CN209560024U - The mobile mechanism of shelf depreciation crusing robot and shelf depreciation crusing robot - Google Patents

Abstract

The utility model provides mobile mechanism and the shelf depreciation crusing robot of a kind of shelf depreciation crusing robot, mobile mechanism is slidably connected in orbit, trolley is equipped with along track, mobile mechanism includes rack, current-collector, driving wheel, driven wheel and stabilizer group, current-collector is in electrical contact with trolley, driving wheel is mounted on drive shaft, drive shaft is connected with driving motor by deceleration mechanism, driven wheel is mounted on follower shaft, driven wheel and driving wheel are arranged about Orbital Symmetry, stabilizer group includes several stabilizers about Orbital Symmetry setting, stabilizer is mounted on balancing axle, balancing axle is mounted on balance wheel frame, balance wheel frame is connect by linear damper with rack, shelf depreciation crusing robot includes above-mentioned mobile mechanism.The utility model solves the problem of shelf depreciation crusing robot fuselage in movement or detection shakes, causes fuselage to destroy and influence accuracy in detection.

Description

The mobile mechanism of shelf depreciation crusing robot and shelf depreciation crusing robot

Technical field

The utility model relates to electric device maintenance technical field more particularly to a kind of shiftings of shelf depreciation crusing robot Motivation structure and shelf depreciation crusing robot.

Background technique

When power equipment breaks down, partial discharge phenomenon can generally occur, it will cause equipment as repaired not in time Breakdown, causes power equipment to be unable to operate normally.Since not reliable real-time detecting system timely finds shelf depreciation portion The accident of position, power equipment breakdown happens occasionally, and artificially detects and not can guarantee continuity, and reliability is not high.If can be The position of discovery electric discharge in time is possible to avoid the generation of accident before accident occurs, and avoids biggish economic loss.

With the development of robot technology, power equipment crusing robot starts to start to apply in network system, by The duplicate equipment routing inspection work of staff can be replaced in robot, guarantees the long-term safety operation of power equipment.Inspection machine People has a reliable operation, working time unrestricted feature, special standby to be suitable for the cycle of operation longer important electric system and sets In standby.

Fuselage shakes shelf depreciation crusing robot in the prior art when moving or when Partial Discharge Detection, may lead Fuselage is caused to destroy and influence accuracy in detection.

Summary of the invention

The purpose of this utility model is to provide a kind of mobile mechanisms of shelf depreciation crusing robot and shelf depreciation to patrol Robot is examined, being able to solve shelf depreciation crusing robot, fuselage shakes when moving or when Partial Discharge Detection, leads to fuselage The problem of destroying and influencing accuracy in detection.

In order to achieve the above object, the utility model adopts the following technical solution:

A kind of mobile mechanism of shelf depreciation crusing robot, the mobile mechanism are slidably connected in orbit, along described Track is equipped with trolley, and the mobile mechanism includes rack, current-collector, driving wheel, driven wheel and stabilizer group, the current-collector It is fixedly connected in the rack, the wiping piece and the trolley of the current-collector are in electrical contact, supply for the mobile mechanism Electricity, the driving wheel roll on the bottom surface of the track, and the driving wheel is fixedly mounted on drive shaft, the driving wheel Axis is connected with driving motor by a deceleration mechanism, and the driving motor is fixedly mounted in the rack, the deceleration mechanism Including small pulley, big belt wheel and deceleration strip, the small pulley is fixedly connected with the output shaft of the driving motor, the big belt wheel It is fixedly connected with the drive shaft, the small pulley and the big belt wheel pass through the deceleration strip band connection, the driven wheel Be fixedly mounted on follower shaft, the follower shaft is mounted on the rack, the driven wheel and the driving wheel about The Orbital Symmetry setting, the stabilizer group include several stabilizers about Orbital Symmetry setting, the stabilizer It is rolled on the side of the track, the stabilizer is fixedly mounted on balancing axle, and the balancing axle is mounted on balance On wheel carrier, the balance wheel frame is connect by a linear damper with the rack, and the linear damper is horizontally disposed.

Further, the linear damper is electromagnetic type linear damper.

Further, the outside of the driving wheel and the driving motor is arranged in the deceleration mechanism.

The utility model also provides a kind of shelf depreciation crusing robot, including mobile platform, rotating platform and detection are put down Platform, the detection platform are equipped with Partial Discharge Detection component, and the rotating platform and the mobile platform are rotatablely connected, described Detection platform is connect with the rotating platform liftable, and the mobile platform includes the shifting of above-mentioned shelf depreciation crusing robot Motivation structure.

Further, the shelf depreciation crusing robot further includes controller and data collector, the controller control The movement of the shelf depreciation crusing robot is made, the data collector includes central processing unit and memory, the center Processor handles Partial Discharge Data and data are stored into the memory by treated, and the current-collector is connected with modulation Demodulator one, the modem one, Partial Discharge Detection component, controller and data collector are connected by interchanger one It connects, the modem one is connect with the current-collector, and the trolley is connected with modem two, the modulation /demodulation Device two is connected with interchanger two, and the interchanger two is connect with background host computer, the background host computer and the shelf depreciation inspection Robot realizes signal transmitting by power carrier, and the background host computer is believed to the shelf depreciation crusing robot input control Number, the shelf depreciation crusing robot is to the background host computer input feedback signal.

Further, the rotating platform is in barrel mast shape, is equipped with gear ring, gear one, gear in the rotating platform Two and gear three, gear ring be fixedly connected with the inner wall of rotating platform, gear one is fixed on gear shaft one, gear one and tooth Circle engagement, gear shaft one are connected with rotating electric machine, and gear two is engaged with gear three, and gear two is fixed on gear shaft two, The lower end of gear shaft two is connected with screw mechanism, and gear shaft two is fixedly connected with the lead screw of screw mechanism, the hoistable platform with The feed screw nut of screw mechanism is fixedly connected, and gear three is fixed on gear shaft three, and gear shaft three is connected with lifting motor, The rotating electric machine, the lifting motor are fixedly connected with the mobile platform.

Further, mounting disc one and mounting disc two are additionally provided in the rotating platform, in mounting disc one and mounting disc two It is equipped with bearing mounting hole corresponding with gear shaft one, gear shaft two and gear shaft three, is mounted on axis in bearing mounting hole It holds, the installation base of installation mounting disc one and mounting disc two is respectively provided on the inner wall of the rotating platform, for installing The internal diameter of the installation base of the mounting disc one is greater than the outer diameter of mounting disc two.

Further, the Partial Discharge Detection component is connect by a telescoping mechanism with the detection platform, described to stretch The telescopic direction of contracting mechanism is vertical with the lifting direction of the detection platform.

Further, the Partial Discharge Detection component includes that can make the Partial Discharge Detection component and transformer substation switch The attracting magnetic absorption member of cabinet.

Further, video detecting module is additionally provided in the detection platform, the video detecting module includes infrared heat Image camera and Visible Light Camera, the video detecting module are connect by a luffing mechanism with the detection platform.

After adopting the above technical scheme, the utility model has the advantages that

1, the mobile mechanism of the shelf depreciation crusing robot of the utility model is lifted by monorail and is supported, structure is simple, Compact, small in size, the space occupied is also small, applies when can be used for narrow space and use, while greatly reducing to track installation The difficulty of work；Using stabilizer group, in the moving process of shelf depreciation crusing robot, due to fuselage deflection or fuselage shaking Or turning during centripetal force effect, the stabilizer stress of track two sides differs, under the action of linear damper, with balance The power of two sides, so that mobile mechanism runs smoothly, the problem of being not in derailed, fuselage shakes.

2, linear damper is electromagnetic type linear damper.Because linear damper in crusing robot moving process always Working condition is kept, service life is crusing robot problem in need of consideration, and mechanical linear damper is in inspection machine It is easily damaged when people is by big impact force, and electromagnetic type linear damper uses electromagnetic induction principle, rubs small, so that straight line The service life of damper is promoted；Greater impact power can be born, is hardly damaged；Balance quality is high, so that the fortune of crusing robot Row stationarity is promoted.

3, the outside of the driving wheel and the driving motor is arranged in the deceleration mechanism, then driving wheel and driving electricity Machine be located at it is ipsilateral so that mobile mechanism is compact-sized.

4, the shelf depreciation crusing robot of the utility model uses above-mentioned mobile mechanism, with above-mentioned mobile mechanism Advantage, after crusing robot reaches the position of power equipment to be checked, by the rotation of rotating platform, the lifting of detection platform, So that the detected part of Partial Discharge Detection component alignment power equipment, to carry out Partial Discharge Detection.

5, by power line carrier, PLC, background host computer issues inspection order extremely for background host computer and shelf depreciation crusing robot Crusing robot, so that controller control crusing robot is moved to inspection point, Partial Discharge Detection component acquires shelf depreciation Data, central processing unit handles Partial Discharge Data and data are stored into memory by treated, and Partial Discharge Data is anti- It is fed to background host computer, after background host computer receives Partial Discharge Data, control crusing robot is moved to next inspection point. Can right place carry out partial discharge detection operation, and automatically analyze variation tendency, output inspection as a result, testing result referential is strong, Operation maintenance personnel data processing work amount is reduced, online detection method for local discharge in the prior art is solved and needs more part Discharge measurement equipment to be checked, and cost is excessively high and Portable PD On-Line detection needs operation maintenance personnel to carry Portable PD On-Line inspection It surveys instrument to be detected, personnel safety cannot be guaranteed, and the technical problem that the testing result property of can refer to is not high.

6, rotating electric machine band moving gear one rotates, and gear one drives the ring gear against rotation being engaged with, so that rotating platform turns It is dynamic；Lifting motor band moving gear three rotates, and gear three drives the gear two being engaged with to rotate, and gear two drives screw rod rotation, Feed screw nut's lifting is to drive detection platform to go up and down.The rotation of the shelf depreciation crusing robot of the utility model is adopted with lifting With parallel-connection structure, rotation is mutually indepedent, non-interference with lifting two degrees of freedom, convenient for the realization of control；Also, robot architecture It is simple and compact, it is easy to process, it is easily installed and dismantles.

7, gear shaft one, gear shaft two and gear shaft three by mounting disc one, mounting disc two and are arranged in mounting disc Each bearing is mounted in rotating platform, and mounting disc one, mounting disc two are limited by each installation base, for installing the mounting disc The internal diameter of one installation base is greater than the outer diameter of mounting disc two, is easily installed disk two, mounting disc one is sequentially loaded into.

8, after shelf depreciation crusing robot reaches the position of power equipment to be checked, pass through the rotation of rotating platform, inspection The lifting of platform is surveyed, so that the detected part of Partial Discharge Detection component alignment power equipment, telescoping mechanism extends so that part Discharge examination component is adjacent to the detected part of power equipment, to carry out Partial Discharge Detection.

9, Partial Discharge Detection component includes that the Partial Discharge Detection component and converting station electric power equipment can be made attracting Magnetic absorption member, for being close to Partial Discharge Detection component with the detected part of power equipment, preventing Partial Discharge Detection component sliding It moves.

10, be additionally provided with video detecting module in detection platform, the video detecting module include infrared thermal imaging camera and Visible Light Camera.According to the Image Acquisition information of Visible Light Camera into, row reading data is remembered to the table for having reading, automatically record and Judgement, and proposes to alarm, and enables various indicator lights in crusing robot automatic identification image, electric equipment cabinet face arrangement Pressing plate is spaced apart, the secondary devices state such as change-over switch.Infra-red thermal imaging camera is for indoor each power equipment, distribution box etc. The heat monitoring of equipment can survey the temperature of heat-producing device in substation room, and form double vision system with Visible Light Camera.Video inspection It surveys component to connect by a luffing mechanism with the detection platform, video detecting module is rotated upwardly and downwardly, to increase view The detection range of frequency detection components.

Detailed description of the invention

The utility model is described in further detail with reference to the accompanying drawing:

Fig. 1 is a kind of structural schematic diagram of the mobile mechanism of shelf depreciation crusing robot in the utility model.

Fig. 2 is a kind of structural schematic diagram of shelf depreciation crusing robot in the utility model.

Fig. 3 is a kind of side view of shelf depreciation crusing robot in the utility model.

Fig. 4 is the control system schematic diagram of the utility model.

Fig. 5 is a kind of structural schematic diagram of the shelf depreciation crusing robot of the utility model in rotating platform section view.

Fig. 6 is the partial enlarged view in Fig. 5 at A.

Specific embodiment

Below in conjunction with drawings and the specific embodiments, the utility model is described in further detail.

As shown in Figure 1, a kind of mobile mechanism of shelf depreciation crusing robot, mobile mechanism are slidably connected on track 4, Trolley 21 is equipped with along track.

Mobile mechanism includes rack 101, current-collector 22, driving wheel 23, driven wheel 24 and stabilizer group.

Current-collector 22 is fixedly connected in rack 101, and the wiping piece and trolley 21 of current-collector 22 are in electrical contact, for movement Mechanism power supply.

Driving wheel 23 rolls on the bottom surface of track 4, and driving wheel 23 is fixedly mounted on drive shaft 25, drive shaft 25 It is connected with driving motor 26 by a deceleration mechanism, driving motor 26 is fixedly mounted in rack 101, and deceleration mechanism includes small band Wheel 27, big belt wheel 28 and deceleration strip 29, small pulley 27 are fixedly connected with the output shaft of driving motor 26, big belt wheel 28 and driving wheel Axis 25 is fixedly connected, and small pulley 27 and big belt wheel 28 pass through 29 band connection of deceleration strip.

Driven wheel 24 is fixedly mounted on follower shaft 30, and follower shaft 30 is mounted in rack 101, driven wheel 24 and drive Driving wheel 23 is symmetrical arranged about track 4.

Stabilizer group includes about the symmetrically arranged several stabilizers 31 of track 4, and stabilizer 31 rolls on the side of track 4 Dynamic, stabilizer 31 is fixedly mounted on balancing axle 32, and balancing axle 32 is mounted on balance wheel frame 33, and balance wheel frame 33 passes through One linear damper 34 is connect with rack 101, and linear damper 34 is horizontally disposed.

Mobile mechanism is lifted by monorail and is supported, and structure is simple, compact, and small in size, the space occupied is also small, can be used for narrow Small space uses, while the difficulty that while greatly reducing to track installation constructs；Using stabilizer group, in shelf depreciation inspection In the moving process of robot, due to fuselage deflection fuselage shaking or turning during centripetal force effect, track two sides Stabilizer stress differs, under the action of linear damper, to balance the power of two sides, so that mobile mechanism runs smoothly, it will not There is the problem of overstepping the limit, fuselage shakes.

In the present embodiment, linear damper 34 is electromagnetic type linear damper.Because linear damper is moved in crusing robot Remain that working condition, service life are crusing robot problems in need of consideration during dynamic, mechanical straight line damping Device is easily damaged when crusing robot is by big impact force, and electromagnetic type linear damper uses electromagnetic induction principle, rubs Wipe it is small so that the service life of linear damper is promoted；Greater impact power can be born, is hardly damaged；Balance quality is high, so that patrolling The running stability for examining robot is promoted.

In the present embodiment, the outside of driving wheel 23 and driving motor 26 is arranged in deceleration mechanism, then driving wheel 23 and drive Dynamic motor 26 be located at it is ipsilateral so that mobile mechanism is compact-sized.

As shown in Figure 2 and Figure 3, the utility model also provides a kind of shelf depreciation crusing robot, including mobile platform 1, rotation Turn platform 2 and detection platform 3, mobile platform 1 is hung on track 4, and is slidably connected with track 4, and rotating platform 2 is rotatablely connected In the lower end of mobile platform 1, detection platform 3 is connect with 2 liftable of rotating platform, and detection platform 3 is equipped with Partial Discharge Detection Component 5, mobile platform 1 include the mobile mechanism of above-mentioned shelf depreciation crusing robot.

As shown in figure 4, shelf depreciation crusing robot further includes controller 46 and data collector 47, controller 46 is controlled The movement of shelf depreciation crusing robot, data collector 47 include central processing unit and memory, central processing unit processing office Portion's discharge data and will the storage of treated data into memory, current-collector 22 is connected with modem 1, modulatedemodulate Device 1, Partial Discharge Detection component 5, controller 46 and data collector 47 is adjusted to connect by interchanger 1, modulation /demodulation Device 1 is connect with current-collector 22, and trolley 21 is connected with modem 2 410, and modem 2 410 is connected with exchange Machine 2 411, interchanger 2 411 are connect with background host computer 41, and background host computer 41 and shelf depreciation crusing robot are carried by electric power Wave realizes signal transmitting, and background host computer 41 is to shelf depreciation crusing robot input control signal, shelf depreciation crusing robot To 41 input feedback signal of background host computer.

In the present embodiment, as shown in Fig. 2, being additionally provided with video detecting module in detection platform 3, video detecting module includes red Outer thermal imaging camera 6 and Visible Light Camera 7, as shown in figure 4, video detecting module 412 is connect with data collector 47.According to can The Image Acquisition information of light-exposed camera remembers row reading data into the table for having reading, automatically records and judge, and proposes to alarm, Enable the various indicator lights in crusing robot automatic identification image, electric equipment cabinet face arrangement pressing plate, be spaced apart, convert and open The secondary devices states such as pass.Heat monitoring of the infra-red thermal imaging camera for equipment such as indoor each power equipment, distribution boxs, can be with The temperature of heat-producing device in substation room is surveyed, and forms double vision system with Visible Light Camera.

In the present embodiment, video detecting module is connect by a luffing mechanism with detection platform 3, so that video detecting module It can rotate upwardly and downwardly, to increase the detection range of video detecting module.

By power line carrier, PLC, background host computer issues inspection order to patrolling for background host computer and shelf depreciation crusing robot Robot is examined, so that controller control crusing robot is moved to inspection point, Partial Discharge Detection component acquires shelf depreciation number According to central processing unit handles Partial Discharge Data and by treated, data are stored into memory, Partial Discharge Data feedback To background host computer, after background host computer receives Partial Discharge Data, control crusing robot is moved to next inspection point.

As shown in Figure 5, Figure 6, rotating platform 2 is in barrel mast shape, is equipped with gear ring 8, gear 1, gear in rotating platform 2 2 10 and gear 3 11, gear ring 8 be fixedly connected with the inner wall of rotating platform 2, gear 1 is fixed on gear shaft 1, Gear 1 is engaged with gear ring 8, and gear shaft 1 is connected with rotating electric machine 13, and gear 2 10 is engaged with gear 3 11, gear 2 12 It is fixed on gear shaft 2 14, the lower end of gear shaft 2 14 is connected with screw mechanism 15, gear shaft 2 14 and screw mechanism 15 lead screw is fixedly connected, and detection platform 3 is fixedly connected with the feed screw nut of screw mechanism 15, and gear 3 11 is fixed at tooth On wheel shaft 3 16, gear shaft 3 16 is connected with lifting motor 17, and rotating electric machine 13, lifting motor 17 are fixed with mobile platform 1 Connection.

Rotating electric machine 13 is rotated with moving gear 1, and gear 1 drives the gear ring 8 being engaged with to rotate, so that rotating platform 2 rotations；Lifting motor 17 is rotated with moving gear 3 11, and gear 3 11 drives the gear 2 10 being engaged with to rotate, gear 2 10 Screw rod rotation is driven, feed screw nut's lifting is to drive detection platform 3 to go up and down.Substation's shelf depreciation inspection of the utility model The rotation and lifting of robot use parallel-connection structure, and rotation is mutually indepedent, non-interference with lifting two degrees of freedom, convenient for control It realizes；Also, robot architecture is simple and compact, easy to process, is easily installed and dismantles.

It is additionally provided with mounting disc 1 and mounting disc 2 19 in rotating platform 2, is all provided in mounting disc 1 and mounting disc 2 19 There is bearing mounting hole corresponding with gear shaft 1, gear shaft 2 14 and gear shaft 3 16, is mounted in bearing mounting hole Bearing 20 is respectively provided with the installation base of installation mounting disc 1 and mounting disc 2 19 on the inner wall of rotating platform 2, is used for The internal diameter for installing the installation base of mounting disc 1 is greater than the outer diameter of mounting disc 2 19.Gear shaft 1, gear shaft 2 14 and tooth Wheel shaft 3 16 is mounted in rotating platform 2 by mounting disc 1, mounting disc 2 19 and each bearing 20 being arranged in mounting disc, Mounting disc 1, mounting disc 2 19 are limited by each installation base, big for installing the internal diameter of installation base of mounting disc 1 In the outer diameter of mounting disc 2 19, it is easily installed disk 2 19, mounting disc 1 is sequentially loaded into.

In the present embodiment, as shown in figure 3, Partial Discharge Detection component 5 is connect by a telescoping mechanism with detection platform 3, The telescopic direction of telescoping mechanism is vertical with the lifting direction of detection platform 3.Crusing robot reaches the position of power equipment to be checked It postpones, by the rotation of rotating platform, the lifting of detection platform, so that Partial Discharge Detection component alignment power equipment is to be measured Position, telescoping mechanism extend so that Partial Discharge Detection component is adjacent to the detected part of power equipment, to carry out shelf depreciation inspection It surveys.

In the present embodiment, Partial Discharge Detection component 5 includes that can make the Partial Discharge Detection component and converting station electric power The attracting magnetic absorption member of equipment, for being close to Partial Discharge Detection component 5 with the detected part of power equipment, preventing shelf depreciation Detection components 5 slide.

Partial Discharge Detection component 5 including transient state radio wave sensor, uhf sensor and pulses of current sensor, wink State radio wave sensor real-time detection power equipment Partial discharge signal main feature amount, including partial discharge pulse number, pulse amplitude, By being sensed in conjunction with hyperfrequency to time domain phase, umber of pulse and the research for measuring relationship between threshold values under different defect models Device and pulses of current sensor exclude field interference signal, alarm Electric Power Equipment Insulation fault condition.

In addition to above preferred embodiment, for the utility model there are also other embodiments, those skilled in the art can root It is made various changes and modifications according to the utility model, without departing from the spirit of the utility model, should belong to the utility model Range defined in appended claims.

Claims (1)

1. the mobile mechanism of shelf depreciation crusing robot, the mobile mechanism is slidably connected in orbit, which is characterized in that edge The track is equipped with trolley, and the mobile mechanism includes rack, current-collector, driving wheel, driven wheel and stabilizer group, the collection Electric appliance is fixedly connected in the rack, and the wiping piece and the trolley of the current-collector are in electrical contact, is the moving machine Structure power supply, the driving wheel roll on the bottom surface of the track, and the driving wheel is fixedly mounted on drive shaft, the drive Driving wheel axis is connected with driving motor by a deceleration mechanism, and the driving motor is fixedly mounted in the rack, the deceleration Mechanism includes small pulley, big belt wheel and deceleration strip, and the small pulley is fixedly connected with the output shaft of the driving motor, described big Belt wheel is fixedly connected with the drive shaft, the small pulley and the big belt wheel by the deceleration strip band connection, it is described from Driving wheel is fixedly mounted on follower shaft, and the follower shaft is mounted on the rack, the driven wheel and the driving wheel It is arranged about the Orbital Symmetry, the stabilizer group includes several stabilizers about Orbital Symmetry setting, described flat Weighing apparatus wheel rolls on the side of the track, and the stabilizer is fixedly mounted on balancing axle, and the balancing axle is mounted on On balance wheel frame, the balance wheel frame is connect by a linear damper with the rack, and the linear damper is horizontally disposed, The linear damper is electromagnetic type linear damper, and the driving wheel and the driving motor is arranged in the deceleration mechanism Outside.