CN114683297B - Rotatable supporting leg of transformer substation foot type inspection robot and working method thereof - Google Patents
Rotatable supporting leg of transformer substation foot type inspection robot and working method thereof Download PDFInfo
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- CN114683297B CN114683297B CN202011636760.3A CN202011636760A CN114683297B CN 114683297 B CN114683297 B CN 114683297B CN 202011636760 A CN202011636760 A CN 202011636760A CN 114683297 B CN114683297 B CN 114683297B
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- 238000007689 inspection Methods 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 91
- 238000001816 cooling Methods 0.000 claims description 3
- 230000007704 transition Effects 0.000 claims description 2
- 230000036544 posture Effects 0.000 abstract description 11
- 210000002414 leg Anatomy 0.000 description 90
- 238000010586 diagram Methods 0.000 description 7
- 238000009434 installation Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000005855 radiation Effects 0.000 description 3
- 239000004575 stone Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000003292 glue Substances 0.000 description 2
- 230000017525 heat dissipation Effects 0.000 description 2
- 239000000047 product Substances 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000011426 transformation method Methods 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a rotatable support leg of a transformer substation foot-type inspection robot and a working method thereof, comprising the following steps: a leg rotation mechanism, a first leg mechanism, and a second leg mechanism; the leg rotating mechanism comprises a rotating bracket and a second driving motor, one end of the rotating bracket is connected with the first driving motor of the first leg mechanism, the other end of the rotating bracket is connected with the second leg mechanism, the second driving motor is arranged in the rotating bracket, so that the second leg mechanism is controlled to swing through the first driving motor, and the rotating angle of the second leg mechanism is controlled through the second driving motor. The leg of the foot type inspection robot is driven to rotate by the leg rotating mechanism to rotate by any angle around the axis of the leg rotating mechanism, so that the problem that the leg is poor in passing performance when walking due to the fact that the leg is single in structure due to the rigid structure of the leg is solved, and different leg postures are adjusted to meet the walking requirement.
Description
Technical Field
The invention relates to the technical field of transformer substation foot-type inspection robots, in particular to a rotatable support leg of a transformer substation foot-type inspection robot and a working method thereof.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The transformer substation inspection robots all adopt wheel-type chassis at present and are suitable for running on flat road surfaces, but terrains such as steps, stone road surfaces, stairs and the like exist in the transformer substation, so that full coverage of inspection areas is difficult to realize; the crawler chassis has the problems of high energy consumption, easy abrasion of the crawler, black trace left on the ground and the like, and is not beneficial to long-term operation; the leg-foot type moving mechanism has discrete foot falling points and good terrain trafficability.
The foot-type inspection robot needs to adjust leg structures according to different terrain conditions in the transformer substation so as to better finish inspection operation; however, the existing foot-type robot platform is a universal platform, the supporting legs of the foot-type robot platform adopt a rigid structure, only one degree of freedom exists in thighs and shanks, and the trafficability of the foot-type robot platform is poor when walking on road conditions such as steps, stone pavements and stairs in a transformer substation due to the fact that the leg structure is single.
Disclosure of Invention
In order to solve the problems, the invention provides the rotatable support leg of the foot-type inspection robot of the transformer substation and the working method thereof, and the support leg of the foot-type inspection robot is driven to rotate around the axis of the leg rotating mechanism by the rotation of the leg rotating mechanism to any angle, so that the problem that the support leg is poor in passing performance when walking due to the fact that the support leg is of a rigid structure and the leg structure is single is solved, and different support leg postures are adjusted to meet the walking requirement.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
in a first aspect, the present invention provides a rotatable leg of a substation foot-type inspection robot, comprising: a leg rotation mechanism, a first leg mechanism, and a second leg mechanism; the leg rotating mechanism comprises a rotating bracket and a second driving motor, one end of the rotating bracket is connected with the first driving motor of the first leg mechanism, the other end of the rotating bracket is connected with the second leg mechanism, the second driving motor is arranged in the rotating bracket, so that the second leg mechanism is controlled to swing through the first driving motor, and the rotating angle of the second leg mechanism is controlled through the second driving motor.
In a second aspect, the invention provides a working method of the rotatable support leg of the transformer substation foot-type inspection robot in the first aspect, which comprises the following steps: when the posture of the support leg is changed, the first driving motor is controlled to be locked so as to fix the position of the second leg mechanism; the second driving motor is controlled to rotate so as to drive the second leg mechanism to rotate around the axis of the leg rotating mechanism by any angle.
In a third aspect, the invention provides a transformer substation foot-type inspection robot, which comprises the rotatable support leg of the transformer substation foot-type inspection robot in the first aspect.
Compared with the prior art, the invention has the beneficial effects that:
the invention innovatively develops a rotatable supporting leg of a transformer substation foot-type inspection robot, and a transformer substation foot-type inspection robot capable of realizing self-adaptive transformation of the supporting leg posture is initiated, a multi-degree-of-freedom active adjustment motion model of a foot-type operation platform is built, a transformation method of the rotatable supporting leg of the transformer substation foot-type inspection robot is provided, a first leg mechanism and a second leg mechanism are connected through a leg rotating mechanism, the second leg mechanism is controlled to swing through a first driving motor of the first leg mechanism, the second leg mechanism is driven to rotate around the axis of the leg rotating mechanism by rotating through a second driving motor of the leg rotating mechanism, the problem that the passing performance is poor when the leg is walked due to the fact that the supporting leg is of a rigid structure is single is solved, different supporting leg postures are adjusted to meet walking requirements, universality of walking topography is improved, motion stability of the foot-type inspection robot under different road environments such as stairs, gravel topography and grasslands is improved, and adaptability of the foot-type inspection robot platform to different roads in a station is enhanced.
Additional aspects of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
Fig. 1 is a schematic diagram of a rotatable leg structure of a transformer substation foot-type inspection robot according to embodiment 1 of the present invention;
FIGS. 2 (a) -2 (b) are schematic diagrams showing the first leg mechanism composition according to embodiment 1 of the present invention;
FIGS. 3 (a) -3 (d) are schematic diagrams showing the composition of a leg rotation mechanism according to embodiment 1 of the present invention;
FIGS. 4 (a) -4 (b) are schematic diagrams showing the assembly of a leg rotation mechanism according to embodiment 1 of the present invention;
fig. 5 is a schematic diagram of a second leg mechanism according to embodiment 1 of the present invention;
FIG. 6 is a schematic view showing the composition of a foot mechanism according to embodiment 1 of the present invention;
FIG. 7 is a schematic view of a foot mechanism assembly provided in example 1 of the present invention;
fig. 8 is a schematic diagram of a rotatable leg gesture 1 of a substation foot-type inspection robot provided in embodiment 2 of the present invention;
fig. 9 is a schematic diagram of a rotatable leg gesture 2 of a substation foot-type inspection robot provided in embodiment 2 of the present invention;
wherein, 1, a first leg mechanism, 2, a leg rotating mechanism, 3, a second leg mechanism, 4, a foot mechanism, 5, a shell, 6, a third driving motor, 7, a heat radiation fan, 8, a first bracket, 9, a first driving motor, 10, a rotating bracket 11, a rotating mounting plate 12, a second driving motor 13, a connecting piece 14, a second bracket 15, a spring 16, a foot fixing plate 17, a foot mounting plate 18 and a grounding foot.
The specific embodiment is as follows:
the invention is further described below with reference to the drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular forms also are intended to include the plural forms, and furthermore, it is to be understood that the terms "comprises" and "comprising" and any variations thereof are intended to cover non-exclusive inclusions, such as, for example, processes, methods, systems, products or devices that comprise a series of steps or units, are not necessarily limited to those steps or units that are expressly listed, but may include other steps or units that are not expressly listed or inherent to such processes, methods, products or devices.
Embodiments of the invention and features of the embodiments may be combined with each other without conflict.
Example 1
As shown in fig. 1, the present embodiment provides a rotatable leg of a foot-type inspection robot of a transformer substation; comprising the following steps: a first leg mechanism 1, a leg rotation mechanism 2, a second leg mechanism 3, and a foot mechanism 4; the leg rotation mechanism 2 connects the first leg mechanism 1 and the second leg mechanism 3, and the foot mechanism 4 is connected to the other end of the second leg mechanism 3.
As shown in fig. 2 (a) -2 (b), the first leg mechanism 1 includes a housing 5, a first drive motor 9, a heat radiation fan 7, a first bracket 8, and a third drive motor 6;
in this embodiment, the gap between the third driving motor 6 and the cooling fan 7 is adhered by high-strength glue to supplement the gap; the cooling fan 7 enhances the air flow between the third driving motor 6 and the shell 5 and enhances the heat dissipation in the movement process of the first leg mechanism 1;
preferably, the heat radiation fan 7 is connected to the third driving motor 6 by a bolt.
In this embodiment, the housing 5 is disposed on a first bracket 8;
preferably, the housing 5 is bolted to the first bracket 8;
preferably, the housing 5 is made of aluminum alloy, so that the heat dissipation area of the third driving motor 6 is increased.
In this embodiment, two ends of the first bracket 8 are respectively connected with the first driving motor 9 and the third driving motor 6;
preferably, the first driving motor 9 is connected to the leg rotation mechanism 2 through a key transmission to drive the swing of the second leg mechanism 3.
Preferably, the first bracket 8 is connected with the first driving motor 9 and the third driving motor 6 by bolts;
it will be appreciated that flange connections, rivets, dowel connections, etc. may be used in addition to bolted connections.
As shown in fig. 3 (a) -3 (d) and fig. 4 (a) -4 (b), the leg rotating mechanism 2 includes a rotating bracket 10, a rotating mounting plate 11, a second driving motor 12, and a connecting member 13;
the rotary bracket 10 is connected with the first driving motor 9 of the first leg mechanism 2 through a key connection and is connected with the second leg mechanism 3 through a connecting piece 13;
in this embodiment, the upper edge of the connecting piece 13 is mounted on the rotating bracket 11, and the lower edge is mounted on the second leg mechanism 3 in a clearance fit manner;
preferably, a positioning groove is formed in the side surface of the rotary support 10, a concave positioning groove is formed in the upper edge of the connecting piece 13, and the concave positioning groove is in transition fit with the positioning groove;
preferably, the connecting piece 13 adopts a fixed fastening structure, and includes a first half fastening and a second half fastening, where the first half fastening and the second half fastening are connected through bolts.
In this embodiment, an installation groove is formed in the rotary bracket 10, and the second driving motor 12 is connected to the rotary installation plate 11 through a bolt and then is installed in the installation groove of the rotary bracket 10 through a bolt;
preferably, the second driving motor 12 is a rotary motor, and the connection of the leg rotation mechanism 2 to the second leg mechanism 3 is used to change the rotation angle of the second leg mechanism 3.
As shown in fig. 5, the second leg mechanism 3 includes a second bracket 14 and a spring 15; the second bracket 14 is in clearance fit with the lower edge of the connecting piece 13; an inner cavity is arranged at the lower part of the second bracket 14, and a spring 15 is matched and arranged in the cavity.
As shown in fig. 6-7, the foot mechanism 4 includes a foot securing plate 16, a foot mounting plate 17, and a ground engaging foot 18;
the foot-mounting plate 17 is attached to the second bracket 14, and the upper portion of the foot-securing plate 16 is in clearance fit with the springs 15;
preferably, the four corners of the foot mounting plate 17 are bolted to the second brackets 14.
A round hole is formed in the middle of the foot mounting plate 17, and a connecting shaft of the ground foot 18 penetrates through the round hole of the foot mounting plate 17 to be connected with the foot fixing plate 16;
preferably, the upper end of the connecting shaft of the ground foot 18 is provided with a screw hole to be connected with the foot fixing plate 16 by a bolt.
Preferably, the outer portion of the ground foot 18 is adhered with a rubber material by a high strength glue.
In more embodiments, a transformer substation foot-type inspection robot is further provided, which comprises the rotatable supporting leg, and the transformer substation foot-type inspection robot is adjusted in different supporting leg postures by controlling the rotation of the second driving motor so as to meet the walking requirement.
Example 2
In this embodiment, a working method of a rotatable leg of a foot-type inspection robot of a transformer substation is provided as described in embodiment 1; the method specifically comprises the following steps: when the posture of the support leg is changed, the first driving motor is controlled to be locked so as to fix the position of the second leg mechanism, and the second driving motor is controlled to rotate so as to drive the second leg mechanism to rotate around the axis of the leg rotating mechanism by any angle.
In this embodiment, two leg gestures of the rotatable leg are provided; one of which is shown in fig. 8; after the angle of the second leg mechanism is determined, the current angle is locked, and the running of the transformer substation foot-type inspection robot is realized through the coordinated control of the first driving motor and the third driving motor; the supporting leg posture is suitable for road conditions such as flat road surfaces, up steps and the like in a transformer substation.
Second, as shown in fig. 9; when the posture of the supporting leg needs to be changed, the third driving motor is controlled to lift the supporting leg, the first driving motor is controlled to lock the second leg mechanism, the output shaft of the rotating motor is controlled to rotate, and the second leg mechanism rotates around the axis of the leg rotating mechanism by any angle; the supporting leg posture is suitable for road conditions such as a flat road surface, a lower step and the like in a transformer substation.
In addition, in the environments such as grasslands, stone pavements and the like in the transformer substation, the postures of different supporting legs can be adjusted by controlling the rotation of the rotating motor according to the condition of the site obstacle so as to meet the walking requirement.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
While the foregoing description of the embodiments of the present invention has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the invention, but rather, it is intended to cover all modifications or variations within the scope of the invention as defined by the claims of the present invention.
Claims (8)
1. Rotatable landing leg of transformer substation foot formula inspection robot, its characterized in that includes: a leg rotation mechanism, a first leg mechanism, and a second leg mechanism; the leg rotating mechanism comprises a rotating bracket and a second driving motor, one end of the rotating bracket is connected with the first driving motor of the first leg mechanism, the other end of the rotating bracket is connected with the second leg mechanism, the second driving motor is arranged in the rotating bracket, so that the second leg mechanism is controlled to swing through the first driving motor, and the rotating angle of the second leg mechanism around the axis of the leg rotating mechanism is controlled through the second driving motor;
the rotary support is connected with the first driving motor through key connection, the rotary support is connected with the second leg mechanism through a connecting piece, the first edge of the connecting piece is connected with the rotary support, and the second edge of the connecting piece is connected with the second leg mechanism; the side surface of the rotary support is provided with a positioning groove, the first edge of the connecting piece is provided with a concave positioning groove, and the concave positioning groove is in transition fit connection with the positioning groove; the second driving motor is arranged in the mounting groove of the rotary bracket;
the rotatable leg further includes a foot mechanism including a foot securing plate, a foot mounting plate, and a ground engaging foot, the foot mounting plate being connected to the second leg mechanism second bracket, the foot securing plate being connected to the second leg mechanism spring.
2. The substation foot inspection robot rotatable leg of claim 1 wherein the first leg mechanism further comprises a first bracket, a radiator fan, and a third drive motor; the two ends of the first bracket are respectively connected with a first driving motor and a third driving motor, and a cooling fan is arranged on the third driving motor.
3. The rotatable leg of the substation foot inspection robot of claim 1, wherein the connector comprises a first half fastener and a second half fastener, the first half fastener and the second half fastener being connected by a bolt.
4. The rotatable leg of the transformer substation foot-type inspection robot according to claim 1, wherein the leg rotating mechanism further comprises a rotating mounting plate, a mounting groove is formed in the rotating support, and the second driving motor is mounted in the mounting groove after being connected with the rotating mounting plate.
5. A substation foot inspection robot rotatable leg according to claim 1, wherein the second leg mechanism comprises a second bracket and a spring, the second bracket being connected to the rotatable bracket; a spring is arranged in the inner cavity of the second bracket.
6. The rotatable landing leg of the transformer substation foot type inspection robot according to claim 1, wherein a round hole is formed in the middle of the foot mounting plate, and a connecting shaft of the grounding foot penetrates through the round hole to be connected with the foot fixing plate.
7. A method of operating a rotatable leg of a substation foot inspection robot according to any one of claims 1-6, comprising: when the posture of the support leg is changed, the first driving motor is controlled to be locked so as to fix the position of the second leg mechanism; the second driving motor is controlled to rotate so as to drive the second leg mechanism to rotate around the axis of the leg rotating mechanism by any angle.
8. A substation foot inspection robot comprising a rotatable leg of the substation foot inspection robot of any one of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011636760.3A CN114683297B (en) | 2020-12-31 | 2020-12-31 | Rotatable supporting leg of transformer substation foot type inspection robot and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011636760.3A CN114683297B (en) | 2020-12-31 | 2020-12-31 | Rotatable supporting leg of transformer substation foot type inspection robot and working method thereof |
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| Publication Number | Publication Date |
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| CN114683297A CN114683297A (en) | 2022-07-01 |
| CN114683297B true CN114683297B (en) | 2023-10-27 |
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| CN202011636760.3A Active CN114683297B (en) | 2020-12-31 | 2020-12-31 | Rotatable supporting leg of transformer substation foot type inspection robot and working method thereof |
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|---|---|---|---|---|
| US5739655A (en) * | 1994-09-09 | 1998-04-14 | Kabushiki Kaisha Komatsu Seisakusho | Ambulatory robot and ambulation control method for same |
| JP2003266337A (en) * | 2002-03-11 | 2003-09-24 | National Institute Of Advanced Industrial & Technology | Bipedal walking robot |
| CN205131424U (en) * | 2015-10-09 | 2016-04-06 | 杭州南江机器人股份有限公司 | Leg formula robot shank structure |
| CN109501881A (en) * | 2019-01-14 | 2019-03-22 | 浙江大学 | A kind of quadruped robot walking mechanism |
| CN110065552A (en) * | 2019-05-22 | 2019-07-30 | 贵州大学 | A kind of voice control quadruped robot |
| CN110253620A (en) * | 2019-07-25 | 2019-09-20 | 长安大学 | A kind of integrated joint of fast demountable can variant multi-foot robot |
| CN110667726A (en) * | 2019-09-30 | 2020-01-10 | 中铁第四勘察设计院集团有限公司 | Four-foot walking inspection robot applied to subway train inspection warehouse |
| CN111332382A (en) * | 2020-04-01 | 2020-06-26 | 安徽工业大学 | Horizontal joint quadruped robot |
| CN111360868A (en) * | 2020-03-24 | 2020-07-03 | 北京理工大学 | Bionic robot and limb structure of parallel driving joint of bionic robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20200085231A (en) * | 2019-01-04 | 2020-07-14 | 현대자동차주식회사 | Vehicle transverse components and vehicles comprising the same |
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2020
- 2020-12-31 CN CN202011636760.3A patent/CN114683297B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5739655A (en) * | 1994-09-09 | 1998-04-14 | Kabushiki Kaisha Komatsu Seisakusho | Ambulatory robot and ambulation control method for same |
| JP2003266337A (en) * | 2002-03-11 | 2003-09-24 | National Institute Of Advanced Industrial & Technology | Bipedal walking robot |
| CN205131424U (en) * | 2015-10-09 | 2016-04-06 | 杭州南江机器人股份有限公司 | Leg formula robot shank structure |
| CN109501881A (en) * | 2019-01-14 | 2019-03-22 | 浙江大学 | A kind of quadruped robot walking mechanism |
| CN110065552A (en) * | 2019-05-22 | 2019-07-30 | 贵州大学 | A kind of voice control quadruped robot |
| CN110253620A (en) * | 2019-07-25 | 2019-09-20 | 长安大学 | A kind of integrated joint of fast demountable can variant multi-foot robot |
| CN110667726A (en) * | 2019-09-30 | 2020-01-10 | 中铁第四勘察设计院集团有限公司 | Four-foot walking inspection robot applied to subway train inspection warehouse |
| CN111360868A (en) * | 2020-03-24 | 2020-07-03 | 北京理工大学 | Bionic robot and limb structure of parallel driving joint of bionic robot |
| CN111332382A (en) * | 2020-04-01 | 2020-06-26 | 安徽工业大学 | Horizontal joint quadruped robot |
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| CN114683297A (en) | 2022-07-01 |
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