CN212718919U - Cloud platform for inspection robot - Google Patents

Abstract

The utility model relates to a cloud platform technical field, concretely relates to patrol and examine cloud platform for robot, include: a holder fixing seat; the holder base is arranged on the holder fixing base; the horizontal rotation driving mechanism is fixed on the holder fixing seat, and when the horizontal rotation driving mechanism works, the holder base horizontally rotates, and the holder fixing seat is fixed. Still further inject every single move system and partial discharge system, adopt the utility model discloses the cloud platform can realize level and every single move rotation, fixes a position more accurately, and the structure is simpler.

Description

Cloud platform for inspection robot

Technical Field

The utility model relates to a cloud platform technical field, in particular to patrol and examine cloud platform for robot.

Background

In recent years, as the national power grid accelerates to promote the intelligent and automatic development of the power grid, inspection robots of power distribution stations and transformer substations are more and more widely applied, and all the inspection robots adopt a holder with an infrared camera and a visible light camera to perform instrument identification and infrared temperature measurement at present, so that the precision requirement on the holder is higher and higher. The traditional elegant cradle head on the market at present adopts a worm and gear transmission design, has the problems of low positioning precision, complex structure, large volume, unstable operation and the like, and severely limits the use scene of the robot.

Most holders in the prior related art adopt expensive harmonic reducers and synchronous belt transmissions with complex structures, and meanwhile, the horizontal rotation and pitching of the holders adopt photoelectric switches with higher prices to limit the holders. Therefore, the price of the holder is high, and the structure is complex.

Disclosure of Invention

In order to solve the problem, the utility model develops a patrol and examine cloud platform for robot. The cradle head has complete functions, simple structure, accurate positioning and lower price.

The utility model discloses specifically adopt following scheme:

a cloud platform for inspection robot, includes:

a holder fixing seat;

the holder base is arranged on the holder fixing base;

the horizontal rotation driving mechanism is fixed on the holder base, a horizontal rotation driving gear is arranged on the horizontal rotation driving mechanism, a horizontal rotation driven gear meshed with the horizontal rotation driving gear is arranged on the holder fixing seat, and when the horizontal rotation driving mechanism works, the holder base horizontally rotates around the holder fixing seat.

Preferably, the horizontal rotation driven gear is a first horizontal rotation driven gear and a second horizontal rotation driven gear which are arranged on the holder fixing seat in staggered teeth, and the horizontal rotation driving gear rotates around the first horizontal rotation driven gear and the second horizontal rotation driven gear.

Preferably, the device also comprises a horizontal rotary magnetic encoder and horizontal rotary magnetic steel, wherein the horizontal rotary magnetic encoder is arranged on the horizontal rotary driving mechanism, and the horizontal rotary magnetic steel is arranged on the holder fixing seat; or

The horizontal rotary magnetic steel is arranged on the horizontal rotary driving mechanism, and the horizontal rotary magnetic encoder is arranged on the holder fixing seat.

Preferably, the device further comprises a partial discharge, wherein the partial discharge is fixedly arranged in the holder base and moves along with the holder base.

Preferably, the partial discharge comprises a partial discharge fixing device, a partial discharge driving mechanism and a partial discharge cylinder, and the partial discharge cylinder moves on the partial discharge fixing device under the driving of the partial discharge driving mechanism.

Preferably, the device further comprises a partial discharge proximity switch arranged on the partial discharge fixing device or a partial discharge sensor arranged on the partial discharge cylinder.

Preferably, still include the camera cabin, the camera cabin sets up in cloud platform base side.

Preferably, the camera cabin further comprises a pitching driving mechanism, the pitching driving mechanism is fixed on the holder base, the camera cabin is rotatably arranged on the side edge of the holder base, and the camera cabin rotates along with the driving of the pitching driving mechanism.

Preferably, still including the pitch axis that passes cloud platform base side, the looks cabin passes through the pitch axis and sets up in cloud platform base side, be provided with pitch drive gear on the pitch actuating mechanism, be provided with the first every single move driven gear and the second every single move driven gear of wrong tooth installation on the pitch axis, pitch drive gear drive pitch drive gear, pitch drive gear drives first every single move driven gear and second every single move driven gear, finally drives the pitch axis and rotates.

Preferably, the device also comprises magnetic steel and a pitching magnetic encoder, wherein the magnetic steel is arranged on the pitching driving mechanism, and the pitching magnetic encoder is arranged on the holder base; or

The magnetic steel is arranged on the holder base, and the pitching magnetic encoder is arranged on the pitching driving mechanism.

Preferably, the holder base is fixedly provided with a pitching limiting block, the pitching limiting block is provided with a through hole, the pitching shaft penetrates through the through hole, a first boss is arranged on the pitching shaft, and the inner edge of the through hole is provided with a second boss. The two bosses are mutually matched to limit the rotation of the pitching shaft.

Preferably, the holder fixing seat is provided with a horizontal rotation limiting block, and the bottom of the holder base is provided with a horizontal rotation limiting pin.

Advantageous effects

The utility model relates to a cloud platform for an inspection robot, which adopts a driving motor to drive a driving gear to drive the cloud platform to horizontally rotate and pitch, and adopts a gear matching mode, thereby having simple structure and low production cost; in order to ensure the precision of the pan-tilt, the gap between the gears is reduced by adopting staggered tooth installation of double straight gears; the magnetic encoder and the magnetic steel are adopted to carry out horizontal rotation and pitching positioning and zero position calibration of the holder, so that the positioning precision is high; the horizontal angle and the pitching angle of the cradle head are limited by the mechanical limiting block, so that the cost is lower; the partial discharge adopts a proximity switch for positioning, a plurality of phase cabins can be arranged, wherein a visible light camera or an infrared camera can be placed, the visible light camera can realize the recognition of the on-off state of an instrument, the infrared camera can realize the infrared temperature measurement, the partial discharge can realize the discharge detection of the cabinet body and other functions.

In conclusion, the holder has the advantages of low price, simple structure, high positioning precision and the like. The cloud platform can realize detection functions of instrument switch state identification, infrared temperature measurement, partial discharge detection and the like, transmits detection data to a computer background in real time and gives an alarm in advance, and has great engineering application value.

Drawings

FIG. 1 is a top view of the cradle head of the present invention

FIG. 2 is a front view of the cradle head of the present invention

FIG. 3 is a cross-sectional view of the horizontal rotation system of the cradle head of the present invention

FIG. 4 is an exploded view of the horizontal rotation system of the cradle head of the present invention

FIG. 5 is a side view of the horizontal rotation system of the cradle head of the present invention

Figure 6 is the utility model discloses cloud platform every single move system cross-sectional view

Figure 7 is the explosive view of the cradle head pitching system of the utility model

Figure 8 is the view of the partial discharge system of the present invention

Figure 9 is the view of the inner part of the cradle head without top shell

Fig. 10 is the structure view of pitch limiting block and pitch shaft

1-partial discharge; 2-visible light phase cabin; 3-an infrared camera compartment; 4-an infrared camera; 5-a light supplement lamp; 6-visible light camera; 7-a horizontal rotation driving mechanism; 8-a horizontal rotary motor flange; 9-horizontal rotary drive gear; 10-a first horizontal rotary driven gear; 11-a second horizontal rotary driven gear; 12-a rotary deep groove ball bearing; 13-a horizontal rotation limiting block; 14-a conductive slip ring; 15-holder fixing seat; 16-a horizontal rotation limit pin; 17-a first set screw; 18-horizontal rotary magnetic steel; 19-a horizontal rotary magnetic encoder; 20-a holder base; 21-a pitch drive mechanism; 22-pitch drive gear; 23-a pitch motor flange; 24-pitch magnetic encoder; 25-a first pitch deep groove ball bearing; 26-pitch axis; 27-a first bearing securing flange; 28-a first pitch driven gear; 29-a second pitch driven gear; 30-a second set screw; 31-a pitch stopper; 32-a second pitch deep groove ball bearing; 33-a second bearing securing flange; 34-partial discharge driving mechanism; 35-partial discharge fixing device; 36-partial discharge drive gear; 37-partial discharge proximity switch; 38-a guide rail; 39-a rack; 40-partial discharge cylinder; 41-partial discharge sensor; 42-tripod head top shell.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

The present invention will be described in detail below with reference to the accompanying drawings so as to facilitate the understanding of the present invention by those skilled in the art.

In this embodiment, the cradle head includes a horizontal rotation system, a pitch system, and a partial discharge system. The horizontal rotation system mainly controls the integral horizontal rotation of the holder; the pitching system mainly controls the camera cabins positioned at two sides to perform pitching rotation; the partial discharge system mainly controls the partial discharge to perform telescopic motion.

Horizontal slewing system

As shown in fig. 1 and fig. 2 do respectively the utility model discloses a top view and main view can see that the cloud platform in this embodiment puts 1 including the office, the office is put 1 and is set up in the space that cloud platform base 20 and cloud platform topshell 42 are constituteed, the both sides of putting 1 in the office are provided with the looks cabin, wherein the left side (for this picture) is visible light cabin 2, the right side is infrared camera cabin 3, be provided with infrared camera 4 in infrared camera cabin 3, be provided with visible light camera 6 and light filling lamp 5 in the visible light cabin 2, visible light camera 6 and light filling lamp 5 can carry out the shooing and the discernment of switch board instrument and switch, infrared camera 4 can carry out the infrared temperature measurement to the cabinet body.

Fig. 3, fig. 4 and fig. 5 show a sectional view of the horizontal revolving system, an exploded view of the horizontal revolving system and a side view of the horizontal revolving system of the cradle head of the present invention, respectively. As shown in fig. 4, the entire pan/tilt head includes a pan/tilt head fixing base 15, in this embodiment, the pan/tilt head fixing base 15 is fixed on the robot; cloud platform base 20, cloud platform base 20 sets up on cloud platform fixing base 15, and both non-fixed connection, cloud platform base 20 can rotate promptly.

As shown in fig. 4, be provided with horizontal gyration magnet steel 18 on the cloud platform fixing base 15, and be provided with gyration deep groove ball bearing 12 on the cloud platform fixing base 15, the bottom of cloud platform base 20 is provided with the through-hole corresponding with gyration deep groove ball bearing 12, and gyration deep groove ball bearing 12 passes the through-hole to conveniently set up first horizontal gyration driven gear 10 and second horizontal gyration driven gear 11 on gyration deep groove ball bearing 12 from cloud platform base is inside, in the utility model, fix first horizontal gyration driven gear 10 and second horizontal gyration driven gear 11 on gyration deep groove ball bearing 12 through first set screw 17 (see fig. 2). A horizontal rotation driving mechanism 7 is arranged in the holder base 20, a horizontal rotation driving gear 9 is arranged at the bottom of the driving mechanism 7 and is meshed with the two driven gears 10 and 11, in the embodiment, the horizontal rotation driving mechanism 7 adopts a horizontal rotation motor, the horizontal rotation motor is arranged on a horizontal rotation motor flange 8, as can be seen from fig. 3, a horizontal rotation motor flange 8 is arranged at the lower part of the horizontal rotation motor, and the horizontal rotation motor is connected with the first horizontal rotation driven gear 10 and the second horizontal rotation driven gear 11 through the horizontal rotation flange 8.

As can be seen from fig. 4, a conductive slip ring 14 and a horizontal rotary magnetic encoder 19 are also provided on the horizontal rotary motor flange 8. The conductive slip ring 14 is used for the straight line connection of the tripod head, and protects the wiring harness from being hinged off when the tripod head rotates. The horizontal rotary magnetic encoder 19 is used to perform rotational positioning of the pan/tilt head. One of the horizontal rotary magnetic encoder 19 and the horizontal rotary magnetic steel 18 is fixed, and the other one rotates, for example, when the horizontal rotary magnetic encoder 19 moves, the horizontal rotary magnetic steel 18 needs to be fixed; if the horizontal rotary magnetic steel 18 does rotary motion, the horizontal rotary magnetic encoder 19 remains stationary.

When the rotation system operates, the holder fixing seat 15 is fixed, thereby the horizontal rotation magnetic steel 18 on the holder fixing seat, the horizontal rotation deep groove ball bearing 12, the first horizontal rotation driven gear 10 and the second horizontal rotation driven gear 11 arranged on the rotation deep groove ball bearing 12 are both fixed, and the horizontal rotation motor drives the horizontal rotation driving gear 9 to rotate, because of the two driven gears are fixed, the horizontal rotation driving gear 9 rotates around the two driven gears, thereby driving the whole holder base 20 to perform horizontal rotation motion around the holder fixing seat 15. That is, when the pan/tilt head base 20 moves horizontally, the pan/tilt head fixing base 15 and the first and second horizontal turning driven gears 10 and 11 are kept stationary. While the parts mounted and fixed on the head base 20 follow the rotation.

In this embodiment, the first horizontal rotation driven gear 10 and the second horizontal rotation driven gear 11 are installed and fixed with the first fixing screw 17 in staggered teeth to reduce the gap between the horizontal rotation driving gear 9 and the horizontal rotation driven gear, thereby ensuring higher accuracy of horizontal rotation positioning of the pan/tilt head.

And the horizontal rotary magnetic encoder 19 fixed on the horizontal rotary motor flange 8 and the horizontal rotary magnetic steel 18 fixed on the holder fixing seat 15 are used for carrying out rotary positioning and zero calibration of the holder, so that the positioning mode has higher precision and can meet the requirements of the existing scene.

As shown in fig. 5, which is an axial side view of the holder, it can be seen that the fixing base 15 is provided with a horizontal rotation limiting block 13, and the bottom of the holder base 20 is provided with a horizontal rotation limiting pin 16, which cooperate to limit the rotation of the holder. Therefore, the horizontal rotation range of the tripod head in the embodiment is-180 degrees to +180 degrees.

Pitching system

Fig. 6 and 7 show a sectional view and an exploded view of the cradle head pitch system of the present invention, respectively, and it can be seen from the drawings that through holes are provided on the left and right end plates of the cradle head base 20 to facilitate the passing of the pitch shaft 26. The pitch shaft 26 is arranged on the holder base 20 through the first pitch deep groove ball bearing 25, the second pitch deep groove ball bearing 32, the first bearing fixing flange 27 and the second bearing fixing flange 33, so that the pitch shaft 26 can rotate. Two nacelles are mounted on bearing mounting flanges 27 and 33 at opposite ends of head base 20 for rotation with pitch shaft 26.

As shown in fig. 7, the pitch shaft 26 passes through the left and right end plates of the pan-tilt base 20, and a pitch stopper 31, a second pitch deep groove ball bearing 32, a second bearing fixing flange 33, and the visible light phase nacelle 2 fixed on the second bearing fixing flange 33 are sequentially disposed on the right side (left side in the view angle of fig. 6) of the pitch shaft 26.

As shown in fig. 10, for the utility model discloses every single move stopper and every single move axle structure chart can be seen from the picture, and every single move stopper 31 has the through-hole, and every single move axle 26 passes this through-hole, is provided with first boss on the every single move axle 26, and the through-hole inward flange is provided with half a circle second boss, and first boss and second boss cooperate mutually for every single move axle 26 can only be at-90- +90 angular rotation.

As shown in fig. 7, a first pitch driven gear 28 and a second pitch driven gear 29 are disposed on the pitch shaft 26 in the pan-tilt base 20, and in this embodiment, the driven gears are fixed on the first pitch deep groove ball bearings 25 by second fixing screws 30 (not shown in fig. 7, see fig. 6). A pitch driving mechanism 21, which is a pitch driving motor in this embodiment, is further disposed in the pan/tilt head base 20, a pitch driving gear 22 is disposed on the pitch driving motor 21, a magnetic steel (not shown in the figure) is disposed on the pitch driving gear 22, and the pitch driving gear 22 is engaged with the first pitch driven gear 28 and the second pitch driven gear 29. The pitch driving mechanism 21 is connected with a pitch motor flange 23, and the pitch motor flange 23 is fixed on the side end plate of the holder base 20 through a first bearing fixing flange 27. The pitching magnetic encoder 24 is fixedly arranged on the pitching motor flange 23, and the magnetic steel and the pitching driving gear 22 rotate, so that the pitching magnetic encoder 24 and the magnetic steel rotate relatively and can be used for positioning.

In this embodiment, the first pitch driven gear 28 and the second pitch driven gear 29 are mounted and fixed with a second fixing screw 30 (see fig. 6) in a staggered manner to reduce the gap between the pitch drive gear 22 and the pitch driven gear, thereby ensuring higher accuracy in the tilt rotational positioning of the head.

When the pitching system is operated, the pitching motor drives the pitching driving gear 22 to rotate, and the pitching driving gear 22 further drives the first pitching driven gear 28 and the second pitching driven gear 29 to rotate, so as to drive the pitching shaft 26 to rotate, and finally drive the camera module on the two sides to rotate along with the rotation. Similarly, pitch magnetic encoder 24 and magnetic steel (not shown) on load pitch drive gear 22 are used to perform pitch positioning and zero calibration on the pan/tilt head. The pitch stopper 31 is used for positioning the pitch axis.

In this embodiment, the pitch shaft 26 is a hollow shaft, which facilitates the wiring.

Partial discharge system

As shown in fig. 8, which is a schematic diagram of the partial discharge system in this embodiment, the pitch limiting block 31 is fixed on an inner side end plate of the holder base 20, a rack 39 is fixedly disposed on the pitch limiting block 31, a guide rail 38 is disposed on the rack 39, a slider (not shown in the figure) that can slide along the guide rail 38 is disposed on the guide rail 38, a partial discharge fixing device 35 (a fixing plate in this embodiment) is fixedly disposed on the slider, a partial discharge cylinder 40 and a partial discharge driving mechanism 34 are fixedly disposed on the partial discharge fixing device 35, a partial discharge driving gear 36 is further disposed on the partial discharge driving mechanism 34, and the partial discharge driving gear 36 is engaged with the rack 39.

The partial discharge fixing device 35 is further provided with a partial discharge proximity switch 37 for limiting the partial discharge cylinder 40. The end of the partial discharge cylinder 40 is further provided with a partial discharge sensor 41 for detecting the discharge of the cabinet.

When the partial discharge system is operated, the partial discharge driving mechanism 34 starts to operate, which drives the partial discharge driving gear 36 to move on the rack 39, so as to drive the partial discharge driving mechanism 34 to move, and since the partial discharge driving mechanism 34 is fixed with the partial discharge fixing device 35, the partial discharge fixing device 35 also moves along with the partial discharge driving mechanism 34, and thus other components arranged on the partial discharge fixing device 35 perform telescopic motion together. The partial discharge is positioned by a proximity switch and can extend for 270 mm.

As shown in fig. 9, the top shell-free interior view of the cradle head of the present invention can be seen from fig. 7, in order to save space, in this embodiment, the horizontal rotation system is disposed on the lower layer of the whole cradle head, the pitch system is disposed on the middle layer of the whole cradle head, and the partial discharge system is disposed on the uppermost layer of the cradle head.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention.

Claims (12)

1. The utility model provides a cloud platform for inspection robot which characterized in that includes:

a holder fixing seat (15);

the holder base (20), the holder base (20) is arranged on the holder fixing seat (15);

the horizontal rotation driving mechanism (7), horizontal rotation driving mechanism (7) are fixed on cloud platform base (20), be provided with horizontal rotation drive gear (9) on horizontal rotation driving mechanism (7), be provided with the horizontal gyration driven gear with horizontal gyration drive gear (9) meshing on cloud platform fixing base (15), when horizontal rotation driving mechanism (7) during operation, cloud platform base (20) are around cloud platform fixing base (15) horizontal gyration.

2. A head according to claim 1, wherein said horizontal rotary driven gears are a first horizontal rotary driven gear (10) and a second horizontal rotary driven gear (11) mounted with staggered teeth on the head holder mounting (15), the horizontal rotary drive gear (9) rotating about the first horizontal rotary driven gear (10) and the second horizontal rotary driven gear (11).

3. A head according to claim 1, further comprising a horizontal rotary magnetic encoder (19) and a horizontal rotary magnetic steel (18), said horizontal rotary magnetic encoder (19) being arranged on the horizontal rotary driving mechanism (7), said horizontal rotary magnetic steel (18) being arranged on the head holder (15); or

The horizontal rotary magnetic steel (18) is arranged on the horizontal rotary driving mechanism (7), and the horizontal rotary magnetic encoder (19) is arranged on the holder fixing seat (15).

4. A head according to claim 1, characterized in that it further comprises a partial discharge (1), said partial discharge (1) being fixedly arranged inside the head base (20) and moving with the head base (20).

5. A head according to claim 4, wherein said partial discharge (1) comprises a partial discharge fixture (35), a partial discharge drive mechanism (34), and a partial discharge drum (40), said partial discharge drum (40) being driven by said partial discharge drive mechanism (34) to move on said partial discharge fixture (35).

6. A head according to claim 4, further comprising a partial discharge proximity switch (37) arranged on said partial discharge fixture (35) or a partial discharge sensor (41) arranged on said partial discharge drum (40).

7. A head according to claim 1 or 4, further comprising a camera pod, arranged laterally to said head base (20).

8. A head according to claim 7, further comprising a pitch drive mechanism (21), said pitch drive mechanism (21) being fixed to the head base (20), said phase chamber being rotatably arranged laterally with respect to the head base (20), said phase chamber being rotatable in response to actuation of the pitch drive mechanism (21).

9. A head according to claim 8, further comprising a pitch axis (26) extending through a side of the head base (20), said phase chamber being arranged on the side of the head base (20) via the pitch axis (26), said pitch drive mechanism (21) being provided with a pitch drive gear (22), said pitch axis (26) being provided with a first pitch driven gear (28) and a second pitch driven gear (29) which are mounted with staggered teeth, said pitch drive mechanism (21) driving said pitch drive gear (22), said pitch drive gear (22) driving said first pitch driven gear (28) and said second pitch driven gear (29) and finally driving said pitch axis (26) to rotate.

10. A head according to claim 8, further comprising magnetic steel and a pitch magnetic encoder (24), said magnetic steel being arranged on said pitch drive mechanism (21), said pitch magnetic encoder (24) being arranged on said head base (20); or

The magnetic steel is arranged on the holder base (20), and the pitching magnetic encoder (24) is arranged on the pitching driving mechanism (21).

11. A head according to claim 9, wherein said head base (20) is fixedly provided with a pitch stop (31), said pitch stop (31) having a through hole through which said pitch axis (26) passes, said pitch axis (26) being provided with a first projection, the inner edge of said through hole being provided with a second projection.

12. A head according to claim 1, wherein the head holder (15) is provided with a horizontal rotation limiting block (13), and the bottom of said head base (20) is provided with a horizontal rotation limiting pin (16).

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