High-stability operation robot

Abstract

The utility model provides a high-stability operation robot which comprises a moving platform, an inspection platform and an inspection mechanism, the inspection platform is arranged on one side of the moving platform in the thickness direction, a bearing table is arranged on one side, away from the moving platform, of the inspection platform, and the inspection mechanism is arranged on the bearing table. Wherein the inspection mechanism comprises an image acquisition part and an operation interaction part, the image acquisition part is used for acquiring image information, the operation interaction part is used for interactively operating a to-be-detected power distribution cabinet, the bearing table comprises a main table body and a lifting table, the lifting table and the main table body are separately arranged and can move relatively in the first direction, and the operation interaction part is arranged on the main table body; the image acquisition part is arranged on the lifting platform, and the first direction is parallel to the thickness direction of the moving platform. Through the arrangement of the lifting table and the main table body, the bearing table can have two relatively independent areas, the arrangement of the image obtaining piece and the operation interaction piece is facilitated, meanwhile, the mutual interference of the image obtaining piece and the operation interaction piece is reduced, and the working stability of the operation robot is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of electric power detection equipment, and in particular, relates to a high-stability operating robot. Background Art

[0002] The bulk grain distribution room provides power supply for bulk grain loading and unloading berths and is responsible for the transmission and distribution of electric energy. The operating status of its equipment directly affects the power supply quality and reliability of the power grid. Therefore, it is necessary for staff to conduct regular inspections and maintenance of the equipment in the distribution room to ensure the normal operation of the power system.

[0003] With the continuous acceleration of the automation of power detection equipment technology, such as operating robots, etc. Considering the different production environments of terminals and the variety of power distribution equipment, the inspection stability of related operating robots is poor, which seriously affects the normal operation of operating robots.

[0004] In view of this, this application is filed. Utility Model Content

[0005] The present application provides a high-stability operating robot to solve at least one of the above-mentioned technical problems.

[0006] An embodiment of the present application provides a high-stability operating robot, including a mobile platform, an inspection platform and an inspection mechanism. The inspection platform is arranged on one side of the mobile platform in the thickness direction, a supporting platform is arranged on the side of the inspection platform away from the mobile platform, and the inspection mechanism is arranged on the supporting platform.

[0007] Among them, the inspection mechanism includes an image acquisition component and an operation interaction component. The image acquisition component is used to acquire image information, and the operation interaction component is used to interactively operate the distribution cabinet to be inspected. The support platform includes a main platform body and a lifting platform. The lifting platform is separately arranged from the main platform body and can be displaced relative to each other along a first direction. The operation interaction component is arranged on the main platform body, and the image acquisition component is arranged on the lifting platform. The first direction is parallel to the thickness direction of the mobile platform.

[0008] By adopting the above structure, on the one hand, by setting up a lifting platform and a main platform body, two relatively independent areas can be provided on the supporting platform, which facilitates the setting of the image acquisition component and the operation interaction component, while also reducing the mutual interference between the image acquisition component and the operation interaction component, thereby improving the working stability and efficiency of the operating robot. On the other hand, by setting the image acquisition component on a lifting platform that can move along the first direction, the acquisition range of image information can also be expanded, which is beneficial to improving the working quality of the operating robot.

[0009] In some optional implementations of the present application, the inspection platform further includes an avoidance gap. In the first direction, when the height of the lifting platform is equal to that of the main platform body, the avoidance gap is located below the lifting platform.

[0010] By adopting the above structure and setting the avoidance gap, the interference of the inspection platform on the lifting platform can be reduced, and the movable range of the lifting platform can be expanded.

[0011] In some optional embodiments of the present application, the inspection platform also includes a lifting component, which includes a lifting slide rail and a lifting connection block. The lifting connection block is at least partially disposed in the lifting slide rail and can move relative to the lifting slide rail. The portion of the lifting connection block located outside the lifting slide rail is connected to the lifting platform, and the lifting slide rail is disposed on the side wall of the inspection platform facing the avoidance gap.

[0012] By adopting the above structure, on the one hand, by setting the lifting slide rail and the lifting connecting block, it is easy to realize the lifting function of the lifting platform. On the other hand, the lifting slide rail is set on the side wall of the inspection platform facing the avoidance gap, which can make the lifting slide rail have a larger contact area on the inspection platform and enhance the mechanical strength of the lifting part.

[0013] In some optional embodiments of the present application, the operation interaction component includes a mechanical arm and an execution claw located at the end of the mechanical arm, and the execution claw is used to perform operations on the power distribution cabinet to be inspected.

[0014] In some optional embodiments of the present application, the execution jaw includes a first half jaw, a second half jaw and a pressure rod. The first half jaw and the second half jaw are arranged opposite to each other and can move toward each other and / or away from each other to perform clamping and / or loosening actions. The pressure rod can be retracted to perform a pressing action.

[0015] By adopting the above structure, by providing the first half claw, the second half claw and the pressure rod, it is possible to facilitate the operation of the interactive part to achieve clamping, pressing and other tasks, thereby improving the detection efficiency.

[0016] In some optional embodiments of the present application, a first fitting is detachably provided on the end of the first half jaw away from the robotic arm, and a second fitting is detachably provided on the end of the second half jaw away from the robotic arm. The first fitting and the second fitting are arranged opposite to each other, and when the clamping jaws are clamped, the first fitting and the second fitting are at least partially abutted against each other.

[0017] By adopting the above structure, by setting up a detachable first fitting part and a second fitting part, it is possible to facilitate adjustment of the part of the operating interaction part that contacts the distribution cabinet to be tested, so that the operator can flexibly replace it according to the actual working environment, which is conducive to improving the universality of the robot.

[0018] In some optional embodiments of the present application, a first adapter groove is provided on the first fitting member, and a second adapter groove is provided on the second fitting member, and at least part of the first adapter groove and the second adapter groove cooperate with the knob on the power distribution cabinet to be tested.

[0019] By adopting the above structure and providing the first adapter groove and the second adapter groove, the contact area between the first fitting member and the second fitting member and the knob on the power distribution cabinet to be tested can be increased, thereby enhancing the stability during abutment.

[0020] In some optional embodiments of the present application, the first fitting member and the second fitting member are made of flexible material.

[0021] In some optional embodiments of the present application, the image acquisition component includes a base and a gimbal camera, the base is connected to the lifting platform, the gimbal camera is arranged on a side of the base away from the lifting platform, and the gimbal camera can rotate relative to the base.

[0022] By adopting the above structure and setting a base, firstly, the gimbal camera and the carrier platform can be relatively independent, reducing the interference of the structure on the carrier platform to the gimbal camera; secondly, the gimbal camera can be kept away from large-area planar structures, thereby increasing the imaging area of ​​the gimbal camera.

[0023] In some optional embodiments of the present application, a voiceprint sensor is provided on the base to detect whether an instrument of the power distribution cabinet makes an abnormal sound.

[0024] In some optional embodiments of the present application, a driving wheel is provided on a side of the mobile platform away from the inspection platform, and the driving wheel is used to drive the mobile platform to move.

[0025] In some optional embodiments of the present application, a plurality of drive wheels are provided, and each drive wheel is individually configured with a servo motor for providing driving force.

[0026] By adopting the above structure, each driving wheel is individually equipped with a servo motor, so that the running accuracy of the mobile platform can be improved.

[0027] In some optional implementations of the present application, a charging interface is also provided on the mobile platform, and the charging interface is used to connect to an external power source.

[0028] Compared with the related art, in the high-stability operating robot of the embodiment of the present application, on the one hand, by setting a lifting platform and a main platform body, it is possible to have two relatively independent areas on the supporting platform, which is convenient for the setting of the image acquisition component and the operating interaction component, while also reducing the mutual interference between the image acquisition component and the operating interaction component, thereby improving the working stability and efficiency of the operating robot; on the other hand, by setting the image acquisition component on a lifting platform that can move along the first direction, it is also possible to expand the acquisition range of image information, which is beneficial to improving the working quality of the operating robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the implementation methods of the present application, the drawings required for use in the implementation methods of the present application will be briefly introduced below. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0030] Figure 1 It is a structural schematic diagram of an embodiment of an operating robot in the present application.

[0031] Figure 2 It is a structural schematic diagram of another perspective of an embodiment of an operating robot in the present application.

[0032] Figure 3 It is a schematic diagram of the internal structure of the lifting member in this application.

[0033] Figure 4 It is a schematic diagram of the structure of the clamping jaws in this application.

[0034] Figure 5 It is a structural schematic diagram of the image acquisition component in this application.

[0035] In the attached figure:

[0036] 10. Mobile platform; 11. Charging docking port; 20. Inspection platform; 21. Carrying platform; 211. Main platform body; 212. Lifting platform; 22. Avoidance gap; 23. Lifting member; 231. Lifting slide rail; 232. Lifting connection block; 30. Inspection mechanism; 31. Operation interaction member; 311. Robotic arm; 312. Execution jaw; 3121. First half jaw; 3122. Second half jaw; 3123. Pressure rod; 3124. First fitting member; 3125. Second fitting member; 3126. First adapter slot; 3127. Second adapter slot; 32. Image acquisition member; 321. PTZ camera; 322. Base. DETAILED DESCRIPTION

[0037] The following detailed description of the implementation of the technical solution of the present application is provided in conjunction with the accompanying drawings. The following implementation is only used to more clearly illustrate the technical solution of the present application, and is therefore only used as an example, and cannot be used to limit the scope of protection of the present application.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific implementation methods and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0039] In the description of the implementation methods of the present application, technical terms such as "first" and "second" are only used to distinguish different objects and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity, specific order or primary and secondary relationship of the indicated technical features.

[0040] Reference to "embodiment" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0041] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0042] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0043] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0044] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0045] The first direction referred to in the implementation manner of the present application is the x-axis direction in the figure, and the second direction is the y-axis direction in the figure.

[0046] Figure 1 It is a structural schematic diagram of an embodiment of an operating robot in the present application.

[0047] like Figure 1 As shown, an embodiment of the present application provides a high-stability operating robot, including a mobile platform 10, an inspection platform 20 and an inspection mechanism 30. The inspection platform 20 is arranged on one side of the mobile platform 10 in the thickness direction. A supporting platform 21 is arranged on the side of the inspection platform 20 away from the mobile platform 10, and the inspection mechanism 30 is arranged on the supporting platform 21.

[0048] Among them, the inspection mechanism 30 includes an image acquisition component 32 and an operation interaction component 31. The image acquisition component 32 is used to acquire image information, and the operation interaction component 31 is used to interactively operate the distribution cabinet to be inspected. The support platform 21 includes a main platform body 211 and a lifting platform 212. The lifting platform 212 is separated from the main platform body 211 and can be displaced relative to the first direction. The operation interaction component 31 is set on the main platform body 211, and the image acquisition component 32 is set on the lifting platform 212. The first direction is parallel to the thickness direction of the mobile platform 10.

[0049] The mobile platform 10 refers to the mobile structure on the operating robot, and is the supporting body of the operating robot, and is usually provided with a power supply structure, a control structure, etc.

[0050] The inspection mechanism 30 refers to a structure for inspection carried by the operating robot. The specific inspection mechanism 30, such as an image detector, an image camera, etc., can be selected according to the specific use environment.

[0051] On the one hand, by setting up the lifting platform 212 and the main platform body 211, it is possible to have two relatively independent areas on the supporting platform 21, which facilitates the setting of the image acquisition component 32 and the operation interaction component 31, while reducing the mutual interference between the image acquisition component 32 and the operation interaction component 31, thereby improving the working stability and efficiency of the operating robot. On the other hand, by setting the image acquisition component 32 on the lifting platform 212 that can move along the first direction, it is also possible to expand the acquisition range of image information, which is beneficial to improving the working quality of the operating robot.

[0052] Optionally, the inspection platform 20 may also be provided with an environmental sensor for sensing environmental information around the inspection platform 20. Specifically, the environmental sensor may be a temperature sensor, a humidity sensor, a gas sensor, and the like.

[0053] like Figure 1As shown, in some optional embodiments of the present application, the inspection platform 20 further includes an avoidance gap 22. In the first direction, when the height of the lifting platform 212 is equal to that of the main platform body 211, the avoidance gap 22 is located below the lifting platform 212. By providing the avoidance gap 22, the interference of the inspection platform 20 on the lifting platform 212 can be reduced, and the movable range of the lifting platform 212 can be expanded.

[0054] Figure 2 This is a schematic structural diagram from another perspective of an embodiment of an operating robot in this application. Figure 3 It is a schematic diagram of the internal structure of the lifting member in this application.

[0055] like Figures 1 to 3 As shown, in some optional embodiments of the present application, the inspection platform 20 also includes a lifting component 23, the lifting component 23 includes a lifting rail 231 and a lifting connection block 232, the lifting connection block 232 is at least partially disposed in the lifting rail 231, and can move relative to the lifting rail 231, the part of the lifting connection block 232 located outside the lifting rail 231 is connected to the lifting platform 212, and the lifting rail 231 is disposed on the side wall of the inspection platform 20 facing the avoidance gap 22.

[0056] On the one hand, by setting the lifting slide rail 231 and the lifting connecting block 232, it is convenient to realize the lifting function of the lifting platform 212. On the other hand, the lifting slide rail 231 is set on the side wall of the inspection platform 20 facing the avoidance gap 22, which can make the lifting slide rail 231 have a larger contact area on the inspection platform 20 and enhance the mechanical strength of the lifting component 23.

[0057] Optionally, an I-shaped groove may be provided in the lifting rail 231, and at least a portion of the lifting connection block 232 extends into the I-shaped groove and can move relative to the lifting rail 231. Specifically, the portion of the lifting connection block 232 outside the I-shaped groove may be wrapped around the lifting rail 231 and matched with the lifting rail 231.

[0058] like Figure 1 and Figure 2 As shown, in some optional embodiments of the present application, the operation interaction component 31 includes a mechanical arm 311 and an execution jaw 312 located at the end of the mechanical arm 311, and the execution jaw 312 is used to perform operations on the distribution cabinet to be inspected.

[0059] Figure 4 It is a schematic diagram of the structure of the execution clamp 312 in this application.

[0060] like Figure 1 , Figure 2 and Figure 4As shown, in some optional embodiments of the present application, the execution jaw 312 includes a first half jaw 3121, a second half jaw 3122 and a pressure rod 3123. The first half jaw 3121 and the second half jaw 3122 are arranged opposite to each other and can move toward and / or away from each other to perform a clamping and / or loosening action. The pressure rod 3123 is retractable to perform a pressing action. By providing the first half jaw 3121, the second half jaw 3122 and the pressure rod 3123, it is possible to facilitate the operation of the interactive member 31 to achieve clamping, pressing and other operations, thereby improving the detection efficiency.

[0061] like Figure 1 , Figure 2 and Figure 4 As shown, in some optional embodiments of the present application, a first fitting part 3124 is detachably provided on the end of the first half jaw 3121 away from the robotic arm 311, and a second fitting part 3125 is detachably provided on the end of the second half jaw 3122 away from the robotic arm 311. The first fitting part 3124 and the second fitting part 3125 are arranged opposite to each other, and when the clamping jaw 312 is clamped, the first fitting part 3124 and the second fitting part 3125 are at least partially abutted against each other.

[0062] By providing a detachable first fitting part 3124 and a second fitting part 3125, it is possible to facilitate adjustment of the part of the operation interaction part 31 that contacts the power distribution cabinet to be tested, so that the operator can flexibly replace it according to the actual working environment, which is conducive to improving the universality of the robot.

[0063] like Figure 1 , Figure 2 and Figure 4 As shown, in some optional embodiments of the present application, a first fitting groove 3126 is provided on the first fitting member 3124, and a second fitting groove 3127 is provided on the second fitting member 3125. At least part of the first fitting groove 3126 and the second fitting groove 3127 match the knob on the power distribution cabinet to be detected. By providing the first fitting groove 3126 and the second fitting groove 3127, the contact area between the first fitting member 3124 and the second fitting member 3125 and the knob on the power distribution cabinet to be detected can be increased, thereby enhancing the stability during abutment.

[0064] In some optional embodiments of the present application, the first fitting member 3124 and the second fitting member 3125 are made of flexible material.

[0065] Optionally, the first fitting member 3124 and the second fitting member 3125 may be made of rubber blocks, spring sheets, etc.

[0066] Figure 5 It is a structural schematic diagram of the image acquisition component in this application.

[0067] like Figure 1 , Figure 2and Figure 5 As shown, in some optional embodiments of the present application, the image acquisition component 32 includes a base 322 and a gimbal camera 321, the base 322 is connected to the lifting platform 212, the gimbal camera 321 is arranged on a side of the base 322 away from the lifting platform 212, and the gimbal camera 321 can rotate relative to the base 322.

[0068] By setting the base 322, firstly, the gimbal camera 321 and the carrier platform 21 can be relatively independent, reducing the interference of the structure on the carrier platform 21 to the gimbal camera 321; secondly, the gimbal camera 321 can be kept away from large-area planar structures, thereby increasing the imaging area of ​​the gimbal camera 321.

[0069] In some optional embodiments of the present application, a voiceprint sensor is provided on the base 322 for detecting whether an instrument of the power distribution cabinet makes an abnormal sound.

[0070] In some optional embodiments of the present application, a driving wheel is provided on a side of the mobile platform 10 away from the inspection platform 20 , and the driving wheel is used to drive the mobile platform 10 to move.

[0071] In some optional embodiments of the present application, a plurality of drive wheels are provided, and each drive wheel is individually configured with a servo motor for providing driving force. By individually configuring each drive wheel with a servo motor, the running accuracy of the mobile platform 10 can be improved.

[0072] It is understandable that the servo motor is connected to the mobile platform 10 and is powered by a power storage structure inside the mobile platform 10 , and can also be electrically connected to a control structure on the mobile platform 10 .

[0073] like Figure 1 As shown, in some optional embodiments of the present application, the mobile platform 10 is further provided with a charging interface 11, and the charging interface 11 is used to connect to an external power source.

[0074] Optionally, the operating robot may further include a control component, and the control component is used to control the operation of the inspection mechanism 30 and the movement of the mobile platform 10.

[0075] Optionally, the control component can be a single chip microcomputer, a computer, etc.

[0076] Optionally, the control component may further include a communication unit, which can be connected to external communication for receiving control signals or transmitting detection results.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the various embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in each embodiment can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A high stability operating robot, characterized in that: include: Mobile platforms; An inspection platform is arranged on one side of the mobile platform in the thickness direction, and a bearing platform is arranged on the side of the inspection platform away from the mobile platform; An inspection mechanism is arranged on the carrying platform; Among them, the inspection mechanism includes an image acquisition component and an operation interaction component, the image acquisition component is used to acquire image information, and the operation interaction component is used to interactively operate the distribution cabinet to be inspected, the support platform includes a main platform body and a lifting platform, the lifting platform is separately arranged from the main platform body and can be displaced relative to the first direction, the operation interaction component is arranged on the main platform body, and the image acquisition component is arranged on the lifting platform, and the first direction is parallel to the thickness direction of the mobile platform.

2. The high stability operating robot according to claim 1, characterized in that: The inspection platform further includes an avoidance gap. In the first direction, when the lifting platform is at the same height as the main platform body, the avoidance gap is located below the lifting platform.

3. The high stability operating robot according to claim 2, characterized in that: The inspection platform also includes a lifting component, which includes a lifting slide rail and a lifting connection block. The lifting connection block is at least partially arranged in the lifting slide rail and can move relative to the lifting slide rail. The part of the lifting connection block located outside the lifting slide rail is connected to the lifting platform. The lifting slide rail is arranged on the side wall of the inspection platform facing the avoidance gap.

4. The high stability operating robot according to claim 1, characterized in that: The operation interaction component includes a mechanical arm and an execution claw located at the end of the mechanical arm, and the execution claw is used to perform operations on the power distribution cabinet to be detected.

5. The high stability operating robot according to claim 4, characterized in that: The execution clamp includes a first half-jaw, a second half-jaw and a pressure rod. The first half-jaw and the second half-jaw are arranged opposite to each other and can move toward and / or away from each other to perform clamping and / or loosening actions. The pressure rod is retractable to perform a pressing action.

6. The high stability operating robot according to claim 5, characterized in that: A first fitting is detachably provided on the end of the first half-claw away from the robotic arm, and a second fitting is detachably provided on the end of the second half-claw away from the robotic arm. The first fitting is arranged opposite to the second fitting, and when the execution jaws are clamped, the first fitting is at least partially in contact with the second fitting.

7. The high stability operating robot according to claim 6, characterized in that: The first fitting member is provided with a first adapting slot, and the second fitting member is provided with a second adapting slot. At least part of the first adapting slot and the second adapting slot cooperate with the knob on the power distribution cabinet to be detected.

8. The high stability operating robot according to claim 6, characterized in that: The first fitting component and the second fitting component are made of flexible material.

9. The high stability operating robot according to claim 1, characterized in that: The image acquisition component includes a base and a pan-tilt camera. The base is connected to the lifting platform. The pan-tilt camera is arranged on a side of the base away from the lifting platform. The pan-tilt camera can rotate relative to the base.

10. The high stability operating robot according to any one of claims 1 to 9, characterized in that: The mobile platform is also provided with a charging interface, and the charging interface is used to connect to an external power source.

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