CN110154001A - Positioning robot - Google Patents
Positioning robot Download PDFInfo
- Publication number
- CN110154001A CN110154001A CN201910519726.9A CN201910519726A CN110154001A CN 110154001 A CN110154001 A CN 110154001A CN 201910519726 A CN201910519726 A CN 201910519726A CN 110154001 A CN110154001 A CN 110154001A
- Authority
- CN
- China
- Prior art keywords
- swing arm
- vehicle body
- frame
- mounting plate
- platen
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of positioning robot, which includes: mobile chassis；Vehicle body, the vehicle body are installed on the mobile chassis；Hoistable platform, the hoistable platform are installed in the vehicle body and have the platen that can back and forth go up and down along the short transverse of the vehicle body；Positioning system, the positioning system are installed on the platen and are lifted to the top of the vehicle body by the platen or are returned and be down in the vehicle body；Wherein, the positioning system includes the mounting plate being connected with platen and multiple mechanical arms for being arranged in the mounting plate；The rotary freedom that there is the mounting plate itself to circumferentially rotate along normal direction and relative to the pitch freedom of platen pitching；The mechanical arm has upper swing arm, the lower swing arm of the relatively described upper swing arm overturning and the alignment sensor mounting portion of the relatively described lower swing arm overturning overturn relative to the mounting plate.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of positioning robot for the positioning of substation's power supply.
Background technique
Equipment is numerous in ultra-high voltage transformer station, and distribution is wider, and in the prior art, the positioning of substation's power supply relies on people
Work is mobile and placement sensor, heavy workload spend the time more, it is difficult to make an inspection tour biggish range in large-scale substation, need
The continuous work long period.
Summary of the invention
In order to solve the above technical problems, the present invention provides a kind of positioning robot, which includes:
Mobile chassis；
Vehicle body, the vehicle body are installed on the mobile chassis；
Hoistable platform, the hoistable platform be installed in the vehicle body and have can along the vehicle body short transverse it is past
The platen gone up and down again；
Positioning system, the positioning system are installed on the platen and are lifted to the top of the vehicle body by the platen
Or it returns and is down in the vehicle body；
Wherein, the positioning system includes the mounting plate being connected with platen and multiple machinery for being arranged in the mounting plate
Arm；
The mounting plate is with the rotary freedom circumferentially rotated along itself normal direction and relative to platen pitching
Pitch freedom；
The lower swing arm that there is the mechanical arm upper swing arm, the relatively described upper swing arm that overturn relative to the mounting plate to overturn
And the alignment sensor mounting portion of the relatively described lower swing arm overturning.
Optionally, the positioning system further includes rotary power unit, and the rotary power unit is installed on the lifting
The platen of platform, and the mounting plate is installed on the rotation axis of the rotary power unit, and the rotation axis drives the peace
Loading board is rotated along the axis of the rotation axis.
Optionally, the rotation the tip of the axis is equipped with pitching power device；
The mounting plate is installed on the output shaft of the pitching power device, and the pitching power device drives the installation
Plate relatively rotates axis pitch rotation.
Optionally, the upper swing arm is articulated with the edge of the mounting plate, and the mounting plate is installed with described in driving
First overturning power device of the relatively described mounting plate overturning of upper swing arm.
Optionally, the lower swing arm is articulated with the upper swing arm, and the upper swing arm is installed with the driving lower swing arm
Second overturning power device of the relatively described upper swing arm overturning.
Optionally, the alignment sensor mounting portion is articulated with the lower swing arm, and the lower swing arm is installed with driving
The third of the relatively described lower swing arm overturning of the alignment sensor mounting portion overturns power device.
Optionally, the mobile chassis includes:
Frame；
Steering system, the steering system are articulated with the front end of the frame；
Deflecting roller, the pairs of deflecting roller are respectively arranged in the both ends of the steering system；
Support wheel, the pairs of support wheel are installed on the rear end of the frame；
Vehicle body supporting element, the vehicle body supporting element are arranged in pairs after the frame along the width direction of the frame
The upper end at end and the steering system；
Wherein, the vehicle body supporting element has under external force along the short transverse of the frame is compressed, pressure disappears
Lose the elastic free degree restored；When the location of pairs of described deflecting roller is there are when difference in height, the steering system
It is compressed relative to frame inclination, the vehicle body supporting element to keep the frame horizontal.
Optionally, the steering system is installed on the front end of the frame, and the axis side of the bearing by bearing
To the front-rear direction extension along the frame.
Optionally, the mobile chassis further includes auxiliary wheel；
The auxiliary wheel is movably installed in the frame facet and rear end, and the auxiliary wheel can be under outer power drive
It reversely moves back and forth along the width of the frame to change distance between the auxiliary wheel and the frame facet.
Optionally, the upper surface of the frame is provided with sliding slot and slide plate compatible with the sliding slot, the auxiliary wheel
It is installed on the end of the slide plate, and the slide plate has and drives the auxiliary wheel along institute under the driving of sliding power device
State the free sliding degree that sliding slot reciprocatingly slides.
From the above technical scheme, positioning robot of the invention realizes the position in substation by mobile chassis
Mobile, hoistable platform is installed in vehicle body, and mechanical arm can stretch out outside vehicle with the lifting of platen or go back to the inside for being down to vehicle body,
When positioning robot is mobile, positioning system goes back to the inside for being down to vehicle body with hoistable platform, saves space, is needing to determine power supply
When position, each mechanical arm all has the freedom degree in three directions, by mounting plate circumferentially rotate with pitching and mechanical arm from
The freedom degree of body changes the orientation of alignment sensor and the oriented array of formation, so that alignment sensor single positions energy
Enough cover wider array of orientation range.
Detailed description of the invention
Only illustratively description and explain the present invention for the following drawings, not delimit the scope of the invention.
Fig. 1 is positioning robot's use state diagram of the embodiment of the present invention.
Fig. 2 is positioning robot's driving status schematic diagram of the embodiment of the present invention.
Fig. 3 and Fig. 4 is the positioning system schematic diagram of the embodiment of the present invention.
Fig. 5 is the mobile chassis schematic diagram of the embodiment of the present invention.
Fig. 6 is the interior of body connection relationship diagram of the embodiment of the present invention.
Fig. 7 is the hoistable platform schematic diagram of the embodiment of the present invention.
Wherein: 1 chassis
11 frames
111 sliding slots, 112 slide plates, 113 first supporting plates
12 deflecting rollers
13 steering systems
131 second supporting plates, 132 supporting beams, 133 steering motors, 134 turn to speed reducer, 135 turning machines, 136 steering drawings
Bar, 137 rotation direction sensors
14 support wheels, 15 auxiliary wheels, 16 vehicle body supporting elements, 17 bearings
18 sliding power devices
181 sliding power motors, 182 sliding power speed reducers, 183 elastic wheels, 184 sliding power angular transducers
19 clump weights
2 vehicle bodies
21 data acquisition modules, 22 power supply modules, 23 control modules
3 hoistable platforms
31 platens, 32 link mechanisms, 33 actuator cylinders, 34 support plates
4 positioning systems
41 mounting plates
42 mechanical arms
421 upper swing arms, the first connecting fork of 421a, 422 lower swing arms, the second connecting fork of 422a, the installation of 423 alignment sensors
Portion, 423a third connecting fork
43 rotary power units
431 rotary power motors, 432 rotary power speed reducers, 433 rotatory force angular transducers, 434 bearings, 435 rotations
Axis
44 pitching power devices
441 pitching power motors, 442 pitching power step-down gears, 443 pitching power angular transducers
45 first overturning power devices
451 first overturning power motors, 452 first overturning power step-down gears, 453 first overturning power angular transducers
46 second overturning power devices
461 second overturning power motors, 462 second overturning power step-down gears, 463 second overturning power angular transducers
47 thirds overturn power device
471 thirds overturn power motor, 472 thirds overturning power step-down gear, 473 thirds and overturn power angular transducer
48 alignment sensors
49 positioning plates
Specific embodiment
In order to which the technical features, objects and effects of invention are more clearly understood, the Detailed description of the invention present invention is now compareed
Specific embodiment, identical label indicates identical part in the various figures.
Herein, " schematic " expression " serving as examplea, instances, or illustrations " should not will be described herein as " showing
Any diagram, the embodiment of meaning property " are construed to technical solution that is a kind of preferred or more having advantages.
To make simplified form, part related to the present invention is only schematically shown in each figure, and does not represent it
Practical structures as product.In addition, so that simplified form is easy to understand, with the portion of identical structure or function in some figures
Part only symbolically depicts one of those, or has only marked one of those.
Herein, "upper", "lower", "front", "rear", "left", "right" etc. are only used for indicating opposite between relevant portion
Positional relationship, and the absolute position of these non-limiting relevant portions.
Herein, " first ", " second " etc. are only used for mutual differentiation, rather than indicate significance level and sequence and
Existing premise etc. each other.
Herein, the limitation in " equal ", " identical " etc. and non-critical mathematics and/or geometry meaning also includes
It will be appreciated by those skilled in the art that and the error that the permissions such as makes or uses.Unless otherwise indicated, numerical value model herein
It encloses not only including the entire scope in two endpoint, also includes being contained in several subranges therein.
As depicted in figs. 1 and 2, the embodiment provides a kind of positioning robot, which includes moving
Dynamic chassis 1, vehicle body 2, hoistable platform 3 and positioning system 4.
Vehicle body 2 is installed on mobile chassis 2, drives vehicle body 2 to move in substation by mobile chassis 2, and inside vehicle body 2
With the lifting space for installing hoistable platform 2, hoistable platform 3 is installed in the lifting space of vehicle body 2 and has can be along vehicle
The platen 31 that the short transverse of body 2 is back and forth gone up and down.Positioning system 4 is installed on the platen 31, and with the reciprocal lifting of platen 31 and
It is lifted to the top of vehicle body 2 by platen 31 or is returned and be down in vehicle body 2.
As shown in Figure 3 and Figure 4, positioning system 4 includes the mounting plate 41 being connected with platen 31 and multiple is arranged in mounting plate
41 mechanical arm 42, multiple mechanical arms 42, which can be, to be evenly arranged.
Mounting plate 41 is with the rotary freedom circumferentially rotated along itself normal direction and relative to 31 pitching of platen
Pitch freedom, i.e. mounting plate 41 can be circumferentially rotated relative to platen 31, meanwhile, mounting plate 41 can be put with respect to 31 pitching of platen
It is dynamic.
The lower swing arm that there is mechanical arm 42 upper swing arm 421, the opposite upper swing arm 421 that overturn relative to mounting plate 41 to overturn
422 and the alignment sensor mounting portion 423 that overturns of opposite lower swing arm 422, alignment sensor mounting portion 423 is for installing positioning
Sensor 48, alignment sensor 48 are used to receive the electromagnetic signal of substation's power supply sending, confirm the position of power supply.The mechanical arm
For 21 tools there are three the freedom degree in direction, upper and lower, far and near direction is may be implemented in the alignment sensor 48 for being installed on 21 end of mechanical arm
It is mobile.The alignment sensor 48 of multiple 21 ends of mechanical arm can flexibly change orientation and composition does not have to the positioning battle array of shape
Column improve positioning accuracy.
The upper swing arm 421 can be spun upside down relative to mounting plate 41；Lower swing arm 422 and upper swing arm 421 form a plane,
Lower swing arm 422 is overturn in the plane relative to the point of intersection of upper swing arm 421 and lower swing arm 422；Alignment sensor mounting portion 423
A plane is formed with lower swing arm 422, alignment sensor mounting portion 423 passes in the plane relative to lower swing arm 422 and positioning
The point of intersection of sensor mounting portion 423 is overturn
The positioning robot realizes that the position in substation is mobile by mobile chassis 1, and hoistable platform 3 is installed on vehicle body
Interior, mechanical arm 42 can stretch out outside vehicle with the lifting of platen 31 or go back to the inside for being down to vehicle body 2, mobile in positioning robot
When, positioning system 4 goes back to the inside for being down to vehicle body 2 with hoistable platform 3, space is saved, when needing to position power supply, and each machinery
Arm 42 all has the freedom degree in three directions, passes through the freedom of mounting plate 41 circumferentially rotated with pitching and mechanical arm 42 itself
Degree changes the orientation of alignment sensor 48 and the oriented array of formation, so that the positioning of 48 single of alignment sensor can be covered
Cover wider array of orientation range.
Specifically, which further includes rotary power unit 43.The rotary power unit 43 is installed on hoistable platform
3 platen 31, and mounting plate 41 is installed on the end of the rotation axis 435 of rotary power unit 43, is driven and is pacified by rotation axis 435
Loading board 41 is rotated along the axis of rotation axis 435, and mounting plate 41 can drive simultaneously mechanical arm 42 to circumferentially rotate, and realizes alignment sensor
The positioning of 48 pairs of circumferential ranges.
Rotary power unit 43 further includes rotary power motor 431, rotary power speed reducer 432 and bearing 434.
Rotary power motor 431 is fixedly installed in the table top of platen 31, and rotary power speed reducer 432 is installed on rotary power
The output shaft of motor 431, bearing 434 are connected between rotation axis 435 and rotary power speed reducer 432, realize that rotary power subtracts
Fast machine 432 drives the rotation of rotation axis 435.Rotary power motor 431 is power-equipment at this, passes through rotary power speed reducer
432 drive rotation axis 435 to rotate, and rotation axis 435 is erected between mounting plate 41 and platen 31, by 431 band of rotary power motor
Turn moving axis 435 rotates, and then realizes mounting plate 41 and mechanical arm 42 circumferentially rotating around 435 axis of rotation axis.
The positioning system 4 further includes being installed on the pitching power device 44 of 435 end of rotation axis.
Mounting plate 41 is installed on the output shaft of pitching power device 44, and pitching power device 44 drives mounting plate 41 is opposite to turn
435 pitch rotation of moving axis, specifically can be mounting plate 41 extending direction be parallel to pitching power device 44 output shaft axis
Line direction, the rotation of the output shaft can change inclination angle of the mounting plate 41 relative to platen 31, realize the pitching of mounting plate 41.
The specific pitching power device 44 may include pitching power motor 441 and pitching power step-down gear 442.
Pitching power motor 441 is fixed on rotation axis 435, and pitching power step-down gear 442 is installed on pitching power motor 441
Output shaft；Mounting plate 41 is installed on the output shaft of pitching power step-down gear 442.The output shaft of pitching power step-down gear 442 is
For the output shaft of pitching power device 44, the extending direction of mounting plate 41 is parallel to the output shaft of the pitching power step-down gear 442
Axial direction.
Upper swing arm 421 is articulated with the edge of mounting plate 41, and mounting plate 41 is installed with the opposite installation of driving upper swing arm 421
The first overturning power device 45 that plate 41 is overturn.The first connecting fork 421a, the first connecting fork is arranged in specific 421 end of upper swing arm
421a is articulated with the edge of mounting plate 41 by shaft, and mounting plate 41 can have multiple uniformly edges outstanding, edge with it is upper
Swing arm 421 is hinged, and the first overturning power device 45 drives upper swing arm 421 to rotate around the shaft.
Specific first overturning power device 45 may include the first overturning power motor 451 and the first overturning power step-down gear
452。
First overturning power motor 451 is installed on mounting plate 41, and the first overturning power step-down gear 452 is installed on the first overturning
The output shaft of power motor 451, upper swing arm 421 are installed on the output shaft of the first overturning power step-down gear 452, the first overturning power
Motor 451 provides power, and the first overturning power step-down gear 452 drives upper swing arm 421 to swing relative to mounting plate 41, upper swing arm
421 swing can be in stationary plane.
Lower swing arm 422 is articulated with upper swing arm 421, and upper swing arm 421 is installed with driving lower swing arm 422 with respect to upper swing arm
Second overturning power device 46 of 421 overturnings.Specific 422 end of lower swing arm can have the second connecting fork 422a, the second connection
Fork 422a is articulated with the end of upper swing arm 421 by shaft, and the second overturning power device 46 drives lower swing arm 422 to turn around the shaft
It is dynamic.
Second overturning power device 46 may include the second overturning power motor 461 and the second overturning power step-down gear 462.
Second overturning power motor 461 is installed on upper swing arm 421, and the second overturning power step-down gear 462 is installed on second and turns over
The output shaft of force motor 461 is rotated, lower swing arm 422 is installed on the output shaft of the second overturning power step-down gear 462, and the second overturning is dynamic
Force motor 461 provides power, and the second overturning power step-down gear 462 drives lower swing arm 422 to swing relative to upper swing arm 421, the bottom
The swing of arm 422 can be in stationary plane.
Alignment sensor mounting portion 423 is articulated with lower swing arm 422, and lower swing arm 422 is installed with driving alignment sensor
Mounting portion 423 overturns power device 47 with respect to the third that lower swing arm 422 is overturn.Alignment sensor mounting portion 423 can have
Three connecting fork 423a, third connecting fork 423a are articulated with the end of lower swing arm 422 by shaft, and third overturns power device 47 and drives
Dynamic alignment sensor mounting portion 423 is rotated around the shaft.
Third overturning power device 47 may include third overturning power motor 471 and third overturning power step-down gear 472.
Third overturning power motor 471 is installed on lower swing arm 422, and third overturning power step-down gear 472 is installed on third and turns over
The output shaft of force motor 471 is rotated, alignment sensor mounting portion 423 is installed on the output shaft of third overturning power step-down gear 472,
Third overturns power motor 471 and provides power, and third overturns power step-down gear 472 and drives alignment sensor mounting portion 423 opposite
It is swung in lower swing arm 422, the swing of alignment sensor mounting portion 423 can be in stationary plane.
The positioning system 4 can also include positioning plate 49, and rotary power motor 431, which can be, is fixedly installed in positioning plate
49, positioning plate 49 is fixed on platen 31, increases the forced area between positioning system 4 and platen 31, reduces platen 31 and is using
When local stress, improve platen 31 service life.
As shown in figure 5, mobile chassis 1 includes: frame 11, steering system 13, deflecting roller 12, support wheel 14 and vehicle body support
Part 16.
Frame 11 is chassis body support, which can be weldment, including crossbeam and stringer, crossbeam and stringer weldering
It is connected in general frame.
Steering system 13 is articulated with the front end of frame 11；Pairs of deflecting roller 12 is respectively arranged in the two of steering system 13
End, steering system 13 drive deflecting roller 12 to turn to；Pairs of support wheel 14 is installed on the rear end of frame 11, support wheel 14 and steering
12 cooperation of wheel is supported frame 11, support vehicle body 2, hoistable platform 3 and positioning system 4.
Vehicle body supporting element 16 is arranged in pairs rear end and steering system 13 in frame 11 along the width direction of frame 11
Upper end, vehicle body supporting element 16 is for supporting vehicle body 2, and vehicle body supporting element 16 has under external force along frame 11
Short transverse compressed, pressure disappear restore elastic free degree, under the gravity of vehicle body 2, vehicle body supporting element
16 are compressed, when positioning robot traveling is in bumpy road, vehicle body supporting element 16 can the impact force experienced of buffer vehicle, protect
Demonstrate,prove the stabilization of vehicle body 2；When the location of pairs of deflecting roller 12 is there are when difference in height, steering system 13 is inclined relative to frame 11
Tiltedly, vehicle body supporting element 16 is compressed to keep frame 11 horizontal.
Further, steering system 13 is installed on the front end of frame 11, and the axis direction of bearing 17 by bearing 17
Front-rear direction along frame 11 extends, and steering system 13 can be rotated along the axis direction of bearing 17.Specifically it can be, frame 11
Front end has the first supporting plate 113 erect, and steering system 13 is provided with the second supporting plate 131 towards frame 11 on one side, and the
One supporting plate 113 and the second supporting plate 131 are oppositely arranged, and are equipped with installation axle 114 between the first supporting plate 113 and the second supporting plate 131,
Bearing 17 is installed on installation axle 114, and bearing 17 can be rotated relative to installation axle 114, the position locating for the pairs of deflecting roller 12
It sets there are when difference in height, bearing 17 is rotated relative to installation axle 114, and there are differences in height for pairs of deflecting roller 12, but vehicle body 2 is still kept
Level, vehicle body supporting element 16 work as a buffer.
Optionally, steering system 13 can also include supporting beam 132, steering motor 133, turn to speed reducer 134, turning machine
135 and steering linkage 136.
The top of supporting beam 132, which is erect, the second supporting plate 131, and pairs of deflecting roller 12 is articulated with the both ends of supporting beam 132,
Steering motor 133 is installed on supporting beam 132, turns to the output shaft that speed reducer 134 is installed on steering motor 133, and turning machine 135 is pacified
Loaded on the output shaft for turning to speed reducer 134, turning machine 135 is connected by steering linkage 136 with deflecting roller 12, steering linkage 136
Deflecting roller 12 is driven to turn to.
Mobile chassis 1 further includes auxiliary wheel 15, and auxiliary wheel 15 can be universal wheel；Auxiliary wheel 15 is movably installed in frame 11
Side and rear end, and auxiliary wheel 15 can the width under outer power drive along frame 11 reversely move back and forth to change auxiliary wheel
Distance between 15 and the side of frame 11, auxiliary wheel 15 play Auxiliary support, and when positioning robot's walking, auxiliary wheel 15 is returned
It receives to 11 side of frame and trailing flank and is risen auxiliary as positioning robot in use, auxiliary wheel 15 extends to the position far from frame 11
Help the effect of support, the opposing frame 11 under the action of outside force of auxiliary wheel 15 is mobile, and it is extra that when robot ambulation is not take up
Width, when robot use, provide Auxiliary support.
Specifically, the upper surface of frame 11 is provided with sliding slot 111 and slide plate 112 compatible with sliding slot 111, auxiliary wheel 15
It is installed on the end of slide plate 112, and slide plate 112 has and drives auxiliary wheel 15 along the chute under the driving of sliding power device 18
The 111 free sliding degree to reciprocatingly slide.Sliding slot 111 and slide plate 112 are adapted, and the sliding slot of 11 two sides of frame is in the width direction
Extend, the sliding slot 111 of 11 rear end of frame extends along its length, and sliding power device 18 drives slide plate 112 111 reciprocal along the chute
Sliding drives auxiliary wheel 15 close or edge far from frame 11, changes between auxiliary wheel 15 and frame 11 by slide plate 112
Distance.The sliding slot 111 can be the middle part for being set to the length direction of frame 11, in positioning robot in use, auxiliary wheel 15
Midfoot support is provided, the stability of robot is improved.And the auxiliary wheel 15 of two sides can be arranged symmetrically, the auxiliary wheel of rear end
15 are installed on the middle line of the direction of advance of frame 11.
Sliding power device 18 may include sliding power motor 181, sliding power speed reducer 182 and elastic wheel 183.
Sliding power motor 181 is installed on frame 11, and sliding power speed reducer 182 is installed on sliding power motor 181
Output shaft, the output shaft of sliding power speed reducer 182 are equipped with elastic wheel 183, elastic wheel 183 and 112 Elastic Contact of slide plate, and
And sliding power motor 182 drives elastic wheel 183 to rotate, there are elastic forces between elastic wheel 183 and slide plate 112, by elastic wheel
183 drive slide plate 112 to move back and forth, and 183 material of elastic wheel can be rubber, and the elastic force between rubber and slide plate 112 drives
Slide plate 112 is mobile.
Mobile chassis 1 can also include the clump weight 19 for being set to frame 11, and clump weight 19 is located at the front side of frame 11, prevent
When positioning system 4 of the stop bit above frame rises to the top of vehicle body 2, unstability due to front-rear direction discontinuity equalization of chassis 1,
Guarantee the stability on the chassis 1 of entire vehicle body 2.
Above-mentioned rotary power speed reducer 432, pitching power step-down gear 442, first overturn power step-down gear 452, second
It overturns power step-down gear 462, third overturning power step-down gear 472, turn to speed reducer 134 and sliding power speed reducer 182
To be self-locking speed-down machine, in predeterminated position, speed reducer 452 is self-locking, realizes in the resident of predeterminated position.
As shown in fig. 6, being equipped with data acquisition module 21, power supply module 22 and control module 23 in vehicle body 2.
Data acquisition module 21 acquires the data information of sensor, and by data information transfer to control module 23, controls
Module 23 controls the operation of each motor, and power supply module is the power supply such as data acquisition module 21, control module 23 and motor.
The output shaft of rotation force motor 431 is equipped with rotatory force angular transducer 433, the output of pitching power motor 441
Axis is equipped with pitching power angular transducer 443, and the output shaft of the first overturning power motor 451 is equipped with the first overturning dynamic angle
Sensor 453 is spent, the output shaft of the second overturning power motor 461 is equipped with the second overturning power angular transducer 463, and third is turned over
The output shaft of rotation force motor 471 is equipped with third overturning power angular transducer 473, the output shaft installation of steering motor 133
There is rotation direction sensor 137, the output shaft of sliding power motor 181 is equipped with sliding power angular transducer 184, data acquisition module
Block 21 is connected with all the sensors.
As shown in fig. 7, hoistable platform 3 can be scissor-type lifting platform, which includes link mechanism 32 and moves
Power cylinder 33, actuator cylinder 33 provide the power that link mechanism 32 deforms, and platen 31 is located at the top of link mechanism 32, by connecting rod
Mechanism 32 drive platen 31 rise or decline, the concrete form of specific bindiny mechanism 32 be it is existing, details are not described herein again.It rises
Dropping platform 3 can also include support plate 34, and link mechanism 32 and actuator cylinder 33 are securable to support plate 34, and support plate 34 is fixed
It is installed in vehicle body 2.
Equipment is numerous in ultra-high voltage transformer station, and distribution is wider, and in the prior art, the positioning of substation's discharge source relies on
Artificial mobile and placement sensor, heavy workload spend the time more, it is difficult to biggish range, company are maked an inspection tour in large-scale substation
Continuous work longer time and flexible movement.The mobile chassis of substation's discharge source positioning robot is by turning in the present invention
Mobile chassis can be flexibly controlled in substation to system to move.Auxiliary wheel is installed on mobile chassis two sides and rear end, plays
Stablize the effect of mobile chassis, auxiliary wheel flexes outward in substation's discharge source positioning robot's position fixing process, increases vehicle
Stability, auxiliary wheel recycles after positioning, does not increase the width of vehicle body, improves the mobile flexibility of vehicle.Vehicle body installation
There are power supply module, control module and data acquisition module, specifically can be the headstock middle and upper part that data acquisition module is located at vehicle body,
Control system and power supply module are located at headstock front, and display screen can also be arranged in headstock, and data acquisition module can acquire biography in real time
The electric signal that sensor receives, and the position that discharge source in substation is obtained to bit arithmetic is carried out to electric signal, control module is logical
It crosses the movement of control mechanical arm and then changes the oriented array and orientation of alignment sensor group, positioning system is installed on electronic
Hydraulic elevating platform can be positioned by mechanical arm positioning device into and out vehicle body in substation's discharge source by hoistable platform
Mechanical arm positioning system can be removed compartment by hoistable platform during robot localization, be conducive to the stretching, extension of mechanical arm positioning system
And steering, mechanical arm positioning device can be moved into compartment by hoistable platform after positioning, increase the mobile flexibility of vehicle.Machine
Mechanical arm in tool arm positioning system is respectively arranged in the surrounding of substrate, and at least 3 freedom degrees can up and down, far for each mechanical arm
Nearly direction is mobile, and the top of each mechanical arm is equipped with an alignment sensor, for receiving the electricity of substation's discharge source sending
Magnetic signal, the mechanical arm positioning system can flexibly form the oriented array without shape and change orientation, increase positioning
Precision and locating speed.
Although not each embodiment is only wrapped it should be appreciated that this specification is described according to each embodiment
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solution in each embodiment may also be suitably combined to form those skilled in the art
The other embodiments that member is understood that.
The series of detailed descriptions listed above only for feasible embodiment of the invention specifically
Protection scope that is bright, and being not intended to limit the invention, it is all without departing from equivalent embodiments made by technical spirit of the present invention or
Change, such as the combination, segmentation or repetition of feature, should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of positioning robot characterized by comprising
Mobile chassis (1)；
Vehicle body (2), the vehicle body (2) are installed on the mobile chassis (2)；
Hoistable platform (3), the hoistable platform (3) is installed in the vehicle body (2) and has can be along the height of the vehicle body (2)
The platen (31) that degree direction is back and forth gone up and down；
Positioning system (4), the positioning system (4) are installed on the platen (31) and are lifted to by the platen (31) described
The top of vehicle body (2) or return is down in the vehicle body (2)；
Wherein, the positioning system (4) includes the mounting plate (41) being connected with platen (31) and multiple is arranged in the mounting plate
(41) mechanical arm (42)；
The mounting plate (41) is bowed with the rotary freedom circumferentially rotated along itself normal direction and relative to platen (31)
The pitch freedom faced upward；
The mechanical arm (42) has upper swing arm (421), the relatively described upper swing arm overturn relative to the mounting plate (41)
(421) the alignment sensor mounting portion (423) of the lower swing arm (422) and relatively described lower swing arm (422) overturning that overturn.
2. positioning robot according to claim 1, which is characterized in that the positioning system (4) further includes rotary power
Device (43), the rotary power unit (43) are installed on the platen (31) of the hoistable platform (3), and the mounting plate
(41) it is installed on the rotation axis (435) of the rotary power unit (43), the rotation axis (435) drives the mounting plate (41)
Axis along the rotation axis (435) rotates.
3. positioning robot according to claim 2, which is characterized in that the end of the rotation axis (435), which is equipped with, bows
Face upward power device (44)；
The mounting plate (41) is installed on the output shaft of the pitching power device (44), and the pitching power device (44) drives
The mounting plate (41) relatively rotates axis (435) pitch rotation.
4. positioning robot according to claim 1, which is characterized in that the upper swing arm (421) is articulated with the installation
The edge of plate (41), and the mounting plate (41) is installed with the driving relatively described mounting plate (41) of upper swing arm (421) and turns over
The first overturning power device (45) turned.
5. positioning robot according to claim 1, which is characterized in that the lower swing arm (422) is articulated with the upper pendulum
Arm (421), and the upper swing arm (421) is installed with relatively described upper swing arm (421) overturning of the driving lower swing arm (422)
Second overturning power device (46).
6. positioning robot according to claim 1, which is characterized in that the alignment sensor mounting portion (423) is hinged
In the lower swing arm (422), and the lower swing arm (422) is installed with the driving alignment sensor mounting portion (423) relatively
The third of lower swing arm (422) overturning overturns power device (47).
7. positioning robot according to claim 1, which is characterized in that the mobile chassis (1) includes:
Frame (11)；
Steering system (13), the steering system (13) are articulated with the front end of the frame (11)；
Deflecting roller (12), the pairs of deflecting roller (12) are respectively arranged in the both ends of the steering system (13)；
Support wheel (14), the pairs of support wheel (14) are installed on the rear end of the frame (11)；
Vehicle body supporting element (16), the vehicle body supporting element (16) are arranged in pairs along the width direction of the frame (11) in described
The rear end of frame (11) and the upper end of the steering system (13)；
Wherein, the vehicle body supporting element (16) has and is compressed, pressed along the short transverse of the frame (11) under external force
The elastic free degree that power disappearance restores；It is described when the location of pairs of described deflecting roller (12) is there are when difference in height
Steering system (13) is tilted relative to the frame (11), the vehicle body supporting element (16) is compressed to keep the frame (11)
It is horizontal.
8. positioning robot according to claim 7, which is characterized in that the steering system (13) is pacified by bearing (17)
Front end loaded on the frame (11), and the axis direction of the bearing (17) prolongs along the front-rear direction of the frame (11)
It stretches.
9. positioning robot according to claim 7, which is characterized in that the mobile chassis (1) further includes auxiliary wheel
(15)；
The auxiliary wheel (15) is movably installed in the side and rear end of the frame (11), and the auxiliary wheel (15) can be outside
The width of frame described in power drive lower edge (11) is reversely moved back and forth to change the auxiliary wheel (15) and the frame (11)
Distance between side.
10. positioning robot according to claim 9, which is characterized in that the upper surface of the frame (11) is provided with cunning
Slot (111) and the compatible slide plate (112) with the sliding slot (111), the auxiliary wheel (15) are installed on the slide plate (112)
End, and the slide plate (112) have drive the auxiliary wheel (15) along described under the driving of sliding power device (18)
The free sliding degree that sliding slot (111) reciprocatingly slides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910519726.9A CN110154001A (en) | 2019-06-17 | 2019-06-17 | Positioning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910519726.9A CN110154001A (en) | 2019-06-17 | 2019-06-17 | Positioning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110154001A true CN110154001A (en) | 2019-08-23 |
Family
ID=67625744
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910519726.9A Pending CN110154001A (en) | 2019-06-17 | 2019-06-17 | Positioning robot |
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| Country | Link |
|---|---|
| CN (1) | CN110154001A (en) |
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Application publication date: 20190823 |