CN106003084A - Maintenance-service robot for transformer substation - Google Patents

Abstract

The invention provides a substation maintenance service robot, which includes a base plate, a walking unit, a workbench, a locker, a first hydraulic cylinder, and grippers. The base plate is a regular hexagonal flat plate, and six Walking unit, the walking unit includes a rear parallel bracket, 2 shock absorbing springs, a front parallel bracket, a cross arm, a fifth hydraulic cylinder, a sliding arm, a motor mounting frame, a first servo motor, a steering bracket, a rubber wheel, a first Two servo motors, the rear parallel bracket and the front parallel bracket have the same structure and are parallel to each other, and the lower ends of the two are hinged on the hinge support on the top of the base plate. The invention has six walking units that can be independently controlled, so that the robot has high mobility, and at the same time has two mechanical arms that can move independently, and can use electric maintenance tools to maintain the electrical system.

Description

A substation maintenance service robot

technical field

The invention relates to the technical field of power grids, in particular to a substation maintenance service robot.

Background technique

During the construction and use of substations, it is often necessary to test and maintain high-voltage electrical components and systems. These high-voltage electrical components are more dangerous to the human body. Humans can be assisted by robots.

Contents of the invention

In view of the above problems, the present invention provides a substation maintenance service robot, which adopts 6 walking units that can be independently controlled, so that the robot has a high mobility, and also has 2 mechanical arms that can move independently, and can use electric power to maintain Tool to perform repairs on electrical systems.

The technical solution used in the present invention is: a substation maintenance service robot, including a base plate, a walking unit, a workbench, a locker, a first hydraulic cylinder, a claw, a horizontal plate, a camera, a second hydraulic cylinder, a slider, The third hydraulic cylinder, the longitudinal guide rail, the fourth hydraulic cylinder, the swing arm, the telescopic arm, the hydraulic motor, the lithium battery pack, the electric control device, the tool box, and the column, are characterized in that: the base plate is a regular hexagonal flat plate, 6 walking units are evenly distributed on the upper part of the base plate, and the walking unit includes a rear parallel support, 2 shock absorbing springs, a front parallel support, a cross arm, a fifth hydraulic cylinder, a sliding arm, a motor mounting frame, a first servo motor, Steering bracket, rubber wheel, second servo motor, the rear parallel bracket and the front parallel bracket have the same structure and are parallel to each other. connection; one end of the damping spring is hinged to the lower end of the front parallel bracket, the other end is hinged to the upper end of the rear parallel bracket, and the spring is in a stretched state; the sliding arm is a long rod with a rectangular section, and one end is slidably mounted on In the cross arm, the other end is connected with the motor mounting frame, and the expansion and contraction of the sliding arm is controlled by the fifth hydraulic cylinder. The end of the cylinder body of the fifth hydraulic cylinder is fixed on the cross arm, and the end of the piston rod of the fifth hydraulic cylinder fixed on the motor mounting frame; the first servo motor is fixed vertically downward on the motor mounting frame, the steering bracket is fixed directly below the motor shaft of the first servo motor, and a rubber wheel is installed on the steering bracket. The rubber wheels are directly driven by the second servo motor on the side of the steering bracket;

The workbench is fixed above the bottom plate by 6 uprights. The workbench is circular, and a locker and a cylindrical toolbox are installed above the workbench. The locker is divided into two floors and has 3 storage rooms in total. , where there are two storage rooms on the lower floor and one storage room on the upper floor, and a mechanical arm is installed above the top of the two storage rooms on the lower floor, each mechanical arm includes 2 first hydraulic cylinders, 2 grippers, horizontal Plate, second hydraulic cylinder, slide block, third hydraulic cylinder, longitudinal guide rail, fourth hydraulic cylinder, swing arm, telescopic arm, hydraulic motor, the hydraulic motor is vertically fixed above the top of the lower storage room, the The longitudinal guide rail is vertically fixed above the output shaft of the hydraulic motor, the slider is slidably installed on the longitudinal guide rail, and the up and down movement of the slider is controlled by the second hydraulic cylinder fixed on the top of the longitudinal guide rail; the swing arm is made of a square section hollow Made of square pipe, the inner end of the swing arm is hinged at the lower part of the slider, the swing of the swing arm is controlled by the third hydraulic cylinder, the rear end of the cylinder body of the third hydraulic cylinder is hinged at the upper part of the slider, and the third hydraulic cylinder The end of the piston rod is hinged above the swing arm; the telescopic arm is slidably installed inside the swing arm, and the telescopic movement of the telescopic arm is controlled by the fourth hydraulic cylinder; the horizontal plate is fixed on the front end of the telescopic arm, and a There are 2 swingable claws, and the swing of the claws is controlled by the first hydraulic cylinder; the camera is fixed on the upper part of the locker.

Further, the rubber wheels on the six walking units can all turn and rotate independently.

Further, electrical maintenance tools are stored in the tool box.

Further, the present invention is also provided with a hydraulic system, and the hydraulic system is respectively connected to the first hydraulic cylinder, the second hydraulic cylinder, the third hydraulic cylinder, the fourth hydraulic cylinder, the hydraulic motor, and the fifth hydraulic cylinder through pipelines, The hydraulic system is controlled by an electronic control device.

Further, the two mechanical arms can move independently.

Further, the lithium battery pack is connected with the electric control device and provides power for it, and the electric control device is respectively connected with the camera, the second servo motor and the first servo motor through wires, and the data collected by the camera is It is transmitted to the electronic control device through wires, and a wireless communication module is also provided inside the electronic control device, which can communicate with the external handheld terminal, and the maintenance personnel can control the robot through the handheld terminal.

The working principle of the present invention: when the present invention is in use, the surrounding environment and objects are first observed through the camera, and at the same time, the data collected by the camera is transmitted to the handheld terminal of the maintenance personnel through the wireless communication module, and then the maintenance personnel control the robot through 6 The walking unit moves to the designated maintenance location, and the next step is to take out the maintenance tools from the tool box through the mechanical arm to repair the damaged electrical system.

Because the present invention adopts above-mentioned technical scheme, the present invention has the following advantages:

The invention has 6 walking units that can be independently controlled, so that the robot has high mobility, and also has 2 mechanical arms that can move independently, and can use electric maintenance tools to maintain the electrical system.

Description of drawings

Fig. 1 and Fig. 2 are schematic diagrams of the three-dimensional structure of the overall assembly of the present invention.

Fig. 3 is a structural schematic diagram of the walking unit of the present invention.

Reference numerals: 1-base plate; 2-travel unit; 3-workbench; 4-locker; 5-first hydraulic cylinder; 6-hand claw; 7-horizontal plate; 8-camera; 9-second hydraulic pressure cylinder; 10-slider; 11-third hydraulic cylinder; 12-longitudinal guide rail; 13-fourth hydraulic cylinder; 14-swing arm; 15-telescopic arm; 16-hydraulic motor; 17-lithium battery pack; 18-electric Control device; 19-toolbox; 20-column; 201-rear parallel bracket; 202-shock absorbing spring; 203-front parallel bracket; 204-cross arm; 205-fifth hydraulic cylinder; 206-sliding arm; 207-motor Mounting frame; 208-the first servo motor; 209-steering bracket; 210-rubber wheels; 211-the second servo motor.

detailed description

The technical solutions of the present invention will be further specifically described below through the embodiments and in conjunction with the accompanying drawings.

Example

As shown in Figure 1, Figure 2, and Figure 3, a substation maintenance service robot includes a base plate 1, a walking unit 2, a workbench 3, a locker 4, a first hydraulic cylinder 5, a gripper 6, a horizontal plate 7, Camera 8, second hydraulic cylinder 9, slider 10, third hydraulic cylinder 11, longitudinal guide rail 12, fourth hydraulic cylinder 13, swing arm 14, telescopic arm 15, hydraulic motor 16, lithium battery pack 17, electric control device 18 , toolbox 19, column 20, it is characterized in that: described base plate 1 is a regular hexagonal flat plate, 6 walking units 2 are evenly distributed on base plate 1 top, and described walking unit 2 comprises rear parallel support 201, 2 Damping spring 202, front parallel bracket 203, cross arm 204, fifth hydraulic cylinder 205, sliding arm 206, motor mounting frame 207, first servo motor 208, steering bracket 209, rubber wheel 210, second servo motor 211, so The rear parallel bracket 201 and the front parallel bracket 203 have the same structure and are parallel to each other, the lower ends of the two are hinged on the hinge support on the top of the base plate 1, and the upper ends of the two are hinged with the cross arm 204; the shock absorbing spring 202 One end is hinged with the lower end of the front parallel bracket 203, the other end is hinged with the upper end of the rear parallel bracket 201, and the spring is in a stretched state; the sliding arm 206 is a long rod with a rectangular cross section, and one end is slidably installed in the cross arm 204 , the other end is connected with the motor mounting bracket 207, and the expansion and contraction of the sliding arm 206 is controlled by the fifth hydraulic cylinder 205. The cylinder end of the fifth hydraulic cylinder 205 is fixed on the cross arm 204, and the piston of the fifth hydraulic cylinder 205 The end of the rod is fixed on the motor mounting frame 207; the first servo motor 208 is fixed vertically downward on the motor mounting frame 207, and the steering bracket 209 is fixed directly below the motor shaft of the first servo motor 208. The bracket 209 is equipped with a rubber wheel 210, and the rubber wheel 210 is directly driven by the second servo motor 211 on the side of the steering bracket 209;

The workbench 3 is fixed on the top of the base plate 1 by 6 columns 20, the workbench 3 is circular, and a locker 4 and a cylindrical toolbox 19 are installed above the workbench 3, and the locker is divided into 4 parts. There are 3 storage rooms on the two floors, of which there are two storage rooms on the lower floor and one storage room on the upper floor. A mechanical arm is installed above the top of the two storage rooms on the lower floor. Each mechanical arm includes 2 first hydraulic pressure Cylinder 5, two grippers 6, horizontal plate 7, second hydraulic cylinder 9, slider 10, third hydraulic cylinder 11, longitudinal guide rail 12, fourth hydraulic cylinder 13, swing arm 14, telescopic arm 15, hydraulic motor 16 , the hydraulic motor 16 is fixed vertically above the top of the lower storage room, the longitudinal guide rail 12 is vertically fixed above the output shaft of the hydraulic motor 16, and the slider 10 is slidably mounted on the longitudinal guide rail 12, the slider The up and down movement of 10 is controlled by the second hydraulic cylinder 9 fixed on the top of the longitudinal guide rail 12; the swing arm 14 is made of a hollow square tube with a square section, and the inner end of the swing arm 14 is hinged at the bottom of the slide block 10, and the swing of the swing arm 14 Controlled by the third hydraulic cylinder 11, the cylinder rear end of the third hydraulic cylinder 11 is hinged on the upper part of the slider 10, and the piston rod end of the third hydraulic cylinder 11 is hinged above the swing arm 14; the telescopic The arm 15 is slidingly installed inside the swing arm 14, and the telescopic movement of the telescopic arm 15 is controlled by the fourth hydraulic cylinder 13; the horizontal plate 7 is fixed at the front end of the telescopic arm 15, and two swingable The claw 6, the swing of the claw 6 is controlled by the first hydraulic cylinder 5; the camera 8 is fixed on the top of the locker 4.

Further, the rubber wheels 210 on the six traveling units 2 can all turn and rotate independently.

Further, electrical maintenance tools are stored in the tool box 19 .

Further, the present invention is also provided with a hydraulic system, and the hydraulic system is connected with the first hydraulic cylinder 5, the second hydraulic cylinder 9, the third hydraulic cylinder 11, the fourth hydraulic cylinder 13, the hydraulic motor 16, the fifth hydraulic cylinder through pipelines. The hydraulic cylinders 205 are connected, and the hydraulic system is controlled by the electric control device 18 .

Further, the two mechanical arms can move independently.

Further, the lithium battery pack 17 is connected with the electric control device 18 and provides power for it, and the electric control device 18 is respectively connected with the camera 8, the second servo motor 211 and the first servo motor 208 through wires, The camera 8 transmits the collected data to the electronic control device 18 through wires. The electronic control device 18 is also provided with a wireless communication module, which can communicate with external handheld terminals. The maintenance personnel can control the robot through the handheld terminals.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

The working principle of the present invention: when the present invention is in use, the surrounding environment and objects are first observed through the camera 8, and the data collected by the camera 8 is transmitted to the handheld terminal of the maintenance personnel through the wireless communication module, and then the maintenance personnel control the robot through the The six traveling units 2 move to the designated maintenance location, and the next step is to take out the maintenance tool from the tool box 19 by the mechanical arm to repair the damaged electrical system.

In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "central", "inner" and "outer" are based on the attached The orientation or positional relationship shown in the figure, or the conventional orientation or positional relationship of the invention product in use, is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, are constructed and operate in a particular orientation and therefore are not to be construed as limiting the invention. In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions, and should not be construed as indicating or implying relative importance.

Claims (6)

1. null1. a maintenance service robot of transformer station，Including base plate (1)、Walking unit (2)、Workbench (3)、Locker (4)、First hydraulic cylinder (5)、Paw (6)、Transverse slat (7)、Video camera (8)、Second hydraulic cylinder (9)、Slide block (10)、3rd hydraulic cylinder (11)、Longitudinal rail (12)、4th hydraulic cylinder (13)、Swing arm (14)、Telescopic arm (15)、Hydraulic motor (16)、Lithium battery group (17)、Electric control gear (18)、Workbox (19)、Column (20)，It is characterized in that: described base plate (1) is a regular hexagon flat board，Uniform 6 walkings unit (2) on base plate (1) top，Described walking unit (2) includes rear parallel bracket (201)、2 damping springs (202)、Front parallel bracket (203)、Transverse arm (204)、5th hydraulic cylinder (205)、Travelling arm (206)、Motor mounting rack (207)、First servomotor (208)、Turning rack (209)、Rubber wheel (210)、Second servomotor (211)，Described rear parallel bracket (201) is identical and parallel to each other with front parallel bracket (203) structure，The two bottom is all hinged on the hinged-support on base plate (1) top，The two upper end is all articulated and connected with transverse arm (204)；Described damping spring (202) one end is hinged with the bottom of front parallel bracket (203), and the other end is hinged with the upper end of rear parallel bracket (201), and spring is extended state；Described travelling arm (206) is the stock of square-section, its one end is slidably mounted in transverse arm (204), the other end is connected with motor mounting rack (207), the flexible of travelling arm (206) is controlled by the 5th hydraulic cylinder (205), the cylinder body end of described 5th hydraulic cylinder (205) is fixed on transverse arm (204), and the piston rod end of described 5th hydraulic cylinder (205) is fixed on motor mounting rack (207)；Described first servomotor (208) is fixed on motor mounting rack (207) straight down, described turning rack (209) is fixed on immediately below the motor shaft of the first servomotor (208), being provided with rubber wheel (210) at turning rack (209), described rubber wheel (210) is directly driven by second servomotor (211) of turning rack (209) side；

   nullDescribed workbench (3) is fixed on base plate (1) top by 6 root posts (20)，Workbench (3) is circular，It is arranged above locker (4) and cylindrical tool case (19) at workbench (3)，Described locker (4) point two-layer has 3 material storage room，Wherein lower floor You Liangge material storage room，There is a material storage room on upper strata，In lower floor, 2 material storage room's over top respectively install a mechanical arm，Each mechanical arm includes 2 the first hydraulic cylinders (5)、2 paws (6)、Transverse slat (7)、Second hydraulic cylinder (9)、Slide block (10)、3rd hydraulic cylinder (11)、Longitudinal rail (12)、4th hydraulic cylinder (13)、Swing arm (14)、Telescopic arm (15)、Hydraulic motor (16)，Described hydraulic motor (16) is fixed on material storage room of lower floor over top straight up，Described longitudinal rail (12) is vertically fixed on above the output shaft of hydraulic motor (16)，Described slide block (10) is slidably mounted on longitudinal rail (12)，The up and down motion of slide block (10) is controlled by the second hydraulic cylinder (9) being fixed on longitudinal rail (12) top；Described swing arm (14) is made up of the hollow square tube of square sectional, the inner opposite end of swing arm (14) is hinged on slide block (10) bottom, the swing of swing arm (14) is controlled by the 3rd hydraulic cylinder (11), the rear end of the cylinder block portion of described 3rd hydraulic cylinder (11) is hinged on slide block (10) top, and the piston rod end of described 3rd hydraulic cylinder (11) is hinged on swing arm (14) top；Described telescopic arm (15) is internal for being slidably mounted on swing arm (14), and the stretching motion of telescopic arm (15) is controlled by the 4th hydraulic cylinder (13)；Described transverse slat (7) is fixed on telescopic arm (15) front end, is provided with 2 paws that can swing (6) in transverse slat (7) front portion, and the swing of paw (6) is controlled by the first hydraulic cylinder (5)；Described video camera (8) is fixed on locker (4) top.
2. Maintenance service robot of a kind of transformer station the most according to claim 1, it is characterised in that: the described rubber wheel (210) on 6 walkings unit (2) all can independent steering and rotation.
3. Maintenance service robot of a kind of transformer station the most according to claim 1, it is characterised in that: described workbox (19) internal memory is placed with electrical repair instrument.
4. Maintenance service robot of a kind of transformer station the most according to claim 1, it is characterized in that: the present invention is additionally provided with hydraulic system, described hydraulic system is connected with the first hydraulic cylinder (5), the second hydraulic cylinder (9), the 3rd hydraulic cylinder (11), the 4th hydraulic cylinder (13), hydraulic motor (16), the 5th hydraulic cylinder (205) respectively by pipeline, and hydraulic system is controlled by electric control gear (18).
5. Maintenance service robot of a kind of transformer station the most according to claim 1, it is characterised in that: two described mechanical arms can be with self-movement.
6. Maintenance service robot of a kind of transformer station the most according to claim 1, it is characterized in that: described lithium battery group (17) is connected with electric control gear (18) and provides electric power for it, described electric control gear (18) by wire respectively with video camera (8), second servomotor (211) is connected with the first servomotor (208), the data collected are passed to electric control gear (18) by wire by video camera (8), electric control gear (18) is internal is additionally provided with wireless communication module, communication can be carried out with extraneous handheld terminal, robot can be controlled by maintainer by handheld terminal.