CN116723405B - Smart dog - Google Patents
Smart dog Download PDFInfo
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- CN116723405B CN116723405B CN202310981633.4A CN202310981633A CN116723405B CN 116723405 B CN116723405 B CN 116723405B CN 202310981633 A CN202310981633 A CN 202310981633A CN 116723405 B CN116723405 B CN 116723405B
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- 230000005540 biological transmission Effects 0.000 claims abstract description 110
- 238000006243 chemical reaction Methods 0.000 claims abstract description 42
- 230000007246 mechanism Effects 0.000 claims abstract description 27
- 238000007689 inspection Methods 0.000 claims abstract description 25
- 238000003032 molecular docking Methods 0.000 claims description 42
- 210000001503 joint Anatomy 0.000 claims description 30
- 230000001360 synchronised effect Effects 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 5
- 230000000694 effects Effects 0.000 description 9
- 230000009471 action Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000002349 favourable effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Accessories Of Cameras (AREA)
Abstract
The invention relates to the technical field of inspection equipment, in particular to a smart dog which comprises a mechanical dog, wherein a mounting frame is arranged on the mechanical dog, and a main shaft is rotatably arranged on the mounting frame; the comprehensive inspection equipment also comprises a camera device, a control device and a conversion mechanism; the camera shooting device comprises a mechanical arm and a camera shooting assembly, the mechanical arm comprises a main rod and a support arm, the main rod is sleeved on the main shaft, a first rotating shaft is rotatably arranged on the main rod, one end of the support arm is sleeved on the first rotating shaft, and the camera shooting assembly is rotatably arranged at the other end of the support arm; the control device comprises a first rotary driving assembly, a second rotary driving assembly and a control assembly, wherein the first rotary driving assembly is arranged on the mounting frame, the second rotary driving assembly is in transmission connection with the first rotary shaft, and the control assembly is in transmission connection with the main shaft; the switching mechanism is mounted on the main lever. The invention realizes the function of flexibly controlling the movement of the camera shooting assembly and solves the problem that the traditional inspection device cannot adapt to severe weather.
Description
Technical Field
The invention relates to the technical field of inspection equipment, in particular to a smart dog.
Background
The transformer substation is a place for converting voltage and current, receiving electric energy and distributing electric energy in the electric power system. The substation within the power plant is a step-up substation, which functions to step up the electrical energy generated by the generator and feed it into the high voltage grid. In order to guarantee the stability of power supply, need to carry out regular inspection to the equipment in the transformer substation, the camera that patrols and examines of current inspection device generally sets up outside the support body, however, current inspection equipment lacks the protection to the camera.
For this reason, chinese patent application CN115539781a discloses an intelligent power equipment inspection equipment with protective structure, it is through the mechanism of inspecting the camera and retrieving and stretching out, can be when inspecting the robot and not work or charge will inspect the camera and retrieve in the small carriage, avoid causing unnecessary damage because external factor, thereby be favorable to inspecting robot manual work quality, avoid inspecting the unnecessary maintenance of robot, the life of inspecting the robot has been improved, when the impact is too big, anticollision institution buffering, can make the retrieval mechanism carry out the recovery motion through the link gear, retrieve the camera assembly in the small carriage, thereby reduced because the damage of impact to the camera assembly is too big, thereby be favorable to minimizing the loss that receives when accident.
However, this intelligence inspection device is impaired for having avoided the camera, goes up and down to withdraw the camera to the support body through elevating system drive camera, and this also has led to the removal of camera to be limited, and the flexibility ratio is limited, leads to the shooting scope limited in the inspection process, influences inspection efficiency.
Disclosure of Invention
To above-mentioned problem, provide a wisdom dog, realize nimble function that control subassembly was removed of making a video recording, solve the unable problem that suits bad weather of traditional inspection device.
In order to solve the problems in the prior art, the invention adopts the following technical scheme:
a smart dog comprises a mechanical dog and comprehensive inspection equipment arranged on the mechanical dog, wherein a mounting frame is arranged on the mechanical dog, and a main shaft is rotatably arranged on the mounting frame; the comprehensive inspection equipment comprises a controller, a camera device, a control device and a conversion mechanism; the camera shooting device comprises a mechanical arm and a camera shooting assembly, the mechanical arm comprises a main rod and a support arm, the main rod is sleeved on the main shaft, a first rotating shaft is rotatably arranged on the main rod, one end of the support arm is sleeved on the first rotating shaft, and the camera shooting assembly is rotatably arranged at the other end of the support arm; the control device comprises a first rotary driving assembly, a second rotary driving assembly and a control assembly, wherein the first rotary driving assembly is arranged on the mounting frame and is used for driving the main shaft to rotate, the second rotary driving assembly is in transmission connection with the first rotary shaft, and the control assembly is in transmission connection with the main shaft; the switching mechanism is mounted on the main lever and is used for controlling the connection of the second rotary driving assembly and the control assembly.
Preferably, the second rotary driving assembly includes a rotary gear, a second rotary shaft, and a driving gear; the rotary gear is sleeved on the first rotary shaft, the second rotary shaft is rotatably installed on the main rod, the second rotary shaft is in transmission connection with the second rotary driving assembly, the driving gear is sleeved on the second rotary shaft, and the driving gear is in transmission connection with the rotary gear.
Preferably, the control assembly comprises a supporting seat, a conical fluted disc, a transmission shaft and a first bevel gear; the two supporting seats are arranged and are arranged on the mounting frame, and the main shaft is rotatably arranged on the supporting seats; the bevel gear plate is fixedly arranged on the supporting seat, the transmission shaft is rotatably arranged on the main rod, the first bevel gear is sleeved on the transmission shaft and is in transmission connection with the bevel gear plate, and the transmission shaft is in transmission connection with the second rotary shaft through the conversion mechanism.
Preferably, the conversion mechanism comprises a conversion shaft, a control wheel, a first butt-joint gear, a second butt-joint gear, a butt-joint assembly and a conversion assembly; the conversion shaft is fixedly connected with the transmission shaft coaxially, the control wheel can be sleeved on the conversion shaft in a sliding mode, the first butt joint gear can be sleeved on the transmission shaft in a rotating mode, the first butt joint gear and the second butt joint gear are connected with the second rotation shaft in a transmission mode, when the control wheel is in tight fit with the first butt joint gear and the second butt joint gear respectively, the control wheel is connected with the first butt joint gear and the second butt joint gear in a transmission mode through the butt joint assembly, and the conversion assembly is used for controlling movement of the control wheel.
Preferably, the conversion mechanism further comprises a third rotating shaft, a transmission gear, a synchronous belt, a fourth rotating shaft and second bevel gears, wherein the third rotating shaft and the fourth rotating shaft are rotatably arranged on the main rod, the transmission gear is sleeved on the third rotating shaft and is in transmission connection with the first butt joint gear, the second butt joint gear is sleeved on the fourth rotating shaft, the third rotating shaft and the fourth rotating shaft are in transmission connection through the synchronous belt, the two second bevel gears are arranged, and the two second bevel gears are respectively sleeved on the fourth rotating shaft and the second rotating shaft and are in transmission connection with the two second bevel gears.
Preferably, the butt joint assembly comprises a clamping block and an elastic piece, wherein the clamping block is arranged on the control wheel in a sliding manner and is eccentrically arranged, the clamping block is at least provided with two clamping blocks, the clamping blocks are distributed on two sides of the control wheel, and clamping grooves matched with the clamping blocks are formed in one sides, facing the control wheel, of the first butt joint gear and the second butt joint gear.
Preferably, the conversion assembly comprises a guide rail and a slide seat, the guide rail is arranged on the main rod, the slide seat is slidably arranged on the guide rail, and the control wheel is rotatably arranged on the slide seat.
Preferably, the comprehensive inspection equipment further comprises a protection device, wherein the protection device comprises a sliding rail, a protection plate and a linear driver; the slide rail and the linear driver are arranged on the mounting frame, the protection plate is slidably arranged on the slide rail, and the driving end of the linear driver is in transmission connection with the protection plate.
Preferably, the first rotary drive assembly comprises a rotary drive, a worm gear and a worm; the rotary driver is installed on the mounting bracket, and the worm wheel cup joints on the main shaft, and the worm rotates to be installed on the mounting bracket, and the worm wheel is connected with worm drive, and rotary driver's drive end is connected with worm drive.
Preferably, the guard further comprises a support rail mounted on the mounting frame and in communication with the slide rail.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the function of flexibly controlling the movement of the camera shooting assembly is realized through the mechanical dog, the camera shooting device and the control device, the effect of adjusting the position of the camera shooting assembly to protect the camera shooting assembly is achieved, and the problem that the traditional inspection device cannot adapt to severe weather is solved.
2. The invention realizes the function of connecting the control assembly and the second rotary driving assembly through the conversion shaft, the control wheel, the first butt-joint gear, the second butt-joint gear, the butt-joint assembly and the conversion assembly, and achieves the effect of controlling the transmission mode.
3. The invention realizes the function of converting the rotation direction of the second rotation shaft through the third rotation shaft, the transmission gear, the synchronous belt, the fourth rotation shaft and the second bevel gear, and achieves the effect of controlling the rotation of the support arm.
Drawings
FIG. 1 is a schematic perspective view of a smart dog;
FIG. 2 is a perspective view of a smart dog with the guard open and the robotic arm in a horizontal position;
FIG. 3 is an enlarged partial schematic view at A in FIG. 2;
FIG. 4 is a perspective view of the camera device in the smart dog after being rotated downward;
FIG. 5 is an enlarged partial schematic view at B in FIG. 4;
FIG. 6 is an enlarged partial schematic view at C in FIG. 4;
FIG. 7 is a schematic perspective view of a camera and control device in a smart dog;
FIG. 8 is an exploded perspective view of a switching mechanism in a smart dog;
FIG. 9 is a perspective view of a smart dog in an initial state;
fig. 10 is a perspective view of a smart dog after the guard is opened;
the reference numerals in the figures are:
1-a mechanical dog;
11-mounting rack;
12-a main shaft;
2-a camera device;
21-a mechanical arm; 211-a main rod; 2111-a first rotation axis; 212-support arms;
22-a camera assembly;
3-a control device;
31-a first rotary drive assembly; 311—a rotary drive; 312-worm gear; 313-worm; 314-a fifth rotation axis; 315-third bevel gear; 316-a drive belt;
32-a second rotary drive assembly; 321-rotating gears; 322-a second rotation axis; 323 drive gear;
33-a control assembly; 331-a supporting seat; 332-conical fluted disc; 333-a drive shaft; 334-first bevel gear;
4-a conversion mechanism;
41-a switching shaft;
42-control wheel;
43-first docking gear; 431-a third rotation axis; 432-a drive gear; 433-a synchronous belt;
44-a second docking gear; 441-fourth rotation shafts; 442-a second bevel gear;
45-docking assembly; 451-a clamping block; 452-an elastic member; 453-clamping groove;
a 46-conversion assembly; 461-a guide rail; 462—a slide;
5-a guard;
51-sliding rails;
52-protecting plates;
53-linear drive;
54-support rails.
Detailed Description
The invention will be further described in detail with reference to the drawings and the detailed description below, in order to further understand the features and technical means of the invention and the specific objects and functions achieved.
Referring to fig. 1-4: a smart dog comprises a mechanical dog 1 and comprehensive inspection equipment arranged on the mechanical dog 1, wherein a mounting frame 11 is arranged on the mechanical dog 1, and a main shaft 12 is rotatably arranged on the mounting frame 11; the comprehensive inspection equipment comprises a controller, a camera device 2, a control device 3 and a conversion mechanism 4; the camera device 2 comprises a mechanical arm 21 and a camera component 22, wherein the mechanical arm 21 comprises a main rod 211 and a support arm 212, the main rod 211 is sleeved on the main shaft 12, a first rotating shaft 2111 is rotatably arranged on the main rod 211, one end of the support arm 212 is sleeved on the first rotating shaft 2111, and the camera component 22 is rotatably arranged at the other end of the support arm 212; the control device 3 comprises a first rotary driving assembly 31, a second rotary driving assembly 32 and a control assembly 33, wherein the first rotary driving assembly 31 is arranged on the mounting frame 11 and is used for driving the main shaft 12 to rotate, the second rotary driving assembly 32 is in transmission connection with the first rotary shaft 2111, and the control assembly 33 is in transmission connection with the main shaft 12; the switching mechanism 4 is mounted on the main lever 211 and it is used to control the connection of the second rotary drive assembly 32 and the control assembly 33.
According to the invention, the function of flexibly controlling the movement of the camera assembly 22 is realized through the mechanical dog 1, the camera device 2 and the control device 3, the effect of adjusting the position of the camera assembly 22 to protect the camera assembly 22 is achieved, and the problem that the traditional inspection device cannot adapt to severe weather is solved. The mechanical dog 1 is preferably a four-legged mechanical dog 1, and the first rotary drive assembly 31 and the mechanical dog 1 are electrically connected to a controller. An operator sends a signal to the mechanical dog 1 through the controller, the mechanical dog 1 drives the camera device 2 to move, inspection operation is carried out on a transformer substation, if rainy and snowy weather occurs, the controller sends a signal to the first rotary driving assembly 31, the first rotary driving assembly 31 drives the main shaft 12 in transmission connection with the first rotary driving assembly to rotate, the main shaft 12 drives the main rod 211 of the mechanical arm 21 to rotate, the main rod 211 drives the support arm 212 and the camera assembly 22 to rotate, meanwhile, the main shaft 12 drives the control assembly 33 in transmission connection with the main shaft 12 to rotate, the second rotary shaft 322 is driven by transmission of the conversion mechanism 4, the second rotary driving assembly 32 drives the first rotary shaft 2111 in transmission connection with the second rotary driving assembly to rotate, the first rotary shaft 2111 drives the support arm 212 to rotate relative to the main rod 211, so that the main rod 211 also rotates 90 degrees after rotating 90 degrees, the folding of the camera assembly 22 is completed, and the camera assembly 22 is close to the body of the mechanical dog 1, and further the camera assembly 22 is protected; if severe weather such as hail or typhoon appears, the controller sends a signal to the first rotary driving assembly 31, and the first rotary driving assembly 31 continues to drive the main shaft 12 to rotate, and then drives the support arm 212 and the camera shooting assembly 22 to rotate, so that the camera shooting assembly 22 is retracted into the machine body of the mechanical dog 1, and meanwhile, the switching mechanism 4 automatically switches the driving direction of the control assembly 33, so that the folded support arm 212 is unfolded again, the shooting range of the camera shooting assembly 22 is ensured, the shooting range of the camera shooting assembly 22 is prevented from being blocked by the machine body of the mechanical dog 1, and meanwhile, the camera shooting assembly 22 is also protected by the machine body of the mechanical dog 1.
Referring to fig. 1, 4, 5 and 7: the second rotary driving assembly 32 includes a rotary gear 321, a second rotary shaft 322, and a driving gear 323; the rotary gear 321 is sleeved on the first rotary shaft 2111, the second rotary shaft 322 is rotatably installed on the main rod 211, the second rotary shaft 322 is in transmission connection with the second rotary driving assembly 32, the driving gear 323 is sleeved on the second rotary shaft 322, and the driving gear 323 is in transmission connection with the rotary gear 321.
The invention realizes the function of driving the first rotation shaft 2111 to rotate through the rotation gear 321, the second rotation shaft 322 and the driving gear 323, and achieves the effect of driving the support arm 212 to rotate relative to the main rod 211. After the controller sends a signal to the first rotary driving assembly 31, the first rotary driving assembly 31 is started, the controller drives the main rod 211 to rotate, the main rod 211 drives the support arm 212 and the camera assembly 22 to rotate, meanwhile, the main shaft 12 drives the control assembly 33 in transmission connection with the main rod, the second rotary shaft 322 is driven to rotate through the transmission of the conversion mechanism 4, the second rotary shaft 322 drives the driving gear 323 to rotate, the driving gear 323 drives the rotary gear 321 in transmission connection with the driving gear 323 to rotate, the rotary gear 321 drives the first rotary shaft 2111 to rotate, so that after the main rod 211 rotates for 90 degrees, the first rotary shaft 2111 also rotates for 90 degrees, the folding of the camera assembly 22 is completed, the camera assembly 22 is close to the body of the mechanical dog 1, and the camera assembly 22 is protected.
Referring to fig. 1-4 and 7: the control assembly 33 comprises a support base 331, a bevel disk 332, a transmission shaft 333 and a first bevel gear 334; the two supporting seats 331 are arranged and are arranged on the mounting frame 11, and the main shaft 12 is rotatably arranged on the supporting seats 331; the bevel gear disk 332 is fixedly installed on the supporting seat 331, the transmission shaft 333 is rotatably installed on the main rod 211, the first bevel gear 334 is sleeved on the transmission shaft 333 and is in transmission connection with the bevel gear disk 332, and the transmission shaft 333 is in transmission connection with the second rotary shaft 322 through the conversion mechanism 4.
The present invention realizes a function of driving the first rotary shaft 2111 to rotate by the rotation of the main shaft 12 through the supporting seat 331, the bevel gear 332, the transmission shaft 333, and the first bevel gear 334. After the controller sends a signal to the first rotary driving component 31, the first rotary driving component 31 is started, the controller drives the main rod 211 to rotate, the main rod 211 drives the support arm 212 and the camera component 22 to rotate, meanwhile, the main rod 211 drives the first bevel gear 334 to move, the first bevel gear 334 is in transmission connection with the fixedly installed bevel gear disc 332, the first bevel gear 334 can rotate and further drive the transmission shaft 333 to rotate, the transmission shaft 333 drives the second rotary shaft 322 to rotate through the transmission of the conversion mechanism 4, the second rotary shaft 322 drives the driving gear 323 to rotate, the driving gear 323 drives the rotary gear 321 connected with the driving gear 323 to rotate, the rotary gear 321 drives the first rotary shaft 2111 to rotate, the first rotary shaft 2111 also rotates 90 degrees after the main rod 211 rotates 90 degrees, the camera component 22 is folded, the camera component 22 is close to the body of the mechanical dog 1, and the camera component 22 is protected.
Referring to fig. 1-5 and 8: the conversion mechanism 4 includes a conversion shaft 41, a control wheel 42, a first docking gear 43, a second docking gear 44, a docking assembly 45, and a conversion assembly 46; the conversion shaft 41 is fixedly connected with the transmission shaft 333 in a coaxial manner, the control wheel 42 is sleeved on the conversion shaft 41 in a sliding manner, the first butt joint gear 43 is sleeved on the transmission shaft 333 in a rotatable manner, the first butt joint gear 43 and the second butt joint gear 44 are both in transmission connection with the second rotation shaft 322, when the control wheel 42 is respectively in tight fit with the first butt joint gear 43 and the second butt joint gear 44, the control wheel 42 is respectively in transmission connection with the first butt joint gear 43 and the second butt joint gear 44 through the butt joint assembly 45, and the conversion assembly 46 is used for controlling the control wheel 42 to move.
The invention realizes the function of connecting the control assembly 33 and the second rotary driving assembly 32 through the conversion shaft 41, the control wheel 42, the first butt gear 43, the second butt gear 44, the butt assembly 45 and the conversion assembly 46, and achieves the effect of controlling the transmission mode. After the controller sends a signal to the first rotary driving assembly 31, the first rotary driving assembly 31 is started, the controller drives the main rod 211 to rotate, the main rod 211 drives the support arm 212 and the camera assembly 22 to rotate, meanwhile, the main rod 211 drives the first bevel gear 334 to move, the first bevel gear 334 is in transmission connection with the fixedly installed bevel gear 332, the first bevel gear 334 can rotate and further drive the transmission shaft 333 to rotate, the transmission shaft 333 drives the conversion shaft 41 to synchronously rotate, the conversion shaft 41 drives the control wheel 42 to rotate, when the conversion assembly 46 drives the control wheel 42 to be in tight fit with the first docking gear 43, the control wheel 42 drives the first docking gear 43 to rotate through the connection of the docking assembly 45, the first docking gear 43 drives the second rotary shaft 322 in transmission connection with the first docking gear 43 to rotate, and the first docking gear 43 drives the second rotary shaft 322 to rotate so as to change the rotation direction; when the switching assembly 46 drives the control wheel 42 to be in tight fit with the second docking gear 44, the control wheel 42 drives the second docking gear 44 to rotate through the connection of the docking assembly 45, the second docking gear 44 drives the second rotating shaft 322 in transmission connection with the second docking gear 44 to rotate, the second rotating shaft 322 drives the driving gear 323 to rotate, the driving gear 323 drives the rotating gear 321 in transmission connection with the driving gear 323 to rotate, the rotating gear 321 drives the first rotating shaft 2111 to rotate, so that the main rod 211 rotates 90 degrees, the first rotating shaft 2111 also rotates 90 degrees, the folding of the camera assembly 22 is completed, the camera assembly 22 is close to the body of the mechanical dog 1, and the camera assembly 22 is protected.
Referring to fig. 1-5 and 8: the conversion mechanism 4 further comprises a third rotating shaft 431, a transmission gear 432, a synchronous belt 433, a fourth rotating shaft 441 and a second bevel gear 442, wherein the third rotating shaft 431 and the fourth rotating shaft 441 are rotatably installed on the main rod 211, the transmission gear 432 is sleeved on the third rotating shaft 431, the transmission gear 432 is in transmission connection with the first butting gear 43, the second butting gear 44 is sleeved on the fourth rotating shaft 441, the third rotating shaft 431 and the fourth rotating shaft 441 are in transmission connection through the synchronous belt 433, the second bevel gear 442 is provided with two second bevel gears 442, the two second bevel gears 442 are respectively sleeved on the fourth rotating shaft 441 and the second rotating shaft 322, and the two second bevel gears 442 are in transmission connection.
The present invention realizes the function of converting the rotation direction of the second rotation shaft 322 through the third rotation shaft 431, the transmission gear 432, the synchronous belt 433, the fourth rotation shaft 441 and the second bevel gear 442, and achieves the effect of controlling the rotation of the support arm 212. After the controller sends a signal to the first rotary driving assembly 31, the first rotary driving assembly 31 is started, the controller drives the main rod 211 to rotate, the main rod 211 drives the support arm 212 and the camera assembly 22 to rotate, meanwhile, the main rod 211 drives the first bevel gear 334 to move, the first bevel gear 334 is in transmission connection with the fixedly installed bevel gear 332, the first bevel gear 334 can rotate and further drive the transmission shaft 333 to rotate, the transmission shaft 333 drives the conversion shaft 41 to synchronously rotate, the conversion shaft 41 drives the control wheel 42 to rotate, when the conversion assembly 46 drives the control wheel 42 to be in tight fit with the first docking gear 43, the control wheel 42 drives the first docking gear 43 to rotate through the connection of the docking assembly 45, the first docking gear 43 drives the transmission gear 432 in transmission connection with the first docking gear 43 to rotate, the rotation direction of the transmission gear 432 is opposite to that of the first docking gear 43, the transmission gear 432 drives the third rotation shaft 431 to rotate, the third rotation shaft 431 drives the fourth rotation shaft 441 through the synchronous belt 433, and the fourth rotation shaft 441 drives the second rotation shaft 322 to rotate through the second bevel gear 442; when the conversion assembly 46 drives the control wheel 42 to be in tight fit with the second docking gear 44, the control wheel 42 drives the second docking gear 44 to rotate through the connection of the docking assembly 45, the second docking gear 44 drives the fourth rotary shaft 441 to rotate, and drives the second rotary shaft 322 to rotate through the transmission of the second bevel gear 442, the second rotary shaft 322 drives the driving gear 323 to rotate, the driving gear 323 drives the rotating gear 321 connected with the driving gear 323 to rotate, the rotating gear 321 drives the first rotary shaft 2111 to rotate, so that after the main rod 211 rotates 90 degrees, the first rotary shaft 2111 also rotates 90 degrees, the folding of the camera assembly 22 is completed, the camera assembly 22 is close to the body of the mechanical dog 1, and the camera assembly 22 is protected.
Referring to fig. 1-5 and 8: the docking assembly 45 comprises a clamping block 451 and an elastic piece 452, the clamping block 451 is slidably mounted on the control wheel 42 and eccentrically arranged, the clamping block 451 is at least provided with two clamping blocks, the clamping blocks 451 are distributed on two sides of the control wheel 42, and clamping grooves 453 matched with the clamping blocks 451 are formed in one sides, facing the control wheel 42, of the first docking gear 43 and the second docking gear 44.
The invention realizes the function of driving and connecting the control wheel 42 with the first butting gear 43 and the second butting gear 44 respectively through the clamping block 451, the elastic piece 452 and the clamping groove 453. When the control wheel 42 contacts with the first docking gear 43, the clamping block 451 is extruded, the elastic piece 452 contracts, the clamping block 451 slides into the control wheel 42, along with the rotation of the control wheel 42, the clamping block 451 slides into the clamping groove 453, and slides into the clamping groove 453 under the action of the elastic force of the elastic piece 452, then the control wheel 42 drives the first docking gear 43 to rotate through the cooperation of the clamping block 451 and the clamping groove 453, and similarly, after the control wheel 42 contacts with the second docking gear 44, the second docking gear 44 is driven to rotate through the cooperation of the clamping block 451 and the clamping groove 453, and the kinetic energy transmission is completed.
Referring to fig. 1-5: the switch assembly 46 includes a rail 461 and a carriage 462, the rail 461 being mounted on the main lever 211, the carriage 462 being slidably mounted on the rail 461, the control wheel 42 being rotatably mounted on the carriage 462.
The present invention realizes the function of automatically adjusting the position of the control wheel 42 by gravity control through the guide rail 461 and the slider 462. In normal weather, the main rod 211 is in a vertical state, so that the camera assembly 22 is lifted up, and a good view is provided; after the first rotary driving assembly 31 is started, the first rotary driving assembly 31 drives the main rod 211 and the main shaft 12 to rotate, then the main rod 211 drives the first bevel gear 334 to move, so that the first bevel gear 334 and the transmission shaft 333 rotate, the transmission shaft 333 drives the control wheel 42 to rotate, and at this moment, the sliding seat 462 drives the control wheel 42 to be in tight fit with the first butt-joint gear 43 under the action of gravity, so as to drive the support arm 212 to fold; after the main rod 211 rotates 90 degrees, the main rod 211 is in a horizontal state, and after the main rod 211 continues to rotate, the sliding seat 462 slides along the guide rail 461 under the action of gravity to drive the control wheel 42 to be matched with the second butting gear 44, so that the rotation direction of the second rotating shaft 322 is converted, and the camera assembly 22 is unfolded to continue the inspection work.
Referring to fig. 1, 2, 9 and 10: the comprehensive inspection equipment further comprises a protection device 5, wherein the protection device 5 comprises a sliding rail 51, a protection plate 52 and a linear driver 53; the slide rail 51 and the linear driver 53 are installed on the installation frame 11, the protection plate 52 is installed on the slide rail 51 in a sliding mode, and the driving end of the linear driver 53 is in transmission connection with the protection plate 52.
The invention realizes the function of further improving the protection capability through the slide rail 51, the protection plate 52 and the linear driver 53, and achieves the effect of further protecting the camera shooting assembly 22. The linear driver 53 is preferably a linear cylinder, and the linear driver 53 is electrically connected with the controller; under bad weather, the controller sends a signal to the first linear driving assembly, and under the driving of the first linear driving assembly, the mechanical arm 21 rotates, so that the camera assembly 22 is close to the body of the mechanical dog 1, then the controller sends a signal to the linear driver 53, the linear driver 53 receives the signal and drives the protection plate 52 to slide along the sliding rail 51, and the protection plate 52 is located above the camera assembly 22 at the moment, and shields the camera assembly 22 to protect the camera assembly.
Referring to fig. 1, 2, 3 and 6: the first rotary drive assembly 31 includes a rotary drive 311, a worm gear 312, and a worm 313; the rotary driver 311 is installed on the installation frame 11, the worm wheel 312 is sleeved on the main shaft 12, the worm 313 is rotatably installed on the installation frame 11, the worm wheel 312 is in transmission connection with the worm 313, and the driving end of the rotary driver 311 is in transmission connection with the worm 313.
The first rotary driving assembly 31 further comprises a fifth rotary shaft 314, third bevel gears 315 and a transmission belt 316, the fifth rotary shaft 314 is rotatably mounted on the mounting frame 11, two third bevel gears 315 are arranged, the two third bevel gears 315 are respectively sleeved on the driving ends of the fifth rotary shaft 314 and the rotary driver 311, the two third bevel gears 315 are in transmission connection, and two ends of the transmission belt 316 are respectively sleeved on the worm 313 and the fifth rotary shaft 314.
The present invention realizes the function of driving the spindle 12 to rotate by the rotation driver 311, the worm wheel 312, and the worm 313. The rotary driver 311 is preferably a servo motor, and the servo motor is electrically connected with the controller; an operator sends a signal to the rotary driver 311 through the controller, the rotary driver 311 receives the signal and drives the fifth rotary shaft 314 to rotate through the transmission of the third bevel gear 315, the fifth rotary shaft 314 drives the worm 313 to rotate through the transmission belt 316, the worm 313 drives the worm wheel 312 in transmission connection with the worm 313 to rotate, and the worm wheel 312 drives the main shaft 12 to rotate, so that the mechanical arm 21 is driven.
Referring to fig. 1, 2, 9 and 10: the guard 5 further comprises a support rail 54, the support rail 54 being mounted on the mounting frame 11 and being in communication with the slide rail 51.
The invention realizes the function of supporting the protection plate 52 through the support rail 54, achieves the effect of supporting the protection plate 52 after the protection plate 52 stretches out, further improves the structural strength of the protection device 5, and further improves the protection capability of the camera shooting assembly 22.
The foregoing examples merely illustrate one or more embodiments of the invention, which are described in greater detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (9)
1. The intelligent dog comprises a mechanical dog (1) and comprehensive inspection equipment arranged on the mechanical dog (1), and is characterized in that a mounting frame (11) is arranged on the mechanical dog (1), and a main shaft (12) is rotatably arranged on the mounting frame (11);
the comprehensive inspection equipment comprises a controller, a camera device (2), a control device (3) and a conversion mechanism (4);
the camera shooting device (2) comprises a mechanical arm (21) and a camera shooting assembly (22), the mechanical arm (21) comprises a main rod (211) and a support arm (212), the main rod (211) is sleeved on the main shaft (12), a first rotating shaft (2111) is rotatably arranged on the main rod (211), one end of the support arm (212) is sleeved on the first rotating shaft (2111), and the camera shooting assembly (22) is rotatably arranged at the other end of the support arm (212);
the control device (3) comprises a first rotary driving assembly (31), a second rotary driving assembly (32) and a control assembly (33), wherein the first rotary driving assembly (31) is arranged on the mounting frame (11) and is used for driving the main shaft (12) to rotate, the second rotary driving assembly (32) is in transmission connection with the first rotary shaft (2111), and the control assembly (33) is in transmission connection with the main shaft (12); the second rotary driving assembly (32) comprises a rotary gear (321), a second rotary shaft (322) and a driving gear (323); the rotary gear (321) is sleeved on the first rotary shaft (2111), the second rotary shaft (322) is rotatably arranged on the main rod (211), the second rotary shaft (322) is in transmission connection with the driving gear (323), the driving gear (323) is sleeved on the second rotary shaft (322), and the driving gear (323) is in transmission connection with the rotary gear (321);
the switching mechanism (4) is mounted on the main lever (211) and is used for controlling the connection of the second rotary driving assembly (32) and the control assembly (33);
if rainy and snowy weather occurs, the controller sends a signal to the first rotary driving assembly (31), the first rotary driving assembly (31) drives the main shaft (12) in transmission connection with the first rotary driving assembly to rotate, the main shaft (12) drives the main rod (211) of the mechanical arm (21) to rotate, the main rod (211) drives the support arm (212) and the camera shooting assembly (22) to rotate, meanwhile, the main shaft (12) drives the control assembly (33) in transmission connection with the main rod (12) to rotate, the second rotary driving assembly (32) drives the first rotary shaft (2111) in transmission connection with the second rotary driving assembly to rotate through the transmission of the conversion mechanism (4), the first rotary shaft (2111) drives the support arm (212) to rotate relative to the main rod (211), the first rotary shaft (2111) also rotates by 90 degrees after the main rod (211) rotates by 90 degrees, folding of the camera shooting assembly (22) is completed, and the camera shooting assembly (22) is close to the body of the mechanical dog (1), and the camera shooting assembly (22) is protected;
if hail or typhoon appears, the controller sends a signal to the first rotary driving assembly (31), the first rotary driving assembly (31) continuously drives the main shaft (12) to rotate, and then the support arm (212) and the camera shooting assembly (22) are driven to rotate, so that the camera shooting assembly (22) is retracted into the machine body of the mechanical dog (1), and meanwhile, the switching mechanism (4) automatically switches the driving direction of the control assembly (33), so that the folded support arm (212) is unfolded again, and the shooting range of the camera shooting assembly (22) is ensured.
2. A smart dog according to claim 1, wherein the control assembly (33) comprises a support (331), a bevel disk (332), a drive shaft (333) and a first bevel gear (334);
the two supporting seats (331) are arranged and are arranged on the mounting frame (11), and the main shaft (12) is rotatably arranged on the supporting seats (331);
the bevel gear disk (332) is fixedly arranged on the supporting seat (331), the transmission shaft (333) is rotatably arranged on the main rod (211), the first bevel gear (334) is sleeved on the transmission shaft (333) and is in transmission connection with the bevel gear disk (332), and the transmission shaft (333) is in transmission connection with the second rotary shaft (322) through the conversion mechanism (4).
3. A smart dog according to claim 2, wherein the switching mechanism (4) comprises a switching shaft (41), a control wheel (42), a first docking gear (43), a second docking gear (44), a docking assembly (45) and a switching assembly (46);
the conversion shaft (41) is fixedly connected with the transmission shaft (333) coaxially, the control wheel (42) can be sleeved on the conversion shaft (41) in a sliding mode, the first butt joint gear (43) can be sleeved on the transmission shaft (333) in a rotating mode, the first butt joint gear (43) and the second butt joint gear (44) are connected with the second rotation shaft (322) in a transmission mode, when the control wheel (42) is in tight fit with the first butt joint gear (43) and the second butt joint gear (44) respectively, the control wheel (42) is connected with the first butt joint gear (43) and the second butt joint gear (44) in a transmission mode through the butt joint assembly (45), and the conversion assembly (46) is used for controlling the control wheel (42) to move.
4. A smart dog according to claim 3, wherein the switching mechanism (4) further comprises a third rotary shaft (431), a transmission gear (432), a synchronous belt (433), a fourth rotary shaft (441) and a second bevel gear (442), the third rotary shaft (431) and the fourth rotary shaft (441) are rotatably mounted on the main rod (211), the transmission gear (432) is sleeved on the third rotary shaft (431), the transmission gear (432) is in transmission connection with the first docking gear (43), the second docking gear (44) is sleeved on the fourth rotary shaft (441), the third rotary shaft (431) and the fourth rotary shaft (441) are in transmission connection through the synchronous belt (433), two second bevel gears (442) are arranged, and the two second bevel gears (442) are respectively sleeved on the fourth rotary shaft (441) and the second rotary shaft (322) and are in transmission connection.
5. The smart dog according to claim 4, wherein the docking assembly (45) comprises a clamping block (451) and an elastic piece (452), the clamping block (451) is slidably mounted on the control wheel (42) and eccentrically arranged, the clamping block (451) is at least provided with two clamping blocks, the plurality of clamping blocks (451) are distributed on two sides of the control wheel (42), and clamping grooves (453) matched with the clamping blocks (451) are formed in one sides, facing the control wheel (42), of the first docking gear (43) and the second docking gear (44).
6. A smart dog as claimed in any one of claims 3 to 5 wherein the changeover component (46) includes a track (461) and a carriage (462), the track (461) being mounted on the main lever (211), the carriage (462) being slidably mounted on the track (461), the control wheel (42) being rotatably mounted on the carriage (462).
7. A smart dog as claimed in any one of claims 1 to 5, wherein the integrated circuit inspection apparatus further comprises a guard (5), the guard (5) comprising a slide (51), a guard plate (52) and a linear drive (53);
the slide rail (51) and the linear driver (53) are arranged on the mounting frame (11), the protection plate (52) is slidably arranged on the slide rail (51), and the driving end of the linear driver (53) is in transmission connection with the protection plate (52).
8. A smart dog as claimed in any one of claims 1 to 5, wherein the first rotary drive assembly (31) comprises a rotary drive (311), a worm wheel (312) and a worm (313);
the rotary driver (311) is arranged on the mounting frame (11), the worm wheel (312) is sleeved on the main shaft (12), the worm (313) is rotatably arranged on the mounting frame (11), the worm wheel (312) is in transmission connection with the worm (313), and the driving end of the rotary driver (311) is in transmission connection with the worm (313).
9. A smart dog as claimed in claim 7, wherein the guard (5) further comprises a support rail (54), the support rail (54) being mounted on the mounting frame (11) and being in communication with the slide rail (51).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310981633.4A CN116723405B (en) | 2023-08-07 | 2023-08-07 | Smart dog |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310981633.4A CN116723405B (en) | 2023-08-07 | 2023-08-07 | Smart dog |
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| CN116723405B true CN116723405B (en) | 2023-11-07 |
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| CN116176729A (en) * | 2023-04-14 | 2023-05-30 | 北京理工大学珠海学院 | Mechanical dog |
| CN219247332U (en) * | 2023-04-07 | 2023-06-23 | 理工清科(重庆)先进材料研究院有限公司 | Hydrogen power high-voltage line inspection machine dog |
| CN116347204A (en) * | 2023-04-06 | 2023-06-27 | 广东电网有限责任公司东莞供电局 | Intelligent defect analysis system for smart dog and transformer substation |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020134187A1 (en) * | 2019-08-28 | 2020-07-02 | 山东科技大学 | Mining workface inspection robot and application thereof |
| CN211592760U (en) * | 2020-01-10 | 2020-09-29 | 菏泽学院 | Six-foot bionic mechanical dog |
| 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 |
| CN114475848A (en) * | 2022-01-26 | 2022-05-13 | 中国电建集团福建省电力勘测设计院有限公司 | A four-footed robot and unmanned aerial vehicle subassembly for transformer substation patrols and examines usefulness |
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|---|---|
| CN116723405A (en) | 2023-09-08 |
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