Metering voltage transformer hanging rail inspection robot

Abstract

The invention discloses a metering voltage transformer hanging rail inspection robot which comprises a hanging rail, a power mechanism, a robot body and a mechanical arm mechanism. A rotating motor, a rotating seat, a first mechanical arm, a first servo motor, a second mechanical arm, a second servo motor, a third mechanical arm, a third servo motor, a detector and a fourth servo motor are sequentially arranged in the mechanical arm mechanism; a limiting groove and a penetrating groove are formed in the first mechanical arm, a limiting plate is movably mounted in the limiting groove, a connecting rod is fixedly arranged on one side of the limiting plate, a first crank rod is movably connected to the connecting rod, and the other end of the first crank rod is movably connected with one side of a third mechanical arm; a positioning plate is fixedly arranged on one side of the bottom of the rotating seat, a second crank rod is movably connected to one side of the positioning plate, the other end of the second crank rod is movably connected with one side of the end of the second mechanical arm, and the telescopic stability of the mechanical arm mechanism can be conveniently kept.

Description

Technical Field

[0001] The present invention relates to applications for automated inspection, and more particularly, to a hanging-rail inspection robot for metering voltage transformers. Background Art

[0002] With the development of automation technology, inspection robots have become an important part of various industries.

[0003] An intelligent inspection robot is a wheeled robot integrated with multiple sensors. It can perform functions such as infrared temperature measurement, meter recognition, vibration measurement, and sound recognition, and upload the recognition results to the data center, ensuring the accuracy and timeliness of the data. At the same time, it can also adapt to more complex working environments.

[0004] An intelligent inspection robot is a complex system that integrates intelligent inspection technology, robot body technology, non-contact detection technology for power equipment, multi-sensor fusion technology, and navigation and behavior planning technology.

[0005] A hanging-rail inspection robot relies on a suspended rail system to move freely in complex environments such as mines. The rail system generally consists of a steel rail and a guide rail assembly. The steel rail is used for the movement of the robot, and the guide rail assembly is used to keep the rail stable.

[0006] However, when existing hanging-rail inspection robots are in use, they generally use servo electric cylinders, hydraulic cylinders, or air cylinders for lifting and adjustment, and can only perform lifting and adjustment at the lower part of the hanging rail, unable to achieve multi-axis adjustment in three-dimensional space. Moreover, when existing robotic arms are in use, the robotic arms are prone to instability, causing the inspection equipment to shake easily and unable to perform inspection processing with high clarity. Summary of the Invention

[0007] An object of the present invention is to provide a new technical solution for a hanging-rail inspection robot for metering voltage transformers.

[0008] According to a first aspect of the present invention, there is provided a hanging-rail inspection robot for metering voltage transformers, including a hanging rail, a power mechanism, a robot body, and a robotic arm mechanism;

[0009] In the robotic arm mechanism, a rotary motor, a rotary seat, a first robotic arm, a first servo motor, a second robotic arm, a second servo motor, a third robotic arm, a third servo motor, a detector, and a fourth servo motor are sequentially provided;

[0010] A limiting groove is formed inside the first robotic arm. A through groove is formed on one side of the limiting groove. A limiting plate is movably installed inside the limiting groove. A connecting rod is fixedly provided on one side of the limiting plate. A first crank rod is movably connected to the connecting rod. The other end of the first crank rod is movably connected to one side of the third robotic arm. A positioning plate is fixedly provided on one side of the bottom of the rotating seat. A second crank rod is movably connected to one side of the positioning plate. The other end of the second crank rod is movably connected to one side of the end of the second robotic arm.

[0011] Optionally, the suspension rail is used for the motion adjustment of the power mechanism. The robot body is fixedly installed at the lower part of the power mechanism. The robot body is used to analyze and process the collected data. The robotic arm mechanism is arranged at the lower part of the robot body.

[0012] Optionally, the robotic arm mechanism includes a rotating motor arranged at the lower part of the robot body. The end of the rotating motor is connected to the rotating seat. A first connecting head is fixedly provided at the bottom of the rotating seat. A first robotic arm is movably connected between the first connecting heads. A first servo motor is arranged on one side of the first robotic arm. A second robotic arm is movably connected to the end of the first robotic arm. A second servo motor for adjusting the second robotic arm is arranged on one side of the first robotic arm. A third robotic arm is movably connected to the end of the second robotic arm. A third servo motor for adjusting the third robotic arm is arranged on one side of the second robotic arm. A detector is connected to the end of the third robotic arm through a connecting plate. A fourth servo motor for adjusting the connecting plate is arranged on one side of the third robotic arm.

[0013] Optionally, lengthening screws are respectively fixedly provided at the four corners of the upper end of the robot body. The power mechanism includes a mounting plate. The upper ends of the lengthening screws are connected to the four corners of the mounting plate.

[0014] Optionally, a first power roller and a second power roller are arranged on both sides of the middle of the power mechanism. The bottom ends of the axles of the first power roller and the second power roller penetrate through the mounting plate and are key-connected with a first gear and a second gear.

[0015] Optionally, a power gear is meshed and connected between the first gear and the second gear. The power gear is key-connected to the output shaft of a fifth servo motor. A protective housing is fixedly installed at the lower part of the mounting plate. The first gear, the second gear, the power gear and the fifth servo motor are installed inside the protective housing.

[0016] Optionally, first positioning rods are respectively provided on both sides of the end of the mounting plate. A torsion spring is sleeved at the bottom of the first positioning rod. A first socket part is sleeved at the upper end of the first positioning rod. The first socket part is sleeved on the torsion spring. A guide wheel is movably installed at the end of the first socket part.

[0017] Optionally, a connecting ring is fixedly sleeved on the lengthening screw rod at the same end. A second positioning rod is connected between the two connecting rings on both sides. An elastic sheet is sleeved on the second positioning rod.

[0018] Optionally, a second connecting head is welded to the lower part of the end of the mounting plate. A second socket part is movably connected inside the second connecting head. A support roller is movably connected to the end of the second socket part. The other end of the elastic sheet is movably connected to the middle of the second socket part.

[0019] Optionally, the first power roller and the second power roller are respectively attached to both sides of the suspension rail. The guide wheel is also attached to both sides of the suspension rail. And the first power roller, the second power roller and the guide wheel are respectively located in the grooves on both sides of the suspension rail. The support rollers at both ends are respectively attached to the lower surface of the suspension rail.

[0020] According to an embodiment of the present disclosure, the robotic arm mechanism realizes auxiliary support for the first robotic arm, the second robotic arm and the third robotic arm in the robotic arm mechanism through the first crank rod and the second crank rod, improves the stability of the robotic arm mechanism during the stretching process, and performs stretching adjustment through the first robotic arm, the second robotic arm and the third robotic arm in the robotic arm mechanism. And rotation adjustment of the first robotic arm, the second robotic arm and the third robotic arm is realized through the rotation motor, the first servo motor, the second servo motor, the third servo motor and the fourth servo motor, so as to realize adjustment on three axes, and inspection processing is performed through the detector;

[0021] According to another embodiment of the present disclosure, in the power mechanism, the fifth servo motor drives the first gear and the second gear on both sides to rotate, and then drives the first power roller and the second power roller to rotate, so that the first power roller and the second power roller can be attached to the suspension rail and rotate, realizing driving the entire inspection robot to move;

[0022] And the installation connection of the first socket part is realized through the first positioning rod and the torsion spring. And the setting of the torsion spring facilitates the first socket part and the guide wheel to be attached to both sides of the suspension rail, facilitating the realization of the guiding function. And under the action of the torsion spring, the inspection robot can realize adaptive adjustment and fitting at the turning point of the suspension rail, and is convenient for removing sundries on the suspension rail;

[0023] And the second socket part is adjusted by the elastic sheet so that the second socket part can always be pushed upward, enabling the supporting rollers on the second socket part to fit against the lower part of the hanging rail, facilitating the stable fitting of the inspection robot to the hanging rail. In particular, it can ensure that the first driving roller and the second driving roller can fit against the hanging rail and rotate, facilitating the driving of the entire inspection robot to move.

[0024] Other features and advantages of the present invention will become clear from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings incorporated in and forming a part of this specification illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0026] Figure 1 It is a schematic diagram of the overall structure of the hanging rail inspection robot for metering voltage transformers;

[0027] Figure 2 It is a side view of the robotic arm mechanism of the hanging rail inspection robot for metering voltage transformers;

[0028] Figure 3 It is a top view of the robotic arm mechanism of the hanging rail inspection robot for metering voltage transformers in one embodiment;

[0029] Figure 4 It is for the hanging rail inspection robot for metering voltage transformers in one embodiment Figure 2 Cross-sectional view at A;

[0030] Figure 5 It is a schematic diagram of the hanging rail, power mechanism, and robot body of the hanging rail inspection robot for metering voltage transformers in the second embodiment;

[0031] Figure 6 It is a top view of the power mechanism of the hanging rail inspection robot for metering voltage transformers in the second embodiment;

[0032] Figure 7 It is a bottom view of the power mechanism of the hanging rail inspection robot for metering voltage transformers in the second embodiment;

[0033] Figure 8 It is for the hanging rail inspection robot for metering voltage transformers in the second embodiment Figure 6 Cross-sectional view at B;

[0034] The markings in the figure are as follows: 1. Suspension rail; 2. Power mechanism; 201. Mounting plate; 202. Extension screw; 203. Protective housing; 204. Fifth servo motor; 205. Power gear; 206. First gear; 207. Second gear; 208. First power roller; 209. Second power roller; 210. First positioning rod; 211. First socket; 212. Torsion spring; 213. Second connector; 214. Second socket; 215. Support roller; 216. Elastic sheet; 217. Second positioning rod; 218. Linking ring; 219. Guide wheel; 220. Third socket; 221. Brush; 3. Robot body; 4. Robotic arm mechanism; 401. Rotation motor; 402. Rotation base; 403. First connector; 404. First servo motor; 405. First robotic arm; 406. Second servo motor; 407. Second robotic arm; 408. Third robotic arm; 409. Connecting plate; 410. Detector; 411. Third servo motor; 412. Limit groove; 413. Through groove; 414. Limit plate; 415. Connecting rod; 416. First crank rod; 417. Positioning plate; 418. Second crank rod; 419. Fourth servo motor. Detailed implementation mode

[0035] Now, various exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that: unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present invention.

[0036] The following description of at least one exemplary embodiment is merely illustrative and in no way limits the present invention or its application or use.

[0037] Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such technologies, methods, and devices should be regarded as part of the specification.

[0038] In all the examples shown and discussed here, any specific values should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values.

[0039] As Figure 1-8 shown, the metering voltage transformer hanging rail inspection robot includes a suspension rail 1, a power mechanism 2, a robot body 3, and a robotic arm mechanism 4; the suspension rail 1 is used for the power mechanism 2 to adjust its movement, the robot body 3 is fixedly installed below the power mechanism 2, the robot body 3 is used to analyze and process the collected data, and the robotic arm mechanism 4 is arranged below the robot body 3;

[0040] Embodiment 1:

[0041] The robotic arm mechanism 4 is successively provided with a rotary motor 401, a rotary base 402, a first robotic arm 405, a first servo motor 404, a second robotic arm 407, a second servo motor 406, a third robotic arm 408, a third servo motor 411, a detector 410, and a fourth servo motor 419;

[0042] A limiting groove 412 is formed inside the first robotic arm 405. A through groove 413 is formed on one side of the limiting groove 412. A limiting plate 414 is movably installed inside the limiting groove 412. A connecting rod 415 is fixedly provided on one side of the limiting plate 414. A first crank rod 416 is movably connected to the connecting rod 415. The other end of the first crank rod 416 is movably connected to one side of the third robotic arm 408. A positioning plate 417 is fixedly provided on one side of the bottom of the rotary base 402. A second crank rod 418 is movably connected to one side of the positioning plate 417. The other end of the second crank rod 418 is movably connected to one side of the end of the second robotic arm 407.

[0043] In this embodiment, preferably, the robotic arm mechanism 4 includes a rotary motor 401 provided at the lower part of the robot body 3. The end of the rotary motor 401 is connected to the rotary base 402. A first connecting head 403 is fixedly provided at the bottom of the rotary base 402. The first robotic arm 405 is movably connected between the first connecting heads 403. A first servo motor 404 is provided on one side of the first robotic arm 405. The end of the first robotic arm 405 is movably connected to the second robotic arm 407. A second servo motor 406 for adjusting the second robotic arm 407 is provided on one side of the first robotic arm 405. The end of the second robotic arm 407 is movably connected to the third robotic arm 408. A third servo motor 411 for adjusting the third robotic arm 408 is provided on one side of the second robotic arm 407. The end of the third robotic arm 408 is connected to the detector 410 through a connecting plate 409. A fourth servo motor 419 for adjusting the connecting plate 409 is provided on one side of the third robotic arm 408.

[0044] The above-mentioned voltage transformer hanging rail inspection robot for metering connects the robot body 3 through the power mechanism 2, and the robotic arm mechanism 4 is arranged at the lower part of the robot body 3, which is convenient for carrying the detector 410 to perform inspection processing. The power mechanism 2 is connected to the lower part of the hanging rail 1 to realize moving for inspection processing;

[0045] Moreover, a rotating motor 401 and a rotating base 402 are provided in the robotic arm mechanism 4 to perform rotational adjustment on the robotic arm mechanism 4, facilitating the robotic arm mechanism 4 to perform inspections in different directions. The robotic arm mechanism 4 includes a first robotic arm 405, a second robotic arm 407, and a third robotic arm 408 to achieve lifting adjustment control, facilitating inspections of equipment at different heights. Angle adjustment of the first robotic arm 405, the second robotic arm 407, and the third robotic arm 408 is achieved through a first servo motor 404, a second servo motor 406, a third servo motor 411, and a fourth servo motor 419, facilitating the realization of lifting adjustment control. The fourth servo motor 419 achieves angle adjustment of the detector 410, facilitating the detector 410 to perform inspections on the equipment. Moreover, the use of a three-section robotic arm setting is likely to cause the robotic arm mechanism 4 to shake, resulting in instability of the equipment. Therefore, a first crank rod 416 is provided between the first robotic arm 405 and the third robotic arm 408. The first robotic arm 405 and the third robotic arm 408 are connected by the first crank rod 416 to facilitate enhancing the strength of the robotic arm mechanism 4 and maintaining stability. A limiting groove 412 and a through groove 413 are provided inside the first robotic arm 405, facilitating one end of the first crank rod 416 to be movably connected through a connecting rod 415 and a limiting plate 414, maintaining the mobility of the first crank rod 416 and facilitating adaptive adjustment. On the other side, a positioning plate 417 is provided on one side of the rotating base 402, and a second crank rod 418 is provided between the positioning plate 417 and the second robotic arm 407 to further maintain the stability of the robotic arm mechanism 4.

[0046] Embodiment 2:

[0047] At the four corners of the upper end of the robot body 3, lengthened screw rods 202 are respectively and fixedly arranged. The power mechanism 2 includes a mounting plate 201. The upper ends of the lengthened screw rods 202 are connected to the four corners of the mounting plate 201. On both sides of the middle of the power mechanism 2, a first power roller 208 and a second power roller 209 are provided. The bottom ends of the shaft rods of the first power roller 208 and the second power roller 209 penetrate through the mounting plate 201 and are key-connected with a first gear 206 and a second gear 207. A power gear 205 is meshed and connected between the first gear 206 and the second gear 207. The power gear 205 is key-connected to the output shaft of a fifth servo motor 204. A protective housing 203 is fixedly installed at the lower part of the mounting plate 201. The first gear 206, the second gear 207, the power gear 205 and the fifth servo motor 204 are installed inside the protective housing 203. On both sides of the end of the mounting plate 201, first positioning rods 210 are respectively provided. A torsion spring 212 is sleeved at the bottom of the first positioning rod 210. A first socket part 211 is sleeved at the upper end of the first positioning rod 210. The first socket part 211 is sleeved on the torsion spring 212. A guide wheel 219 is movably installed at the end of the first socket part 211. A connecting ring 218 is fixedly sleeved on the lengthened screw rod 202 at the same end. A second positioning rod 217 is connected between the two connecting rings 218. An elastic sheet 216 is sleeved on the second positioning rod 217. A second connecting head 213 is welded at the lower part of the end of the mounting plate 201. A second socket part 214 is movably connected inside the second connecting head 213. A support roller 215 is movably connected at the end of the second socket part 214. The other end of the elastic sheet 216 is movably connected to the middle of the second socket part 214. The first power roller 208 and the second power roller 209 are respectively attached to both sides of the suspension rail 1. The guide wheel 219 is also attached to both sides of the suspension rail 1. And the first power roller 208, the second power roller 209 and the guide wheel 219 are respectively located in the grooves on both sides of the suspension rail 1. The support rollers 215 at both ends are respectively attached to the lower surface of the suspension rail 1;

[0048] For the above-mentioned on-rail inspection robot for metering voltage transformers, the connection and installation of the power mechanism 2 and the robot body 3 are realized through the lengthened screw rods 202, so that the robot body 3 can move along with the power mechanism 2. And the lengthened screw rods 202 are provided with locking nuts on both sides of the mounting plate 201, which is convenient for adjusting the position of the robot body 3 and maintaining the stability of the robot body 3;

[0049] Then, when the power mechanism 2 is operating, the fifth servo motor 204 inside the protective housing 203 is started, so that the fifth servo motor 204 drives the first gear 206 and the second gear 207 to rotate through the power gear 205, and then drives the first power roller 208 and the second power roller 209 to rotate. When the first power roller 208 and the second power roller 209 are attached to both sides of the suspension rail 1, they can move on the suspension rail 1. Moreover, the first power roller 208 and the second power roller 209 are gear-permanent magnet composite drive wheel sets, realizing stepless speed change for vertical / horizontal tracks. And a first socket part 211 is installed on the mounting plate 201 through a first positioning rod 210, and the first socket part 211 is toggled through a torsion spring 212, so that the guide wheel 219 can always be attached to both sides of the suspension rail 1. And when turning, the guide wheel 219 is kept attached to the suspension rail 1 through the torsion spring 212. Under the guiding effect, the sundries on the suspension rail 1 can also be cleaned. And an elastic piece 216 is provided, and the second socket part 214 is pushed through the elastic piece 216, so that the second socket part 214 and the support roller 215 can be attached to the lower part of the suspension rail 1 under the action of the elastic piece 216, facilitating the stable connection between the power mechanism 2 and the suspension rail 1.

[0050] Embodiment Three:

[0051] A third socket part 220 is installed on the lengthened screw rod 202 at the corner of the mounting plate 201, and the third socket part 220 is close to both sides of the suspension rail 1. A brush 221 is provided at the end of the third socket part 220, and the brush 221 is in contact with the suspension rail 1, facilitating the cleaning of dust and impurities on the suspension rail 1 and preventing the dust and impurities on the suspension rail 1 from affecting the operation of the power mechanism 2.

[0052] Although some specific embodiments of the present invention have been described in detail by way of examples, those skilled in the art should understand that the above examples are only for illustration and not for limiting the scope of the present invention. Those skilled in the art should understand that the above embodiments can be modified without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. The on-rail inspection robot for metering voltage transformers is characterized in that: It includes a suspension rail, a power mechanism, a robot body, and a robotic arm mechanism; In the robotic arm mechanism, a rotary motor, a rotary base, a first robotic arm, a first servo motor, a second robotic arm, a second servo motor, a third robotic arm, a third servo motor, a detector, and a fourth servo motor are sequentially provided; A limiting groove is formed inside the first robotic arm. A through groove is formed on one side of the limiting groove. A limiting plate is movably installed inside the limiting groove. A connecting rod is fixedly provided on one side of the limiting plate. A first crank rod is movably connected to the connecting rod. The other end of the first crank rod is movably connected to one side of the third robotic arm. A positioning plate is fixedly provided on one side of the bottom of the rotary base. A second crank rod is movably connected to one side of the positioning plate. The other end of the second crank rod is movably connected to one side of the end of the second robotic arm.

2. The voltage transformer hanging rail inspection robot for metering according to claim 1, wherein: The suspension rail is used for the motion adjustment of the power mechanism. The robot body is fixedly installed at the lower part of the power mechanism. The robot body is used to analyze and process the collected data. The robotic arm mechanism is arranged at the lower part of the robot body.

3. The on-rail inspection robot for metering voltage transformers according to claim 1, characterized in that: The robotic arm mechanism includes a rotary motor arranged at the lower part of the robot body. The end of the rotary motor is connected to the rotary base. A first connecting head is fixedly provided at the bottom of the rotary base. The first robotic arm is movably connected between the first connecting heads. A first servo motor is provided on one side of the first robotic arm. The end of the first robotic arm is movably connected to the second robotic arm. A second servo motor for adjusting the second robotic arm is provided on one side of the first robotic arm. The end of the second robotic arm is movably connected to the third robotic arm. A third servo motor for adjusting the third robotic arm is provided on one side of the second robotic arm. The end of the third robotic arm is connected to the detector through a connecting plate. A fourth servo motor for adjusting the connecting plate is provided on one side of the third robotic arm.

4. The on-rail inspection robot for metering voltage transformers according to claim 1, characterized in that: Extended screws are respectively fixedly provided at the four corners of the upper end of the robot body. The power mechanism includes a mounting plate. The upper ends of the extended screws are connected to the four corners of the mounting plate.

5. The on-rail inspection robot for metering voltage transformers according to claim 4, characterized in that: A first power roller and a second power roller are provided on both sides of the middle of the power mechanism. The bottom ends of the axles of the first power roller and the second power roller penetrate through the mounting plate and are key-connected with a first gear and a second gear.

6. The on-rail inspection robot for metering voltage transformer according to claim 5, characterized in that: A power gear is meshed between the first gear and the second gear. The power gear is key-connected to the output shaft of a fifth servo motor. A protective housing is fixedly installed at the lower part of the mounting plate. The first gear, the second gear, the power gear, and the fifth servo motor are installed inside the protective housing.

7. The on-rail inspection robot for metering voltage transformers according to claim 6, characterized in that: First positioning rods are respectively provided on both sides of the end of the mounting plate. A torsion spring is sleeved at the bottom of the first positioning rod. A first socket part is sleeved at the upper end of the first positioning rod. The first socket part is sleeved on the torsion spring. A guide wheel is movably installed at the end of the first socket part.

8. The on-rail inspection robot for metering voltage transformers according to claim 7, characterized in that: Connecting rings are fixedly sleeved on the extended screws at the same end. A second positioning rod is connected between the two connecting rings on both sides. An elastic sheet is sleeved on the second positioning rod.

9. The on-rail inspection robot for metering voltage transformers according to claim 8, characterized in that: A second connector is welded to the lower part of the end of the mounting plate. A second socket piece is movably connected inside the second connector. A support roller is movably connected to the end of the second socket piece. The other end of the elastic piece is movably connected to the middle of the second socket piece.

10. The on-rail inspection robot for metering voltage transformers according to claim 9, characterized in that: The first driving roller and the second driving roller are respectively attached to both sides of the hanging rail. The guide wheels are also attached to both sides of the hanging rail. Moreover, the first driving roller, the second driving roller and the guide wheels are respectively located in the grooves on both sides of the hanging rail. The support rollers at both ends are respectively attached to the lower surface of the hanging rail.

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