CN207256220U - A kind of omnidirectional of substation crusing robot - Google Patents
A kind of omnidirectional of substation crusing robot Download PDFInfo
- Publication number
- CN207256220U CN207256220U CN201721035244.9U CN201721035244U CN207256220U CN 207256220 U CN207256220 U CN 207256220U CN 201721035244 U CN201721035244 U CN 201721035244U CN 207256220 U CN207256220 U CN 207256220U
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- omnidirectional
- mechanical arm
- arm
- armshaft
- flexibly connected
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Abstract
The utility model discloses a kind of omnidirectional of substation crusing robot, including：Omnidirectional's car and mechanical arm, omnidirectional's car are flexibly connected with mechanical arm, and omnidirectional's car includes bottom plate, Mike and receives female wheel, bearing block, damping spring and mechanical arm base, mechanical arm include supporting item, bracing piece, rocking arm, armshaft and before grab side plate, wherein：Bearing block is fixed on bottom plate, and Mike receives female wheel and is flexibly connected with bearing block, and damping spring connects bearing block respectively and Mike receives female wheel, and mechanical arm base is fixed on bottom plate；Supporting item is flexibly connected with mechanical arm base, bracing piece is fixed on supporting item, and one end is flexibly connected with supporting item, and the other end is flexibly connected with one end of armshaft, the other end of armshaft is flexibly connected with before grabbing one end of side plate, and the preceding other end for grabbing side plate is provided with manipulator.Omnidirectional's car can be preceding to grab side plate and flexibly be overhauled by installing manipulator additional to multiple directions flexible motion, realizes the purpose of the comprehensive inspection of crusing robot.
Description
Technical field
Electrical equipment technical field is the utility model is related to, is specifically a kind of omnidirectional of substation crusing robot.
Background technology
Substation be change voltage place, the electrical energy transportation that power plant issues to place farther out, it is necessary to voltage
Rise, is changed into high-voltage electricity, nearby voltage is reduced on demand again to user, the work of this buck/boost has come by substation
Into.Substation is that the electric power of voltage of transformation in electric system, receiving and distribution electric energy, the flow direction for controlling electric power and adjustment voltage is set
Apply, it is got up the grid contact of each step voltage by its transformer.Therefore substation is the critical facility of power grid, ensures power transformation
Stabilization important in inhibiting of the safe handling stood to whole power grid.In order to the equipment such as main transformer, busbar and switch in substation
Operating status be monitored, it is necessary to which periodically substation is maked an inspection tour and checked.
Traditional substation inspection inspection is arranged an order according to class and grade generally by personnel, and certain time corresponding personnel carry out substation
Artificial inspection and record, such as pinpoint the problems and report in time.Due to manually inspection labor intensive, time length, therefore present power transformation
Inspection of standing generally understands this and uses unattended or few man on duty, wherein can then use crusing robot carries out inspection to substation,
Crusing robot can find the unit exception phenomenons such as the thermal defect of power equipment, foreign matter suspension in time, and automatic alarm or progress are pre-
The troubleshooting first set.
But current crusing robot also has many incomplete places, existing crusing robot passes through magnetic strength
Principle is answered to carry out line walking to overhaul the failure of substation, this mode needs to power plant rebuild and gamut is laid with magnetic strength
Line, not only secondary constructional difficulties, but also repair inconvenience, and path is single；Functionally lack human-computer interaction function, inspection
Robot construction simply can not carry out comprehensive inspection to substation.
Utility model content
The purpose of this utility model is to provide a kind of omnidirectional of substation crusing robot, to solve in above-mentioned background technology
The problem of proposition.
To achieve the above object, the utility model provides following technical solution：
A kind of omnidirectional of substation crusing robot, including：Omnidirectional's car and mechanical arm, omnidirectional's car are lived with the mechanical arm
Dynamic connection, omnidirectional's car includes bottom plate, Mike receives female wheel, bearing block, damping spring and mechanical arm base, the mechanical arm bag
Include supporting item, bracing piece, rocking arm, armshaft and before grab side plate, wherein：The bearing block is fixed on the bottom plate, described
Mike receives female wheel and is flexibly connected with the bearing block, and the damping spring connects the bearing block respectively and Mike receives female wheel, institute
Mechanical arm base is stated to be fixed on the bottom plate；The supporting item is flexibly connected with the mechanical arm base, the reinforcement
Bar is fixed on the supporting item, and the one end is flexibly connected with the supporting item, the other end and the armshaft
One end is flexibly connected, the other end of the armshaft with it is described before grab one end of side plate and be flexibly connected, the another of side plate is grabbed before described
Hold as movable end.
Preferably, the Mike receives female wheel and the bearing block is provided with four groups, is separately positioned on four of the bottom plate
Hold at angle, each Mike receives female wheel and the bearing block is correspondingly arranged two damping springs, and two dampings
Spring is separately positioned on Mike and receives the both sides of female wheel wheel shaft.
Preferably, the bearing block is fixedly connected with the bottom plate by pin.
Preferably, state and long profiles, short material and intermediate supports metal plate are additionally provided with bottom plate, it is the long profiles, described short
Section bar and the intermediate supports metal plate are fixedly connected with the bottom plate；The long profiles and the short material include two groups, respectively
The both sides of the mechanical arm base are set, and the long profiles and the short material are arranged in parallel；The intermediate supports metal plate includes
Two groups, the other both sides of the mechanical arm base are separately positioned on, two groups of intermediate supports metal plates are arranged in parallel.
Preferably, axle sleeve is provided with the bracing piece, one end of the rocking arm passes through the axle sleeve and the bracing piece
It is flexibly connected.
Preferably, stepper motor is provided with the bracing piece, the stepper motor is fixedly connected with the bracing piece.
Preferably, be provided with big arm between the rocking arm and the armshaft, the big arm respectively with the rocking arm with
The armshaft is flexibly connected.
Preferably, be provided with first connecting rod between the big arm and the rocking arm, the big arm and the armshaft it
Between be provided with second connecting rod, the first connecting rod is flexibly connected with the big arm and the rocking arm respectively, the second connecting rod
It is flexibly connected respectively with the big arm and the armshaft.
Preferably, be provided with arm plate between the bracing piece and the armshaft, the arm plate respectively with the bracing piece and
The armshaft is flexibly connected, and multiple studs are provided with the arm plate.
Preferably, control device, GPS navigation device, ultrasonic sensor and alarm are further fixedly arranged on the bottom plate
Device, the control device and the warning device are electrically connected with the GPS navigation device respectively；Also set up on the mechanical arm
There are multiple cameras, multiple cameras are uniformly arranged on the mechanical arm, the camera and control device electricity
Connection.
As shown from the above technical solution, the utility model discloses a kind of omnidirectional of substation crusing robot, including：Omnidirectional
Car and mechanical arm, omnidirectional's car are flexibly connected with the mechanical arm, and omnidirectional's car includes bottom plate, Mike and receives female wheel, bearing
Seat, damping spring and mechanical arm base, the mechanical arm include supporting item, bracing piece, rocking arm, armshaft and before grab side plate, wherein：
The bearing block is fixed on the bottom plate, and the Mike receives female wheel and is flexibly connected with the bearing block, the damping bullet
Spring connects the bearing block respectively and Mike receives female wheel, and the mechanical arm base is fixed on the bottom plate；The support
Part is flexibly connected with the mechanical arm base, and the bracing piece is fixed on the supporting item, the one end and institute
State supporting item flexible connection, the other end is flexibly connected with one end of the armshaft, the other end of the armshaft and it is described before grab side
One end of plate is flexibly connected, and the other end that side plate is grabbed before described is movable end.Omnidirectional's car receives female wheel by the Mike can
With realize robot to it is multiple it is convenient move, the mechanical arm, which installs manipulator additional by grabbing side plate before described, flexibly to be examined
Repair, realize the purpose of the comprehensive inspection of crusing robot..
Brief description of the drawings
Fig. 1 is the structure diagram of omnidirectional of substation provided by the utility model crusing robot；
Fig. 2 is a kind of structure diagram of omnidirectional's car provided by the utility model；
Fig. 3 is a kind of structure diagram of mechanical arm provided by the utility model；
In Fig. 1-3, symbolic indication is：1- bottom plates, 2- Mikes receive female wheel, 3- bearing blocks, 4- damping springs, 5- mechanical arms bottom
Seat, 6- supporting items, 7- bracing pieces, 8- rocking arms, 9- armshafts, side plate, 11- pins, 12- long profiles, 13- short materials, 14- are grabbed before 10-
Intermediate supports metal plate, 15- axle sleeves, 16- stepper motors, the big arms of 17-, 18- first connecting rods, 19- second connecting rods, 20- arm plates,
21- studs.
Embodiment
The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are without making creative work
All other embodiments obtained, shall fall within the protection scope of the present invention.
Referring to Fig. 1, a kind of structure diagram of omnidirectional of the substation crusing robot provided for the utility model embodiment,
Fig. 2 is a kind of structure diagram of omnidirectional's car provided by the utility model, as depicted in figs. 1 and 2：The utility model embodiment carries
Omnidirectional of the substation crusing robot of confession, including：Omnidirectional's car and mechanical arm, omnidirectional's car are flexibly connected with the mechanical arm,
Omnidirectional's car includes bottom plate 1, Mike and receives female wheel 2, bearing block 3, damping spring 4 and mechanical arm base 5, and the mechanical arm includes
Supporting item 6, bracing piece 7, rocking arm 8, armshaft 9 and before grab side plate 10, wherein：The bearing block 3 is fixed at the bottom plate 1
On, the Mike receives female wheel 2 and is flexibly connected with the bearing block 3, and the damping spring 4 connects the bearing block 3 and wheat respectively
Gram receive female wheel 2, the mechanical arm base 5 is fixed on the bottom plate 1；The supporting item 6 is lived with the mechanical arm base 5
Dynamic connection, the bracing piece 7 are fixed on the supporting item 6, and described 8 one end of rocking arm is flexibly connected with the supporting item 6,
The other end is flexibly connected with one end of the armshaft 9, the other end of the armshaft 9 with it is described before grab side plate 10 one end activity even
Connect, the other end that side plate 10 is grabbed before described is movable end.
As shown in Fig. 2, the Mike receives female wheel 2 and the bearing block 3 is provided with four groups, the bottom plate 1 is separately positioned on
Four ends angle at, each Mike receives female wheel 2 and the bearing block 3 is correspondingly arranged two damping springs 4, and two
The damping spring 4 is separately positioned on Mike and receives the both sides of 2 wheel shaft of female wheel.The Mike receive female wheel 2 setting so that not changing
Become in the state of car body, realize the movement from current location to any direction, and can no-radius steering.It can be carried out along any direction
Movement, multivariant motion mode, improves the flexibility of the car, allows it from the limitation of walking space.By to four
A 2 rotating speed of Mecanum wheel and the accurate of steering are controlled to realize the Omni-mobile of carrier, including front and rear straight trip, left and right horizontal stroke
Move, no-radius rotate in place, specified radius is turned, any direction moves linearly.Its great advantage is its remarkable movement
Flexibility, can realize Omni-mobile truly, and the conversion between Different Exercise Mode is rapid, is highly suitable for thing
The carrying work of material, part, cargo, it is especially more demanding in space（Narrow space or movement locus are complicated）Field
Conjunction has outstanding performance, such as the transhipment in space crowded warehouse, large parts, workpiece transport in place after accurately adjust
Deng.When Mecanum wheel rotates on the ground, it is misaligned with the direction on ground and vehicle wheel rotation direction but has one
A angle, the combining ability of four 2 frictional force of Mecanum wheel provide driving force for trolley.
The bearing block 3 is fixedly connected with the bottom plate 1 by pin 11, states and long profiles 12, short are additionally provided with bottom plate 1
Material 13 and intermediate supports metal plate 14, the long profiles 12, the short material 13 and the intermediate supports metal plate 14 and the bottom plate 1
It is fixedly connected；The long profiles 12 and the short material 13 include two groups, set the both sides of the mechanical arm base 5, institute respectively
State long profiles 12 and the short material 13 is arranged in parallel；The intermediate supports metal plate 14 includes two groups, is separately positioned on the machine
The other both sides of tool arm base 5, two groups of intermediate supports metal plates 14 are arranged in parallel.
Fig. 3 is a kind of structure diagram of mechanical arm provided by the utility model, as shown in figure 3, being set on the bracing piece 7
Axle sleeve 15 is equipped with, one end of the rocking arm 8 is flexibly connected by the axle sleeve 15 with the bracing piece 7.Set on the bracing piece 7
Stepper motor 16 is equipped with, the stepper motor 16 is fixedly connected with the bracing piece 7.Stepper motor 16 is a kind of by electric pulse turn
Turn to the executing agency of angular displacement.It is more popular to say：As soon as when step actuator receives a pulse signal, it drives stepping electric
Machine rotates a fixed angle by the direction of setting（That is step angle）.Angular displacement can be controlled by controlling pulse number
Amount, so as to achieve the purpose that accurate positionin；You can control the speed that motor rotates and add by controlling pulse frequency at the same time
Speed, so as to achieve the purpose that speed governing.Therefore it is contemplated that using stepper motor when needing to be accurately positioned or speed regulating control.Institute
State and big arm 17 is provided between rocking arm 8 and the armshaft 9, the big arm 17 is lived with the rocking arm 8 and the armshaft 9 respectively
Dynamic connection.Be provided with first connecting rod 18 between the big arm 17 and the rocking arm 8, the big arm 17 and the armshaft 9 it
Between be provided with second connecting rod 19, the first connecting rod 18 is flexibly connected with the big arm 17 and the rocking arm 8 respectively, described
Two connecting rods 19 are flexibly connected with the big arm 17 and the armshaft 9 respectively.Set between the bracing piece 7 and the armshaft 9
There is arm plate 20, the arm plate 20 is flexibly connected with the bracing piece 7 and the armshaft 9 respectively, is provided with the arm plate 20 more
A stud 21.
Control device, GPRS guiders, ultrasonic sensor and warning device are further fixedly arranged on the bottom plate 1,
The control device, the warning device and the ultrasonic sensor are electrically connected with the GPRS guiders respectively.Utilize
The carriage walking data and image that the ultrasonic sensor is detected are transmitted to host computer by bluetooth module and adopt
Trolley real time position is obtained with guider, host computer sends instructions to control device, so as to control the movement of trolley.Wherein,
Communicate available global mobile communication system（GSM）, for other communication modules, it has the following advantages that：Stability
It is not easy to be disturbed by force, sensitive information and realization roaming etc. on the basis of SIM card.Multiple take the photograph is additionally provided with the mechanical arm
As head, multiple cameras are uniformly arranged on the mechanical arm, and the camera is electrically connected with the control device.If
During inspection, detect that substation equipment breaks down, can also send alarm in real time by warning device, camera also can
It is comprehensive to be taken pictures to the transformer equipment during inspection and video record, and host computer is returned in real time.
As seen from the above-described embodiment, a kind of omnidirectional of substation crusing robot that the utility model embodiment provides, including：
Omnidirectional's car and mechanical arm, omnidirectional's car are flexibly connected with the mechanical arm, and omnidirectional's car includes bottom plate 1, Mike and receives female wheel
2nd, bearing block 3, damping spring 4 and mechanical arm base 5, the mechanical arm include supporting item 6, bracing piece 7, rocking arm 8,9 and of armshaft
Before grab side plate 10, wherein：The bearing block 3 is fixed on the bottom plate 1, and the Mike receives female wheel 2 and the bearing block 3
It is flexibly connected, the damping spring 4 connects the bearing block 3 respectively and Mike receives female wheel 2, and the mechanical arm base 5 is fixed and set
Put on the bottom plate 1；The supporting item 6 is flexibly connected with the mechanical arm base 5, and the bracing piece 7 is fixed at institute
State on supporting item 6, described 8 one end of rocking arm is flexibly connected with the supporting item 6, and one end activity of the other end and the armshaft 9 connects
Connect, the other end of the armshaft 9 with it is described before grab one end of side plate 10 and be flexibly connected, the other end of side plate 10 is grabbed before described to live
Moved end.Omnidirectional's car by the Mike receive female wheel 2 can realize robot to it is multiple it is convenient move, side plate 10 is grabbed before described
It can flexibly be overhauled by installing manipulator additional, thereby realize the purpose of the comprehensive inspection of crusing robot.
It should be noted that herein, term " comprising ", "comprising" or its any other variant are intended to non-row
His property includes, so that process, method, article or equipment including a series of elements not only include those key elements, and
And other elements that are not explicitly listed are further included, or further include as this process, method, article or equipment institute inherently
Key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including institute
State in process, method, article or the equipment of key element that also there are other identical element.
The above is only specific embodiment of the present utility model, is made skilled artisans appreciate that or realizing this
Utility model.A variety of modifications to these embodiments will be apparent to one skilled in the art, institute herein
The General Principle of definition can be realized in other embodiments without departing from the spirit or scope of the present utility model.
Therefore, the utility model is not intended to be limited to the embodiments shown herein, and is to fit to and original disclosed herein
The reason most wide scope consistent with features of novelty.
Claims (10)
- A kind of 1. omnidirectional of substation crusing robot, it is characterised in that including：Omnidirectional's car and mechanical arm, omnidirectional's car and institute Mechanical arm flexible connection is stated, omnidirectional's car includes bottom plate（1）, Mike receive female wheel（2）, bearing block（3）, damping spring（4）With Mechanical arm base（5）, the mechanical arm includes supporting item（6）, bracing piece（7）, rocking arm（8）, armshaft（9）With preceding grab side plate （10）, wherein：The bearing block（3）It is fixed at the bottom plate（1）On, the Mike receives female wheel（2）With the bearing block（3）Activity Connection, the damping spring（4）The bearing block is connected respectively（3）Female wheel is received with Mike（2）, the mechanical arm base（5）Gu Surely it is arranged on the bottom plate（1）On；The supporting item（6）With the mechanical arm base（5）It is flexibly connected, the bracing piece（7）It is fixed at the support Part（6）On, the rocking arm（8）One end and the supporting item（6）It is flexibly connected, the other end and the armshaft（9）One end activity Connection, the armshaft（9）The other end with it is described before grab side plate（10）One end be flexibly connected, grab side plate before described（10）It is another One end is provided with manipulator.
- 2. omnidirectional of substation according to claim 1 crusing robot, it is characterised in that the Mike receives female wheel（2）With The bearing block（3）Four groups are provided with, is separately positioned on the bottom plate（1）Four ends angle at, each Mike receives female wheel （2）With the bearing block（3）It is correspondingly arranged two damping springs（4）, and two damping springs（4）It is separately positioned on Mike receives female wheel（2）The both sides of wheel shaft.
- 3. omnidirectional of substation according to claim 2 crusing robot, it is characterised in that the bearing block（3）With it is described Bottom plate（1）Pass through pin（11）It is fixedly connected.
- 4. omnidirectional of substation according to claim 3 crusing robot, it is characterised in that the bottom plate（1）On also set up There are long profiles（12）, short material（13）With intermediate supports metal plate（14）, the long profiles（12）, the short material（13）With it is described Intermediate supports metal plate（14）With the bottom plate（1）It is fixedly connected；The long profiles（12）With the short material（13）Including two groups, the mechanical arm base is set respectively（5）Both sides, institute State long profiles（12）With the short material（13）It is arranged in parallel；The intermediate supports metal plate（14）Including two groups, the mechanical arm base is separately positioned on（5）Other both sides, two groups of institutes State intermediate supports metal plate（14）It is arranged in parallel.
- 5. omnidirectional of substation according to claim 1 crusing robot, it is characterised in that the bracing piece（7）Upper setting There is axle sleeve（15）, the rocking arm（8）One end pass through the axle sleeve（15）With the bracing piece（7）It is flexibly connected.
- 6. omnidirectional of substation according to claim 5 crusing robot, it is characterised in that the bracing piece（7）Upper setting There is stepper motor（16）, the stepper motor and the bracing piece（7）It is fixedly connected.
- 7. omnidirectional of substation according to claim 6 crusing robot, it is characterised in that the rocking arm（8）With the axis Arm（9）Between be provided with big arm（17）, the big arm（17）Respectively with the rocking arm（8）With the armshaft（9）Activity is even Connect.
- 8. omnidirectional of substation according to claim 7 crusing robot, it is characterised in that the big arm（17）With it is described Rocking arm（8）Between be provided with first connecting rod（18）, the big arm（17）With the armshaft（9）Between be provided with second connecting rod （19）, the first connecting rod（18）Respectively with the big arm（17）With the rocking arm（8）It is flexibly connected, the second connecting rod （19）Respectively with the big arm（17）With the armshaft（9）It is flexibly connected.
- 9. omnidirectional of substation according to claim 8 crusing robot, it is characterised in that the bracing piece（7）With it is described Armshaft（9）Between be provided with arm plate（20）, the arm plate（20）Respectively with the bracing piece（7）With the armshaft（9）Activity is even Connect, the arm plate（20）On be provided with multiple studs（21）.
- 10. according to omnidirectional of claim 1-9 any one of them substation crusing robot, it is characterised in that the bottom plate（1） On be further fixedly arranged on control device, GPS navigation device, ultrasonic sensor and warning device, the control device and described Warning device is electrically connected with the GPS navigation device respectively；Multiple cameras are additionally provided with the mechanical arm, multiple cameras are uniformly arranged on the mechanical arm, described Camera is electrically connected with the control device.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720511974 | 2017-05-10 | ||
| CN2017205119745 | 2017-05-10 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207256220U true CN207256220U (en) | 2018-04-20 |
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ID=61925263
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721035244.9U Expired - Fee Related CN207256220U (en) | 2017-05-10 | 2017-08-18 | A kind of omnidirectional of substation crusing robot |
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| Country | Link |
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| CN (1) | CN207256220U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109571403A (en) * | 2018-12-12 | 2019-04-05 | 杭州申昊科技股份有限公司 | A kind of track trace navigation intelligent inspection robot and its air navigation aid |
| CN109725233A (en) * | 2018-12-12 | 2019-05-07 | 杭州申昊科技股份有限公司 | A kind of intelligent substation inspection system and its method for inspecting |
| CN110082365A (en) * | 2019-04-08 | 2019-08-02 | 燕山大学 | Steel roll rim quality testing machine people based on machine vision |
| CN110902603A (en) * | 2019-11-15 | 2020-03-24 | 河北金戈懋元科技有限公司 | Transport vehicle |
-
2017
- 2017-08-18 CN CN201721035244.9U patent/CN207256220U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109571403A (en) * | 2018-12-12 | 2019-04-05 | 杭州申昊科技股份有限公司 | A kind of track trace navigation intelligent inspection robot and its air navigation aid |
| CN109725233A (en) * | 2018-12-12 | 2019-05-07 | 杭州申昊科技股份有限公司 | A kind of intelligent substation inspection system and its method for inspecting |
| CN109725233B (en) * | 2018-12-12 | 2020-12-08 | 杭州申昊科技股份有限公司 | Intelligent substation inspection system and inspection method thereof |
| CN110082365A (en) * | 2019-04-08 | 2019-08-02 | 燕山大学 | Steel roll rim quality testing machine people based on machine vision |
| CN110902603A (en) * | 2019-11-15 | 2020-03-24 | 河北金戈懋元科技有限公司 | Transport vehicle |
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