Crawler type substation patrol robot based on hub motor

A technology for inspection robots and hub motors, applied in the field of robotics, can solve the problems that the structure of the robot cannot be changed again, the experimental equipment cannot be installed, and the structure is complex.

Inactive Publication Date: 2015-09-09
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the driving motors of almost all crawler robots are ordinary wheel-side motors, which is equivalent to adding a large number of transmission components, making the structure more complex, occupying the small equipment installation space of the body, and making it impossible to install more Advanced experimental equipment, and once processed, the structure of the robot can hardly be changed again

Method used

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  • Crawler type substation patrol robot based on hub motor
  • Crawler type substation patrol robot based on hub motor
  • Crawler type substation patrol robot based on hub motor

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0019] see Figure 1~Figure 5 , a crawler-type substation inspection robot based on hub motors, including: a connecting frame (1), an electrical box (2), and two driving systems with the same structure distributed on the left and right sides, characterized in that: the left and right two The side drive system is connected into one body through the connecting frame (1), and the connecting frame (1) is fixedly connected with the two support frames (4) in the two driving systems through relative translation adjustment, so that the position can be freely translated and slid to adjust; The electrical box (2) is fixed on the connecting frame (1); the motor (9) in the driving system adopts a hub motor, omitting transmission components, and simplifying the structure.

Embodiment 2

[0021] This embodiment is basically the same as Embodiment 1, especially as follows:

[0022] The drive system includes: drive track (3), support frame (4), drive wheel drive mechanism ( ), supporting mechanism of supporting sprocket ( ), guide wheel support mechanism ( ) and roller support mechanism ( ), and the front and rear ends of the support frame (4) are respectively equipped with a guide wheel support mechanism ( ) and drive wheel drive mechanism ( ), while the upper and lower parts of the middle are respectively equipped with supporting sprocket supporting mechanisms ( ) and roller support mechanism ( ), the transmission track (3) is wrapped on their periphery. The drive wheel drive mechanism ( ) includes the outer column of the engagement column (5), the inner column of the engagement column (6), the flange plate (7), the spoke hole support (8), the motor (9) and the motor support frame (10), the outer column of the engagement column (5) Installed on...

Embodiment 3

[0024] Such as Figure 1 to Figure 3 As shown, the crawler substation inspection robot based on hub motors includes: connecting frame (1), electrical box (2), and two drive systems distributed on the left and right sides. The structure of the left and right two driving systems is the same, including: transmission crawler belt (3), support frame (4), drive wheel drive mechanism, support sprocket support mechanism, guide wheel support mechanism, roller support mechanism. The electrical box (2) is fixed on the connecting frame (1). The drive wheel drive mechanism ( Figure 4 ) includes: engagement column outer column (5), engagement column inner column (6), flange plate (7), spoke hole support (8), motor (9), motor support frame (10), wherein the engagement column The outer column (5) is installed on the inner column (6) of the engaging column, and the inner column (6) of the engaging column is installed on the flange plate (7), and the flange plate (7) connects with the motor (...

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Abstract

The invention relates to a crawler type substation patrol robot based on a hub motor. The crawler type substation patrol robot based on the hub motor comprises a connector, an electrical cabinet, and two the same drive systems distributed at the left and right sides, the drive systems at the left and right sides are connected into a single unit through the connector, the connector and two support frames in the two drive systems are firmly connected in a relative translation regulation mode, and then the connector and two support frames can freely translate and slide to regulate the positions; the electrical cabinet is fixed on the connector; a motor in each drive system is the hub motor, a transmission component is omitted, and the structure is simplified. The crawler type substation patrol robot has a simple and novel drive mode. The crawler type substation patrol robot also can serve as a variable-structure robot, and a dip angle (top rake) between a drive wheel driving mechanism and a support wheel supporting mechanism, a dip angle (caster angle) between a guide wheel support mechanism and the support wheel supporting mechanism, and a height between the connector and the ground can be regulated according to the movement environment. The crawler type substation patrol robot can strain the crawler through regulating the position of the guide wheel support mechanism after the crawler becomes loose in the long-time movement. Compared with a traditional crawler type robot, the obstacle crossing performance and move flexibility of the robot are better.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a crawler-type substation inspection robot based on a hub motor, which is used for inspection of field substations. Background technique [0002] The substation system is one of the core systems of the three major systems of transmission, transformation and distribution in the production of power supply enterprises. It is substation equipment management. The substation has a large area, and its equipment has a large number and variety, including switches, transformers, power capacitors, lightning arresters, voltage transformers, current transformers, busbars, fuses, and various cables, knife switches, wave traps, couplings Capacitors, grounding devices, etc. If there is a safety problem with these devices, it will affect the operation of the entire substation. Therefore, it is necessary to regularly inspect the substation equipment to find potential safety hazards in...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D55/08B62D55/12B62D55/125
Inventor 张震梅帅孙存俊吴磊程伟伟邓绍坤
Owner SHANGHAI UNIV
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