Universal-ball-type self-adaption flexible connection mechanism and detection system of mobile robot

Abstract

The invention discloses a universal-ball-type self-adaption flexible connection mechanism and detection system of a mobile robot. The connection mechanism comprises a first connection end and a secondconnection end, a universal rotation ball, a reset base and an elastic element are arranged between the first connection end and the second connection end in sequence, and the first connection end isconnected to one end of the universal rotation ball; the other end of the universal rotation ball is arranged in the second connection end in a sleeved mode, the reset base is in contact with the elastic element in the second connection end so that the second connection end and the first connection end can move along with the universal rotation ball, and flexible angle adjustment is achieved. According to the universal-ball-type self-adaption flexible connection mechanism, ultrahigh-frequency detection is achieved, and meanwhile the mechanism can also be suitable for other industrial automatic occasions such as an occasion that the tail end plane of a mechanism arm cannot be parallel to an operating plane so that automatic alignment can be required.

Description

Technical field [0001] The invention relates to a universal ball type adaptive flexible connection mechanism and a detection system for a mobile robot. Background technique [0002] In the current application field of electric robots, it is no longer only satisfied with the use of robots to patrol poles and towers outdoors. Instead, robots are required to replace manual inspections in the area of ​​the full substation. The partial discharge detection of indoor switch cabinets in the substation is One of the important tasks. By loading a live detection manipulator on the original outdoor robot, using the manipulator to operate a highly integrated partial discharge sensor, the switch cabinet is subjected to three partial discharge detections of UHF, ground waves and ultrasound, and the robot's feedback data is used for inspection The personnel can investigate and maintain the problems of the switch cabinet in time to ensure the stable operation of the substation. [0003] In the th...

AI Technical Summary

Problems solved by technology

[0003] Among the three detection items of partial discharge detection, the detection of UHF requires the sensor to be completely attached to the cabinet. If it cannot be attached or there is a gap between the contact surface of the sensor and the detection surface of the cabinet, the measured data is Invalid

[0004] However, affected by problems such as robot navigation, control accuracy, and manufacturing accuracy of the robotic arm, it is difficult for the robot chassis to dock at the correct inspection position and angle of the switch cabinet, and eventually the partial discharge sensor cannot be completely attached to the surface of the switch cabinet. Unable to carry out UHF partial discharge detection items

[0005] Most of the current solutions to this problem are to add a rotational degree of freedom in the X-axis or Y-axis direction at the end of the robot arm, but this method can only solve the problem that the XY plane of the robot and the surface of the switch cabinet have an included angle in the horizontal or vertical direction. , if this problem needs to be fully solved, it is necessary to add two degrees of freedom at the end of the manipulator, and this method needs to add an additional set of feedback system to judge the angle between the plane of the manipulator and the surface of the switch cabinet, which increases the control The difficulty and the load of the robotic arm

Images