CN211729192U

CN211729192U - Liftable inspection robot

Info

Publication number: CN211729192U
Application number: CN202020032687.8U
Authority: CN
Inventors: 郭强; 蔡海晨; 吕福彬; 郑黎达
Original assignee: Yijiahe Technology Co Ltd
Current assignee: Yijiahe Technology Co Ltd
Priority date: 2020-01-08
Filing date: 2020-01-08
Publication date: 2020-10-23
Anticipated expiration: 2030-01-08

Abstract

The utility model relates to the field of place inspection, in particular to a liftable inspection robot, which comprises a cloud deck, a four-bar linkage lifting mechanical arm and a motion chassis, wherein one end of the four-bar linkage lifting mechanical arm is connected with the top surface of the motion chassis, and the other end of the four-bar linkage lifting mechanical arm is provided with the cloud deck; the four-connecting-rod lifting mechanical arm comprises an upper plate, an upper connecting rod auxiliary rod, an upper connecting rod, a middle plate, a lower connecting rod auxiliary rod, a base plate and a base, wherein the upper plate, the upper connecting rod auxiliary rod, the middle plate and the upper connecting rod are sequentially hinged to form a first closed parallelogram; the four-connecting-rod lifting mechanical arm further comprises an upper gear and a lower gear which are arranged on the middle plate and meshed with each other, and the upper gear and the lower gear move synchronously with the corresponding parallelograms.

Description

Liftable inspection robot

Technical Field

The utility model relates to a field is patrolled and examined in place, concretely relates to liftable patrol and examine robot.

Background

Along with the high-speed development of economy, the scale of a power system is continuously enlarged, more and more corresponding urban power distribution rooms and power distribution cabinets are, in order to guarantee power supply, a large amount of manpower and financial resources are required to be invested for inspection and maintenance, the manual maintenance cost is high, inspection in 24 hours all day can not be achieved, and the safety problem is involved. The intelligent inspection robot is mainly used for replacing manual work to complete inspection work of unattended or unattended transformer substations and power distribution rooms, timely discovering internal thermal defects and external mechanical or electrical problems of power equipment, and providing accident potential and failure precursor data for operators. Meanwhile, equipment inspection cost is saved, personal injury risks are reduced, and the operation maintenance level of the transformer substation is improved.

The robot of patrolling and examining of prior art generally divide into two kinds, and hanging rail formula and wheeled, hanging rail formula such as the utility model patent that patent number is CN 207834917U, it discloses an indoor track formula robot of patrolling and examining, need build the track at indoor, and this just has very big restraint to indoor track construction environment, the operating space of robot, is unsuitable for the switch room demand of the complicated block terminal room in furred ceiling or top and great space. And robot and track structure are comparatively complicated, and the cost is higher, and the instrument and the on-off state that the robot can only detect fixed position switch board simultaneously, and when the position change appeared in the switch board, the track that hangs also followed the change. And wheeled utility model patent for example patent No. CN206598277U, its wheeled robot cloud platform structure of patrolling and examining that discloses is fixed, can not go up and down, and the height can not change, can't detect the electrified state of switch board eminence instrument switch and cabinet body, has the limitation during the use, can't satisfy actual need.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem that exists among the prior art, the utility model provides a liftable patrol and examine robot, it is provided with four connecting rod lift arms to the cloud platform that makes the setting at the arm tip can realize independently going up and down, combines the motion chassis, has improved the ease for use of robot greatly.

The utility model discloses a concrete technical scheme as follows:

a liftable inspection robot comprises a cloud deck, a four-connecting-rod lifting mechanical arm and a motion chassis, wherein one end of the four-connecting-rod lifting mechanical arm is connected with the top surface of the motion chassis, and the cloud deck is arranged at the other end of the four-connecting-rod lifting mechanical arm;

the four-connecting-rod lifting mechanical arm comprises an upper plate, an upper connecting rod auxiliary rod, an upper connecting rod, a middle plate, a lower connecting rod auxiliary rod, a base plate and a base, wherein the upper plate, the upper connecting rod auxiliary rod, the middle plate and the upper connecting rod are sequentially hinged to form a first closed parallelogram;

the four-connecting-rod lifting mechanical arm further comprises an upper gear and a lower gear which are arranged on the middle plate, the upper gear is meshed with the lower gear, the upper gear moves synchronously with the first parallelogram, and the lower gear moves synchronously with the second parallelogram.

The upper gear is fixedly connected with the upper connecting rod, and the lower gear is fixedly connected with the lower connecting rod.

The four-connecting-rod lifting mechanical arm further comprises a driving device.

The driving device comprises a motor and a speed reducer, the speed reducer is arranged at the end part of the lower connecting rod and is connected with the speed reducer, and the motor can drive the speed reducer.

The motion chassis comprises a rear universal wheel, a chassis frame, a driving wheel, a chassis driving motor, a swing rod supporting seat, a swing rod and a front universal wheel, wherein the rear universal wheel, the swing rod supporting seat and the chassis driving motor are directly arranged on the chassis frame, the swing rod is hung on the swing rod supporting seat, the driving wheel is arranged at one end of the swing rod, and the front universal wheel is arranged at the other end of the swing rod.

The middle axis of the motion chassis in the long side direction is symmetrically arranged.

Wherein, the motion chassis is also provided with one or more of a side ultrasonic radar, a laser radar, a falling prevention sensor, a front ultrasonic radar, a charging port, a temperature and humidity sensor or a gas sensor.

The cloud platform comprises a partial discharge detection device, an infrared camera, a visible light camera and a light supplement lamp, wherein the infrared camera, the visible light camera and the light supplement lamp are respectively located on two sides of the partial discharge detection device.

The partial discharge detection device comprises a partial discharge cylinder and a partial discharge sensor, wherein the partial discharge sensor is located at the tail end of the partial discharge cylinder, and the partial discharge sensor and a lens of the camera are located on the same side.

Still be provided with the office in the cloud platform and put driving motor, cloud platform every single move motor, cloud platform rotation motor, the office is put driving motor and can be driven the office and put a section of thick bamboo and carry out concertina movement, cloud platform every single move motor and cloud platform rotation motor control the cloud platform respectively and carry out every single move and gyration action.

Advantageous effects

The robot solves the problems that the current rail-mounted robot in the city needs a fixed rail and the current wheel-type inspection robot holder cannot lift by adopting the wheel-type chassis, the lifting mechanical arm and the light-weight modular holder, and has the advantages of simple structure, low cost, complete functions and the like. The intelligent power distribution system is suitable for power distribution rooms in various complex environments, can realize detection functions such as instrument on-off state identification, infrared temperature measurement, partial discharge detection, noise and gas detection, temperature and humidity 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 schematic view of the present invention

Fig. 2 is a rear view of the present invention

FIG. 3 is a schematic view of the four-bar linkage lifting mechanical arm of the present invention

FIG. 4 is a schematic view of the exercise chassis of the present invention

FIG. 5 is another schematic view of the present invention

The system comprises a tripod head 1, a four-link lifting mechanical arm 2, a motion chassis 3, a lateral ultrasonic radar 5, a laser radar 6, a fall-prevention sensor 8, a speed reducer 9, a partial discharge detection device 10, a front ultrasonic radar 11, a charging port 12, an infrared camera 13, a visible light camera and a light supplement lamp 14, an upper link auxiliary rod 20, a middle plate 21, an upper gear 221, a lower gear 222, a lower link auxiliary rod 23, an upper plate 24, an upper link 25, a lower link 26, a motor 28, a base plate 29, a base 200, a rear universal wheel 33, a chassis frame 34, a driving wheel 35, a chassis driving motor 36, a swing rod supporting seat 37, a swing rod 38 and a front universal wheel 39, and is a front universal wheel

Detailed Description

The utility model discloses a robot with raising and lowering functions will be introduced, including cloud platform 1, four connecting rod lift arms 2 and motion chassis 3. Fig. 1 shows the side view of the present invention, fig. 2 shows the front view of the present invention, one end of the four-bar linkage lifting mechanical arm 2 is connected with the top surface of the motion chassis 3, and the other end of the four-bar linkage lifting mechanical arm 2 is provided with the pan/tilt head 1. According to the configuration, the utility model discloses a robot utilizes four connecting rod lift arm 2 to go up and down to cloud platform 1 to make cloud platform 1 can be at the within range of height up-and-down motion of equivalent, according to the test data of experiment product, the range of height can reach 550mm-1700mm, and this scope has covered most of user demands, utilizes the utility model discloses can detect the state of all switch boards on the market at present.

The four-bar linkage lifting mechanical arm 2 of the present invention will be explained in detail below. As shown in fig. 3, which is a schematic view of the four-bar linkage lifting mechanical arm 2 in fig. 1 with a housing removed, the four-bar linkage lifting mechanical arm 2 includes an upper plate 24, an upper link secondary rod 20, an upper link 25, an intermediate plate 21, a lower link 26, a lower link secondary rod 23, a base plate 29 and a base 200, wherein the upper plate 24, the upper link secondary rod 20, the intermediate plate 21 and the upper link 25 are sequentially hinged to form a first closed parallelogram, the lower link 26, the base plate 29, the lower link secondary rod 23 and the intermediate plate 21 are sequentially hinged to form a second closed parallelogram, and the first parallelogram and the second parallelogram are not on the same side of the intermediate plate 21. The base plate 29 is vertically fixed on a base 200, and the base 200 is fixedly connected with the moving chassis 3, so that the base plate 29 is always kept static when the four-bar linkage lifting mechanical arm 2 moves. The four-bar linkage lifting robot 2 further comprises a synchronous moving device which can move the first parallelogram and the second parallelogram synchronously, in the embodiment shown in fig. 3, the synchronous moving device is an upper gear 221 and a lower gear 222 which are arranged on the middle plate 21, the upper gear 221 is meshed with the lower gear 222, the upper gear 221 moves synchronously with the first parallelogram, and the lower gear 222 moves synchronously with the second parallelogram. Specifically, the upper gear 221 is fixedly connected to the upper link 25, and the lower gear 222 is fixedly connected to the lower link 26, for example, in the embodiment shown in fig. 3, when the lower link 26 rotates clockwise around the connecting shaft where the lower link 26 is connected to the middle plate 21, the lower gear 222 is also rotated clockwise because the lower gear 222 is fixedly connected to the lower link 26, the upper gear 221 is thus rotated counterclockwise because the lower gear 222 is engaged with the upper gear 221, and the upper link 25 is also rotated counterclockwise around the connecting shaft where the upper link 25 is connected to the middle plate 21 because the upper link 25 is fixedly connected to the upper gear 221, so that it can be known that the synchronous movement device can rotate the second parallelogram in the opposite direction to the first parallelogram, and the four-bar linkage mechanism 3 can be raised or lowered accordingly. Of course, in addition to the above-described connection relationship, the lower gear 222 may be fixedly connected to the lower link sub-lever 23 and rotated in synchronization therewith, and the upper gear 221 may be fixedly connected to the upper link sub-lever 20 and rotated in synchronization therewith.

As shown in fig. 2, the four-bar linkage lifting robot 2 further comprises a driving device, the driving device provides power for the four-bar linkage lifting robot 2, in the embodiment shown in fig. 2, the driving device comprises a motor 28 and a reducer 9, the reducer 9 is disposed at the end of the lower bar linkage 26, the motor 28 is connected with the reducer 9, the motor 28 can drive the reducer 9, so that the reducer 9 can provide power for the rotation of the lower bar linkage 26. In this patent, the selection of the driving device is not limited, and other power sources such as a hydraulic cylinder and an air cylinder may be selected in addition to the motor.

Fig. 4 is a schematic view of the exercise chassis 3 with the outer shell removed according to fig. 1, specifically, the exercise chassis includes a rear universal wheel 33, a chassis frame 34, a driving wheel 35, a chassis driving motor 36, a swing link supporting seat 37, a swing link 38, and a front universal wheel 39. The rear universal wheel 33, the swing rod supporting seat 37 and the chassis driving motor 36 are directly arranged on the chassis frame 34, the swing rod 38 is hung on the swing rod supporting seat 37, one end of the swing rod 38 is provided with a driving wheel 35, and the other end of the swing rod 38 is provided with a front universal wheel 39. As shown in fig. 2, the central axis of the motion chassis 3 in the long side direction is symmetrically arranged, and two sides of the motion chassis 3 are respectively provided with a group of swing rod structures formed by a front universal wheel 39, a swing rod 38, a swing rod supporting seat 37 and a driving wheel 35, so that the motion chassis 3 always has three fixed stress points, thereby ensuring that each stress point can share the load of the whole machine, effectively increasing the positive pressure of the driving wheel, and improving the obstacle crossing and climbing capabilities of the chassis.

As shown in fig. 2 and 5, the utility model discloses a motion chassis 3 can also be provided with side position ultrasonic radar 5, lidar 6, dropproof sensor 8, the place ahead position ultrasonic radar 11, charge mouthful 12, sets up side position ultrasonic radar 5, lidar 6, the place ahead position ultrasonic radar 11 on motion chassis 3 through the setting, has realized the function that the robot independently surveyed and has gone. Through setting up dropproof sensor 8, whether help independently judges to have the risk of falling, effectively solves the problem that the robot fell during patrolling and examining. Through set up charging port 12 on motion base 3, can return automatically when the robot electric quantity is low and fill electric pile and charge. In addition to the above devices, a temperature and humidity sensor, an SF6 gas sensor (not shown in the figure), and the like may be disposed on the moving chassis 3 to enrich the functionality of the robot.

As shown in fig. 2, the cradle head 1 includes a partial discharge detection device 10, an infrared camera 13, a visible light camera, and a fill-in light 14. Preferably, in this embodiment, the infrared camera 13 and the visible light camera and the light supplement lamp 14 are respectively located at two sides of the partial discharge detection apparatus 10. The partial discharge detection device 10 includes a partial discharge tube and a partial discharge sensor, the partial discharge sensor is located at the end of the partial discharge tube, and the partial discharge sensor is located on the same side as the lens of the camera. Still be provided with the office in the cloud platform 1 and put driving motor, cloud platform every single move motor, cloud platform rotation motor, the office is put driving motor and can be driven the office and put a section of thick bamboo and carry out concertina movement, cloud platform every single move motor and cloud platform rotation motor control cloud platform 1 respectively and carry out every single move and gyration action. Through the aforesaid setting, the robot can utilize visible light camera and light filling lamp 14 to shoot and discern switch board instrument and switch, can utilize infrared camera 13 to carry out infrared temperature measurement to the cabinet body, utilizes the office to put detection device 10, carries out partial discharge's detection to the cabinet body.

To sum up, the utility model discloses a robot passes through cloud platform 1, four connecting rod lift arm 2 and motion chassis 3's cooperation, realizes that the automation of different power distribution room environment is patrolled and examined, and cloud platform lifting range can satisfy the state detection of current all switch boards, in simple easy-to-use effectual simultaneously, the utility model discloses a robot simple structure, low cost is worth promoting.

Claims

1. A liftable inspection robot is characterized by comprising a cloud deck (1), a four-connecting-rod lifting mechanical arm (2) and a motion chassis (3), wherein one end of the four-connecting-rod lifting mechanical arm (2) is connected with the top surface of the motion chassis (3), and the other end of the four-connecting-rod lifting mechanical arm (2) is provided with the cloud deck (1);

the four-connecting-rod lifting mechanical arm (2) comprises an upper plate (24), an upper connecting rod auxiliary rod (20), an upper connecting rod (25), a middle plate (21), a lower connecting rod (26), a lower connecting rod auxiliary rod (23), a base plate (29) and a base (200), wherein the upper plate (24), the upper connecting rod auxiliary rod (20), the middle plate (21) and the upper connecting rod (25) are sequentially hinged to form a first closed parallelogram, the lower connecting rod (26), the base plate (29), the lower connecting rod auxiliary rod (23) and the middle plate (21) are sequentially hinged to form a second closed parallelogram, and the first parallelogram and the second parallelogram are not located on the same side of the middle plate (21);

the four-bar linkage lifting mechanical arm (2) further comprises an upper gear (221) and a lower gear (222) which are arranged on the middle plate (21), the upper gear (221) is meshed with the lower gear (222), the upper gear (221) moves synchronously with the first parallelogram, and the lower gear (222) moves synchronously with the second parallelogram.

2. The robot according to claim 1, characterized in that the upper gear (221) is fixedly connected with the upper link (25) and the lower gear (222) is fixedly connected with the lower link (26).

3. Robot according to claim 1, characterized in that the four-bar linkage lifting robot arm (2) further comprises a drive.

4. Robot according to claim 3, characterized in that the drive means comprise a motor (28) and a reducer (9), the reducer (9) being arranged at the end of the lower link (26), the motor (28) being connected to the reducer (9), the motor (28) being able to drive the reducer (9).

5. The robot according to claim 1, characterized in that the moving chassis (3) comprises a rear universal wheel (33), a chassis frame (34), a driving wheel (35), a chassis driving motor (36), a swing link supporting seat (37), a swing link (38) and a front universal wheel (39), the rear universal wheel (33), the swing link supporting seat (37) and the chassis driving motor (36) are directly arranged on the chassis frame (34), the swing link (38) is suspended on the swing link supporting seat (37), the driving wheel (35) is arranged at one end of the swing link (38), and the front universal wheel (39) is arranged at the other end of the swing link (38).

6. Robot according to claim 1, characterized in that the motion chassis (3) is arranged with its longitudinal central axis symmetrical.

7. Robot according to claim 1, characterized in that the moving chassis (3) is further provided with one or more of a side-oriented ultrasonic radar (5) or a laser radar (6) or a fall arrest sensor (8) or a front-oriented ultrasonic radar (11) or a charging port (12) or a temperature and humidity sensor or (SF6) gas sensor.

8. The robot according to claim 1, wherein the cradle head (1) comprises a partial discharge detection device (10), an infrared camera (13), a visible light camera and a fill-in light (14), and the infrared camera (13) and the visible light camera and the fill-in light (14) are respectively located at two sides of the partial discharge detection device (10).

9. Robot according to claim 8, characterized in that the partial discharge detection device (10) comprises a partial discharge cylinder and a partial discharge sensor, the partial discharge sensor being located at the end of the partial discharge cylinder, the partial discharge sensor being located on the same side as the lens of the camera.

10. The robot according to claim 8, wherein a partial discharge driving motor, a holder pitching motor and a holder rotating motor are further arranged in the holder (1), the partial discharge driving motor can drive the partial discharge cylinder to perform telescopic motion, and the holder pitching motor and the holder rotating motor respectively control the holder (1) to perform pitching and rotating motions.