Automatic equipotential test robot
By using a tracked vehicle and a winding mechanism, a single robotic arm can be used to detect two test points, solving the problems of high cost and limited robotic arm length in existing technologies, and achieving flexible and efficient detection results.
Patent Information
- Application Number
- CN202423128067.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-18
- Publication Date
- 2025-11-25
- Estimated Expiration
- 2034-12-18
AI Technical Summary
Existing automated testing robots are typically expensive and have limited robotic arm length, making them unable to detect test points with large spacing.
Using a tracked vehicle as the walking mechanism, equipped with a robotic arm, positioning mechanism, gripper, winding mechanism and testing instrument, the robotic arm can measure two points through the movement of the tracked vehicle and the cooperation of the winding mechanism, reducing costs and eliminating dependence on the length of the robotic arm.
It enables flexible inspection between two test points, reduces costs, is not limited by the length of the robotic arm, and improves inspection efficiency.
Smart Images
Figure CN223589408U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of robots, in particular to an equipotential automatic testing robot. BACKGROUND
[0002] High-voltage equipment live working has extremely high risks such as electric shock, high-altitude falling, etc., and manual operation is easily disturbed by strong electromagnetic fields, while the equipotential automatic testing robot can replace manual operation to enter the dangerous high-voltage environment for work, effectively avoiding personnel casualties.
[0003] The existing automatic testing robot is usually provided with two mechanical arms with two contacts, which respectively contact two points to be tested, and the resistance or voltage between the two points is measured. Firstly, the cost of the two mechanical arms is too high, and secondly, due to the length limitation of the mechanical arms, it is impossible to detect test points with a large distance. CONTENT OF THE UTILITY MODEL
[0004] In order to make up for the above shortcomings, the present application provides an equipotential automatic testing robot, which aims to improve the problems mentioned in the above background technology.
[0005] The present application provides an equipotential automatic testing robot, which comprises a walking mechanism, a mechanical arm and a tester, the mechanical arm and the tester are both installed on the walking mechanism, the front end of the mechanical arm is provided with a positioning mechanism and a contact, the positioning mechanism is abutted with a clamping jaw, the end of the clamping jaw is connected with a lead, the other end of the lead is connected with a winding mechanism, and the lead and the contact are both electrically connected with the tester.
[0006] In a specific embodiment, the walking mechanism is a tracked vehicle.
[0007] In the above implementation process, the tracked vehicle has high mobility and is convenient for moving between two test points.
[0008] In a specific embodiment, the positioning mechanism comprises a positioning sleeve and a positioning block, the positioning sleeve is fixedly connected with the mechanical arm, the positioning block is fixedly connected with the clamping jaw, the positioning block abuts with the positioning sleeve, and the lead penetrates through the positioning sleeve.
[0009] In the above implementation process, when the clamping jaw is retracted, the positioning block is abutted in the positioning sleeve to realize the retraction and positioning of the clamping jaw. In this embodiment, the clamping jaw adopts a four-jaw structure, so that the horizontal rod and the vertical rod can be clamped. In addition, the driving structure of the clamping jaw is a servo motor driving screw, the servo motor is integrated on the clamping jaw, and the control line of the servo motor and the detection line of the tester pass through the lead in parallel.
[0010] In a specific embodiment, the positioning sleeve and the positioning block are in trapezoidal surface fit.
[0011] In the implementation process, the four trapezoidal surfaces can realize automatic positioning, and the angle of the clamping jaw can also be ensured compared with the conical surface positioning.
[0012] In a specific embodiment, the winding mechanism comprises a support, a winding drum is rotatably connected to the support, the lead wire is wound on the winding drum, a motor is installed on the support, and an output end of the motor is fixedly connected with the winding drum.
[0013] In the implementation process, the motor drives the winding drum to rotate, and then the lead wire is wound, and the movement of the walking mechanism is matched to realize the winding and unwinding of the clamping jaw.
[0014] In a specific embodiment, a rotary joint is installed on the support, and the rotary joint is electrically connected with the tester and the lead wire at two ends respectively.
[0015] In the implementation process, the rotary joint is used for electrical connection between the lead wire and the tester.
[0016] In a specific embodiment, a sliding block is slidably connected to the support, a guide ring is fixedly connected to the sliding block, and the lead wire penetrates through the guide ring.
[0017] In the implementation process, another servo motor is installed on the support, the sliding block is driven to move through the driving screw, and the guide ring is driven to wind the lead wire neatly on the winding drum.
[0018] In a specific embodiment, a plurality of guide rings are arranged on the mechanical arm, and the lead wire penetrates through the guide rings.
[0019] In the implementation process, the plurality of guide rings are used to guide the lead wire to be distributed along the mechanical arm, so as to avoid interference with the lead wire due to the action of the mechanical arm. It should be noted that the independent wire is led out from the contact and guided into the tester by another set of guide rings.
[0020] Compared with the prior art, the beneficial effects of the present application are as follows: one mechanical arm is used to clamp the clamping jaw on the first test point, the winding mechanism is used to release the lead wire to maintain electrical connection, and then the mechanical arm is moved to the second test point, the contact is abutted on the second test point by the mechanical arm, the equipotential between the contact and the clamping jaw is detected by the tester, and finally the winding mechanism and the walking mechanism cooperate to retract the clamping jaw, so that the measurement of two points by one mechanical arm is realized, the cost is reduced, and the dependence of the length of the mechanical arm on the distance between the two test points is also eliminated. BRIEF DESCRIPTION OF DRAWINGS
[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation to the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.
[0022] Fig. 1 is a schematic diagram of an equipotential automatic testing robot provided by the embodiments of the present application;
[0023] Fig. 2 is a schematic diagram of the connection relationship between the clamping jaw and the positioning mechanism provided by the embodiments of the present application;
[0024] Fig. 3 is a schematic diagram of the connection relationship between the winding mechanism and the lead provided by the embodiments of the present application.
[0025] In the figure: 10-walking mechanism; 20-robotic arm; 30-tester; 40-positioning mechanism; 41-positioning sleeve; 42-positioning block; 50-contact; 60-clamping jaw; 70-lead; 80-winding mechanism; 81-bracket; 82-winding drum; 83-motor; 84-rotary joint; 85-sliding block; 86-guide ring; 90-guide ring. DETAILED DESCRIPTION
[0026] The technical solutions in the embodiments of the present application will be described below in combination with the drawings in the embodiments of the present application.
[0027] Please refer to Figs. 1-3 The present application provides an equipotential automatic testing robot, which comprises a walking mechanism 10, a robotic arm 20 and a tester 30. The robotic arm 20 and the tester 30 are both installed on the walking mechanism 10. The front end of the robotic arm 20 is provided with a positioning mechanism 40 and a contact 50. The clamping jaw 60 is abutted on the positioning mechanism 40. The clamping jaw 60 is connected with a lead 70 at the end. The other end of the lead 70 is connected with a winding mechanism 80. The lead 70 and the contact 50 are both electrically connected with the tester 30. Among them, one robotic arm 20 is used to clamp the clamping jaw 60 on the first test point. The winding mechanism 80 is used to release the lead 70 to keep the electrical connection. Then it is moved to the second test point. The robotic arm 20 is used to abut the contact 50 on the second test point. The equipotential between the contact 50 and the clamping jaw 60 is detected by the tester 30. Finally, the clamping jaw 60 is retracted by the cooperation of the winding mechanism 80 and the walking mechanism 10. Thus, the measurement of two points by one robotic arm 20 is realized. The cost is reduced. The dependence of the length of the robotic arm 20 on the distance between the two test points is also eliminated.
[0028] Please refer to Figs. 1-3The walking mechanism 10 is a caterpillar vehicle. The caterpillar vehicle has high mobility and is convenient to move between two test points.
[0029] Please refer to Figs. 1-3 The positioning mechanism 40 comprises a positioning sleeve 41 and a positioning block 42. The positioning sleeve 41 is fixedly connected with the mechanical arm 20, and the positioning block 42 is fixedly connected with the clamping jaw 60. The positioning block 42 abuts against the positioning sleeve 41, and the lead wire 70 penetrates through the positioning sleeve 41. When the clamping jaw 60 is retracted, the positioning block 42 is abutted against the positioning sleeve 41, so that the clamping jaw 60 is positioned in the retracted state. In the embodiment, the clamping jaw 60 has a four-jaw structure, so that the horizontal rod and the vertical rod can be clamped. In addition, the driving structure of the clamping jaw 60 is a screw rod driven by a servo motor. The servo motor is integrated on the clamping jaw 60, and the control line of the servo motor is led out through the lead wire 70 in parallel with the detection line of the tester 30.
[0030] Please refer to Figs. 1-3 The positioning sleeve 41 and the positioning block 42 are in contact with the trapezoidal faces. The four trapezoidal faces can realize automatic positioning, and can also ensure the angle of the clamping jaw 60 compared with the conical surface positioning.
[0031] Please refer to Figs. 1-3 The winding mechanism 80 comprises a bracket 81, the bracket 81 is rotatably connected with a winding drum 82, the lead wire 70 is wound on the winding drum 82, the bracket 81 is provided with a motor 83, and the output end of the motor 83 is fixedly connected with the winding drum 82. The motor 83 drives the winding drum 82 to rotate, and then winds the lead wire 70. In cooperation with the movement of the walking mechanism 10, the clamping jaw 60 is realized to be retracted and extended.
[0032] Please refer to Figs. 1-3 The bracket 81 is provided with a rotary joint 84, and the rotary joint 84 is electrically connected with the tester 30 and the lead wire 70 at two ends. The rotary joint 84 is used for electrical connection between the lead wire 70 and the tester 30.
[0033] Please refer to Figs. 1-3 The bracket 81 is slidably connected with a sliding block 85, the sliding block 85 is fixedly connected with a guide ring 86, and the lead wire 70 penetrates through the guide ring 86. Another servo motor is installed on the bracket 81, and the sliding block 85 is driven to move through the driving of the lead screw, so that the guide ring 86 drives the lead wire 70 to be neatly wound on the winding drum 82.
[0034] Please refer to Figs. 1-3 The mechanical arm 20 is provided with a plurality of guide rings 90, and the lead wire 70 penetrates through the guide rings 90. The plurality of guide rings 90 are used for guiding the lead wire 70 to be distributed along the mechanical arm 20, so as to avoid interference with the lead wire 70 due to the movement of the mechanical arm 20. It should be noted that the contact 50 is provided with an independent line which is guided into the tester 30 by another set of guide rings 90.
[0035] The working principle of the robot for isopotential automatic testing is that the crawler moves to the first test point, the mechanical arm 20 clamps the gripper 60 on the first test point, then the winding mechanism 80 releases the lead 70, the mechanical arm 20 is retracted, the gripper 60 is clamped on the first test point, the crawler moves to the second test point, then the mechanical arm 20 abuts the front contact 50 on the second test point, the gripper 60 is provided with a conductive patch, and is connected to the tester 30 through the lead 70, the isopotential is detected by detecting the resistance or voltage between the two points of the gripper 60 and the contact 50, after the detection is completed, the mechanical arm 20 is retracted, the crawler returns to the first test point, the winding mechanism 80 synchronously retracts the lead 70, finally the mechanical arm 20 is extended and is docked with the positioning block 42 on the gripper 60, and the winding mechanism 80 tightens the lead 70, in summary, the gripper 60 is clamped on the first test point by using one mechanical arm 20, the lead 70 is released by using the winding mechanism 80 to keep electrical connection, then the crawler moves to the second test point, the contact 50 is abutted on the second test point by using the mechanical arm 20, the isopotential between the contact 50 and the gripper 60 is detected by using the tester 30, finally the winding mechanism 80 and the walking mechanism 10 cooperate to retract the gripper 60, so that the measurement of two points by using one mechanical arm 20 is realized, the cost is reduced, and the length of the mechanical arm 20 is not dependent on the distance between the two test points.
[0036] The above merely provides an embodiment of the present application and is not used to limit the protection scope of the present application, and the present application can have various changes and modifications for those skilled in the art. Any modification, improvement or equivalent replacement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.
Claims
1. A robot for automatic equipotential testing, characterized in that, The device includes a walking mechanism (10), a robotic arm (20), and a testing instrument (30). The robotic arm (20) and the testing instrument (30) are both mounted on the walking mechanism (10). The front end of the robotic arm (20) is provided with a positioning mechanism (40) and a contact (50). A gripper (60) abuts on the positioning mechanism (40). A lead wire (70) is connected to the end of the gripper (60). The other end of the lead wire (70) is connected to a winding mechanism (80). The lead wire (70) and the contact (50) are both electrically connected to the testing instrument (30).
2. The automatic equipotential testing robot according to claim 1, characterized in that, The walking mechanism (10) is a tracked vehicle.
3. The automatic equipotential testing robot according to claim 2, characterized in that, The positioning mechanism (40) includes a positioning sleeve (41) and a positioning block (42). The positioning sleeve (41) is fixedly connected to the robotic arm (20), and the positioning block (42) is fixedly connected to the gripper (60). The positioning block (42) abuts against the positioning sleeve (41), and the lead wire (70) passes through the positioning sleeve (41).
4. The automatic equipotential testing robot according to claim 3, characterized in that, The positioning sleeve (41) fits into the trapezoidal surface of the positioning block (42).
5. The automatic equipotential testing robot according to claim 4, characterized in that, The winding mechanism (80) includes a bracket (81), on which a drum (82) is rotatably connected. The lead wire (70) is wound around the drum (82). A motor (83) is mounted on the bracket (81), and the output end of the motor (83) is fixedly connected to the drum (82).
6. The automatic equipotential testing robot according to claim 5, characterized in that, A rotary joint (84) is installed on the bracket (81), and the two ends of the rotary joint (84) are electrically connected to the tester (30) and the lead wire (70) respectively.
7. The automatic equipotential testing robot according to claim 6, characterized in that, A slider (85) is slidably connected to the bracket (81), a guide ring (86) is fixedly connected to the slider (85), and the lead wire (70) passes through the guide ring (86).
8. The automatic equipotential testing robot according to claim 7, characterized in that, The robotic arm (20) is provided with multiple guide rings (90), and the lead wire (70) passes through the guide rings (90).