CN109346980A - A kind of shelf depreciation crusing robot - Google Patents
A kind of shelf depreciation crusing robot Download PDFInfo
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- CN109346980A CN109346980A CN201811267611.7A CN201811267611A CN109346980A CN 109346980 A CN109346980 A CN 109346980A CN 201811267611 A CN201811267611 A CN 201811267611A CN 109346980 A CN109346980 A CN 109346980A
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- 238000001514 detection method Methods 0.000 claims abstract description 71
- 238000007689 inspection Methods 0.000 claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims description 29
- 239000003381 stabilizer Substances 0.000 claims description 20
- 238000009434 installation Methods 0.000 claims description 15
- 238000012545 processing Methods 0.000 claims description 9
- 238000001931 thermography Methods 0.000 claims description 5
- 230000001052 transient effect Effects 0.000 claims description 5
- 238000010521 absorption reaction Methods 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims 2
- 230000007774 longterm Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 208000003164 Diplopia Diseases 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000015556 catabolic process Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 208000029444 double vision Diseases 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- JEIPFZHSYJVQDO-UHFFFAOYSA-N ferric oxide Chemical compound O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 2
- 238000009413 insulation Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000003447 ipsilateral effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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Abstract
The present invention provides a kind of shelf depreciation crusing robot, including mobile platform, rotating platform and detection platform, the mobile platform is hung in orbit, and it is slidably connected with the track, the rotating platform is rotatably connected on the lower end of the mobile platform, the detection platform is connect with the rotating platform liftable, and the detection platform is equipped with Partial Discharge Detection component.The present invention provides a kind of shelf depreciation crusing robot, can replace the duplicate equipment routing inspection work of staff, guarantee the long-term safety operation of power equipment.
Description
Technical field
The present invention relates to electric power detection device technical field more particularly to a kind of shelf depreciation crusing robots.
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.
Summary of the invention
The purpose of the present invention is to provide a kind of shelf depreciation crusing robots, for replacing the duplicate equipment of staff
Inspection work guarantees the long-term safety operation of power equipment.
In order to achieve the above object, the present invention adopts the following technical scheme:
A kind of shelf depreciation crusing robot, including mobile platform, rotating platform and detection platform, the mobile platform are hung
If being slidably connected in orbit, and with the track, the rotating platform is rotatably connected on the lower end of the mobile platform, described
Detection platform is connect with the rotating platform liftable, and the detection platform is equipped with Partial Discharge Detection component.
Further, trolley is equipped with along the track, the mobile platform includes rack, current-collector, driving wheel, driven
Wheel and stabilizer group, the current-collector are fixedly connected in the rack, the wiping piece of the current-collector and trolley electricity
Property contact, power for the shelf depreciation crusing robot, the driving wheel rolls on the bottom surface of the track, the driving
Wheel is fixedly mounted on drive shaft, and the drive shaft is connected with driving motor, the driving motor by a deceleration mechanism
It is fixedly mounted in the rack, the deceleration mechanism includes small pulley, big belt wheel and deceleration strip, the small pulley and the drive
The output shaft of dynamic motor is fixedly connected, and the big belt wheel is fixedly connected with the drive shaft, the small pulley and the big band
By the deceleration strip band connection, the driven wheel is fixedly mounted on follower shaft wheel, and the follower shaft is mounted on described
In rack, the driven wheel and the driving wheel are arranged about the Orbital Symmetry, and the stabilizer group includes about the rail
The symmetrically arranged several stabilizers in road, the stabilizer roll on the side of the track, and the stabilizer is fixedly mounted on
On balancing axle, the balancing axle is mounted on balance wheel frame, and the balance wheel frame passes through a linear damper and the machine
Frame connection, the linear damper are horizontally disposed.
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, the Partial Discharge Detection component includes transient state ground radio wave sensor, uhf sensor and pulse
Current sensor.
Further, video detecting module is additionally provided in the detection platform, the video detecting module includes infrared heat
Image camera and Visible Light Camera.
Further, the video detecting module is connect by a luffing mechanism with the detection platform.
After adopting the above technical scheme, the present invention has the advantage that
1, shelf depreciation crusing robot slides on the indoor track of substation in setting, detects the electric discharge of power equipment
When position, shelf depreciation crusing robot mobile platform is moved to the top of equipment to be checked, passes through the rotation and inspection of rotating platform
The lifting of platform is surveyed, so that Partial Discharge Detection component is directed at position to be checked, to detect power equipment in the electric discharge feelings at the position
Condition.Shelf depreciation crusing robot of the invention can replace the duplicate equipment routing inspection work of staff, guarantee power equipment
Long-term safety operation, also, it is with reliable operation, working time unrestricted feature, it is special it is standby be suitable for the cycle of operation compared with
In long important power system device.
2, mobile platform 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 space uses, while the difficulty that while greatly reducing to track installation constructs；Using stabilizer group, patrolled in shelf depreciation
In the moving process for examining robot, due to the effect of centripetal force during fuselage deflection or fuselage shaking or turning, track two sides
Stabilizer stress differ, under the action of linear damper, to balance the power of two sides, so that mobile mechanism runs smoothly, no
It will appear the problem of derailed, fuselage shakes.
3, 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.
It replaces being manually entered scene progress partial discharge detection operation by crusing robot, avoids the personal injury that may cause；And it can determine
Shi Dingdian carries out partial discharge detection operation, and automatically analyzes variation tendency, and output inspection reduces as a result, testing result referential is strong
Operation maintenance personnel data processing work amount solves online detection method for local discharge in the prior art and needs more shelf depreciation
Measurement equipment to be checked, cost is excessively high and Portable PD On-Line detection needs operation maintenance personnel to carry Portable partial discharge detector
It is detected, personnel safety cannot be guaranteed, and the technical problem that the testing result property of can refer to is not high.
4, 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 and lifting of shelf depreciation crusing robot of the invention are using simultaneously
It is coupled structure, rotation is mutually indepedent, non-interference with lifting two degrees of freedom, convenient for the realization of control；Also, robot architecture is simple
And it is compact, it is easy to process, it is easily installed and dismantles.
5, 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.
6, after crusing robot reaches the position of power equipment to be checked, pass through the rotation of rotating platform, detection platform
Lifting, so that the detected part of Partial Discharge Detection component alignment power equipment, telescoping mechanism extend so that Partial Discharge Detection
Component is adjacent to the detected part of power equipment, to carry out Partial Discharge Detection.
7, 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.
8, Partial Discharge Detection component includes transient state ground radio wave sensor, uhf sensor and pulses of current sensor,
Transient state radio wave sensor real-time detection power equipment Partial discharge signal main feature amount, including partial discharge pulse number, pulse width
Value, by being kept pouring in conjunction with superelevation to time domain phase, umber of pulse and the research for measuring relationship between threshold values under different defect models
Sensor and pulses of current sensor exclude field interference signal, alarm Electric Power Equipment Insulation fault condition.
9, video detecting module is additionally provided in detection platform, the video detecting module includes infrared thermal imaging camera and can
Light-exposed camera.According to the Image Acquisition information of Visible Light Camera, row reading data is remembered into the table for having reading, automatically records and sentences
It is disconnected, and propose to alarm, enable various indicator lights in crusing robot automatic identification image, electric equipment cabinet face arrangement pressure
Plate is spaced apart, the secondary devices state such as change-over switch.Infra-red thermal imaging camera is set for indoor each power equipment, distribution box etc.
Standby heat monitoring can survey the temperature of heat-producing device in substation room, and form double vision system with Visible Light Camera.
10, video detecting module is connect by a luffing mechanism with the detection platform, enables video detecting module
It rotates upwardly and downwardly, to increase the detection range of video detecting module.
Detailed description of the invention
The present invention will be further explained below with reference to the attached drawings:
Fig. 1 is a kind of structural schematic diagram of shelf depreciation crusing robot of the invention.
Fig. 2 is a kind of side view of shelf depreciation crusing robot of the invention.
Fig. 3 is the structural schematic diagram of mobile platform in the present invention.
Fig. 4 is control system schematic diagram of the invention.
Fig. 5 is a kind of structural schematic diagram of shelf depreciation crusing robot of the invention 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 present invention is described in further detail.
As shown in Figure 1, a kind of shelf depreciation crusing robot, including mobile platform 1, rotating 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 rotatably connected on 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.
As shown in Figure 2 and Figure 3, trolley 21 is equipped with along track 4.Mobile platform includes rack 101, current-collector 22, driving wheel
23, driven wheel 24 and stabilizer group.Current-collector 22 is fixedly connected in rack 101, the wiping piece and trolley 21 of current-collector 22
It is in electrical contact, it powers for mobile platform.Driving wheel 23 rolls on the bottom surface of track 4, and driving wheel 23 is fixedly mounted on driving wheel
On axis 25, drive shaft 25 is connected with driving motor 26 by a deceleration mechanism, and driving motor 26 is fixedly mounted on rack 101
On, deceleration mechanism includes small pulley 27, big belt wheel 28 and deceleration strip 29, the fixed company of the output shaft of small pulley 27 and driving motor 26
It connects, big belt wheel 28 is fixedly connected with drive shaft 25, and small pulley 27 and big belt wheel 28 pass through 29 band connection of deceleration strip.Driven wheel 24
It is fixedly mounted on follower shaft 30, follower shaft 30 is mounted in rack 101, and driven wheel 24 and driving wheel 23 are about track 4
It is symmetrical arranged.Stabilizer group includes about the symmetrically arranged several stabilizers 31 of track 4, and stabilizer 31 is on the side of track 4
It rolls, 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 is logical
It crosses a linear damper 34 to connect with rack 101, linear damper 34 is horizontally disposed.
Mobile platform 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 platform 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 platform is compact-sized.
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 Figure 1 and Figure 4, video detecting module, video detecting module packet are additionally provided in detection platform 3
Infrared thermal imaging camera 6 and Visible Light Camera 7 are included, video detecting module 412 is connect with data collector 47.According to visible light phase
The Image Acquisition information of machine remembers row reading data into the table for having reading, automatically records and judge, and proposes to alarm, so that patrolling
The pressing plate of various indicator lights, electric equipment cabinet face arrangement in inspection robot energy automatic identification image is spaced apart, change-over switch etc. two
Secondary device state.Heat monitoring of the infra-red thermal imaging camera for equipment such as indoor each power equipment, distribution boxs, can survey power transformation
It stands the temperature of indoor heat-producing device, 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 machine of the invention
The rotation and lifting of people uses parallel-connection structure, and rotation is mutually indepedent, non-interference with lifting two degrees of freedom, convenient for the reality of control
It is existing；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 Fig. 2, 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, there are other embodiments of the invention, and those skilled in the art can be according to this
Invention makes various changes and modifications, and as long as it does not depart from the spirit of the invention, should belong to appended claims of the present invention and determines
The range of justice.
Claims (10)
1. a kind of shelf depreciation crusing robot, which is characterized in that including
Mobile platform, the mobile platform are hung in orbit, and are slidably connected with the track；
Rotating platform, the rotating platform are rotatably connected on the lower end of the mobile platform；
And detection platform, the detection platform are connect with the rotating platform liftable, the detection platform is equipped with part and puts
Electro-detection component.
2. a kind of shelf depreciation crusing robot according to claim 1, which is characterized in that be equipped with wiping along the track
Line, the mobile platform include rack, current-collector, driving wheel, driven wheel and stabilizer group, and the current-collector is fixedly connected on institute
It states in rack, the wiping piece and the trolley of the current-collector are in electrical contact, it powers for the shelf depreciation crusing robot,
The driving wheel rolls on the bottom surface of the track, and the driving wheel is fixedly mounted on drive shaft, the drive shaft
It is connected with driving motor by a deceleration mechanism, the driving motor is fixedly mounted in the rack, deceleration mechanism packet
Include 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 with
The drive shaft is fixedly connected, and by the deceleration strip band connection, the driven wheel is solid for the small pulley and the big belt wheel
On follower shaft, the follower shaft is mounted on the rack for Dingan County, and the driven wheel and the driving wheel are about institute
Orbital Symmetry setting is stated, the stabilizer group includes several stabilizers about Orbital Symmetry setting, and the stabilizer exists
It is rolled on the side of the track, the stabilizer is fixedly mounted on balancing axle, and the balancing axle is mounted on stabilizer
On frame, the balance wheel frame is connect by a linear damper with the rack, and the linear damper is horizontally disposed.
3. a kind of shelf depreciation crusing robot according to claim 2, which is characterized in that the shelf depreciation survey monitor
Device people further includes controller and data collector, and the controller controls the movement of the shelf depreciation crusing robot, described
Data collector includes central processing unit and memory, and the central processing unit handles Partial Discharge Data and will treated number
According to storage into the memory, the current-collector is connected with modem one, the modem one, shelf depreciation inspection
It surveys component, controller and data collector to connect by interchanger one, the modem one is connect with the current-collector, institute
It states trolley and is connected with modem two, the modem two is connected with interchanger two, the interchanger two and backstage
Host connection, the background host computer and the shelf depreciation crusing robot realize signal transmitting by power carrier, after described
Platform host is to the shelf depreciation crusing robot input control signal, and the shelf depreciation crusing robot is to the backstage master
Machine input feedback signal.
4. a kind of shelf depreciation crusing robot according to claim 1, which is characterized in that the rotating platform is in barrel mast
Shape, is equipped with gear ring, gear one, gear two and gear three in the rotating platform, and the inner wall of gear ring and rotating platform is fixed
Connection, gear one are fixed on gear shaft one, and gear one is engaged with gear ring, and gear shaft one is connected with rotating electric machine, gear
Two engage with gear three, and gear two is fixed on gear shaft two, and the lower end of gear shaft two is connected with screw mechanism, gear shaft
Two are fixedly connected with the lead screw of screw mechanism, and the hoistable platform is fixedly connected with the feed screw nut of screw mechanism, and gear three is solid
Fixed to be arranged on gear shaft three, gear shaft three is connected with lifting motor, the rotating electric machine, the lifting motor with the shifting
Moving platform is fixedly connected.
5. a kind of shelf depreciation crusing robot according to claim 4, which is characterized in that also set in the rotating platform
There are mounting disc one and mounting disc two, is equipped in mounting disc one and mounting disc two and gear shaft one, gear shaft two and gear shaft three
Corresponding bearing mounting hole is mounted on bearing in bearing mounting hole, is respectively provided on the inner wall of the rotating platform
The installation base for installing mounting disc one and mounting disc two is greater than installation for installing the internal diameter of installation base of the mounting disc one
The outer diameter of disk two.
6. a kind of shelf depreciation crusing robot according to claim 1, which is characterized in that the Partial Discharge Detection group
Part is connect by a telescoping mechanism with the detection platform, the lifting of the telescopic direction of the telescoping mechanism and the detection platform
Direction is vertical.
7. a kind of shelf depreciation crusing robot according to claim 6, which is characterized in that the Partial Discharge Detection group
Part includes that can make the Partial Discharge Detection component and the attracting magnetic absorption member of switch cabinet of converting station.
8. a kind of shelf depreciation crusing robot according to claim 1, which is characterized in that the Partial Discharge Detection group
Part includes transient state ground radio wave sensor, uhf sensor and pulses of current sensor.
9. a kind of shelf depreciation crusing robot according to claim 1, which is characterized in that also set in the detection platform
There is video detecting module, the video detecting module includes infrared thermal imaging camera and Visible Light Camera.
10. a kind of shelf depreciation crusing robot according to claim 9, which is characterized in that the video detecting module
It is connect by a luffing mechanism with the detection platform.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811267611.7A CN109346980A (en) | 2018-10-29 | 2018-10-29 | A kind of shelf depreciation crusing robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811267611.7A CN109346980A (en) | 2018-10-29 | 2018-10-29 | A kind of shelf depreciation crusing robot |
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| CN109346980A true CN109346980A (en) | 2019-02-15 |
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| CN201811267611.7A Pending CN109346980A (en) | 2018-10-29 | 2018-10-29 | A kind of shelf depreciation crusing robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109873361A (en) * | 2019-02-22 | 2019-06-11 | 南京工业大学 | Lifting type sensor device for power transmission line maintenance based on current mutual inductance |
| CN112757304A (en) * | 2021-01-19 | 2021-05-07 | 国网上海市电力公司 | Ground electric wave detection mechanical arm device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101862928A (en) * | 2010-06-04 | 2010-10-20 | 北京工业大学 | Robot parallel mechanism with rotation and lifting two degrees of freedom |
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| CN109873361A (en) * | 2019-02-22 | 2019-06-11 | 南京工业大学 | Lifting type sensor device for power transmission line maintenance based on current mutual inductance |
| CN112757304A (en) * | 2021-01-19 | 2021-05-07 | 国网上海市电力公司 | Ground electric wave detection mechanical arm device |
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