CN211543729U - Vacuum chuck robot used inside gas insulated metal enclosed switch of transformer substation - Google Patents
Vacuum chuck robot used inside gas insulated metal enclosed switch of transformer substation Download PDFInfo
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- CN211543729U CN211543729U CN201922355085.6U CN201922355085U CN211543729U CN 211543729 U CN211543729 U CN 211543729U CN 201922355085 U CN201922355085 U CN 201922355085U CN 211543729 U CN211543729 U CN 211543729U
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Abstract
The utility model discloses a vacuum chuck robot used in a transformer substation gas insulated metal enclosed switch, which comprises a robot body, a machine body control system, a vacuum control system and a remote controller; the robot body comprises a rigid waist joint, four mechanical legs and a vacuum chuck; one end of each mechanical leg is connected with the rigid waist joint, and the other end of each mechanical leg is connected with the vacuum chuck; the fuselage control system is placed inside the rigid waist joint; the four mechanical legs are controlled by a vacuum control system; the remote controller controls the robot body control system and the vacuum control system so as to complete the movement of the robot body. Each leg is provided by three steering engines, and the motions of lifting, advancing, retreating, turning and the like of the leg can be realized by controlling the motion of each steering engine. Every two steering engines are connected by a special connecting plate. Each sole part is connected with a vacuum chuck for adsorbing the ground. The device can crawl in the curved surface and the vertical surface in the gas insulated metal closed switch of the transformer substation.
Description
Technical Field
The utility model relates to a polypody bionic robot field also is the special purpose robot who is applied to special occasion, concretely relates to is used for the inside vacuum chuck robot of transformer substation's gas insulated metal enclosed switch.
Background
In recent years, robots are being used in some high-risk environments, for example, the outer wall glass of super high-rise buildings can be cleaned by robots; in some special environments with high air pressure or high voltage, manual operation is slow, low in efficiency and high in danger, and a robot can be selected for working; and in addition, the detection of cracks of some large metal pipelines is difficult to enter manually and low in efficiency, and a robot is selected to replace the manual operation. The inside of the transformer substation gas insulated metal closed switch is detected, the internal structure is extremely complex, and accurate positioning and searching cannot be carried out when a fault occurs or the wall surface is defected due to high-voltage breakdown. Only the worker can stretch the detection camera into the pipeline on the spot to judge the specific fault of the equipment. There are many difficulties and inconveniences in the specific operation, and the effect of the detection is not satisfactory. And the subsequent fault analysis and elimination are greatly interfered. Special robots are therefore designed specifically for inspection.
The wall climbing robot can be used for climbing on a horizontal wall surface or a vertical wall surface, and when climbing on the vertical wall surface, the adsorption force is required to be provided, and electromagnetic adsorption, vacuum adsorption and bionic adsorption are commonly used at present. The electromagnetic adsorption has certain requirements on the working environment, the contact surface must be a magnetizer, the application range of the electromagnetic adsorption is limited, the bionic adsorption depends on intermolecular acting force, the technology is not particularly mature, the bionic material has a great progress space, in addition, the bionic adsorption performance is unstable, the adsorption force is insufficient, the shedding is easy to occur, and the size of the adsorption force cannot be controlled. The vacuum adsorption technology is relatively mature, the adsorption force can be accurately controlled, the requirement on the working environment is not high, and the contact surface is smooth, so that the application range is wider.
Compared with other traditional robots, the traditional robot is overlarge in size, low in degree of freedom and low in requirements on crawling environment, and is only suitable for simple planes or only capable of walking linearly. The bionic four-footed gecko robot is of a bionic four-footed gecko type and has four legs and three degrees of freedom of each leg, so that the gecko bionic robot has strong obstacle-crossing capability, can turn a corner and climb a vertical wall surface besides simple straight-line walking, and also has the obstacle-crossing capability, and therefore, the application range is very wide.
Patent CN110304170A quadruped robot leg structure and robot, its leg structure is vertical, and is high excessively, and is bulky, is unsuitable for narrow and small space.
The patent CN110450881A is a four-bar linkage bionic robot, which has less leg freedom degree and simple motion mode, and is not suitable for complex motion. Can only crawl on a plane, and is not suitable for other curved surfaces or places with obstacles.
Patent CN108860356A is a wall climbing robot, which is simple to adsorb and climb on the glass wall surface and has simple movement. No external vacuum air source is needed, and the adsorption and the separation are difficult.
The utility model overcomes the defects of the prior art and is corrected and optimized.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a vacuum chuck robot that is used for transformer substation's gas insulated metal enclosed switch inside, the robot adopt bionical gecko motion and vacuum to adsorb the mode that combines. For the traditional robot, the robot has the problems of overlarge body volume, low degree of freedom, simple walking, no turning, undersized load capacity and the like.
The utility model aims to solve for above-mentioned prior art not enough provides a transformer substation's gas insulated metal enclosed switch inside vacuum chuck wall climbing robot, and this robot adopts the four-footed mode of crawling through bionical gecko, and every three degree of freedom of leg, the mode of crawling is various, can crawl in plane, curved surface, vertical face even, the ability of obstacle more in addition. And the vacuum adsorption is adopted, so that the adsorption force is strong and the operation and the control are easy.
The utility model discloses at least, one of following technical scheme realizes.
The vacuum chuck robot used in the gas insulated metal enclosed switch of the transformer substation comprises a robot body, a machine body control system, a vacuum control system and a remote controller; the robot body comprises a rigid waist joint, four mechanical legs and a vacuum chuck; one end of each mechanical leg is connected with the rigid waist joint, the other end of each mechanical leg is connected with the vacuum chuck, and the machine body control system is placed inside the rigid waist joint; the four mechanical legs are controlled by a vacuum control system; the remote controller controls the robot body to move by controlling the machine body control system and the vacuum control system.
Furthermore, each mechanical leg comprises three steering engines which are respectively a first steering engine, a second steering engine and a third steering engine, the steering engines are fixed through a connecting frame, a rotary table is arranged on an output shaft of each steering engine, the rotary tables are connected through a U-shaped steering engine support, and the rotary tables drive the connecting frames to rotate together.
Furthermore, every two of the three steering engines of each mechanical leg are fixed by a connecting frame, and the position of the next steering engine is controlled by the previous steering engine through the connecting frame connected with a steering wheel, namely a turntable, so that the movement of the sole is realized; the four mechanical legs are symmetrical in structure.
Furthermore, the steering engine at the tail end of each mechanical leg is connected with a sucker fixing frame for fixing the vacuum sucker.
Further, the vacuum control system comprises a plurality of pipelines and electromagnetic valves; each pipeline is connected with a vacuum chuck of one mechanical leg; each pipeline is connected with an electromagnetic valve and is controlled by an independent electromagnetic valve; the remote controller controls the adsorption of the sucker by controlling the opening and closing of the electromagnetic valve and is matched with the movement of the mechanical leg.
The sole of the robot is connected with a vacuum chuck by the tail end of each leg, the vacuum chuck must be provided with a vacuum pipeline for providing negative pressure air, and each pipeline is controlled by an independent solenoid valve.
Further, the vacuum control system is placed outside the gas insulated metal enclosed switchgear of the transformer substation, and provides power for vacuum adsorption of the robot.
Furthermore, four steering engines for controlling the mechanical legs to move are mounted on the rigid waist joint, the four steering engines on the rigid waist joint are respectively connected with the first steering engine on each mechanical leg, and the four steering engines on the rigid waist joint are controlled by the machine body control system.
Further, the machine body control system is a control system formed by an embedded single chip microcomputer STM 32; the machine body control system is powered by a battery or an external access power line.
Furthermore, the data of the robot body, the vacuum control system and the remote control end can be transmitted in two directions, and meanwhile, the robot body, the vacuum control system and the remote control end can receive and transmit motion control commands and transmit return state information.
Furthermore, a camera monitoring system is installed on the rigid waist joint.
Compared with the prior art, the beneficial effects of the utility model are that:
compared with other vacuum adsorption robots, the robot has more mechanical leg degrees of freedom and more movement modes, and can adapt to different crawling walls.
The robot adopts a gecko-like structure instead of a vertical four-footed structure, so that the robot body is small in height and easy to enter narrow pipeline spaces for operation.
The robot carries the camera, can detect the specific situation of the crawling environment, stores the view screen and sends the view screen to an external control system through wireless equipment.
The robot has small volume and more freedom of movement, and can be used on other smooth planes or curved surfaces besides being used in a high-voltage switch. Can be applied to other occasions by modifying part of the structure.
Drawings
FIG. 1 is an overall structure diagram of a vacuum chuck robot used in a gas insulated metal enclosed switch of a transformer substation according to the present embodiment;
the device comprises a waist joint 1, a first steering engine 21, a second steering engine 22, a third steering engine 23, a sole fixing frame 3, a vacuum sucker 4, a bearing connecting frame 5, a machine body cover plate 6, a camera 7, a second steering engine fixing frame 81, a second steering engine support 82, a third steering engine fixing frame 83 and a third steering engine support 84.
Detailed Description
The present invention will be described in further detail with reference to the following examples and drawings, but the present invention is not limited thereto.
The vacuum chuck robot for the inside of the gas insulated metal enclosed switch of the transformer substation shown in fig. 1 relates to crawling of curved surfaces and vertical surfaces in the gas insulated metal enclosed switch of the transformer substation, and comprises a robot body, a machine body control system, a vacuum control system and a remote controller; the robot body comprises a rigid waist joint 1, four mechanical legs and a vacuum chuck 4; one end of each mechanical leg is connected with the rigid waist joint 1 through a bolt, and the other end of each mechanical leg is connected with the vacuum chuck 4; the fuselage control system is placed inside the rigid waist joint 1; the four mechanical legs are controlled by a vacuum control system; the remote controller controls the robot body to move by controlling the machine body control system and the vacuum control system. The robot structure is constructed according to the biological structure of the gecko; the rigid waist joint 1 is made of an aluminum alloy material.
Each mechanical leg comprises three steering gears, the three steering gears are driven by the three steering gears and are sequentially connected in series, three degrees of freedom can be achieved, the three steering gears are respectively driven by a first steering gear 21, a second steering gear 22 and a third steering gear 23, an output shaft of each steering gear is provided with a turntable, a U-shaped steering gear support is arranged between the turntables, one end of each U-shaped support is connected with a steering gear turntable, and the other end of each U-shaped support is connected with a steering gear fixing frame through a bearing, so that the structure is. The rotary disc drives the connecting frame to rotate together. By controlling the movement of each steering engine, the leg can be lifted, moved forwards, moved backwards, turned and the like.
Because the attribute of steering wheel structure itself, this embodiment adopts dedicated plate to connect, the plate is open-ended rectangle ring, and plate and steering wheel constitute closed loop structure, and the structure is more firm.
As shown in the figure, every two of the three steering engines of each mechanical leg are fixed by a connecting frame, and the position of the next steering engine is controlled by the previous steering engine through the connecting frame connected with the steering wheel, so that the motion of the sole is realized; the four mechanical legs are symmetrical in structure.
The steering engine at the tail end of each mechanical leg is connected with a sucker fixing frame for fixing the vacuum sucker 4 and can crawl in the curved surface and the vertical surface in the gas insulated metal closed switch of the transformer substation.
The detailed connection mode of each mechanical leg is as follows: a first steering engine 21 is fixed on the rigid waist joint 1 and is connected with a second steering engine fixing frame 81 through a steering wheel; the second steering engine fixing frame 81 fixes the second steering engine 22; the second steering engine 22 is connected with a second steering engine bracket 82 through a steering wheel; the second steering engine bracket 82 is connected with a third steering engine fixing frame 83; the third steering gear 23 is connected with a third steering gear support 84 through a steering wheel, and the third steering gear support 84 is connected with the vacuum chuck 4 through a sole connecting frame to serve as the sole of the robot body. The steering engine drives the support to move through the rotation of the rudder disk so as to form the movement of the legs.
The vacuum control system comprises a plurality of pipelines and electromagnetic valves; each pipeline is connected with one mechanical leg, each pipeline is connected with an electromagnetic valve, each pipeline is controlled by the independent electromagnetic valve, the remote controller controls the opening and closing of the electromagnetic valves, the opening and closing of the electromagnetic valves control the adsorption of the soles, and the adsorption is matched with the motion of the robot.
The vacuum control system is placed outside the gas insulated metal enclosed switchgear of the transformer substation.
Four steering engines for controlling the movement of the four mechanical legs are arranged on the rigid waist joint 1, and the four steering engines on the rigid waist joint 1 are controlled by a machine body control system.
The machine body control system is a control system formed by an embedded single chip microcomputer STM 32.
The machine body control system is powered by a battery or an external access power line.
The data of the robot body, the vacuum control system and the remote control end can be transmitted in two directions, and meanwhile, the robot body, the vacuum control system and the remote control end can receive and transmit motion control instructions and transmit return state information
The rigid waist joint 1 is provided with a camera monitoring system for detecting the internal conditions of the pipeline, and the camera monitoring system comprises a camera.
As shown in figure 1, the first steering engine 21 bears the largest load and the largest torque, and in order to prevent the movement deviation caused by the stress deformation of the rotary table due to the overlarge load, the connecting plate connected with the steering wheel of the first steering engine 21 is limited, and the bearing connecting frame 5 is used for fixing the connecting plate through a bearing.
One end of the second steering engine support 82 and one end of the third steering engine support 83 are both connected with the steering engine output shaft, in order to guarantee the stability of the connecting piece, the other end of the second steering engine support is connected with the third steering engine support 83 through a bearing and a second steering engine support 81, the structure is stable, the bearing capacity is high, and the rotation is smooth.
The motion of robot body all leans on the rotation realization of steering wheel, and the rotation of steering wheel drives the rotation of the carousel of steering wheel output shaft to drive and the rotation of the U type plate of carousel rigid fixation. The three steering engines of one leg move in the same way. Performing four-legged movements
And the third steering engine bracket 84 is connected with a third steering engine rotation transmission disc and is driven by a third steering engine. Is connected with the sole fixing frame 3 so as to connect the sole, the sole is a vacuum chuck 4, and the sole is provided with a ball joint which can rotate at a certain angle to better fit with a wall surface.
The rigid waist joint 1 is provided with a machine body cover plate 6 which is mainly used for shielding internal circuit components and parts and forms a closed loop with the waist joint to stabilize the machine body.
A camera 7 is arranged on the body cover plate 6, and a camera holder driven by a steering engine is arranged at the bottom of the camera. The camera stores the shot video and transmits the video to the remote controller through wireless equipment.
The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.
Claims (10)
1. The vacuum chuck robot is used in a gas insulated metal enclosed switch of a transformer substation and is characterized by comprising a robot body, a machine body control system, a vacuum control system and a remote controller; the robot body comprises a rigid waist joint (1), four mechanical legs and a vacuum sucker (4); one end of each mechanical leg is connected with the rigid waist joint (1), the other end of each mechanical leg is connected with the vacuum chuck (4), and the machine body control system is placed in the rigid waist joint (1); the four mechanical legs are controlled by a vacuum control system; the remote controller controls the robot body to move by controlling the machine body control system and the vacuum control system.
2. The vacuum chuck robot for the inside of a gas insulated metal enclosed switch of a transformer substation according to claim 1, characterized in that each mechanical leg comprises three steering engines, the three steering engines are a first steering engine (21), a second steering engine (22) and a third steering engine (23) respectively, the steering engines are fixed through a connecting frame, an output shaft of each steering engine is provided with a turntable, the turntables are connected through a U-shaped steering engine support, and the turntables drive the connecting frames to rotate together.
3. The vacuum chuck robot for the inside of the gas insulated metal enclosed switch of the transformer substation as claimed in claim 2, wherein every two of the three steering engines of each mechanical leg are fixed by a connecting frame, and the former steering engine controls the position of the next steering engine through the connecting frame connected with a steering wheel, namely a turntable, so as to realize the movement of the sole; the four mechanical legs are symmetrical in structure.
4. A vacuum chuck robot for use in a gas insulated metal enclosed switch of a substation according to claim 3, characterized in that the steering engine at the extreme end of each mechanical leg is connected to a chuck holder for holding the vacuum chuck (4).
5. A vacuum chuck robot for use inside a substation gas insulated metal enclosed switch according to claim 1, characterized in that said vacuum control system comprises several pipes and solenoid valves; each pipeline is connected with a vacuum chuck (4) of one mechanical leg, and each pipeline is connected with an electromagnetic valve and controlled by an independent electromagnetic valve; the remote controller is matched with the motion of the mechanical legs by controlling the electromagnetic valve to open and close the adsorption of the vacuum chuck (4).
6. The vacuum chuck robot for the inside of a substation gas insulated metal enclosed switch according to claim 1, characterized in that the vacuum control system is placed outside the substation gas insulated metal enclosed switch equipment to provide power for robot vacuum adsorption.
7. The vacuum chuck robot for the interior of the gas-insulated metal-enclosed switch of the transformer substation according to claim 1, wherein four steering engines for controlling the motion of the mechanical legs are mounted on the rigid waist joint (1), the four steering engines on the rigid waist joint (1) are respectively connected with the first steering engine (21) on each mechanical leg, and the four steering engines on the rigid waist joint (1) are controlled by a machine body control system.
8. The vacuum chuck robot for the interior of a gas insulated metal enclosed switch of a substation according to claim 1, characterized in that the machine body control system is a control system formed by an embedded single chip microcomputer STM 32; the machine body control system is powered by a battery or an external access power line.
9. The vacuum chuck robot for the interior of the gas insulated metal enclosed switch of the transformer substation of claim 1, wherein the data of the robot body, the vacuum control system and the remote control end can be transmitted in two directions, and meanwhile, the robot body, the vacuum control system and the remote control end can receive and transmit motion control commands and transmit return state information.
10. Vacuum chuck robot for substation gas insulated metal enclosed switch interiors according to claim 1, characterized in that a camera monitoring system is mounted on said rigid waist joint (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922355085.6U CN211543729U (en) | 2019-12-23 | 2019-12-23 | Vacuum chuck robot used inside gas insulated metal enclosed switch of transformer substation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922355085.6U CN211543729U (en) | 2019-12-23 | 2019-12-23 | Vacuum chuck robot used inside gas insulated metal enclosed switch of transformer substation |
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| CN211543729U true CN211543729U (en) | 2020-09-22 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110949559A (en) * | 2019-12-23 | 2020-04-03 | 华南理工大学 | Vacuum chuck robot used inside gas insulated metal enclosed switch of transformer substation |
| CN115214815A (en) * | 2022-07-07 | 2022-10-21 | 浙江工业大学 | Gait analysis-based multifunctional bionic spider leg execution mechanism capable of realizing negative pressure climbing |
-
2019
- 2019-12-23 CN CN201922355085.6U patent/CN211543729U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110949559A (en) * | 2019-12-23 | 2020-04-03 | 华南理工大学 | Vacuum chuck robot used inside gas insulated metal enclosed switch of transformer substation |
| CN115214815A (en) * | 2022-07-07 | 2022-10-21 | 浙江工业大学 | Gait analysis-based multifunctional bionic spider leg execution mechanism capable of realizing negative pressure climbing |
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