CN209207490U - A kind of Intelligent Mobile Robot with the automatically replaceable inspection device of mechanical arm - Google Patents
A kind of Intelligent Mobile Robot with the automatically replaceable inspection device of mechanical arm Download PDFInfo
- Publication number
- CN209207490U CN209207490U CN201821913985.7U CN201821913985U CN209207490U CN 209207490 U CN209207490 U CN 209207490U CN 201821913985 U CN201821913985 U CN 201821913985U CN 209207490 U CN209207490 U CN 209207490U
- Authority
- CN
- China
- Prior art keywords
- robot
- arm
- mechanical arm
- detection device
- robot shell
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a kind of Intelligent Mobile Robot with the automatically replaceable inspection device of mechanical arm, including robot shell, driving wheel, mechanical arm, the mechanical arm is provided with the first large arm, second linking arm, third lever arm, installing arm, the installing arm installation is connected with detection device connector, snap fit connector is provided on the detection device connector, the robot housing central section is provided with detection device storage silo, dustproof cover is provided in the detection device storage silo, the dustproof cover is connected by carriage with robot shell, ultrasonic radar sets are provided with below the robot shell, the robot shell rear is provided with laser ranging system, laser locating apparatus is provided with above the robot shell.The utility model can be realized a tractor serves several purposes, and multinomial inspection inspection is completed in primary patrol task, improve the operating efficiency of robot, shortens the activity duration, improves the multifunction of robot.
Description
Technical field
The utility model relates to robot fields, and in particular to a kind of power transformation with the automatically replaceable inspection device of mechanical arm
It stands crusing robot.
Background technique
Substation is the hinge of electric power transmission network, and the safety of equipment running status is most important, is had to equipment
Effect inspection is to guarantee that substation well runs and to the important guarantee of users' power supply reliability.With Power Robot skill
The development of art, robot inspection gradually replace manual inspection, greatly reduce labor intensity.
Substation inspection project is more, needs to be checked for each equipment in standing, to ensure equipment safety operation, mesh
Preceding common crusing robot mainly has wheeled robot, although polling rate is very fast, inspection menu one, and a survey monitor
Device people can only carry a kind of detection device, it is difficult to while inspection is carried out for multiple parameters, need to be equipped with multiple inspection functions
Robot increases entreprise cost while extending the time of robot inspection operation.
Utility model content
The purpose of this utility model is to provide a kind of substation inspection machines with the automatically replaceable inspection device of mechanical arm
The problem of device people, it is single to be able to solve existing crusing robot detection function, increases the activity duration of robot.
In order to solve the above technical problems, the utility model uses following technical scheme:
A kind of replaceable multi-functional Intelligent Mobile Robot of detection device, including robot shell, driving wheel, machinery
Arm, there are four the driving wheel settings, is separately mounted on four footing of robot shell, the mechanical arm is arranged in machine
Device people upper part of the housing, the mechanical arm are provided with the first large arm, the second linking arm, third lever arm, installing arm, and described
One large arm is rotatablely connected by the first connecting shaft and fixed station, and the fixed station bottom is provided with fixed rotating device, described
The first connecting shaft on be provided with the first stepper motor, second linking arm is rotated by the second connecting shaft and the first large arm
Connection, is provided with second stepper motor in second connecting shaft, and the third lever arm passes through third connecting shaft and the
Two linking arms are rotatablely connected, and third stepper motor is provided in the third connecting shaft, and the installing arm connects by the 4th
Spindle and third lever arm are rotatablely connected, and the 4th stepper motor, the installing arm peace are provided in the fourth connecting shaft
Load is connected to detection device connector, the fixation rotating device, the first stepper motor, second stepper motor, third stepping electricity
Machine, the 4th stepper motor are connected with control device respectively.
Further, snap fit connector, the robot housing central section setting are provided on the detection device connector
There is detection device storage silo.
Further, it is provided with dustproof cover in the detection device storage silo, the dustproof cover passes through carriage
It is connected with robot shell, the carriage is connected with control device.
Further, the detection device storage silo and dustproof cover are sized to multiple according to robot shell.
Further, the robot housing central section is additionally provided with opposite detection device storage silo and opposite dustproof cover,
The opposite dustproof cover is connected by carriage with robot shell, and the carriage is connected with control device
It connects, the opposite detection device storage silo is sized to opposite dustproof cover according to robot shell multiple.
Further, ultrasonic radar sets are provided with below the robot shell.
Further, the robot shell rear is provided with laser ranging system.
Further, laser locating apparatus is provided with above the robot shell.
The utility model compared with prior art, includes at least one of following advantages:
1, the utility model detection device is replaceable, can be realized a tractor serves several purposes, completes in primary patrol task more
Item inspection inspection, improves the operating efficiency of robot, shortens the activity duration；
2, the utility model is provided with detection device storage silo, can carry multiple detection devices according to the demand in power station,
It can satisfy job requirements of robot during inspection.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model.
Fig. 2 is the utility model side structure schematic diagram.
Description of symbols:
1- robot shell, 2- laser locating apparatus, the second linking arm of 4-, 5- third lever arm, 6- the fourth connecting shaft, 7-
Installing arm, 8- snap fit connector, 9- detection device connector, the first large arm of 10-, the first connecting shaft of 11-, 12- fixed station, 13- are dust-proof
Lid, 15- ultrasonic radar sets, 16- driving wheel, the second connecting shaft of 17-, 18- third connecting shaft, 19- opposite direction dustproof cover, 20-
Detection device storage silo, 21- opposite direction detection device storage silo, 22- laser ranging system.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
In the description of the present invention, it should be noted that term " top ", " lower section " " between " etc. instructions orientation
Or positional relationship is to be based on the orientation or positional relationship shown in the drawings, it is only for convenient to retouch with the description present invention and simplification
State, rather than the device or element of indication or suggestion meaning must have specific orientation, with specific orientation construct and grasp
Make, therefore should not be understood as limiting the present invention.
Embodiment 1
A kind of Intelligent Mobile Robot with the automatically replaceable inspection device of mechanical arm, including robot shell 1, driving
16, mechanical arm are taken turns, there are four the settings of driving wheel 16, is separately mounted on four footing of robot shell, the machine
Tool arm is arranged on 1 top of robot shell, and the mechanical arm is provided with the first large arm 10, the second linking arm 4, third lever arm
5, installing arm 7, first large arm 10 are rotatablely connected by the first connecting shaft 11 with fixed station 12,12 bottom of fixed station
Portion is provided with fixed rotating device, and the first stepper motor, second linking arm 4 are provided in first connecting shaft 11
It is rotatablely connected by the second connecting shaft 17 and the first large arm 10, is provided with second stepper motor in second connecting shaft 17,
The third lever arm 5 is rotatablely connected by third connecting shaft 18 and the second linking arm 4, is set in the third connecting shaft 18
It is equipped with third stepper motor, the installing arm 7 is rotatablely connected by the fourth connecting shaft 6 and third lever arm 5, and the described the 4th
The 4th stepper motor is provided in connecting shaft 6, the installation of installing arm 7 is connected with detection device connector 9, the fixed rotation
Rotary device, the first stepper motor, second stepper motor, third stepper motor, the 4th stepper motor are connected with control device respectively
It connects.The mechanical arm can sufficiently realize moving freely for detection device connector 9, it is ensured that detection device can reach accordingly
Designated position passes through the activity of step motor control mechanical arm, the control between each joint of mechanical arm by control device
Device uses driving wheel 16 using the common main controller that can receive to handle information and issue instruction, the crusing robot
Driving, the driving wheel 16 is connected with control device, and movement and the mechanical arm of crusing robot are controlled by control device
Activity.
Embodiment 2
On the basis of embodiment 1, snap fit connector 8, the robot shell are provided on the detection device connector 9
Detection device storage silo 20 is provided in the middle part of body 1, the snap fit connector 8 of setting can quickly connect from different detection devices, make
The detection to equipment is completed in detection device installation on the robotic arm, and the detection device is stored in detection device storage silo 20
It is interior.
Embodiment 3
On the basis of embodiment 1-2, dustproof cover 13 is provided in the detection device storage silo 20, described is dust-proof
Lid 13 is connected by carriage with robot shell 1, and the carriage is connected with control device.What is be arranged is dust-proof
Lid 13 can protect the detection device in detection device storage silo 20, and when needing to carry out more substitution detector, dustproof cover 13 is slided
It opens, the snap fit connector 8 on mechanical arm carries out the replacement of detection device.
Embodiment 4
On the basis of embodiment 1-3, the detection device storage silo 20 and dustproof cover 13 are according to robot shell 1
It is sized to multiple.Multiple detection device storage silos 20, which are arranged, can store requirement when multiple detection devices meet inspection.
Embodiment 5
On the basis of examples 1 to 4, opposite detection device storage silo 21 is additionally provided in the middle part of the robot shell 1
With opposite dustproof cover 19, the opposite dustproof cover 19 is connected by carriage with robot shell 1, and the sliding fills
It sets and is connected with control device, the opposite detection device storage silo 21 and opposite dustproof cover 19 are according to robot shell 1
It is sized to multiple.Since detection device volume is generally large, so it is provided with opposite detection device storage silo 21, it is described
Opposite detection device storage silo 21 is staggered with detection device storage silo 20, can make full use of the volume of robot shell 1,
Enough detection devices are carried when robot carries out inspection, in order to meet inspection demand.
Embodiment 6
On the basis of embodiment 1-5, ultrasonic radar sets 15 are provided with below the robot shell 1.Ultrasound
Wave radar installations 15 can be detected effectively and avoid barrier.
Embodiment 7
On the basis of embodiment 1-6,1 rear of robot shell is provided with laser ranging system 22, setting
Laser ranging system 22 can determine the distance between crusing robot and setting, avoid the danger as caused by hypotelorism
Problem.
Embodiment 8
On the basis of embodiment 1-7, laser locating apparatus 2 is provided with above the robot shell 1, setting swashs
Light-seeking device 2 can precisely determine that mechanical arm at a distance from equipment room, further shortens the time used in inspection.
Although reference be made herein to the utility model is described in multiple explanatory embodiments of the utility model, still,
It should be understood that those skilled in the art can be designed that a lot of other modification and implementations, these modifications and implementations
It will fall within scope and spirit disclosed in the present application.More specifically, it discloses in the application, drawings and claims
In range, can building block to theme combination layout and/or layout carry out a variety of variations and modifications.In addition to building block
And/or outside the modification and improvement of layout progress, to those skilled in the art, other purposes also be will be apparent.
Claims (8)
1. a kind of Intelligent Mobile Robot with the automatically replaceable inspection device of mechanical arm, including robot shell (1), driving
(16), mechanical arm are taken turns, there are four the driving wheel (16) settings, is separately mounted on four footing of robot shell, described
Mechanical arm be arranged on robot shell (1) top, it is characterised in that: the mechanical arm is provided with the first large arm (10), the
Two linking arms (4), third lever arm (5), installing arm (7), first large arm (10) pass through the first connecting shaft (11) and solid
Determine platform (12) rotation connection, the fixed station (12) bottom is provided with fixed rotating device, first connecting shaft (11)
On be provided with the first stepper motor, second linking arm (4) is rotated by the second connecting shaft (17) and the first large arm (10)
It connects, second stepper motor is provided in second connecting shaft (17), the third lever arm (5) passes through third and connects
Axis (18) and the second linking arm (4) are rotatablely connected, and are provided with third stepper motor in the third connecting shaft (18), described
Installing arm (7) is rotatablely connected by the fourth connecting shaft (6) and third lever arm (5), and the fourth connecting shaft is provided on (6)
4th stepper motor, the installing arm (7) installation are connected with detection device connector (9), the fixation rotating device, first
Stepper motor, second stepper motor, third stepper motor, the 4th stepper motor are connected with control device respectively.
2. a kind of Intelligent Mobile Robot with the automatically replaceable inspection device of mechanical arm according to claim 1,
It is characterized in that: being provided with snap fit connector (8) on the detection device connector (9), setting in the middle part of the robot shell (1)
There are detection device storage silo (20).
3. a kind of Intelligent Mobile Robot with the automatically replaceable inspection device of mechanical arm according to claim 2,
It is characterized in that: being provided with dustproof cover (13) in the detection device storage silo (20), the dustproof cover (13) passes through sliding
Device is connected with robot shell (1), and the carriage is connected with control device.
4. a kind of Intelligent Mobile Robot with the automatically replaceable inspection device of mechanical arm according to claim 3,
Be characterized in that: the detection device storage silo (20) and dustproof cover (13) is sized to more according to robot shell (1)
It is a.
5. a kind of Intelligent Mobile Robot with the automatically replaceable inspection device of mechanical arm according to claim 3,
It is characterized in that: being additionally provided with opposite detection device storage silo (21) and opposite dustproof cover in the middle part of the robot shell (1)
(19), the opposite dustproof cover (19) is connected by carriage with robot shell (1), the carriage and control
Device processed is connected, and the opposite detection device storage silo (21) and opposite dustproof cover (19) are according to robot shell (1)
It is sized to multiple.
6. a kind of Intelligent Mobile Robot with the automatically replaceable inspection device of mechanical arm according to claim 1,
It is characterized in that: being provided with ultrasonic radar sets (15) below the robot shell (1).
7. a kind of Intelligent Mobile Robot with the automatically replaceable inspection device of mechanical arm according to claim 1,
Be characterized in that: described robot shell (1) rear is provided with laser ranging system (22).
8. a kind of Intelligent Mobile Robot with the automatically replaceable inspection device of mechanical arm according to claim 1,
It is characterized in that: being provided with laser locating apparatus (2) above the robot shell (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821913985.7U CN209207490U (en) | 2018-11-20 | 2018-11-20 | A kind of Intelligent Mobile Robot with the automatically replaceable inspection device of mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821913985.7U CN209207490U (en) | 2018-11-20 | 2018-11-20 | A kind of Intelligent Mobile Robot with the automatically replaceable inspection device of mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209207490U true CN209207490U (en) | 2019-08-06 |
Family
ID=67460363
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821913985.7U Active CN209207490U (en) | 2018-11-20 | 2018-11-20 | A kind of Intelligent Mobile Robot with the automatically replaceable inspection device of mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209207490U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111487650A (en) * | 2020-05-14 | 2020-08-04 | 国网河北省电力有限公司沧州供电分公司 | Positioning device for polling data acquisition transformer substation |
| CN111958594A (en) * | 2020-07-30 | 2020-11-20 | 国网智能科技股份有限公司 | Semantic intelligent substation inspection operation robot system and method |
| CN112706172A (en) * | 2020-11-19 | 2021-04-27 | 国网浙江省电力有限公司宁波供电公司 | Remotely controllable robot for a power distribution station |
| CN113561199A (en) * | 2021-08-04 | 2021-10-29 | 北京化工大学 | Transformer substation inspection robot with lifting type holder and mechanical arm |
| CN114183637A (en) * | 2021-11-15 | 2022-03-15 | 云南电网有限责任公司昆明供电局 | Network fault remote processing device |
-
2018
- 2018-11-20 CN CN201821913985.7U patent/CN209207490U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111487650A (en) * | 2020-05-14 | 2020-08-04 | 国网河北省电力有限公司沧州供电分公司 | Positioning device for polling data acquisition transformer substation |
| CN111487650B (en) * | 2020-05-14 | 2022-07-26 | 国网河北省电力有限公司沧州供电分公司 | Positioning device for routing inspection of data acquisition transformer substation |
| CN111958594A (en) * | 2020-07-30 | 2020-11-20 | 国网智能科技股份有限公司 | Semantic intelligent substation inspection operation robot system and method |
| CN112706172A (en) * | 2020-11-19 | 2021-04-27 | 国网浙江省电力有限公司宁波供电公司 | Remotely controllable robot for a power distribution station |
| CN113561199A (en) * | 2021-08-04 | 2021-10-29 | 北京化工大学 | Transformer substation inspection robot with lifting type holder and mechanical arm |
| CN114183637A (en) * | 2021-11-15 | 2022-03-15 | 云南电网有限责任公司昆明供电局 | Network fault remote processing device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209207490U (en) | A kind of Intelligent Mobile Robot with the automatically replaceable inspection device of mechanical arm | |
| CN108673467A (en) | Substation's live-line maintenance operation robot system and method | |
| CN206820328U (en) | A kind of substation inspection equipment | |
| CN201882788U (en) | Crawler crane rotation angle detecting device | |
| CN104875179A (en) | Power system segmented automatic inspection robot | |
| CN106584421A (en) | Mobile trolley system based on mobile robot | |
| CN105150241A (en) | Two-degree-of-freedom mechanical arm joint driven by ropes | |
| CN203616007U (en) | Automatic temperature patrolling and measuring device for transformer station | |
| WO2021203561A1 (en) | Automatic charging system of industrial robot used for warehousing | |
| CN111123453A (en) | Maintenance system and maintenance method for optical distribution machine room | |
| CN102922529B (en) | Inspection robot system along split conductors | |
| CN110340899A (en) | Robot for overhauling for oil-immersed transformer | |
| CN207256220U (en) | A kind of omnidirectional of substation crusing robot | |
| CN207448912U (en) | Intelligent pouring robot and running gate system | |
| CN216890001U (en) | Remote control device of insulating bucket arm vehicle | |
| CN206066824U (en) | Blade shaft covers charging equipment | |
| CN207300074U (en) | A kind of intelligent security guard and explosive-removal robot based on Internet of Things | |
| CN105500362B (en) | A kind of multi-joint omnidirectional type Pipe-out Robot control system | |
| CN206899220U (en) | A kind of moving cart system based on mobile robot | |
| CN209472690U (en) | Power equipment oil leakage detector based on video | |
| CN209717726U (en) | A kind of remote replacement robot used in grain depot garden | |
| CN207965587U (en) | Substation inspection robot | |
| CN108873873B (en) | Live detection robot for GIS equipment of transformer substation | |
| CN110159021A (en) | A kind of robotic vehicle clamping and placing system and its pick and place method | |
| CN111113444A (en) | Optical distribution machine room robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |