CN109616931B - Obstacle-crossing auxiliary platform for transformer substation robot - Google Patents
Obstacle-crossing auxiliary platform for transformer substation robot Download PDFInfo
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- CN109616931B CN109616931B CN201811550784.XA CN201811550784A CN109616931B CN 109616931 B CN109616931 B CN 109616931B CN 201811550784 A CN201811550784 A CN 201811550784A CN 109616931 B CN109616931 B CN 109616931B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
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Abstract
The invention relates to a transformer substation robot obstacle crossing auxiliary platform which comprises a platform body, wherein a roller is transversely arranged on the top surface of the platform body, the roller is connected with a generator, the generator is connected with a controller, a brake used for realizing the braking of the generator is arranged on the generator, and the brake is connected with the controller; an electric scissor jack which extends downwards is fixedly arranged on the platform body, and the scissor jack is connected with the controller; the platform body is also provided with a travel switch, and the travel switch is connected with the controller. The invention can automatically lift the transformer substation robot and help the transformer substation robot to cross obstacles such as stairs, curbs, cable ducts and the like, does not need manpower or other equipment to carry and lift the transformer substation robot so as to cross the obstacles, and has the advantages of high automation degree, simple structure and convenient operation.
Description
Technical Field
The invention relates to the technical field of electric power overhaul, in particular to an obstacle crossing auxiliary platform for a transformer substation robot.
Background
The transformer substation robot is one of electric power special robot series, and the main use is to replace the manual work to accomplish the transformer substation and overhaul, the urgent, difficult, dangerous, heavy and repetitive work that meets in the detection, including transformer substation patrols and examines robot, transformer substation's maintenance robot, transformer substation's insulator electrified cleaning robot etc. for example, transformer substation patrols and examines robot and carries collection equipment such as visible light CCD camera, infrared imager, high-fidelity control adapter, with autonomic or remote control's mode, patrols and examines outdoor high-voltage equipment at unmanned or few person's on duty's transformer substation. The intelligent inspection robot of the transformer substation is used for assisting operators to inspect equipment, so that abnormal phenomena of thermal defects, foreign matter suspension and the like of power equipment can be found in time, potential operating hazards of the equipment are avoided, the working efficiency and inspection quality are really improved, the effect of reducing operators and improving efficiency is achieved, and the unattended process of the transformer substation is effectively promoted; the transformer substation maintenance robot replaces people to carry out dangerous work such as switching operation, fire extinguishment and the like, and the robot is equipment and human safety protection and driving protection.
However, a transformer substation usually has several main obstacles such as stairs, road edges, cable ducts and the like, and for the existing transformer substation robots, especially for the transformer substation robots with wheel type chassis, the obstacle crossing capability of the wheel type robot is usually below 10cm, which brings difficulty to the walking and path planning of the robot and affects the work efficiency and the endurance time.
Disclosure of Invention
Aiming at the defects, the invention provides a transformer substation robot obstacle crossing auxiliary platform which is used for assisting a transformer substation robot in crossing obstacles.
In order to achieve the purpose, the invention adopts the following technical scheme:
a robot obstacle crossing auxiliary platform for a transformer substation comprises a platform body, wherein a roller is transversely arranged on the top surface of the platform body, the roller is connected with a generator, the generator is connected with a controller, a brake used for realizing braking of the generator is arranged on the generator, and the brake is connected with the controller; an electric scissor jack which extends downwards is fixedly arranged on the platform body, and the scissor jack is connected with the controller; the platform body is further provided with a travel switch, and the travel switch is connected with the controller.
In the obstacle crossing auxiliary platform for the transformer substation robot, the two sides of the platform body are provided with upward convex edges.
In the obstacle crossing auxiliary platform for the transformer substation robot, the turning plate with the inclined check grains is arranged at the rear end of the platform body.
In the obstacle crossing auxiliary platform for the transformer substation robot, universal wheels are arranged at four corners of the bottom of the platform body.
In the obstacle crossing auxiliary platform for the transformer substation robot, the number of the scissor jacks is four, and every two scissor jacks are fixed on the outer sides of the two convex edges.
In the obstacle crossing auxiliary platform for the transformer substation robot, the anti-slip pad is mounted at the bottom of the scissor jack.
The invention has the beneficial effects that: the invention provides an obstacle crossing auxiliary platform for a transformer substation robot, which can automatically lift the transformer substation robot and help the transformer substation robot to cross obstacles such as stairs, road edges, cable ducts and the like, does not need manpower or other equipment to carry and lift the transformer substation robot so that the transformer substation robot can cross the obstacles, and has the advantages of high automation degree, simple structure and convenience in operation.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is an embodiment of the present invention;
fig. 4 shows an embodiment of the present invention.
Wherein the labels shown in the figures are: 1: a platform; 2: a universal wheel; 3: a scissor jack; 4: a drum; 5: a travel switch; 6: a power source; 7: a controller; 8: a generator; 9: a brake; 10: copying; 11: a convex edge; 12: a transformer substation robot.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. 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.
In the description of the present invention, it should be noted that the terms "upper", "lower", and the like refer to orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are conventionally placed in use, and are used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "connected," and the like are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1 and 2, a preferred embodiment of the present invention provides an obstacle crossing auxiliary platform for a substation robot, which mainly includes a platform body 1, a scissor jack 3, a roller 4, a travel switch 5, a controller 7, a generator 8, and a brake 9.
With reference to fig. 1 and 2, the rollers 4 are transversely disposed on the top surface of the platform body 1, the number of the rollers 4 is four, the two rollers are in a group and are disposed at the front end and the rear end of the platform body 1 respectively, and the distance between the two groups of rollers 4 is preferably consistent with the distance between the front wheel and the rear wheel of the substation robot. The roller 4 is connected to the generator 8 through a transmission mechanism, the generator 8 is a 37GBRG direct current speed reducing motor, the transmission mechanism is preferably a belt wheel and a transmission belt, and the rotation of the roller 4 can drive the generator 8 to operate through the transmission mechanism so as to enable the generator 8 to generate electricity. The generator 8 is connected with the controller 7 through a cable, the controller 7 is installed on the platform body 1, and the generator 8 generates electricity and then transmits a voltage signal to the controller 7. Controller 7, model FX2N-4AD-4DA, is a PLC controller with 4-way A/D utilization and 4-way D/A output. The generator 8 is provided with a brake 9 for realizing the braking of the generator 8, the brake 9 can reduce the speed or stop the speed during the braking, the brake 9 is connected with the controller 7, and the controller 7 can control the start and stop of the brake 9 for controlling the generator 8. The brake 9 can be a resistor, preferably 10W/10 omega, and when the resistor is connected in series with the output end of the generator 8, the generator 8 decelerates; or the brake 9 is an electromagnetic brake, preferably of the type TQMB1-0.5, and the electromagnetic brake decelerates the generator 8 in a braking mode. In the preferred embodiment, the brake 9 is an electromagnetic brake of type TQMB 1-0.5. An electric scissor jack 3 which extends downwards is fixedly arranged on the platform body 1, the type of the scissor jack 3 is YD-022, the scissor jack 3 is connected with a controller 7, and the controller 7 can control the operation of the scissor jack 3 so that the scissor jack 3 extends downwards or contracts upwards. The travel switch 5 is arranged at the front end of the platform body 1, and the type of the travel switch 5 is DLXK-7A-11 and is used as a roller rotating vehicle travel induction switch; the travel switch 5 is connected with the controller 7 through a cable, when the travel switch 5 is closed, the line is conducted, and the controller 7 receives a voltage signal. The electric equipment such as the scissor jack 3, the controller 7 and the brake 9 can be individually provided with adaptive power supplies, or can jointly use one adaptive power supply, in the preferred embodiment, a power supply 6 is arranged on the platform body 1, and the power supply 6 is a storage battery and respectively supplies power to the scissor jack 3, the controller 7 and the brake 9 or supplies voltage to each circuit.
The universal wheel 2, the scissor jack 3, the roller 4, the switch 5, the battery 6 and the controller 7, the platform 1 is of a groove type, the transformer substation robot is prevented from deviating, the turning plate is arranged at the tail of the transformer substation robot, and the transformer substation robot can conveniently go to the platform 1. The universal wheel 2, the scissor jack 3 and the battery 6 are arranged at the bottom of the platform 1, and the roller 4, the switch 5 and the controller 7 are arranged on the platform 1. The universal wheels 2, the scissor jacks 3 and the rollers 4 are 4 in number and are respectively arranged at four corners of the platform 1. The scissor jack 3 is electrodynamic, and the bottom is provided with rubber which can prevent skidding. The drum 4 is provided with a generator 8 and a brake 9. The switch 5 is a travel switch. The scissor jack 3, the switch 5, the battery 6 and the controller 7 are connected, and the generator 8 and the brake 9 are connected with the controller 7.
In implementation, as shown in fig. 3 and 4, the platform 1 is easily pulled to the edge of the obstacle with the help of the universal wheels 2, the travel switch 5 is in a pressed state, the travel switch 5 is closed, the controller 7 is in a reset state, when the substation robot 10 enters the platform 1 through the turning plate of the platform 1, the wheels of the substation robot 10 contact with the rollers 4 and drive the rollers 4 to rotate, and when the front and rear wheels of the substation robot 10 contact with the rollers 4 at the front and rear ends respectively, the rollers 4 at the front and rear ends are driven to rotate respectively, so as to drive and enable the generator 8 to generate electricity, the controller 7 receives a voltage signal sent by the generator 8, drives the scissor jack 3 to rise, the platform 1 is lifted off the ground by the scissor jack 3, when the travel switch 5 crosses the edge of the obstacle, the travel switch 5 is in a recovery state, the travel switch 5 is opened, the controller 7 starts the brake 9, the generator 8 is decelerated, the front wheel and the rear wheel of the substation robot 10 rotate asynchronously with the front roller and the rear roller 4, the substation robot 10 drives away from the platform 1, the rollers 4 stop rotating, no voltage is output from the generator 8, after the controller 7 receives a voltage-free signal of the generator 8, the controller 7 is in a reset state, the controller 7 controls the brake 9 to release the control over the generator 8, and the scissor jack 3 is driven to descend until the universal wheel 2 touches the ground and the scissor jack 3 restores to the original state.
Referring to fig. 1 and 2, further, upward convex edges 11 are disposed on two sides of the platform body 1, so that a groove-shaped structure is formed between the platform body 1 and the convex edges 11, the substation robot can walk in the groove-shaped structure, and the substation robot walking on the platform body 1 can be prevented from deviating. The rear end of platform body 1 is equipped with the board 10 that turns over of taking oblique check line, and the board 10 that turns over when using, tip downwards forms an inclined plane with ground contact, makes things convenient for the transformer substation robot to climb up platform body 1, and oblique check line can increase frictional force, skids when preventing transformer substation robot climbing and can't climb up platform body 1.
Further, as shown in fig. 1, four corners of the bottom of the platform body 1 are provided with universal wheels 2, so that the obstacle-crossing auxiliary platform of the transformer substation robot can be conveniently moved.
Referring to fig. 1 and 2, the number of the scissor jacks 3 is four, and two scissor jacks are fixed on the outer sides of the two convex edges 11, so that the platform body 1 can be stably supported. The bottom of the scissor jack 3 is provided with an anti-slip pad to prevent the scissor jack 3 from sliding with the ground.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (6)
1. The utility model provides a transformer substation robot hinders auxiliary platform more, including platform body (1), its characterized in that: the top surface of the platform body (1) is transversely provided with four rollers (4), the rollers (4) are arranged in a group of four rollers and two rollers are arranged at the front end and the rear end of the platform body (1) respectively, the rollers (4) are connected with a generator (8), the generator (8) is connected with a controller (7), a brake (9) used for realizing the braking of the generator (8) is arranged on the generator (8), and the brake (9) is connected with the controller (7); an electric scissor jack (3) which extends downwards is fixedly arranged on the platform body (1), and the scissor jack (3) is connected with the controller (7); the platform body (1) is further provided with a travel switch (5), and the travel switch (5) is connected with the controller (7);
when the device is implemented, the travel switch (5) is closed when the travel switch (5) is in a pressed state, the controller (5) is in a reset state, when a substation robot (10) enters the platform body (1) through a turning plate of the platform body (1), wheels of the substation robot (10) are in contact with the rollers (4) and drive the rollers (4) to rotate, front wheels and rear wheels of the substation robot (10) are in contact with the rollers (4) at the front end and the rear end respectively and drive the rollers (4) at the front end and the rear end to rotate respectively, so that the generator (8) is driven to generate electricity, the controller (7) receives a voltage signal sent by the generator (8) and drives the scissor jack (3) to rise, the platform body (1) is lifted by the scissor jack (3) to leave the ground, and when the travel switch (5) crosses over the edge of an obstacle, the automatic control system is characterized in that the travel switch (5) is in a recovery state, the travel switch (5) is disconnected, the controller (7) starts the brake (9) to enable the generator (8) to decelerate, at the moment, a front wheel and a rear wheel of the transformer substation robot (10) and a front roller and a rear roller (4) rotate asynchronously, the transformer substation robot (10) drives away from the platform body (1), the rollers (4) stop rotating, the generator (8) does not have voltage output, the controller (7) receives a voltage-free signal of the generator (8), the controller (7) is in a recovery state, the controller (7) controls the brake (9) to release control over the generator (8) and drives the scissor jack (3) to descend until the scissor jack (3) recovers.
2. The substation robot obstacle crossing auxiliary platform of claim 1, wherein: both sides of the platform body (1) are provided with upward convex edges (11).
3. The substation robot obstacle crossing auxiliary platform of claim 1, wherein: the rear end of the platform body (1) is provided with a turning plate (10) with oblique check grains.
4. The substation robot obstacle crossing auxiliary platform of claim 1, wherein: the four corners of the bottom of the platform body (1) are provided with universal wheels (2).
5. The substation robot obstacle crossing auxiliary platform of claim 2, wherein: the number of the scissor jacks (3) is four, and every two scissor jacks are fixed on the outer sides of the two convex edges (11).
6. The substation robot obstacle crossing auxiliary platform of claim 5, wherein: and the bottom of the scissor jack (3) is provided with an anti-skid pad.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811550784.XA CN109616931B (en) | 2018-12-18 | 2018-12-18 | Obstacle-crossing auxiliary platform for transformer substation robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811550784.XA CN109616931B (en) | 2018-12-18 | 2018-12-18 | Obstacle-crossing auxiliary platform for transformer substation robot |
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| Publication Number | Publication Date |
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| CN109616931A CN109616931A (en) | 2019-04-12 |
| CN109616931B true CN109616931B (en) | 2020-05-22 |
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| CN201811550784.XA Active CN109616931B (en) | 2018-12-18 | 2018-12-18 | Obstacle-crossing auxiliary platform for transformer substation robot |
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| CN114738593A (en) * | 2022-01-27 | 2022-07-12 | 中国铁建重工集团股份有限公司 | Pipeline robot walking and obstacle crossing device and pipeline robot |
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|---|---|---|---|---|
| EP2048107A1 (en) * | 2007-10-09 | 2009-04-15 | Jan De Lange | Vehicle lift with a jack device |
| JP2012249396A (en) * | 2011-05-27 | 2012-12-13 | Mitsubishi Electric Corp | Distribution board and movement and installation method for distribution board |
| CN108033392A (en) * | 2017-12-15 | 2018-05-15 | 中国农业大学 | A kind of movable type goods and materials handling assistance platform |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104609335B (en) * | 2015-03-10 | 2017-08-11 | 程勋业 | Multifunctional vehicle lifting turns to mobile across fault device |
| CN104986684A (en) * | 2015-07-31 | 2015-10-21 | 李赞芬 | Lift |
| CN108518103A (en) * | 2018-04-20 | 2018-09-11 | 四川弛帆科技有限公司 | A kind of stand-alone terminal self energy pivoted arm stereo-parking system |
| CN208202732U (en) * | 2018-05-22 | 2018-12-07 | 东北大学 | Driving up-down cross sliding type multi-storied garage certainly based on PLC control |
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- 2018-12-18 CN CN201811550784.XA patent/CN109616931B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2048107A1 (en) * | 2007-10-09 | 2009-04-15 | Jan De Lange | Vehicle lift with a jack device |
| JP2012249396A (en) * | 2011-05-27 | 2012-12-13 | Mitsubishi Electric Corp | Distribution board and movement and installation method for distribution board |
| CN108033392A (en) * | 2017-12-15 | 2018-05-15 | 中国农业大学 | A kind of movable type goods and materials handling assistance platform |
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