CN210338106U - Robot - Google Patents
Robot Download PDFInfo
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- CN210338106U CN210338106U CN201920924963.9U CN201920924963U CN210338106U CN 210338106 U CN210338106 U CN 210338106U CN 201920924963 U CN201920924963 U CN 201920924963U CN 210338106 U CN210338106 U CN 210338106U
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Abstract
The application discloses robot includes: the robot comprises a robot main body, a moving assembly, a main controller and an adsorption assembly; the moving component is arranged on the outer side wall of the robot main body; the adsorption component is arranged on a chassis of the robot main body and is used for providing adsorption force for the robot main body; the main controller is arranged on the robot main body; the moving component and the adsorption component are electrically connected with the main controller. The robot in this application is back in getting into GIS, adsorbs the robot in the GIS inner wall through adsorption component, then removes the subassembly and removes, realizes the robot at the reliable removal of GIS inner wall, has replaced artifical business turn over GIS through the robot to current artifical business turn over GIS is big technical problem to human harm has been solved.
Description
Technical Field
The application relates to the technical field of robots, in particular to a robot.
Background
Gas Insulated Switchgear (GIS) is internally filled with SF6The structure of the high-voltage gas distribution device is shown in figure 1, and the high-voltage gas distribution device is widely applied to the fields of high voltage, ultrahigh voltage, extra-high voltage and the like due to the advantages of small volume, high integration degree, convenience in installation, good stability and the like.
In the daily work of the power grid, the GIS is required to be accessed frequently for performing some conventional work, but due to SF6Gas poison, the robot needs to be researched to replace the manual in-and-out GIS, and the technical problem that the manual in-and-out GIS is highly poisonous is solved.
SUMMERY OF THE UTILITY MODEL
In view of this, the application provides a robot, has solved current artifical business turn over GIS and has had big technical problem to the human body harm.
The application provides a robot, includes: the robot comprises a robot main body, a moving assembly, a main controller and an adsorption assembly;
the moving assembly is mounted on the outer side wall of the robot main body;
the adsorption component is arranged on a chassis of the robot main body and is used for providing adsorption force for the robot main body;
the main controller is installed on the robot main body;
the moving assembly and the adsorption assembly are electrically connected with the main controller.
Optionally, the adsorbent assembly comprises: the adsorption assembly includes: a fan, a sucker and a sealing ring;
the fan is connected with the top of the inner side of the sucker, the fan is installed on the chassis, and the fan is electrically connected with the main controller;
the opening of the sucker is arranged opposite to the chassis, a first through hole is formed in the sucker, and the first through hole is communicated with an air inlet of the fan;
the sealing ring is arranged on the edge of the bottom end of the sucking disc.
Optionally, the robot further comprises: a reverse support device;
the reverse supporting device comprises: an elastic member and a ball;
the first end of the elastic component is connected with the top of the inner side of the sucker;
the ball is rotatably arranged at the second end of the elastic component.
Optionally, the second end of the elastic component is provided with a mounting seat;
a groove is formed in the mounting seat;
the ball is assembled in the groove, and the depth of the groove is smaller than the diameter of the ball.
Optionally, the fan includes: the fan comprises a motor driving plate, a first motor and a fan;
the motor driving board is arranged on the chassis and is electrically connected with the main controller;
the first motor is connected with the motor driving plate;
the fan is connected with the first motor.
Optionally, the moving assembly comprises: a moving wheel and a second motor;
the second motor is electrically connected with the main controller;
the moving wheel is arranged on the chassis and electrically connected with the second motor.
Optionally, the moving wheel is a mecanum wheel;
the number of the Mecanum wheels is even, and the number of the motors is the same as that of the Mecanum wheels;
the even number of Mecanum wheels are correspondingly connected with the even number of motors one by one.
Optionally, a bracket is hinged on the chassis;
and the bracket is provided with the second motor.
Optionally, the robot further comprises a damper;
the first end of the damper is connected with the chassis, and the second end of the damper is connected with the support.
Optionally, the method further comprises: a positioning module;
the positioning module is installed on the robot main body and connected with the main controller.
According to the technical scheme, the method has the following advantages:
the application provides a robot includes: the robot comprises a robot main body, a moving assembly, a main controller and an adsorption assembly; the moving component is arranged on the outer side wall of the robot main body; the adsorption component is arranged on a chassis of the robot main body and is used for providing adsorption force for the robot main body; the main controller is arranged on the robot main body; the moving component and the adsorption component are electrically connected with the main controller. The robot in this application is back in getting into GIS, adsorbs the robot in the GIS inner wall through adsorption component, then removes the subassembly and removes, realizes the robot at the reliable removal of GIS inner wall, has replaced artifical business turn over GIS through the robot to current artifical business turn over GIS is big technical problem to human harm has been solved.
Drawings
Fig. 1 is a schematic structural diagram of a GIS provided in an embodiment of the present application;
fig. 2 is a schematic structural diagram of a robot according to an embodiment of the present disclosure;
FIG. 3 is a schematic structural diagram of a sorption assembly in an embodiment of the present application;
FIG. 4 is a schematic structural diagram of a moving assembly according to an embodiment of the present application;
FIG. 5 is a schematic view of the motion principle of FIG. 4;
wherein the reference numbers are as follows:
1. an adsorption component; 11. a fan; 12. a suction cup; 13. a seal ring; 14. a reverse support device; 111. a motor drive plate; 112. a first motor; 113. a fan; 141. an elastic member; 142. a ball bearing; 143. a mounting seat; 2. a moving assembly; 21. a moving wheel; 22. a second motor; 23. a support; 24. a damper; 3. a chassis.
Detailed Description
The embodiment of the application provides a robot, and the technical problem that the harm of the existing manual operation of entering and exiting a GIS to a human body is large is solved.
The technical solutions of the embodiments of the present application will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without any creative effort belong to the protection scope of the embodiments in the present application.
In the description of the embodiments of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the embodiments of the present application and simplifying the description, but do not indicate or imply that the referred devices or elements must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the embodiments of the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present application, it should be noted that the terms "mounted," "connected," and "connected" are used broadly and are defined as, for example, a fixed connection, an exchangeable connection, an integrated connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection through an intermediate medium, and a communication between two elements, unless otherwise explicitly stated or limited. Specific meanings of the above terms in the embodiments of the present application can be understood in specific cases by those of ordinary skill in the art.
An embodiment of a robot is provided in the present application, which refers to fig. 2.
The robot in this embodiment includes: the robot comprises a robot main body, a moving assembly 2, a main controller and an adsorption assembly 1; the moving component 2 is arranged on the outer side wall of the robot main body; the adsorption component 1 is arranged on a chassis 3 of the robot main body and is used for providing adsorption force for the robot main body; the main controller is arranged on the robot main body; the moving component 2 and the adsorption component 1 are electrically connected with the main controller.
The robot in this embodiment is after getting into the GIS inner wall, and the action of main control unit control absorption subassembly 1 for the main part of robot adsorbs on the GIS inner wall, in case drop, and the main control unit control moves 2 actions of subassembly, realizes the removal of main part of robot.
In view of the problems in the background art, the robot in the application adsorbs the robot to the inner wall of the GIS through the adsorption component 1 after entering the GIS, then the moving component 2 moves, the reliable movement of the robot on the inner wall of the GIS is realized, and the robot replaces a manual operation to enter and exit the GIS, so that the technical problem that the human body is greatly damaged by the existing manual operation to enter and exit the GIS is solved.
The above is a first embodiment of a robot provided in the present application, and the following is a second embodiment of a robot provided in the present application, specifically please refer to fig. 2 to 5.
The robot in this embodiment includes: the robot comprises a robot main body, a moving assembly 2, a main controller and an adsorption assembly 1; the moving component 2 is arranged on the outer side wall of the robot main body; the adsorption component 1 is arranged on a chassis 3 of the robot main body and is used for providing adsorption force for the robot main body; the main controller is arranged on the robot main body; the moving component 2 and the adsorption component 1 are electrically connected with the main controller.
Specifically, the structure of the adsorption assembly 1 may be various. As shown in fig. 3, the adsorption assembly 1 in the present embodiment may include: a fan 11, a sucker 12 and a sealing ring 13; the fan 11 is connected with the top of the inner side of the suction cup 12, which can be understood as the "ceiling" of the suction cup 12, the fan 11 is installed on the chassis 3, which is equivalent to installing the suction cup 12 on the robot body, in order to make the suction cup 12 extract air, thereby realizing that the robot body is adsorbed to the inner wall of the GIS, the opening of the suction cup 12 (the air inlet of the negative pressure cavity) is arranged back to the chassis 3. The specific sucker 12 extracts air as follows: the suction cup 12 is provided with a first through hole (an air outlet of the negative pressure cavity), and the first through hole is communicated with an air inlet of the fan 11; the sealing ring 13 is arranged on the edge of the bottom end of the sucking disc 12, so that a negative pressure cavity is formed in the space surrounded by the sucking disc 12, the sealing ring 13 and the GIS inner wall.
The connection mode of the fan 11 and the suction cup 12 is various, and the fan and the suction cup can be integrally formed or detachably connected, and can be specifically arranged as required, and are not specifically limited here.
The fan 11 may be various fans used in daily life, such as a centrifugal fan 11, an axial flow fan 11, a rotary fan 11, and the like, and may be specifically provided as needed, and is not particularly limited herein.
The sealing ring 13 arranged on the suction cup 12 ensures that the joint has better sealing performance when the suction cup 12 is sleeved at the air inlet of the fan 11. The sealing ring 13 may be various structures in the existing sealing ring 13, and may be specifically provided as needed, and is not specifically limited herein.
The suction cup 12 may have various structures such as an elliptical suction cup 12, a corrugated suction cup 12, a flat suction cup 12, and a special suction cup 12, and may be specifically disposed as needed, and is not particularly limited herein.
In order to prevent the sealing ring 13 and the suction cup 12 from being excessively adsorbed, which makes the robot difficult to move, the robot in this embodiment may further include: the counter-support means 14; the counter-support means 14 comprise: an elastic member 141 and a ball 142; a first end of the elastic member 141 is installed at an inner bottom (corresponding to a "ceiling") of the suction cup 12, and the ball 142 is rotatably provided at a second end of the elastic member 141. After the ball 142 contacts the GIS, the contact point receives the acting force, and at the same time, when the elastic member 141 has a compression amount, there is a force for recovering the deformation, and the aforementioned forces are all opposite to the adsorption force, so that the suction cup 12 is not too tightly sucked.
Specifically, the ball 142 may be mounted on the elastic member 141 in a manner of being sleeved on a rotating shaft, or in this embodiment, the ball 142 is mounted on a mounting seat 143 on the elastic member 141, a groove is formed in the mounting seat 143, the ball 142 is embedded in the groove, and a depth of the groove is smaller than a diameter of the ball 142 so that the ball 142 can contact an inner wall of the GIS.
The elastic member 141 may be various structures having elasticity, such as a spring, a flexible hinge, a spring plate, and the like, and may be specifically disposed as required, which is not specifically limited herein.
The specific structure of the fan 11 in this embodiment includes: a motor driving board 111, a first motor 112, and a fan 113; the motor driving board 111 is arranged on the chassis 3, and the motor driving board 111 is electrically connected with the main controller; the first motor 112 is connected with the motor driving board 111; the fan 113 is connected to the first motor 112, and the first motor 112 rotates to drive the fan 113 to rotate.
The first motor 112 may be a plurality of motor structures, and in this embodiment, is a deceleration dc servo motor, and is inverted in the negative pressure chamber to directly drive the fan 113 to rotate, so as to reduce the gas density in the negative pressure chamber, thereby generating a stable pressure difference and realizing reliable adsorption of the robot.
Specifically, the structure of the moving assembly 2 may be various, and may be a matching structure of a sliding rail and a sliding block, or a mode that the moving wheel 21 is matched with the motor in this embodiment, specifically as shown in fig. 4, includes the moving wheel 21 and the second motor 22, the moving wheel 21 is installed on the chassis 3, the master controller is connected to the second motor 22, and the second motor 22 is connected to the moving wheel 21. When moving, the main controller gives a moving instruction (which may be a current or the like) to the second motor 22, and the motor performs a corresponding action, so as to drive the moving wheel 21 connected thereto to rotate, thereby realizing the movement.
Because GIS intracavity space is narrow and small, the removal of robot is comparatively difficult, for making the robot can remove in a flexible way, the robot in this embodiment can realize the omnidirectional movement, and the mode of omnidirectional movement explains that the robot can make the action of arbitrary direction translation while rotation in the plane. Specifically, the moving wheels 21 in this embodiment are mecanum wheels, and when the mecanum wheels are arranged, the number of the mecanum wheels is even because of the motion characteristics of the mecanum wheels, and each mecanum wheel is connected with one second motor 22, so that each mecanum wheel is independently controlled by the corresponding second motor 22.
Furthermore, the number of Mecanum wheels is four, two left-handed wheels and two right-handed wheels are arranged, wherein the left-handed wheels and the right-handed wheels are symmetrical. As shown in fig. 5, respectively: wheel a, wheel b, wheel c, wheel d, and laid out in ABAB format.
(1) When the wheel a, the wheel b, the wheel c and the wheel d rotate forwards at the same rotating speed, the robot moves in the positive direction along the GIS axial direction;
(2) when the wheel a and the wheel c rotate forwards at the same rotating speed and the wheel b and the wheel d rotate backwards at the same rotating speed, the robot moves anticlockwise along the GIS circumferential direction;
(3) when the wheel a and the wheel c rotate positively at the same rotating speed and the wheel b and the wheel d are static, the robot moves along the positive direction of the GIS axial direction and the counterclockwise direction of the GIS circumferential direction in a composite manner;
(4) when the wheel a and the wheel b rotate forwards at the same rotating speed and the wheel c and the wheel d rotate backwards at the same rotating speed, the robot rotates anticlockwise along the axis of the robot.
The second motor 22 may be a variety of motor structures that are currently used, such as a dc servo motor, and may be specifically configured as needed, and is not specifically limited herein.
Specifically, for the installation stability of the second motor 22, the second motor 22 is installed through a bracket 23 hinged on the chassis 3.
In order to prevent the moving wheel 21 from affecting the stability of the robot body when rotating, the robot in this embodiment further includes a damper 24; the damper 24 is connected at a first end to the chassis 3 and at a second end to the bracket 23.
Further, in order to achieve a better shock absorption effect, a spring may be sleeved on the damper 24.
Further, in order to realize self-positioning of the robot, a positioning unit is further mounted on the robot body, and it is understood that the positioning unit may be various structures, such as a GPS positioner, a gyroscope, etc., and is not limited herein.
When specifically using this robot, can carry on different working tool according to specific operation scene, for example when patrolling and examining, install the camera in the robot main part, when the barrier is clear away to needs, carry on manipulator and clamping jaw in the robot main part and realize, when needing to place the thing, can also install packing box etc..
The movement process of the robot in this embodiment is as follows: when the robot moves along the inner wall of the GIS, the motor driving board 111 receives a control system signal, controls and adjusts the first motor 112 to rotate in real time, drives the fan 113 to rotate, and pushes gas to be discharged from the air outlet of the fan 113, so that air outlet and air inlet of the air outlet of the fan 11 are realized. The air outlet of the sucking disc 12 is communicated with the air outlet of the fan 111 and exhausts air, the sucking disc 12, the sealing ring 13 and the inner wall of the GIS form a negative pressure cavity, and the internal and external pressure difference enables ambient air to enter the negative pressure cavity and generate pressure on the vehicle body. When the pressure acts on the car body, the spring of the reverse supporting device 14 is compressed, and the ball 142 in the ball mounting seat 143 is pushed to be pressed against the inner wall of the GIS. At this time, the inner wall of the GIS generates a reaction force to the reverse supporting device 14 and the suction cup 12, so that the size of the air gap between the sealing ring 13 and the inner wall of the GIS is kept within a certain range, and the flexible sealing ring 13 is prevented from being excessively attracted.
The mecanum wheels, the second motor 22 and the bracket 23 are hinged with the chassis 3, so that the damper 24 is compressed and generates reverse thrust, and the mecanum wheels are tightly contacted with the inner wall of the GIS.
The robot in this embodiment is after getting into the GIS inner wall, and the action of main control unit control absorption subassembly 1 for the main part of robot adsorbs on the GIS inner wall, in case drop, and the main control unit control moves 2 actions of subassembly, realizes the removal of main part of robot.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A robot, comprising: the robot comprises a robot main body, a moving assembly, a main controller and an adsorption assembly;
the moving assembly is mounted on the outer side wall of the robot main body;
the adsorption component is arranged on a chassis of the robot main body and is used for providing adsorption force for the robot main body;
the main controller is installed on the robot main body;
the moving assembly and the adsorption assembly are electrically connected with the main controller.
2. The robot of claim 1, wherein the suction assembly comprises: a fan, a sucker and a sealing ring;
the fan is connected with the top of the inner side of the sucker, the fan is installed on the chassis, and the fan is electrically connected with the main controller;
the opening of the sucker is arranged opposite to the chassis, a first through hole is formed in the sucker, and the first through hole is communicated with an air inlet of the fan;
the sealing ring is arranged on the edge of the bottom end of the sucking disc.
3. The robot of claim 2, further comprising: a reverse support device;
the reverse supporting device comprises: an elastic member and a ball;
the first end of the elastic component is connected with the top of the inner side of the sucker;
the ball is rotatably arranged at the second end of the elastic component.
4. A robot according to claim 3, wherein the second end of the resilient member is provided with a mounting seat;
a groove is formed in the mounting seat;
the ball is assembled in the groove, and the depth of the groove is smaller than the diameter of the ball.
5. The robot of claim 2, wherein the fan comprises: the fan comprises a motor driving plate, a first motor and a fan;
the motor driving board is arranged on the chassis and is electrically connected with the main controller;
the first motor is connected with the motor driving plate;
the fan is connected with the first motor.
6. The robot of claim 1, wherein the moving assembly comprises: a moving wheel and a second motor;
the second motor is electrically connected with the main controller;
the moving wheel is arranged on the chassis and electrically connected with the second motor.
7. The robot of claim 6, wherein the moving wheels are mecanum wheels;
the number of the Mecanum wheels is even, and the number of the motors is the same as that of the Mecanum wheels;
the even number of Mecanum wheels are correspondingly connected with the even number of motors one by one.
8. A robot as claimed in claim 6, wherein a support is hinged to the chassis;
and the bracket is provided with the second motor.
9. The robot of claim 8, further comprising a damper;
the first end of the damper is connected with the chassis, and the second end of the damper is connected with the support.
10. The robot of claim 1, further comprising: a positioning module;
the positioning module is installed on the robot main body and connected with the main controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920924963.9U CN210338106U (en) | 2019-06-19 | 2019-06-19 | Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920924963.9U CN210338106U (en) | 2019-06-19 | 2019-06-19 | Robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210338106U true CN210338106U (en) | 2020-04-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920924963.9U Active CN210338106U (en) | 2019-06-19 | 2019-06-19 | Robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210338106U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110116767A (en) * | 2019-06-19 | 2019-08-13 | 广东电网有限责任公司 | A kind of robot |
-
2019
- 2019-06-19 CN CN201920924963.9U patent/CN210338106U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110116767A (en) * | 2019-06-19 | 2019-08-13 | 广东电网有限责任公司 | A kind of robot |
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