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Flexible arm mechanism capable of realizing rapid assembly and GIS maintenance robot

A technology of flexible arms and robot bodies, applied in the direction of claw arms, manipulators, manufacturing tools, etc., can solve the problems of difficult assembly and poor mobility of flexible arms, and achieve the effects of rapid assembly, improved accessibility, and expanded detection range

Pending Publication Date: 2022-05-13
SICHUAN UNIV +2
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problems of difficult assembly and poor mobility existing in the existing flexible arm, to provide a flexible arm mechanism that can realize rapid assembly, and to improve the deformation controllability of the flexible arm through a compact and flexible structural design

Method used

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  • Flexible arm mechanism capable of realizing rapid assembly and GIS maintenance robot
  • Flexible arm mechanism capable of realizing rapid assembly and GIS maintenance robot
  • Flexible arm mechanism capable of realizing rapid assembly and GIS maintenance robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0039] Such as figure 1 and Figure 9 As shown, this embodiment provides a flexible arm mechanism capable of quick assembly, which includes: a flexible control slide 1 and a flexible arm assembly 2 installed at the front end of the flexible control slide. The flexible control slide 1 includes an installation platform 11 and a driving assembly 12 installed on the installation platform 11 . The flexible arm assembly includes a first flexible arm 21 and a second flexible arm 23 , and a cleaning tool 5 and a camera 6 are installed at the end of the second flexible arm. The driving assembly 12 of the flexible control slide 1 is connected to the first flexible arm 21 and the second flexible arm 23 through a plurality of driving alloy wires passing through the first flexible arm 21 and the second flexible arm 23 respectively, and is stretched through the first flexible arm 21 and the second flexible arm 23. A driving alloy wire of the flexible arm 21 and / or the second flexible arm 23...

Embodiment 2

[0060] This embodiment provides a GIS maintenance robot, such as Figure 10 As shown, it includes the robot body 7 and the flexible arm mechanism provided by Embodiment 1. Four rollers 8 for driving the movement of the robot body are installed around the bottom of the robot body. A vision positioning camera 9 is installed on the front end of the robot body. The binocular vision positioning camera 9 is used for foreign object positioning in the GIS equipment cavity. The flexible control sliding table 1 of the flexible arm mechanism is installed in the robot body 7; the flexible arm assembly 2 of the flexible arm mechanism protrudes from one side of the robot body 7.

[0061] The working principle of the above-mentioned GIS maintenance robot is: the robot body 7 moves in the cavity of the GIS equipment driven by the roller 8, locates the foreign object through the binocular vision positioning camera 9, and then controls the first flexible arm and the second flexible arm through ...

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Abstract

The invention discloses a flexible arm mechanism capable of achieving rapid assembly. The flexible arm mechanism comprises a flexible control sliding table and a flexible arm assembly installed at the front end of the flexible control sliding table. The flexible arm assembly comprises more than one section of first flexible arm and one section of second flexible arm; each of the first flexible arm and the second flexible arm is formed by alternately hinging a plurality of female rings and male rings together; the flexible control sliding table is in driving connection with the first flexible arm and the second flexible arm through a plurality of driving alloy wires penetrating through the first flexible arm and the second flexible arm, and controls the first flexible arm and the second flexible arm to bend by driving the driving alloy wires penetrating through the first flexible arm and / or the second flexible arm. And the tail end of the second flexible arm reaches the target position. According to the invention, a movable hinge connection mode formed by the female ring and the male ring is adopted, so that the first flexible arm and the second flexible arm can be quickly assembled and are not easy to deform, and the first flexible arm and the second flexible arm have good activity, so that the control precision of the first flexible arm and the second flexible arm can be improved.

Description

technical field [0001] The invention belongs to the technical field of detection auxiliary devices for GIS equipment (Gas Insulated Switchgear, gas insulated combined electrical equipment) in power systems, and relates to a flexible arm mounted on a GIS maintenance robot, in particular to a flexible arm mechanism capable of fast assembly and a flexible arm mechanism equipped with a The maintenance robot of the flexible arm mechanism. Background technique [0002] Since the GIS is a fully enclosed device with conductive rods, supporting insulators and other components inside, the maintenance process is relatively complicated, and it is difficult for maintenance personnel to enter the interior of the equipment to find fault points. The use of robots for GIS equipment maintenance is a future development trend. [0003] Due to the complex internal structure of the GIS equipment cavity (conductive rods, supporting insulators, basins, etc.), the robot is required to not only real...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J18/00B25J11/00B25J19/02B25J15/00
CPCB25J18/00B25J11/00B25J19/023B25J15/0019
Inventor 佃松宜杨家勇黄显伟刘佳鑫朱雨琪马丛俊李胜川周桂平李勇郭锐
Owner SICHUAN UNIV