CN114475848B - 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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- CN114475848B CN114475848B CN202210096234.5A CN202210096234A CN114475848B CN 114475848 B CN114475848 B CN 114475848B CN 202210096234 A CN202210096234 A CN 202210096234A CN 114475848 B CN114475848 B CN 114475848B
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- 238000007689 inspection Methods 0.000 claims abstract description 114
- 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 13
- 230000005540 biological transmission Effects 0.000 claims description 31
- 230000007246 mechanism Effects 0.000 claims description 23
- 230000000694 effects Effects 0.000 claims description 18
- 210000003141 lower extremity Anatomy 0.000 claims description 14
- 210000001364 upper extremity Anatomy 0.000 claims description 9
- 238000012544 monitoring process Methods 0.000 claims description 8
- 230000003028 elevating effect Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims 1
- 239000013589 supplement Substances 0.000 claims 1
- 206010014357 Electric shock Diseases 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 230000000670 limiting effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 230000000875 corresponding effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000009529 body temperature measurement Methods 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect 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)
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- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
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- Manufacturing & Machinery (AREA)
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- Combustion & Propulsion (AREA)
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- Manipulator (AREA)
Abstract
The invention relates to a quadruped robot and unmanned aerial vehicle assembly for transformer substation inspection, which belong to the technical field of power system equipment, and comprise 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; 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 the machine body is provided with an inspection camera module, the inspection camera module is in communication connection with the data storage module, and the front end of the machine body is provided with a mechanical 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 is a boosting transformer substation in the power plant and has the function of boosting the electric energy generated by the generator and then feeding the boosted electric energy to a high-voltage power grid. For guaranteeing the safe use of transformer substation, need regularly to patrol and examine the transformer substation, artifical patrol and examine is the traditional operation mode that the transformer substation patrolled and examined, but the personnel of patrolling and examining cause easily because work is tired and factors such as boring, miss detection, wrong detection sometimes, and the safe and reliable operation of electric power system is difficult to guarantee in the visible manual work patrol and examine. Therefore, the transformer substation has become a development trend for completing the inspection task by using the inspection robot.
But the inspection robot is used alone to complete the inspection task, and the following problems still exist:
1. because the walking of the inspection robot is limited, the shooting target sometimes exceeds the shooting range of the inspection camera shooting assembly, so that the inspection is missed.
2. The camera assembly of the inspection robot has angle limitation with the inspection robot, so that inspection dead angles can be generated, and the camera assembly cannot shoot.
The utility model discloses a robot is patrolled and examined to power equipment and robot system is patrolled and examined to power equipment in the chinese utility model patent of publication number CN205021584U includes: the system comprises 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; robot system is patrolled and examined to power equipment, patrol and examine the robot including above-mentioned power equipment, still include: 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 transformer substation power inspection robot 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 transformer substation inspection, which reduce the working strength of transformer substation inspection personnel, 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 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, elevating system includes activity round platform and elevator motor, activity round platform side symmetry is provided with a pair of joint plane, be provided with the mounting hole that suits with activity round platform shape on the fuselage, activity round platform activity from top to bottom is inlayed and is established in the mounting hole and the top stretches out the mounting hole after be connected with the cloud platform bottom, elevator motor sets up in activity round platform bottom, the elevator motor output upwards sets up and is connected with the lead screw, the lead screw free end screw thread runs through and stretches into inside the activity round platform behind the fixed disc of fixing in activity round platform bottom.
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 robot 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 robot foot, a transmission shaft is arranged on the side face of the shoulder and is in transmission connection with a first driving motor arranged in the robot body, a second driving motor is arranged in the shoulder and is in transmission connection with the connecting shell, a third driving motor is arranged in the connecting shell, an 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, 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 diagram of the overall structure 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 view of a third viewing angle of the inspection camera module according to 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 view 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 numbers 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 connector; 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, a shooting camera 21 for shooting is disposed at the front end of the inspection unmanned aerial vehicle 2, the robot body 1 includes a machine body 11, a machine nest 12 disposed at the top end inside the machine body 11, and machine feet 13 disposed 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: is electrically connected with the control module 10 and is used for driving each part to move according to the instruction of the control module 10;
the 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;
the communication module 60: the data acquisition module is electrically connected with the control module 10 and is 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 a patrol inspection camera module 3 for collecting real-time images of a patrol inspection site, the patrol 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 connected in sequence in a rotating manner, a first connecting arm 42 and a second connecting arm 43, 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, the U-shaped groove of the U-shaped connecting piece 45 is in rotating connection with a front camera 44, the front camera 44 is in communication connection with the data storage module 50, the side of the U-shaped connecting piece 45 is provided with a mounting block 431, the mounting block 431 is in sliding connection with a telescopic capacitance pen 432 driven to move by the driving module 40, 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 is in communication connection with the driving module 40, dense meter is arranged in a transformer substation, the high-altitude condition of the camera module 3 can be caused by the simple use, the result of the telescopic capacitance pen, the mechanical arm, the telescopic capacitance module, the result that the telescopic capacitance of the patrol inspection module can be detected by the patrol inspection module, the patrol inspection area can be detected by the patrol inspection area, and the patrol inspection area, the patrol inspection module, the telescopic capacitance of the patrol inspection module, the patrol inspection area, the patrol inspection module, and control of the patrol inspection area can be detected by the telescopic capacitance of the telescopic capacitance module, and the patrol inspection area, and control device, and inspection area, the patrol inspection area, and the patrol inspection area can be detected by the telescopic capacitance of the patrol inspection area, and control device, and the telescopic capacitance of the patrol inspection area, and the patrol inspection area can be detected by the patrol inspection area.
Further, the inspection camera module 3 comprises an image acquisition device 31, a cradle head 32 and a lifting mechanism 34 which are sequentially connected from top to bottom, a rotating mechanism 33 for driving the cradle head 32 to rotate and a swinging mechanism 35 for driving the image acquisition device 31 to swing up and down are further arranged inside the cradle head 32, a U-shaped connecting frame 315 is arranged at the bottom end of the image acquisition device 31, two ends of the U-shaped connecting frame 315 are fixed on two sides of the top end of the cradle head 32, and the inspection camera module 3 is used for acquiring image data of an inspection site and monitoring the surrounding environment of the robot body 1 so as to prevent the occurrence of unexpected situations and cannot cope with the situation.
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 wiper 311, wiper 311 rotates with image acquisition device 31 shell to be connected, camera lens 313 bottom still is provided with second light filling lamp 314, infrared thermal imager 312 is used for real-time supervision substation equipment's temperature, in time discover temperature anomaly, and the safety is improved, effectively the emergence of prevention accident, wiper 311 and second light filling lamp 314 set up can help image acquisition device 31 to gather more clear image, avoid the image unclear and the repetition that leads to patrol and examine the shooting, and the 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 surfaces of the movable circular truncated cone 341, a mounting hole adapted to 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 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 upward arranged and is connected with a lead screw 344 through a coupler, the free end 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, the movable circular truncated cone 341 cannot rotate due to the limiting effect of the clamping planes 3411, so that the fixed disc 343 moves upward or downward under the effect of the screw, the lifting of the lifting motor 32 is effectively realized, the rotation limit of the movable circular truncated cone 341 is also provided for the lifting motor 341, the lifting mechanism 34 is convenient to be electrically connected with the lifting motor drive module, and is favorable for realizing the improvement of the lifting sensor according to the regulation of the lifting sensor based on the lifting sensor working efficiency of the lifting sensor 342.
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 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, the bottom end of the transmission connecting piece is fixedly connected with the movable circular truncated cone 341 after rotating to penetrate through the bottom end of the cradle head 32, when in use, the rotating motor 331 is started, 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 truncated cone 341 through the transmission connecting piece, 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 to realize rotation adjustment, and through 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 during inspection is improved, and the working efficiency of the robot body 1 is greatly improved.
Further, the swing mechanism 35 includes a swing motor 351, a rotation shaft 353, and a second worm 352 and a second worm wheel 354 that are mutually matched for transmission, an output end of the swing motor 351 is in transmission connection with the second worm 352, the rotation shaft 353 is fixedly sleeved with the second worm wheel 354, two ends of the rotation shaft 353 are fixedly connected with two ends of the U-shaped connecting frame 315 after rotating to penetrate through the side wall of the holder 32, 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 rotation shaft 353 to rotate, and the rotation shaft 353 rotates to drive the U-shaped connecting frame 315 connected with two ends to swing, so that the swing of the image acquisition device 31 is realized to adapt 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, a connecting shell 1321 is integrally arranged on the side surface of the other end of the upper limb 132, a transmission shaft 1331 is arranged on the side surface of the shoulder 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 in the shoulder 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, an 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 of the connecting rod 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 actions according to prevent timely response to obstacles, so as to ensure normal operation of the lower limb 131, the robot body 132 and the shoulder 133 are respectively driven and controlled by three motors, thereby realizing timely response to complex road conditions, preventing the falling of the robot body 1 from being patrolling and effectively improving the efficiency of the patrolling inspection 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 5 g), 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 to work 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 open, then the patrol unmanned aerial vehicle 2 is controlled to start, the patrol unmanned aerial vehicle 2 rises and flies out of the nest 12, patrol starts according to a signal given by a background terminal, the shooting camera 21 on the patrol unmanned aerial vehicle 2 starts to work to collect information, the collected information is transmitted to the data storage module 50 to be stored in a wireless communication mode, and then the collected information is transmitted to the background terminal to be received and stored through the communication module 60; 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 mode) 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 (9)
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 data acquisition module 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 intelligent inspection robot comprises a machine body (11), wherein 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 in rotary connection, the base (41) is in rotary connection with the machine body (11), the free end of the second connecting arm (43) is in rotary connection with a U-shaped connecting piece (45), a U-shaped rotary groove of the U-shaped connecting piece (45) is connected with a front camera (44), 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), the mounting block (431) is in sliding connection with a telescopic capacitive pen (432) driven to move by the driving module (40), and one end of the telescopic capacitive pen (432) extends out of the mounting block (431);
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.
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: an infrared thermal imager (312) is further arranged in the image acquisition device (31), a wiper (311) is further arranged at the front end of a lens (313) of the image acquisition device (31), the 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).
3. 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: elevating system (34) are including activity round platform (341) and elevator motor (342), activity round platform (341) side symmetry is provided with a pair of joint plane (3411), be provided with the mounting hole that suits with activity round platform (341) shape on fuselage (11), activity round platform (341) activity is inlayed and is established in the mounting hole and the top stretches out the mounting hole after and be connected with cloud platform (32) bottom from top to bottom, elevator motor (342) set up in activity round platform (341) bottom, elevator motor (342) output upwards sets up and is connected with lead screw (344), lead screw (344) free end screw thread runs through and stretches into inside activity round platform (341) behind fixed disc (343) of fixing in activity round platform (341) bottom.
4. 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 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 holder (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 fixedly connected with the movable circular table (341) after penetrating through the bottom end of the holder (32) in a rotating mode.
5. 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: 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.
6. 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).
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: 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 in 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), 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), and the other end of the connecting rod is hinged to the position, deviating from the circle center, of the circular connecting piece (1312).
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 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).
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: a limit frame (15) which is arranged in a rectangular shape is also arranged in the nest (12).
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| CN114986480A (en) * | 2022-05-31 | 2022-09-02 | 国网上海市电力公司 | A four-footed robot structure for cable tunnel patrols and examines |
| CN115171360A (en) * | 2022-09-02 | 2022-10-11 | 国网山东省电力公司费县供电公司 | Combined type electric power plant area alarm system, alarm platform and use method |
| CN116707133B (en) * | 2023-06-05 | 2024-02-23 | 泰州敬道电力工程有限公司 | Intelligent control method and equipment for assembly transformer substation based on BIM technology |
| CN116723405B (en) * | 2023-08-07 | 2023-11-07 | 广东电网有限责任公司东莞供电局 | Smart dog |
| CN117039725B (en) * | 2023-10-09 | 2024-01-16 | 广东立信电力服务有限公司 | Primary and secondary inspection robot for electric power inspection |
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| CN110057566A (en) * | 2019-05-21 | 2019-07-26 | 深圳市时纬机器人有限公司 | A kind of handle circuit board fully-automatic plug-in test equipment and operating method |
| US20210109074A1 (en) * | 2019-10-14 | 2021-04-15 | Seekops Inc. | Gas measurement instrument on unmanned vehicle |
| CN111300372A (en) * | 2020-04-02 | 2020-06-19 | 同济人工智能研究院(苏州)有限公司 | Air-ground cooperative intelligent inspection robot and inspection method |
| CN214930218U (en) * | 2021-05-26 | 2021-11-30 | 齐丰科技股份有限公司 | All-terrain mechanical dog of transformer substation |
| CN113865556B (en) * | 2021-09-23 | 2024-02-02 | 长安大学 | Split panoramic intelligent detection robot and method |
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