CN114475848A - A four-footed robot and unmanned aerial vehicle subassembly for transformer substation patrols and examines usefulness - Google Patents
A four-footed robot and unmanned aerial vehicle subassembly for transformer substation patrols and examines usefulness Download PDFInfo
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- CN114475848A CN114475848A CN202210096234.5A CN202210096234A CN114475848A CN 114475848 A CN114475848 A CN 114475848A CN 202210096234 A CN202210096234 A CN 202210096234A CN 114475848 A CN114475848 A CN 114475848A
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- 238000007689 inspection Methods 0.000 claims abstract description 91
- 238000004891 communication Methods 0.000 claims abstract description 21
- 238000013500 data storage Methods 0.000 claims abstract description 14
- 238000000034 method Methods 0.000 claims abstract description 14
- 230000008569 process Effects 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims description 32
- 230000007246 mechanism Effects 0.000 claims description 23
- 210000003141 lower extremity Anatomy 0.000 claims description 13
- 210000001364 upper extremity Anatomy 0.000 claims description 11
- 238000012544 monitoring process Methods 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 3
- 239000003990 capacitor Substances 0.000 claims description 2
- 230000003028 elevating effect Effects 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims 1
- 239000013589 supplement Substances 0.000 claims 1
- 206010014357 Electric shock Diseases 0.000 abstract description 2
- 238000009434 installation Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000000875 corresponding effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000000670 limiting effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 206010048909 Boredom Diseases 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000009529 body temperature measurement Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
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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
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- 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
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B1/00—Frameworks, boards, panels, desks, casings; Details of substations or switching arrangements
- H02B1/24—Circuit arrangements for boards or switchyards
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/30—Transforming light or analogous information into electric information
- H04N5/33—Transforming infrared radiation
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Power Engineering (AREA)
- Multimedia (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Signal Processing (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a quadruped robot and an unmanned aerial vehicle assembly for substation inspection, belonging to the technical field of power system equipment, and comprising a robot body and an inspection unmanned aerial vehicle, wherein the robot body comprises a machine body, a machine nest arranged in the machine body and a plurality of machine feet connected with the machine body for walking; the inspection unmanned aerial vehicle is arranged in the nest, the top end of the nest is provided with an opening, and two sides of the opening are connected with sliding cover doors in a sliding manner; a control system bin is arranged at the bottom end inside the machine body, and a control module, a power supply module, a sensor module, a driving module, a data storage module and a communication module are arranged in the control system bin; the rear end of fuselage is provided with patrols and examines camera module, and patrols and examines camera module and data storage module communication connection, and the front end of fuselage is provided with the arm. The invention reduces the working strength of the substation inspection personnel, reduces the electric shock risk in the inspection process, and solves the problem that a shooting blind area exists in the inspection process of the inspection robot.
Description
Technical Field
The invention relates to a quadruped robot and an unmanned aerial vehicle assembly for substation inspection, and belongs to the technical field of power system equipment.
Background
The transformer substation is a place for converting voltage and current, receiving electric energy and distributing electric energy in an electric power system, and the transformer substation in a power plant is a boosting transformer substation which is used for boosting the electric energy generated by a generator and then feeding the electric energy into a high-voltage power grid. In order to ensure the safe use of the transformer substation, the transformer substation needs to be regularly patrolled and examined, manual patrol and examine is the traditional operation mode of transformer substation patrol and examine, but the patrol and examine personnel sometimes cause missing examination, wrong examination very easily because of factors such as work fatigue and boredom, and visible manual patrol and examine and be difficult to guarantee the safe and reliable operation of electric power system. Therefore, the inspection task of the transformer substation completed by using the inspection robot becomes a development trend.
But the inspection robot is used alone to complete the inspection task, and the following problems still exist:
firstly, the inspection robot can shoot a target beyond the shooting range of the inspection camera assembly due to walking limitation, so that the inspection is missed.
Secondly, the camera shooting component of the inspection robot and the inspection robot are limited in angle, so that inspection dead angles can be generated, and the camera shooting component cannot shoot.
The utility model discloses a robot and power equipment inspection robot system are patrolled and examined to power equipment in the chinese utility model patent that publication number is CN205021584U, include: a walking device and a polling device; the walking device comprises: the supporting frame is provided with at least one connecting hole; the inspection device is provided with a plug matched with the connecting hole, and the plug can be inserted into the connecting hole and pulled out of the connecting hole so as to combine or separate the walking device and the inspection device; power equipment patrols and examines robot system, patrols and examines the robot including above-mentioned power equipment, still includes: a background controller; the power equipment inspection robot interacts information with the background controller through the wireless communication module; the information includes one or more of the following: the method comprises the steps of real-time load current of the power equipment, an infrared temperature measurement value, equipment abnormality alarm information, barrier alarm information, face identification information in an inspection area, sound collection identification information in the inspection area and power equipment disconnecting link position identification information.
The reference example utilizes the inspection robot to inspect, but it can only inspect on the ground, and the suitability is poor, still has the blind area that can't detect, therefore urgently needs to be improved.
Disclosure of Invention
In order to overcome the defects that the inspection range of the conventional power inspection robot for the transformer substation is limited, the inspection robot has a shooting blind area and the like, the invention designs the quadruped robot and the unmanned aerial vehicle assembly for the transformer substation inspection, which reduce the working strength of inspection personnel of the transformer substation, reduce the electric shock risk in the inspection process and solve the problem that the inspection robot has the shooting blind area in the inspection process.
In order to achieve the purpose, the invention adopts the following technical scheme:
a quadruped robot and unmanned aerial vehicle assembly for substation inspection comprises a robot body and an inspection unmanned aerial vehicle, wherein the robot body comprises a machine body, a machine nest arranged in the machine body and a plurality of machine feet connected with the machine body and used for walking; the inspection unmanned aerial vehicle is arranged in the nest, the top end of the nest is provided with an opening, and two sides of the opening are connected with sliding cover doors in a sliding manner; the inside bottom of fuselage is provided with the control system storehouse, is provided with in the control system storehouse: a control module: for receiving, computing, processing, and transmitting data; a power supply module: the control module is electrically connected with the power supply module and is used for supplying electric energy; a sensor module: the control module is electrically connected with the power supply and used for feeding back an electric signal to the power supply; a driving module: the control module is electrically connected with the control module and is used for driving all the components to move according to the instruction of the control module; a data storage module: the system is electrically connected with the control module and is used for temporarily storing data acquired in the inspection working process; a communication module: the system is electrically connected with the control module and is used for transmitting data acquired in the polling working process back to the polling monitoring room; the rear end of fuselage is provided with the camera module of patrolling and examining that is used for gathering the real-time image of patrolling and examining the place, and it is connected with the data storage module communication to patrol and examine camera module, the front end of fuselage is provided with the arm of being connected with the drive module communication, the arm is including rotating the base of connecting in proper order, first linking arm and second linking arm, the base rotates with the fuselage to be connected, the second linking arm free end rotates and is connected with U type connecting piece, the U type inslot rotation of U type connecting piece is connected with leading camera, leading camera is connected with the data storage module communication, U type connecting piece side is provided with the installation piece, sliding connection has the flexible electric capacity pen by drive module drive motion in the installation piece, flexible electric capacity pen one end stretches out the installation piece setting.
Furthermore, the inspection camera module comprises an image acquisition device, a cradle head and a lifting mechanism which are sequentially connected from top to bottom, a rotating mechanism used for driving the cradle head to rotate and a swinging mechanism used for driving the image acquisition device to swing up and down are further arranged inside the cradle head, an inverted U-shaped connecting frame is arranged at the bottom end of the image acquisition device, and two ends of the U-shaped connecting frame are fixed on two sides of the top end of the cradle head.
Further, still be provided with infrared thermal imager in the image acquisition device, image acquisition device's camera lens front end still is provided with the windshield wiper, and the windshield wiper rotates with image acquisition device shell to be connected, and the camera lens bottom still is provided with the second light filling lamp.
Furthermore, the lifting mechanism comprises a movable round platform and a lifting motor, a pair of clamping planes are symmetrically arranged on the side surfaces of the movable round platform, a mounting hole matched with the shape of the movable round platform is formed in the machine body, the movable round platform is movably embedded in the mounting hole in an up-and-down mode, the top end of the movable round platform extends out of the mounting hole and then is connected with the bottom end of the movable round platform, the lifting motor is arranged at the bottom end of the movable round platform, the output end of the lifting motor is upwards arranged and connected with a lead screw, and the free end of the lead screw penetrates through a fixed disc fixed at the bottom end of the movable round platform and then extends into the interior of the movable round platform.
Furthermore, slewing mechanism includes the rotation motor and mutually supports the transmission and all sets up first worm wheel and the first worm in the inside bottom of cloud platform, rotates the motor and passes through the belt and be connected with first worm transmission, and first worm wheel bottom mounting has the transmission connecting piece, and transmission connecting piece bottom rotates and runs through behind the cloud platform bottom and is connected with activity round platform fixed connection.
Further, swing mechanism includes swing motor, pivot and the driven second worm and the second worm wheel of mutually supporting, and swing motor output is connected with the second worm transmission, and the pivot is fixed cup jointed with the second worm wheel, and the pivot both ends rotate run through behind the cloud platform lateral wall with U type link both ends fixed connection.
Furtherly, patrol and examine the unmanned aerial vehicle front end and be provided with and shoot camera and first light filling lamp, patrol and examine the unmanned aerial vehicle bottom and still be provided with the support frame, the support frame is passed through magnetic force with the machine nest bottom and is adsorbed and be connected, patrols and examines the unmanned aerial vehicle top and still is provided with the antenna.
Further, the machine foot comprises a lower limb, an upper limb and a shoulder, one end of the upper limb is hinged to the lower limb, a connecting shell is integrally arranged on the side face of the other end of the upper limb, a transmission shaft is arranged on the side face of the shoulder, the transmission shaft is in transmission connection with a first driving motor arranged in the machine body, a second driving motor is arranged inside the shoulder, the second driving motor is in transmission connection with the connecting shell, a third driving motor is arranged in the connecting shell, the output end of the third driving motor is in transmission connection with a circular connecting piece, a connecting rod is arranged between the lower limb and the circular connecting piece, one end of the connecting rod is hinged to the lower limb, and the other end of the connecting rod is hinged to the position, deviated from the circle center, of the circular connecting piece.
Further, the sensor module comprises a laser radar arranged at the front end of the machine body, and a gyroscope and a Hall sensor which are arranged in the control system bin.
Furthermore, a limit frame which is arranged in a rectangular shape is arranged in the machine nest.
Compared with the prior art, the invention has the following characteristics and beneficial effects:
1. according to the invention, by arranging the robot body and the inspection unmanned aerial vehicle, the robot body can perform inspection according to a preset program, so that the labor is saved, the work load of inspection personnel is reduced, the safety of the inspection personnel is ensured, and the high-intensity inspection work can be performed at any time by utilizing the robot inspection, so that the safety of a transformer substation is greatly ensured.
2. According to the invention, through the arrangement of the mechanical arm, when small obstacles are met, the shooting of the inspection area can be realized through the adjustment of the mechanical arm, the unmanned aerial vehicle does not need to be started, the energy consumption of the device can be reduced, the cruising ability of the device is ensured, and the telescopic capacitor pen is also arranged on the mechanical arm, so that the inspection area which needs to be contacted or pressed can be dealt with, the applicability of the device is improved, the mechanical arm is matched with the inspection camera module and the unmanned aerial vehicle, the complete inspection of each area of the ground and the high altitude is realized, the inspection working efficiency is further improved, and the safety of a transformer substation is ensured.
3. The inspection camera module provided by the invention realizes rotation, lifting and swinging of the image acquisition device through the arrangement of the rotating structure, the lifting mechanism and the swinging mechanism, is beneficial to realizing all-dimensional monitoring of an inspection area and the surrounding environment, and the rotating structure, the lifting mechanism and the swinging mechanism are mutually matched, so that the image acquisition device can be ensured to always keep the best angle in the image shooting process so as to shoot the clearest image, repeated inspection caused by image blurring is avoided, the safety and convenience in the inspection process are ensured, and the working efficiency is greatly improved.
Drawings
FIG. 1 is a schematic overall structure of a first perspective of the present invention;
FIG. 2 is a schematic overall structure view from a second perspective of the present invention;
FIG. 3 is a schematic overall structure view from a third perspective of the present invention;
FIG. 4 is a schematic overall structure diagram of a fourth perspective of the present invention;
FIG. 5 is a schematic view of a first perspective of the robotic arm of the present invention;
FIG. 6 is a structural schematic of a second perspective of the robotic arm of the present invention;
FIG. 7 is a structural schematic of a third perspective of the robotic arm of the present invention;
fig. 8 is a schematic view of a first view angle of the inspection camera module of the present invention;
fig. 9 is a schematic diagram of a second view angle of the inspection camera module of the present invention;
fig. 10 is a schematic structural diagram of a third viewing angle of the inspection camera module of the present invention;
fig. 11 is a schematic view of the internal structure of the head of the invention;
FIG. 12 is a schematic view of the construction of the flexible circular table of the present invention;
fig. 13 is a schematic structural view of a first perspective of the drone of the present invention;
fig. 14 is a schematic structural view of a second perspective of the drone of the present invention;
FIG. 15 is a schematic view of the overall construction of the foot of the present invention;
FIG. 16 is a schematic view of the connection of the foot of the present invention;
fig. 17 is a connection block diagram of the present invention.
Wherein the reference numerals are: 1. a robot body; 11. a body; 111. a control system cabin; 12. a machine nest; 13. a mechanical foot; 131. a lower limb; 1311. a connecting rod; 1312. a circular connector; 132. an upper limb; 1321. a connecting shell; 133. a shoulder portion; 1331. a drive shaft; 14. a sliding cover door; 15. a limiting frame; 2. inspecting the unmanned aerial vehicle; 21. shooting a camera; 22. a first fill-in light; 23. an antenna; 24. a support frame; 3. a patrol camera module; 31. an image acquisition device; 311. a wiper; 312. an infrared thermal imager; 313. a lens; 314. a second fill-in light; 315. a U-shaped connecting frame; 32. a holder; 33. a rotating mechanism; 331. rotating the motor; 332. a belt; 333. a first worm gear; 334. a first worm; 34. a lifting mechanism; 341. a movable round table; 3411. clamping a plane; 342. a lifting motor; 343. fixing the disc;
344. a screw rod; 35. a swing mechanism; 351. a swing motor; 352. a second worm; 353. a rotating shaft;
354. a second worm gear; 4. a mechanical arm; 41. a base; 42. a first connecting arm; 43. a second connecting arm; 431. mounting blocks; 432. a capacitance pen; 44. front-mounted shooting; 45. a U-shaped connecting piece; 5. a laser radar; 10. a control module; 20. a power supply module; 30. a sensor module; 40. a drive module; 50. a data storage module; 60. a communication module; 70. and (5) inspecting a monitoring room.
Detailed Description
The present invention will be described in more detail with reference to examples.
As shown in fig. 1 to 17, the quadruped robot and unmanned aerial vehicle assembly for substation inspection of the present embodiment includes a robot body 1 and an inspection unmanned aerial vehicle 2, wherein a shooting camera 21 for shooting is arranged at the front end of the inspection unmanned aerial vehicle 2, the robot body 1 includes a machine body 11, a machine nest 12 arranged at the top end inside the machine body 11, and machine feet 13 arranged at four corners of the machine body 11 for walking; the inspection unmanned aerial vehicle 2 is arranged in the nest 12, an opening is formed in the top end of the nest 12, two sides of the opening are connected with the sliding cover doors 14 in a sliding mode, and when the inspection unmanned aerial vehicle 2 is not used, the sliding cover doors 14 are closed to protect the inspection unmanned aerial vehicle 2;
the inside bottom of fuselage 11 is provided with control system storehouse 111, is provided with in the control system storehouse 111:
the control module 10: for receiving, computing, processing, and transmitting data;
the power supply module 20: is electrically connected with the control module 10 and is used for providing electric energy;
the sensor module 30: the control module 10 is electrically connected with the control module 10 and is used for feeding back an electric signal generated by the sensor to the control module 10 so as to facilitate the control module 10 to send a corresponding instruction to control each part to continuously complete the inspection work;
the driving module 40: the controller is electrically connected with the control module 10 and is used for driving all the components to move according to the instruction of the control module 10;
the data storage module 50: the data acquisition module is electrically connected with the control module 10 and is used for temporarily storing data acquired in the inspection working process;
the communication module 60: the inspection monitoring room is electrically connected with the control module 10 and used for transmitting data acquired in the inspection working process back to the inspection monitoring room 70;
the rear end of the machine body 11 is provided with an inspection camera module 3 for collecting real-time images of an inspection site, the inspection camera module 3 is in communication connection with a data storage module 50, the front end of the machine body 11 is provided with a mechanical arm 4 driven by a driving module 40, the mechanical arm 4 comprises a base 41, a first connecting arm 42 and a second connecting arm 43 which are sequentially connected in a rotating manner, the base 41 is in rotating connection with the machine body 11, the free end of the second connecting arm 43 is in rotating connection with a U-shaped connecting piece 45, a front camera 44 is connected in a rotating manner in a U-shaped groove of the U-shaped connecting piece 45, the front camera 44 is in communication connection with the data storage module 50, the side surface of the U-shaped connecting piece 45 is provided with a mounting block 431, a telescopic capacitance pen 432 driven to move by the driving module 40 is connected in the mounting block 431 in a sliding manner, one end of the telescopic capacitance pen 432 extends out of the mounting block 431, the base 41, the first connecting arm 42 and the second connecting arm 43 are driven to rotate by a brushless motor, each brushless motor all is connected with drive module 40 communication, the intensive table meter of having arranged in the transformer substation, thereby it can have the condition that highly is not enough to lead to data acquisition's omission to use only to patrol and examine camera module 3, may cause serious consequence, setting through arm 4, utilize drive module 40 to drive the motion of arm 4 and carry out the regulation of multi-angle, can aim at accurately and wait to patrol and examine the region, then utilize leading camera 44 to carry out the collection of all kinds of data, supplementary completion is patrolled and examined the work of patrolling and examining that camera module 3 can't gather the region, simultaneously through flexible electric capacity pen 432's setting, in some narrower regions, can control flexible electric capacity pen 432 stretch out and be used for the operation that needs realize touch-control and button, the suitability of device has further been improved, the smooth going on of the work of patrolling and examining has been guaranteed.
Further, it includes from last to the image acquisition device 31 that connects gradually down to patrol and examine camera module 3, cloud platform 32 and elevating system 34, cloud platform 32 is inside still to be provided with and to be used for driving cloud platform 32 pivoted slewing mechanism 33 and be used for driving image acquisition device 31 luffing motion's swing mechanism 35, image acquisition device 31 bottom is provided with U type link 315, U type link 315 both ends are fixed in cloud platform 32 top both sides, it is used for gathering the image data who patrols and examines the place to patrol and examine camera module 3, and be used for keeping watch on the all ring edge borders of robot body 1, in case the unexpected condition can't deal with.
Further, still be provided with infrared thermal imager 312 in image acquisition device 31, image acquisition device 31's camera lens 313 front end still is provided with windshield wiper 311, windshield wiper 311 rotates with image acquisition device 31 shell and is connected, camera lens 313 bottom still is provided with second light filling lamp 314, infrared thermal imager 312 is used for the temperature of real-time supervision substation equipment, in time discover temperature anomaly, the security is improved, effectively prevent the emergence of accident, windshield wiper 311 and second light filling lamp 314 set up and can help image acquisition device 31 to gather more clear image, avoid the image not clear and the repetition that leads to patrols and examines the shooting, work efficiency is improved.
Further, the lifting mechanism 34 includes a movable circular truncated cone 341 and a lifting motor 342, a pair of clamping planes 3411 are symmetrically arranged on the side of the movable circular truncated cone 341, a mounting hole corresponding to the shape of the movable circular truncated cone 341 is arranged on the machine body 11, the movable circular truncated cone 341 is movably embedded in the mounting hole up and down, the top end of the movable circular truncated cone 341 extends out of the mounting hole and then is connected with the bottom end of the holder 32, the lifting motor 342 is arranged at the bottom end of the movable circular truncated cone 341, a fixed disc 343 is further fixed at the bottom end of the movable circular truncated cone 341, the output end of the lifting motor 342 is arranged upward and is connected with a lead screw 344 through a coupler, the free end thread of the lead screw 344 penetrates through the fixed disc 343 and then extends into the movable circular truncated cone 341, during operation, the lifting motor 342 is started to drive the lead screw 344 to rotate, during rotation of the lead screw 344, because the movable circular truncated cone 341 cannot rotate under the limiting action of the clamping planes 3411, the fixed disc 343 moves upward or downward under the action of the thread, and then realize the lift of cloud platform 32, the setting of joint plane 3411 has realized effectively that the rotation of activity round platform 341 is spacing, also provides an installation benchmark simultaneously for activity round platform 341, easy to assemble, has improved installation effectiveness, and elevator motor 342 is connected with drive module 40 electricity, can realize according to the lift of specific place intelligent regulation elevator motor 342 according to the feedback of sensor module 30, helps improving work efficiency.
Further, the rotating mechanism 33 includes a rotating motor 331, and a first worm wheel 333 and a first worm 334 which are mutually matched for transmission and are both disposed at the bottom end inside the cradle head 32, the rotating motor 331 is in transmission connection with the first worm 334 through a belt 332, a transmission connecting member is fixed at the bottom end of the first worm wheel 333, the bottom end of the transmission connecting member is fixedly connected with the movable circular table 341 after rotating to penetrate through the bottom end of the cradle head 32, when in use, by starting the rotating motor 331, the rotating motor 331 drives the first worm 334 to rotate through the belt 332, when the first worm 334 rotates, because the first worm wheel 333 is fixedly connected with the movable circular table 341 through the transmission connecting member, under the action of force and reaction force, the first worm 334 rotates around the first worm wheel 333 to further drive the cradle head 32 to rotate for realizing rotation adjustment, and by the arrangement of the rotating motor 331, the first worm wheel 333 and the first worm 334, stable rotation of the cradle head 32 is realized, the applicability when patrolling and examining is improved, the work efficiency of robot body 1 has been improved greatly.
Further, the swing mechanism 35 includes a swing motor 351, a rotating shaft 353, and a second worm 352 and a second worm wheel 354 which are matched with each other for transmission, an output end of the swing motor 351 is connected with the second worm 352 in a transmission manner, the rotating shaft 353 is fixedly sleeved with the second worm wheel 354, two ends of the rotating shaft 353 are rotated to penetrate through the side wall of the holder 32 and then fixedly connected with two ends of the U-shaped connecting frame 315, the swing motor 351 is started to drive the second worm 352 to rotate, the second worm 352 rotates to drive the second worm wheel 354 to rotate, the second worm wheel 354 rotates to drive the rotating shaft 353 to rotate, the rotating shaft 353 rotates to drive the U-shaped connecting frame 315 connected with two ends to swing, and therefore the swing of the image acquisition device 31 is adapted to the shooting work of different inspection positions, and the applicability of the device is greatly improved.
Further, the side of patrolling and examining shooting camera 21 on unmanned aerial vehicle 2 is provided with first light filling lamp 22, it still is provided with support frame 24 to patrol and examine 2 bottoms of unmanned aerial vehicle, support frame 24 is connected through magnetic force absorption with 12 bottoms of nests, it still is provided with the antenna 23 that is used for increasing signal reception ability to patrol and examine 2 tops of unmanned aerial vehicle, the supplementary quality of patrolling and examining unmanned aerial vehicle 2 and shooting the assurance of shooting camera 21 of first light filling lamp 22, the stability of patrolling and examining unmanned aerial vehicle 2 when parking in nests 12 is guaranteed to setting up of support frame 24 simultaneously, the life of the ensuring device.
Further, the robot foot 13 includes a lower limb 131, an upper limb 132 and a shoulder 133, one end of the upper limb 132 is hinged to the lower limb 131, the other end of the upper limb 132 is integrally provided with a connecting shell 1321, the side of the shoulder 133 is provided with a transmission shaft 1331, the transmission shaft 1331 is in transmission connection with a first driving motor arranged in the robot body 11, the shoulder 133 is internally provided with a second driving motor, the second driving motor is in transmission connection with the connecting shell 1321, the connecting shell 1321 is internally provided with a third driving motor, the output end of the third driving motor is in transmission connection with a circular connecting piece 1312, a connecting rod 1311 is arranged between the lower limb 131 and the circular connecting piece 1312, one end of the connecting rod 1311 is hinged to the lower limb 131, the other end is hinged to a position of the circular connecting piece 1312 deviating from the center of a circle, the first driving motor, the second driving motor and the third driving motor are all electrically connected to the driving module 40, the driving module 40 drives the robot foot 13 to perform corresponding action according to the feedback signal of the sensor module 30, the realization is to the timely response of obstacle, guarantees to patrol and examine the normal clear of work to low limbs 131, upper limbs 132 and shoulder 133 are by three motor drive control respectively, can realize the timely reply to complicated road conditions, prevent that robot body 1 from falling down, have effectively improved the work efficiency who patrols and examines the in-process.
Further, sensor module 30 is including setting up at the laser radar 5 of fuselage 11 front end and setting up gyroscope and the hall sensor in control system storehouse 111, and the gyroscope is used for controlling the self gesture of robot 1, prevents to tumble, guarantees to patrol and examine the normal clear of work, and hall sensor is used for feedback signal electric current or voltage, is favorable to controlling motor even running.
Further, still be provided with the spacing 15 that is the rectangle setting in the aircraft nest 12, prevent to patrol and examine 2 offsets of unmanned aerial vehicle, guarantee to patrol and examine that unmanned aerial vehicle 2 goes out of the warehouse smoothly.
The working principle of the invention is as follows: when the transformer substation needs to be patrolled, a worker remotely controls the robot body 1 to be taken out of a warehouse through a communication signal in the patrol monitoring room 70, each component starts to advance according to a preset path of a background, the laser radar 5 starts to work simultaneously, the control module 10 controls each foot 13 to move forward according to a control program and carries out patrol according to a set patrol route, patrol information is captured through the image acquisition device 31, the temperature of equipment is monitored in real time through the infrared thermal imager 312, the patrol camera module 3 transmits the acquired information to the data storage module 50 for temporary storage, data is transmitted to a background terminal of the patrol monitoring room 70 through the communication module 60 in a wireless communication (such as 5g), and the worker can watch patrol results in real time at the background terminal; when a small obstacle is encountered, the mechanical arm 4 starts working to assist shooting, when a dead angle that the robot body 1 cannot patrol is encountered, the driving module 40 controls the sliding cover door 14 to be opened, then the patrol unmanned aerial vehicle 2 is controlled to be started, the patrol unmanned aerial vehicle 2 rises and flies out of the nest 12, patrol is started according to a signal given by a background terminal, the shooting camera 21 on the patrol unmanned aerial vehicle 2 starts working to collect information, the collected information is transmitted to the data storage module 50 for storage in a wireless communication mode, and then the collected information is transmitted to the background terminal through the communication module 60 for receiving and storing; the inspection unmanned aerial vehicle 2 returns to the nest 12 after inspection is completed, the sliding cover door 14 is closed, and meanwhile, the inspection unmanned aerial vehicle 2 is wirelessly charged (or automatically charged in a contact manner) through the power module 20.
In the description of the present invention, it should be noted that the terms "inside", "outside", "upper", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the term "connected" is to be interpreted broadly, e.g. as a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Claims (10)
1. The utility model provides a four-footed robot and unmanned aerial vehicle subassembly for transformer substation patrols and examines usefulness which characterized in that: the robot comprises a robot body (1) and an inspection unmanned aerial vehicle (2), wherein the robot body (1) comprises a machine body (11), a machine nest (12) arranged in the machine body (11) and a plurality of machine feet (13) which are connected with the machine body (11) and used for walking; the inspection unmanned aerial vehicle (2) is arranged in the nest (12), an opening is formed in the top end of the nest (12), and two sides of the opening are connected with sliding cover doors (14) in a sliding mode;
fuselage (11) inside bottom is provided with control system storehouse (111), is provided with in control system storehouse (111):
control module (10): for receiving, computing, processing, and transmitting data;
power module (20): is electrically connected with the control module (10) and is used for providing electric energy;
sensor module (30): the control module (10) is electrically connected and used for feeding back an electric signal to the control module (10);
drive module (40): the control module (10) is electrically connected with the control module and is used for driving all parts to move according to the instruction of the control module (10);
data storage module (50): the system is electrically connected with the control module (10) and is used for temporarily storing data acquired in the inspection working process;
communication module (60): the system is electrically connected with the control module (10) and is used for transmitting the data acquired in the inspection working process back to the inspection monitoring room (70);
the rear end of the machine body (11) is provided with an inspection camera module (3) used for collecting real-time images of an inspection site, the inspection camera module (3) is in communication connection with a data storage module (50), the front end of the machine body (11) is provided with a mechanical arm (4) in communication connection with a driving module (40), the mechanical arm (4) comprises a base (41), a first connecting arm (42) and a second connecting arm (43) which are sequentially connected in a rotating manner, the base (41) is in rotating connection with the machine body (11), the free end of the second connecting arm (43) is in rotating connection with a U-shaped connecting piece (45), a U-shaped groove of the U-shaped connecting piece (45) is connected with a front camera (44) in a rotating manner, the front camera (44) is in communication connection with the data storage module (50), the side surface of the U-shaped connecting piece (45) is provided with a mounting block (431), and the mounting block (431) is connected with a telescopic capacitor pen (432) driven by the driving module (40) in a sliding manner, one end of the telescopic capacitance pen (432) extends out of the mounting block (431).
2. The quadruped robot and unmanned aerial vehicle assembly for substation inspection according to claim 1, wherein the quadruped robot and unmanned aerial vehicle assembly comprises: patrol and examine camera module (3) and include from last to down image acquisition device (31), cloud platform (32) and elevating system (34) that connect gradually, cloud platform (32) inside still is provided with and is used for driving cloud platform (32) pivoted slewing mechanism (33) and is used for driving swing mechanism (35) of image acquisition device (31) luffing motion, image acquisition device (31) bottom is provided with the U type link (315) of invering, U type link (315) both ends are fixed in cloud platform (32) top both sides.
3. The quadruped robot and unmanned aerial vehicle assembly for substation inspection according to claim 2, wherein the quadruped robot and unmanned aerial vehicle assembly comprises: an infrared thermal imager (312) is further arranged in the image acquisition device (31), a windshield wiper (311) is further arranged at the front end of a lens (313) of the image acquisition device (31), the windshield wiper (311) is rotatably connected with a shell of the image acquisition device (31), and a second light supplement lamp (314) is further arranged at the bottom end of the lens (313).
4. The quadruped robot and unmanned aerial vehicle assembly for substation inspection according to claim 2, wherein the quadruped robot and unmanned aerial vehicle assembly comprises: the lifting mechanism (34) comprises a movable circular truncated cone (341) and a lifting motor (342), a pair of clamping planes (3411) are symmetrically arranged on the side surfaces of the movable circular truncated cone (341), a mounting hole matched with the shape of the movable circular truncated cone (341) is formed in the machine body (11), the movable circular truncated cone (341) is movably embedded in the mounting hole from top to bottom, the top end of the movable circular truncated cone (341) extends out of the mounting hole and then is connected with the bottom end of the cloud deck (32), the lifting motor (342) is arranged at the bottom end of the movable circular truncated cone (341), the output end of the lifting motor (342) is upwards arranged and connected with a lead screw (344), and the free end of the lead screw (344) penetrates through a fixed disc (343) fixed at the bottom end of the movable circular truncated cone (341) and then extends into the interior of the movable circular truncated cone (341).
5. The quadruped robot and unmanned aerial vehicle assembly for substation inspection according to claim 2, wherein the quadruped robot and unmanned aerial vehicle assembly comprises: the rotating mechanism (33) comprises a rotating motor (331), a first worm wheel (333) and a first worm (334) which are matched with each other for transmission and are arranged at the bottom end inside the cradle head (32), the rotating motor (331) is in transmission connection with the first worm (334) through a belt (332), a transmission connecting piece is fixed at the bottom end of the first worm wheel (333), and the bottom end of the transmission connecting piece is in fixed connection with the movable round table (341) after penetrating through the bottom end of the cradle head (32) in a rotating mode.
6. The quadruped robot and unmanned aerial vehicle assembly for substation inspection according to claim 2, wherein the quadruped robot and unmanned aerial vehicle assembly comprises: swing mechanism (35) are including swing motor (351), pivot (353) and the driven second worm (352) and second worm wheel (354) of mutually supporting, and swing motor (351) output and second worm (352) transmission are connected, and pivot (353) and second worm wheel (354) fixed socket joint, and pivot (353) both ends rotate run through behind cloud platform (32) lateral wall with U type link (315) both ends fixed connection.
7. The quadruped robot and unmanned aerial vehicle assembly for substation inspection according to claim 1, wherein the quadruped robot and unmanned aerial vehicle assembly comprises: patrol and examine unmanned aerial vehicle (2) front end and be provided with and shoot camera (21) and first light filling lamp (22), patrol and examine unmanned aerial vehicle (2) bottom and still be provided with support frame (24), support frame (24) are passed through magnetic force with aircraft nest (12) bottom and are adsorbed the connection, patrol and examine unmanned aerial vehicle (2) top and still be provided with antenna (23).
8. The quadruped robot and unmanned aerial vehicle assembly for substation inspection according to claim 1, wherein the quadruped robot and unmanned aerial vehicle assembly comprises: the robot foot (13) comprises a lower limb (131), an upper limb (132) and shoulders (133), one end of the upper limb (132) is hinged to the lower limb (131), a connecting shell (1321) is integrally arranged on the side face of the other end of the upper limb (132), a transmission shaft (1331) is arranged on the side face of the shoulders (133), the transmission shaft (1331) is in transmission connection with a first driving motor arranged in the robot body (11), a second driving motor is arranged inside the shoulders (133), the second driving motor is in transmission connection with the connecting shell (1321), a third driving motor is arranged in the connecting shell (1321), a circular connecting piece (1312) is in transmission connection with the output end of the third driving motor, a connecting rod (1311) is arranged between the lower limb (131) and the circular connecting piece (1312), one end of the connecting rod (1311) is hinged to the lower limb (131), and the other end of the connecting rod is hinged to the position deviated from the circle center of the circular connecting piece (1312).
9. The quadruped robot and unmanned aerial vehicle assembly for substation inspection according to claim 1, wherein the quadruped robot and unmanned aerial vehicle assembly comprises: the sensor module (30) comprises a laser radar (5) arranged at the front end of the machine body (11) and a gyroscope and a Hall sensor which are arranged in the control system bin (111).
10. The quadruped robot and unmanned aerial vehicle assembly for substation inspection according to claim 1, wherein the quadruped robot and unmanned aerial vehicle assembly comprises: a limit frame (15) which is arranged in a rectangular shape is also arranged in the machine nest (12).
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