CN216464705U - GIS patrols and examines robot dynamic focus adjustment mechanism - Google Patents
GIS patrols and examines robot dynamic focus adjustment mechanism Download PDFInfo
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- CN216464705U CN216464705U CN202122957054.5U CN202122957054U CN216464705U CN 216464705 U CN216464705 U CN 216464705U CN 202122957054 U CN202122957054 U CN 202122957054U CN 216464705 U CN216464705 U CN 216464705U
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Abstract
The utility model discloses a dynamic gravity center adjusting mechanism of a GIS inspection robot in the technical field of GIS inspection robot structures, which comprises a mounting plate horizontally arranged in the GIS inspection robot, wherein an annular rail is fixedly laid on the mounting plate and is connected with a movable sliding block in a sliding manner, the movable sliding block is fixedly provided with a balancing weight, the bottom of the mounting plate is provided with a driving motor, the output end of the driving motor vertically extends upwards to the mounting plate, the output end of the driving motor is hinged with the balancing weight through a telescopic rod, the driving motor drives the balancing weight to move to the opposite position of the rail in the direction inclined to the gravity center, the gravity center of the GIS inspection robot can be kept at the central position when the GIS inspection robot operates, the abrasion loss of wheels at the two sides of the robot can be kept consistent as much as possible, and the long-term stable operation of the robot can be ensured.
Description
Technical Field
The utility model relates to the technical field of inspection robot structures, in particular to a dynamic gravity center adjusting mechanism of a GIS inspection robot.
Background
The current GIS computer lab of taking arm patrols and examines robot because do not have focus dynamic adjustment function, when the arm stretched out toward one side, can cause the robot toward one side slope because centrobaric unbalance, and then causes camera position and demarcation position to have certain error. In addition, the center of gravity of the robot is shifted due to different postures of the mechanical arm, so that the robot is deviated to one side during running, and the wheels on two sides are different in abrasion amount due to long-term running, so that the positioning accuracy of the robot is reduced.
Based on the dynamic gravity center adjusting mechanism, the utility model designs the dynamic gravity center adjusting mechanism of the GIS inspection robot to solve the problems.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a GIS patrols and examines robot dynamic focus adjustment mechanism to solve above-mentioned technical problem.
In order to realize the purpose, the utility model provides the following technical scheme: the utility model provides a GIS patrols and examines dynamic focus adjustment mechanism of robot, sets up the mounting panel in GIS patrols and examines the robot including being the level form, fixed laying installs the circular orbit on the mounting panel, sliding connection has movable slider on the circular orbit, the fixed balancing weight that is provided with on the movable slider, driving motor is installed to the bottom of mounting panel, driving motor's the vertical upwards extension of output extremely on the mounting panel, driving motor's output pass through the telescopic link with the balancing weight hinge closes the connection.
Preferably, the shape of the plane track of the annular track is a rounded rectangle.
Preferably, the circular track is formed by splicing at least two sections.
Preferably, the telescopic rod comprises an inserting rod and a sleeving rod, and the inserting rod and the sleeving rod are sleeved with each other and can movably extend and retract.
Preferably, the output end of the driving motor is positioned at the geometric center of the annular track.
Compared with the prior art, utility model's beneficial effect does:
the dynamic gravity center adjusting mechanism of the GIS inspection robot can drive the counterweight blocks to move to the opposite position of the track in the gravity center inclination direction through the driving motor according to the real-time gravity center change state of the robot, so that the gravity center of the GIS inspection robot can be kept at the central position at any time during the operation, a detection camera at the tail end of the mechanical arm cannot be displaced due to the gravity center deviation of the robot body, the detection precision is ensured, and the gravity center can be kept to ensure that the abrasion loss of wheels at two sides of the robot is kept consistent as much as possible, so that the long-term stable operation of the robot is ensured.
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 described below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive work.
FIG. 1 is a schematic top view of the present invention;
FIG. 2 is a schematic overall perspective view of the present invention;
fig. 3 is a schematic structural diagram of the GIS inspection robot after the GIS inspection robot and the GIS inspection robot are installed.
In the drawings, the components represented by the respective reference numerals are listed below:
the device comprises a mounting plate 1, an annular rail 2, a movable sliding block 3, a balancing weight 4, a driving motor 5, an output end 6 and a telescopic rod 7.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by a person skilled in the art without any inventive work based on the embodiments of the present invention belong to the protection scope of the present invention.
Referring to fig. 1-3, the utility model provides a technical solution: the utility model provides a GIS patrols and examines dynamic focus adjustment mechanism of robot which characterized in that: the GIS inspection robot comprises a mounting plate 1 which is horizontally arranged in the GIS inspection robot, an annular track 2 is fixedly laid on the mounting plate 1, a movable sliding block 3 is connected onto the annular track 2 in a sliding manner, a balancing weight 4 is fixedly arranged on the movable sliding block 3, a driving motor 5 is arranged at the bottom of the mounting plate 1, an output end 6 of the driving motor 5 vertically and upwardly extends onto the mounting plate 1, and the output end 6 of the driving motor 5 is hinged and connected with the balancing weight 4 through a telescopic rod 7;
further, the shape of the plane track of the circular track 2 is a rounded rectangle, and because the mounting plate 1 of the robot is of a rectangular structure, the circular track 2 can ensure the normal sliding of the movable sliding block 3 on the circular track 2 by adopting the rectangular and rounded structure, and can also enable the balancing weight 4 to move along the periphery of the robot as much as possible, so that a better gravity center adjusting effect can be achieved by using smaller balancing weight.
Further, the circular track 2 is formed by splicing at least two sections, so that the circular track 2 is convenient to form and manufacture and the movable sliding block 3 is convenient to assemble and install.
Further, telescopic link 7 is including pegging graft stalk and cup jointing the pole, and the grafting stalk overlaps each other with cup jointing the pole and merges mobile flexible, because when balancing weight 4 is in the position of difference, output 6 of driving motor 5 and balancing weight 4's interval can change, utilizes the grafting stalk and cup jointing the pole and overlap each other and to close the flexible characteristics of passive activity for telescopic link 7 homoenergetic keeps being connected with balancing weight 4 and drives balancing weight 4 and remove when each position.
Furthermore, the output end 6 of the driving motor 5 is positioned at the geometric center of the circular track 2, the self weight of the driving motor 5 does not cause gravity center deviation, and the minimum required movable stroke of the telescopic rod 7 can be shortened.
Working principle embodiment:
when the focus of the arm of robot is partial to a certain side of robot because of the motion, dynamic focus adjusts the structure and can be according to the real-time focus change state of robot, drive balancing weight 4 through driving motor 5 and remove to the opposite position with focus incline direction on the circular orbit 2, adjust balancing weight 4 and be located the other side of arm skew focus promptly, can be located the center as far as possible in order to ensure the focus of robot, the accommodation process is dynamic continuous, the offset of its focus is estimated to the motion gesture of the backstage system accessible arm of robot, then adjust the position of balancing weight in real time.
In the description of the present invention, it is to be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "other end", "upper", "one side", "top", "inner", "front", "center", "both ends", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
In the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," "fixed," "screwed" and the like are to be construed broadly, e.g., as a fixed connection, a detachable connection, or an integral part; can be mechanically or electrically connected; the term "connected" may refer to a direct connection, an indirect connection through an intermediate, a connection between two elements or an interaction relationship between two elements, and unless otherwise specifically defined, the term should be understood as having a specific meaning in the present application by those skilled in the art.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides a GIS patrols and examines dynamic focus adjustment mechanism of robot which characterized in that: including being mounting panel (1) that the level form set up in GIS patrols and examines the robot, fixed laying installs circular orbit (2) on mounting panel (1), sliding connection has movable slider (3) on circular orbit (2), the fixed balancing weight (4) that are provided with on movable slider (3), driving motor (5) are installed to the bottom of mounting panel (1), the output (6) of driving motor (5) are vertical upwards to extend to on mounting panel (1), output (6) of driving motor (5) pass through telescopic link (7) with balancing weight (4) hinge is connected.
2. The GIS inspection robot dynamic center of gravity adjustment mechanism of claim 1, characterized in that: the shape of the plane track of the annular track (2) is a rounded rectangle.
3. The GIS inspection robot dynamic center of gravity adjustment mechanism of claim 1, characterized in that: the annular track (2) is formed by splicing at least two sections.
4. The GIS inspection robot dynamic center of gravity adjustment mechanism of claim 1, characterized in that: the telescopic rod (7) comprises an inserting rod and a sleeving rod, and the inserting rod and the sleeving rod are sleeved with each other and can movably extend.
5. The GIS inspection robot dynamic center of gravity adjustment mechanism of claim 1, characterized in that: the output end (6) of the driving motor (5) is positioned at the geometric center of the annular track (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122957054.5U CN216464705U (en) | 2021-11-29 | 2021-11-29 | GIS patrols and examines robot dynamic focus adjustment mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122957054.5U CN216464705U (en) | 2021-11-29 | 2021-11-29 | GIS patrols and examines robot dynamic focus adjustment mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216464705U true CN216464705U (en) | 2022-05-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122957054.5U Active CN216464705U (en) | 2021-11-29 | 2021-11-29 | GIS patrols and examines robot dynamic focus adjustment mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216464705U (en) |
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2021
- 2021-11-29 CN CN202122957054.5U patent/CN216464705U/en active Active
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