detection management level improves the controllability of inspection process, to promote the development of whole society's intelligent testing technology to lay the foundation.

Inspection generally existing has following characteristics in substation room：Number of devices is more, density is big；The target of inspection is small in equipment And it is more；The target point of inspection is needed to be distributed in each region of panel in equipment.Therefore, rail intelligent inspection robot is hung patrolling It needs to carry out oscilaltion work during inspection, and lifting requirement must have accurate positioning, control simple and durable etc. Feature.

Invention content

The purpose of this utility model is to provide a kind of compact-sized, is easily installed and safeguards, lifting process is stablized accurate Hang the lifting gear of rail intelligent inspection robot.

For this purpose, the technical solution of the utility model is：A kind of lifting gear for hanging rail intelligent inspection robot, for connecting The control platform and detection platform of welding robot ontology；It is characterized in that：Including drive component and halliard, drive component position In in control platform, including the lifting motor of roller, driving drum rotation, the synchronous pulley, mating that is connected with lifting motor Ball spline shaft and ball spline sleeve, trapezoidal screw and trapezoidal nut；In on roller, the other end connects the halliard one ends wound Detection platform is connect, flexible ring is cased on the outside of halliard；The synchronous pulley is by transmitting band connection lifting motor, synchronous pulley On ball spline shaft, idler wheel is mounted on the outside of the ball spline sleeve to match with ball spline shaft；The trapezoidal screw One end is fixedly mounted on idler wheel, and the other end is rotatably assorted with trapezoidal nut；Control module, control are equipped in the control platform Module controls lifting motor work.

By being controlled using two steel wire ropes, lifting motor will be moved by synchronous belt for the lifting of detection platform in the utility model Power passes to synchronous pulley and ball spline shaft, and matched ball spline sleeve drives roller positive and negative rotation, rope to pass through rolling The positive and negative dress of cylinder is dynamic, and the weight of its lower end is driven to move up and down；And in order to which rope does not overlap during winding, it is located at Trapezoidal screw on the right of roller is remained with the trapezoidal nut being fixed on holder to be screwed, while roller rotates, trapezoidal silk Bar, which screws, drives roller to move left and right, and the line footpath for often enclosing mobile distance and rope is equal, avoids rope Chong Die with rope or phase The function of automatic winding displacement is realized in mutual friction.

In this way, ensuring that the length for often enclosing rope on roller is consistent, the row of motor every revolution and rope is also ensured Journey immobilizes.Roller is more than 25 or more with steel wire diameter ratio, further increases the service life of rope（Testing fatigue number is super It crosses 200,000 times）；In order to improve the non-maintaining period, trapped fuel space is both increased in the inside of nut and roller, when assembling The full solid lubrication oil of filling so that splined shaft and set, nut and trapezoidal screw are adequately lubricated at runtime, it can be achieved that exempting from Maintenance period≤1 times/year.

Description of the drawings

It is described in further detail below in conjunction with the embodiment of attached drawing and the utility model

Fig. 1,2,3 are the overall structure diagram of the utility model；

Fig. 4 is the overall work schematic diagram of the utility model；

Fig. 5 is the positioning schematic diagram of the utility model（Remove the cover board of translation mechanism）；

Fig. 6 is the elevating mechanism schematic diagram of the utility model（Remove the cover board of control platform）；

Fig. 7 is the elevating mechanism sectional view of the utility model.

In figure label for：Guide rail 1, bar code 11, trolley 12, translation mechanism 2, idler wheel 21, auxiliary wheel 22, bar code are read Device 23, electrical contact 24, control platform 3, elevating mechanism 4, halliard 41, roller 42, synchronous pulley 43, ball spline shaft 44, rolling Spline set 45, trapezoidal screw 46, trapezoidal nut 47, flexible ring 48, detection platform 5, intelligent console 6, infrared photography module 61, infrared camera 611, sound pick-up 612, visible image capturing module 62, Visible Light Camera 621, light compensating lamp 622, insulation measurement mould Block 63, insulation measurement probe 631.

Specific implementation mode

Referring to attached drawing.Extension rail intelligent inspection robot described in the present embodiment, including robot body and guide rail 1, machine Device human body hangs on guide rail and moves along the rail；The robot body is equipped with translation mechanism 2, control platform 3, elevator Structure 4, detection platform 5 and intelligent console 6.

The shell of 2 specific semi-surrounding structure of the translation mechanism, is mounted on guide rail 1, and the inside top surface of shell is equipped with two A idler wheel 21, driving roller and driven roller, both sides are equipped with auxiliary wheel 22, and two idler wheels 21 are against the upper surface of guide rail 1, assist Wheel 22 is against 1 side of guide rail, is equivalent to and guide rail is wrapped in shell, and the driving roller is co-axially mounted a belt wheel, belt wheel by Translation motor drives；Guide rail 1 posts several bar codes 11 towards robot body side, and translation mechanism is equipped with bar code reader 23, bar code reader is opposite with barcode position；The guide rail is equipped with trolley 12, and trolley is located at the lower section of bar code, Trolley connects power supply, is provided with electrical contact 24 in translation mechanism, is electrically connected with trolley, and hanging rail robot can continuous inspection Operation can meet non-stop run in 7*24 hours by slide wire power supply.

The control platform 3 is mounted on 2 lower section of translation mechanism, and control module and driving robot are equipped in control platform The translation motor that ontology is moved along guide rail, the bar code information that the control module is read according to bar code reader 23 are flat to control Move motor work；In advance by the bar code information input control module corresponding to all measurement points, robot in moving process Bar code reader on ontology reads the location information on bar code, and by the location information of reading and the measurement point being previously entered Position is compared, and to control translation motor forward or reverse, left and right adjustment robot body is allowed to reach measurement point.

The elevating mechanism 4 connects control platform 3 and detection platform 5, and elevating mechanism 4 includes drive component and halliard 41, drive component is located in control platform, including the lifting motor of roller 42, driving drum rotation, is connected with lifting motor Synchronous pulley 43, mating ball spline shaft 44 and ball spline sleeve 45, trapezoidal screw 46 and trapezoidal nut 47, the halliard 41 have two, and one end is wound in respectively on roller 42, other end connecting detection platform 5, and flexible ring is cased on the outside of halliard 48, for protecting halliard, and ensure not shake when halliard operation；Synchronous pulley 43 is by transmitting band connection lifting electricity Machine, the synchronous pulley are mounted on ball spline shaft 44, and idler wheel 42 is mounted on the ball spline to match with ball spline shaft 45 outside of set；46 one end of the trapezoidal screw is fixedly mounted on idler wheel, and the other end is rotatably assorted with trapezoidal nut 47；The control Control module control lifting motor work in platform processed.

When lifting assembly is installed, first halliard 41 is fixed in the hole on 42 surface of roller；Ball spline sleeve 45 is pacified again It is attached in roller, ensures to rotate simultaneously by flat key；Grease appropriate is inserted in inside, is sealed with oil seal cover；The trapezoidal silk on right side Bar 46 is installed to 42 side of roller with bolt, it is ensured that the two can rotate simultaneously；Trapezoidal nut 47 and bearing are installed on rightmost support, Leftmost support installs bearing；Ball spline shaft 44 is installed on the bearing of holder；The left side of ball spline shaft is installed by synchronous belt Wheel 43, is connected with the synchronous pulley on lifting motor；Lifting motor rotates forward rope and is wound on roller, and motor reversal rope is then put It opens.A diameter of 3mm of rope, diameter of cylinder 70mm, trapezoidal screw and nut are Tr36x3, the distance and rope of roller translation Line footpath it is equal.

Intelligent console 6 is installed in 5 lower section of the detection platform, and intelligent console 6 can carry out horizontal 360-degree with respect to detection platform 5 Rotation；The intelligent console 6 includes main body, is set to the infrared photography module 61 and visible image capturing module 62 of main body both sides, And the insulation measurement module 63 of bottom part body, the photographing module of both sides can rotate upwardly and downwardly 90 degree with respect to main body；It is described infrared Photographing module be equipped with infrared camera 611 and sound pick-up 612, it is seen that light photographing module be equipped with Visible Light Camera 621 and Light compensating lamp 622；The insulation measurement module includes insulation measurement probe 631, and probe is equipped with ground radio wave sensor and ultrasonic wave Sensor.

Put reasonable Arrangement guide rail 1 according to the landform of substation and equipment, arranged on guide rail 1 bar code 11 and Trolley 12；In advance by corresponding to all measurement points bar code information and the measurement point intelligent console need the distance that declines In information input control module.The location information read on bar code is sent to control by machine man-hour, bar code reader 23 The location information of reading is compared by molding block, control module with the measurement point position to prestore, when the positional value of reading is less than When measurement point positional value, control translation motor rotates forward, and robot body, which moves to right, to be allowed to reach measurement point；When the positional value of reading is big When measurement point positional value, control translation motor reversion, robot body, which moves to left, to be allowed to reach measurement point.

After robot body reaches measurement point, control module declines according to the measurement point intelligent console needs to prestore Range information controls lifting motor rotation, the number of turns of the distance controlling lifting motor rotation declined as needed, so that intelligence It can holder arrival meter location.And intelligent console is controlled the rotational angle of entire intelligent console level by external computer, with And the angle that two photographing modules rotate upwardly and downwardly, instrument finally is shot using infrared camera 611 or Visible Light Camera 621, and Picture is transmitted to progress digital independent analysis in computer, and recording apparatus numerical value, simultaneously radio wave sensor and ultrasonic wave Sensor can be used for measuring apparatus insulation ageing problem, and former subsequently to carry out come the noise in recording equipment using sound pick-up The analyses such as barrier, aging.After the completion of measurement point instrument shooting, control module drives lifting motor, and intelligent console is returned to In situ, then translation motor drives entire robot to move to next measurement point, and continues to detect work.

Claims (1)

1. a kind of lifting gear for hanging rail intelligent inspection robot, the control platform for connecting robot body and detection Platform；It is characterized in that：Including drive component and halliard, drive component is located in control platform, including roller, driving drum The lifting motor of rotation, the synchronous pulley being connected with lifting motor, mating ball spline shaft and ball spline sleeve, trapezoidal screw And trapezoidal nut；For the halliard one ends wound on roller, other end connecting detection platform, halliard outside is cased with flexible bamboo Section；The synchronous pulley by transmit band connection lifting motor, synchronous pulley be mounted on ball spline shaft on, idler wheel be mounted on On the outside of the ball spline sleeve that ball spline shaft matches；Described trapezoidal screw one end is fixedly mounted on idler wheel, the other end and ladder Shape nut rotation coordinates；Control module is equipped in the control platform, control module controls lifting motor work.