CN116922418A - Power equipment state detection robot under dangerous power scene - Google Patents

Abstract

The invention provides a power equipment state detection robot under dangerous power scenes, which comprises the following components: a vehicle body; one end of the mechanical arm is arranged above the vehicle body, and the vehicle body drives the mechanical arm to move; the detection device is arranged at the other end of the mechanical arm and comprises a mounting seat; the ultrahigh frequency sensor is detachably arranged on the mounting seat, and the mechanical arm drives the ultrahigh frequency sensor to be in contact with the discharge equipment under the condition that the vehicle body drives the detection device to be close to the power equipment in the dangerous power scene, so that the discharge data of the power equipment are detected; the ultrahigh frequency sensor comprises a groove; the buckle includes: the fixed pressing block and the adjusting seat are respectively arranged on the mounting seat; the movable pressing block is arranged between the fixed pressing block and the adjusting seat, the movable pressing block and the fixed pressing block are provided with protrusions which are arranged oppositely, and the ultrahigh frequency sensor is arranged on the mounting seat through the cooperation of the protrusions and the grooves; the adjusting rod is connected with the adjusting seat, and the ultrahigh frequency sensor is fixed or detached by rotating the adjusting rod.

Description

Power equipment state detection robot under dangerous power scene

Technical Field

The invention relates to the field of power detection, in particular to a robot for detecting the state of power equipment in a dangerous power scene.

Background

Through utilizing inspection robot to carry out periodic inspection, can discover the potential safety hazard that produces because of equipment failure, circuit ageing, electrical component are not hard up scheduling problem, maintain the stability of electric power scene through eliminating the potential safety hazard.

However, in the case where the power scenario has been changed from a stable power scenario to a dangerous power scenario, it is often still required that a technician enters into the dangerous power scenario to check the discharge state of the discharging device in the power device to confirm the maintenance scheme, but in the case where the discharge of the discharging device is not yet determined, the technician enters into the dangerous power scenario, with a certain risk.

Disclosure of Invention

Aiming at the prior art, the invention provides a robot for detecting the state of power equipment in a dangerous power scene. The ultrahigh frequency sensor is arranged on the vehicle body, so that the discharge state of the dangerous power scene is detected.

The invention provides a power equipment state detection robot under dangerous power scenes, which comprises the following components: a vehicle body; one end of the mechanical arm is arranged above the vehicle body, and the vehicle body drives the mechanical arm to move; and the detection device is arranged at the other end of the mechanical arm and comprises an ultrahigh frequency sensor, and under the condition that the vehicle body drives the detection device to be close to the power equipment in the dangerous power scene, the mechanical arm drives the ultrahigh frequency sensor to be in contact with the discharge equipment in the power equipment, so that the discharge data of the power equipment are obtained.

Optionally, the mechanical arm includes: and a plurality of connecting rods are rotationally connected between the adjacent connecting rods, and the ultrahigh frequency sensor is driven to contact the discharging equipment by controlling the rotation angle of the connecting rods.

Optionally, the above detecting device further includes: the ultrahigh frequency sensor is detachably arranged on the mounting seat; a thermal imaging sensor mounted on the mount, the thermal imaging sensor configured to acquire first image data of the hazardous power scene; and an audio sensor mounted on the mount, the audio sensor configured to acquire audio data of the hazardous power scene.

Optionally, the uhf sensor includes: and the groove is formed on one side of the ultrahigh frequency sensor far away from the discharge equipment, and the groove is matched with the buckle on the mounting seat so as to fix the ultrahigh frequency sensor on the mounting seat.

Optionally, the vehicle body includes: a chassis; and two running mechanisms respectively arranged at two sides of the chassis, each running mechanism comprising: a support frame; the first motor is arranged on the supporting frame; the walking driving wheel is arranged on the supporting frame and is connected with an output shaft of the first motor; and a walking driven wheel which is arranged on the supporting frame and is connected with the walking driving wheel in a transmission way.

Optionally, the two first motors are symmetrically arranged based on the center of the chassis, so that the center of gravity of the vehicle body is located at the center of the vehicle body.

Optionally, the vehicle body further includes a swing arm mechanism, where the swing arm mechanism includes: two first swing arms which are arranged at the front end of the chassis and are positioned at two sides of the travelling mechanism, wherein one of the first swing arms is coaxially connected with a travelling driving wheel of one travelling mechanism, and the other first swing arm is coaxially and rotatably connected with a travelling driven wheel of the other travelling mechanism; and two second swing arms which are arranged at the rear end of the chassis and are positioned at two sides of the travelling mechanism, wherein one of the second swing arms is coaxially connected with the travelling driving wheel of one travelling mechanism, and the other second swing arm is coaxially and rotatably connected with the travelling driven wheel of the other travelling mechanism.

Optionally, the power equipment state detection robot in the dangerous power scene further includes: and two image pickup devices respectively mounted at the front end and the rear end of the vehicle body, the image pickup devices being configured to acquire second image data of the dangerous power scene.

Optionally, the power equipment state detection robot in the dangerous power scene further includes: and a processor mounted on the detection device, the processor being configured to control an angle at which each link in the robot arm rotates based on the first image data, the second image data, the audio data, and the discharge data.

Optionally, the processor controls the swinging angle of the first swing arm and/or the second swing arm based on the first image data, the second image data, the audio data, and the discharge data.

According to the embodiment of the invention, the mechanical arm is arranged on the vehicle body, the detection device is arranged on the mechanical arm, the detection device can be driven to enter a dangerous electric scene, the ultrahigh frequency sensor is arranged on the detection device, the ultrahigh frequency sensor can be controlled to be in contact with the discharge equipment in the electric equipment, the discharge data of the electric equipment are further obtained, a technician does not need to enter the dangerous electric scene, the discharge state of the dangerous electric scene can be obtained, and the safety and the accuracy of dangerous electric scene detection can be improved.

Drawings

Fig. 1 schematically illustrates a perspective view of a power equipment state detection robot in a dangerous power scenario according to an embodiment of the present invention;

FIG. 2 schematically illustrates a front view of a detection device and a robotic arm according to an embodiment of the invention;

fig. 3 schematically shows a perspective view of a detection device according to an embodiment of the invention;

fig. 4 schematically shows a perspective view of a detection device according to another embodiment of the invention;

fig. 5 schematically shows a perspective view of an uhf sensor according to an embodiment of the invention;

fig. 6 schematically shows a perspective view of an uhf sensor according to another embodiment of the invention;

FIG. 7 schematically illustrates a partial cross-sectional view of a detection device according to an embodiment of the present invention;

FIG. 8 schematically illustrates a partial enlarged view of a detection device according to an embodiment of the present invention;

FIG. 9 schematically illustrates a cross-sectional view of the embodiment of FIG. 8;

fig. 10 schematically shows an exploded view of a vehicle body according to an embodiment of the invention;

fig. 11 schematically shows an exploded view of a vehicle body according to an embodiment of the present invention, in which a swing arm driving device is not shown;

FIG. 12 schematically illustrates an exploded view of a case according to an embodiment of the present invention;

fig. 13 schematically shows a perspective view at a travelling drive wheel of a travelling mechanism according to an embodiment of the invention;

FIG. 14 schematically illustrates a partial cross-sectional view of the embodiment of FIG. 13;

FIG. 15 schematically illustrates a cross-sectional view at A-A of the embodiment of FIG. 14;

fig. 16 schematically shows a partial view at a driven drive wheel of a running gear according to an embodiment of the invention;

FIG. 17 schematically illustrates a cross-sectional view at A-A of the embodiment of FIG. 16;

FIG. 18 schematically illustrates an exploded view of a vehicle body, without travel mechanisms, according to an embodiment of the invention;

FIG. 19 schematically illustrates a cross-sectional view at B-B of the embodiment of FIG. 18;

FIG. 20 schematically illustrates an exploded view of a first swing arm or a second swing arm in accordance with an embodiment of the invention;

FIG. 21 schematically illustrates a front view of a first swing arm or a second swing arm, without a guard plate, according to an embodiment of the invention;

FIG. 22 schematically illustrates a partial view of a swing arm mechanism according to an embodiment of the invention;

FIG. 23 schematically shows a cross-sectional view at A-A of the embodiment of FIG. 21;

FIG. 24 schematically illustrates a cross-sectional view at B-B of the embodiment of FIG. 21;

FIG. 25 schematically illustrates a cross-sectional view at D-D of the embodiment of FIG. 21;

fig. 26a to 26i schematically show a movement state diagram of a vehicle body according to an embodiment of the present invention;

fig. 27a to 27h schematically show a process diagram of the power equipment state detection robot crossing an obstacle in a dangerous power scenario according to an embodiment of the present invention.

1: a vehicle body;

11: a chassis;

12: a walking mechanism;

121: a support frame;

1211: a side plate;

1212: a motor base;

122: a first motor;

123: a walking driving wheel;

124: a walking driven wheel;

125: a speed change device;

126: a speed reducer;

1271: a first bevel gear;

1272: a second bevel gear;

1273: a first bearing seat;

1274: a second bearing seat;

128: a distance ring;

129: a first baffle;

1210: a third bearing seat;

1220: a driven shaft sleeve;

1230: a second baffle;

13: a front vertical plate;

14: a rear vertical plate;

15: a top plate;

16: a weight reduction groove;

17: a swing arm mechanism;

171: a first swing arm;

172: a second swing arm;

173: a swing arm driving mechanism;

1731: a second motor;

1732: a swing arm driving shaft;

1733: a flange sleeve;

1734: a transition shaft;

1735: a driving shaft sleeve;

1736: a third baffle;

174: a swing arm main body;

1741: a limit groove;

1742: a bridge portion;

175: connecting sleeves;

176: swing arm adjusting means;

1761: an adjustment plate;

1762: a limit screw;

177: swing arm driving wheel;

178: swing arm driven wheel;

179: a guard board;

1710: a guide groove;

1720: swing arm driven shaft;

2: a mechanical arm;

a: a first link;

b: a second link;

c: a third link;

d: a fourth link;

e: a first joint;

f: a second joint;

g: a third joint;

h: a fourth joint;

i: a fifth joint;

3: a detection device;

31: an ultrahigh frequency sensor;

311: an edge portion;

312: a groove;

32: a mounting base;

33: an audio sensor;

34: a thermal imaging sensor;

35: a buckle;

351: a fixed pressing block;

352: a dynamic pressing block;

353: an adjusting seat;

354: an adjusting lever;

355: a protrusion;

356: a guide rod;

357: an elastic member.

Detailed Description

The present invention will be further described in detail below with reference to specific embodiments and with reference to the accompanying drawings, in order to make the objects, technical solutions and advantages of the present invention more apparent.

Descriptions of structural embodiments and methods of the present invention are disclosed herein. It is to be understood that there is no intention to limit the invention to the particular disclosed embodiments, but that the invention may be practiced using other features, elements, methods and embodiments. Like elements in different embodiments are generally referred to by like numerals.

In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.

In the description of the present invention, it should be understood that the terms "first," "second," and the like are used for defining the components, and are merely for convenience in distinguishing the corresponding components, and the terms are not meant to have any special meaning unless otherwise indicated, so that the scope of the present invention is not to be construed as being limited.

In a dangerous power scenario, a technician is usually required to check the discharge state of the discharge device in the power device after entering the dangerous power scenario, however, a certain risk exists when the technician enters the dangerous power scenario. In order to ensure the safety of technicians, the robot can be driven to enter a dangerous electric power scene, and the discharge state of the discharge equipment in the electric power equipment is detected by the robot.

Fig. 1 schematically illustrates a perspective view of a power equipment state detection robot in a dangerous power scenario according to an embodiment of the present invention. Fig. 2 schematically shows a front view of a detection device and a robot arm according to an embodiment of the invention. Fig. 3 schematically shows a perspective view of a detection device according to an embodiment of the invention. Fig. 4 schematically shows a perspective view of a detection device according to another embodiment of the invention.

As shown in fig. 1 to 4, the embodiment of the invention provides a power equipment state detection robot in a dangerous power scene. The power equipment state detection robot in the dangerous power scene comprises a vehicle body 1, a mechanical arm 2 and a detection device 3. One end of the mechanical arm 2 is arranged above the vehicle body 1, and the vehicle body 1 can drive the mechanical arm 2 to move. The detection device 3 is arranged at the other end of the mechanical arm 2, the detection device 3 comprises an ultrahigh frequency sensor 31, and under the condition that the vehicle body 1 drives the detection device 3 to be close to the power equipment in a dangerous power scene, the mechanical arm 2 can drive the ultrahigh frequency sensor 31 to be in contact with the discharge equipment in the power equipment, so that the discharge data of the power equipment are obtained, and the discharge condition of the power equipment is detected.

According to the embodiment of the invention, the mechanical arm 2 is arranged on the vehicle body 1, the detection device 3 is arranged on the mechanical arm 2, the detection device 3 can be driven to enter a dangerous electric power scene, the ultrahigh frequency sensor 31 is arranged on the detection device 3, the ultrahigh frequency sensor 31 can be controlled to be in contact with the discharge equipment in the electric power equipment, the discharge data of the electric power equipment are further obtained, the discharge state of the dangerous electric power scene can be obtained without a technician entering the dangerous electric power scene, and the safety and the accuracy of dangerous electric power scene detection can be improved.

In some embodiments, the robotic arm 2 includes a plurality of links. The adjacent connecting rods are connected in a rotating way, and the ultrahigh frequency sensor 31 can be driven to contact with the discharging equipment by controlling the rotating angle of the connecting rods. For example, as shown in fig. 1 to 2, the mechanical arm 2 includes a first link a, a second link b, a third link c, and a fourth link d. The first connecting rod a and the second connecting rod b are connected through a first joint e, the second connecting rod b and the third connecting rod c are connected through a second joint f, the third connecting rod c and the fourth connecting rod d are connected through a third joint g, the mechanical arm 2 and the vehicle body 1 are connected through a fourth joint h, and the mechanical arm 2 and the detection device 3 are connected through a fifth joint i. All joints can be connected together through a bevel gear transmission device, so that the structure of the mechanical arm 2 is more compact, the size of the mechanical arm 2 after being installed on the vehicle body 1 is smaller, and the power equipment state detection robot is more convenient to carry in a dangerous power scene.

As shown in fig. 3 and 4, in some embodiments, the detection device 3 further includes a mount 32, a thermal imaging sensor 34, and an audio sensor 33. The uhf sensor 31 is detachably mounted on the mount 32. A thermal imaging sensor 34 is mounted on the mount 32, the thermal imaging sensor 34 being configured to acquire first image data of a hazardous power scene. An audio sensor 33 is mounted on the mount 32, the audio sensor 33 being configured to acquire audio data of a dangerous power scenario.

Specifically, the thermal imaging sensor 34 may be an infrared thermal imaging sensor. The ultrahigh frequency sensor 31, the thermal imaging sensor 34 and the audio sensor 33 can be powered by 12V direct current through a unified power interface, and can perform data transmission with a remote control terminal through a network communication mode of TCP/IP protocol. The ultrahigh frequency sensor 31, the thermal imaging sensor 34 and the audio sensor 33 can be connected into a robot switch by utilizing network cables, and then network connection is established between the wireless equipment in the robot and a remote control terminal, so that wireless communication of the detection device 3 is realized. The remote control terminal can display the discharge data acquired by the ultrahigh frequency sensor 31 in a map form, the remote control terminal can display the audio data acquired by the audio sensor 33 in a sound form, and the remote control terminal can display the first image data acquired by the thermal imaging sensor 34 in a thermal pattern form. The heat map may be changed in real time. The remote control terminal consists of control keys, a touch screen, a liquid crystal screen, an industrial personal computer, a power supply battery and the like. The motion of the power equipment state detection robot in the dangerous power scene can be controlled through the remote control terminal, specifically, the motion of the power equipment state detection robot in the dangerous power scene can be controlled through converting control key parameters and push rod movement parameters on the remote control terminal into a protocol for controlling the motion of the power equipment state detection robot in the dangerous power scene.

Fig. 5 schematically shows a perspective view of an uhf sensor according to an embodiment of the invention. Fig. 6 schematically shows a perspective view of an uhf sensor according to another embodiment of the invention. Fig. 7 schematically shows a partial cross-sectional view of a detection device according to an embodiment of the invention.

As shown in fig. 3 to 6, in order to better attach the uhf sensor 31 to the discharging device, so as to obtain the discharging data of the electric device more accurately, the edge portion 311 of the uhf sensor 31 may be set to a shape matching with the electric device, for example, the edge portion 311 of the uhf sensor 31 may be set to be linear or arc. The discharging equipment can be a GIS cable joint, a switch cabinet and the like.

As shown in fig. 3-7, in some embodiments, uhf sensor 31 includes recess 312. A recess 312 is formed on the side of the uhf sensor 31 remote from the discharge device, the recess 312 cooperating with a catch 35 on the mount 32 to secure the uhf sensor 31 to the mount 32. By matching the grooves 312 with the buckles 35, the ultrahigh frequency sensor 31 with different edge 311 shapes can be replaced more quickly, and the ultrahigh frequency sensor 31 with the edge 311 corresponding to the discharge device shape can be replaced more quickly. The thermal imaging sensor 34 and the audio sensor 33 may be mounted on the mount 32 by screws. The detecting device 3 can be mounted on the connecting rod d through the mounting base 32, and the mounting base 32 can be connected with the connecting rod d through a screw and further fixed through a pin shaft. The grooves 312 may be provided as V-grooves, rectangular grooves, etc.

Fig. 8 schematically shows a partial enlarged view of a detection device according to an embodiment of the invention. Fig. 9 schematically shows a cross-sectional view of the embodiment of fig. 8.

As shown in fig. 3 to 9, the buckle 35 includes a fixed pressing block 351, a movable pressing block 352, an adjustment seat 353, and an adjustment lever 354. The adjusting seat 353 and the fixed pressure block 351 can be fixed on the mounting seat 32 through screws, the dynamic pressure block 352 is arranged between the adjusting seat 353 and the fixed pressure block 351, the dynamic pressure block 352 and the fixed pressure block 351 are respectively provided with a protrusion 355 matched with the groove 312 of the ultrahigh frequency sensor 31, the two protrusions 355 are oppositely arranged, and the dynamic pressure block 352 and the fixed pressure block 351 fix the ultrahigh frequency sensor 31 on the mounting seat 32 through the matching of the protrusions 355 and the groove 312. The adjusting rod 354 is in threaded connection with the adjusting seat 353, and the adjusting rod 354 is close to or far away from the movable pressing block 352 by rotating the adjusting rod 354, so that the movable pressing block 352 is close to or far away from the ultrahigh frequency sensor 31, and the ultrahigh frequency sensor 31 is fixed or detached. The fixed pressing block 351 and the mount 32 may be integrally formed.

As shown in fig. 3 to 9, the buckle 35 further includes a guide rod 356 and an elastic member 357, the guide rod 356 slidably extends from the adjusting seat 353 into the dynamic pressure block 352, one end of the elastic member 357 is sleeved on one side of the guide rod 356 close to the adjusting seat 353, and the other end of the elastic member 357 is connected with the dynamic pressure block 352. With the adjustment rod 354 approaching the movable mass 352, the elastic member 357 compresses based on the elasticity, and the adjustment rod 354 pushes the movable mass 352 to press the uhf sensor 31. Under the condition that the adjusting rod 354 is far away from the movable pressing block 352, the elastic piece 357 pulls the movable pressing block 352 to be far away from the ultrahigh frequency sensor 31 based on elasticity so as to release the ultrahigh frequency sensor 31, so that the ultrahigh frequency sensor 31 can be detached easily.

By integrating the thermal imaging sensor 34, the audio sensor 33, and the uhf sensor 31 on the mount 32, the size of the distal end of the robot arm 2 after the probe device 3 is mounted on the distal end of the robot arm 2 can be reduced. And can comparatively relax change different all kinds of superfrequency sensors 31 through buckle 35, can adapt to the requirement that power equipment state detection robot is comprehensive and small-size to arm 2 terminal sensor function under the dangerous electric power scene better.

Fig. 10 schematically shows an exploded view of a vehicle body according to an embodiment of the invention. Fig. 11 schematically shows an exploded view of a vehicle body according to an embodiment of the present invention, in which a swing arm driving device is not shown. Fig. 12 schematically shows an exploded view of a tank according to an embodiment of the invention. Fig. 13 schematically shows a perspective view at a travelling drive wheel of a travelling mechanism according to an embodiment of the invention. Fig. 14 schematically illustrates a partial cross-sectional view of the embodiment of fig. 13. Fig. 15 schematically shows a cross-sectional view at A-A of the embodiment of fig. 14.

As shown in fig. 10 to 15, in some embodiments, the vehicle body 1 includes a chassis 11 and two running gears 12. The two travelling mechanisms 12 are respectively arranged at two sides of the chassis 11. Each running gear 12 includes a support frame 121, a first motor 122, a running drive wheel 123, and a running driven wheel 124. A first motor 122 is mounted on the support frame 121 to power the running gear 12. The walking driving wheel 123 is mounted on the support frame 121 and is connected to the output shaft of the first motor 122. The walking driven wheel 124 is arranged on the supporting frame 121 and is connected with the walking driving wheel 123 in a transmission way. The travel drive wheel 123 and the travel driven wheel 124 may be coupled by a track drive.

As shown in fig. 10 to 15, the support frame 121 may include a side plate 1211 and a motor mount 1212. The two side plates 1211, the chassis 11, the top plate 15, the front vertical plate 13 and the rear vertical plate 14 form a box, and the travel driving wheel 123 and the travel driven wheel 124 are connected to the outside of the box through the side plates 1211, respectively. The side plates 1211, chassis 11, front riser 13, and rear riser 14 may be made of a lightweight metal material, for example, an aluminum alloy material. The side plates 1211, the chassis 11, the front vertical plate 13 and the rear vertical plate 14 can be further provided with weight reduction grooves 16, so that the weight is reduced while the structural strength requirement is met, the weight of the vehicle body 1 is improved, and the vehicle body is convenient to carry and transport. The robot arm 2 is mounted on a top plate 15.

As shown in fig. 10 to 15, in some embodiments, the two first motors 122 are symmetrically disposed based on the center of the chassis 11 so that the center of gravity of the vehicle body 1 is located at the center of the vehicle body 1. By arranging the two first motors 122 based on the central symmetry of the chassis 11, the traveling driving wheels 123 and the traveling driven wheels 124 are respectively arranged on both sides of the chassis 11, the center of gravity of the vehicle body 1 can be overlapped with the center of the vehicle body 1, and thus the climbing capacity of the vehicle body 1 can be improved.

As shown in fig. 10-15, in some implementations, running gear 12 may also include a transmission 125, a reducer 126, and a gear assembly. The speed reducer 126 may be a planetary speed reducer 126. The first motor 122 may be connected to an input shaft of the speed change device 125 through a coupling, an output shaft of the speed change device 125 may be connected to an input end of the speed reducer 126, an output end of the speed reducer 126 may be connected to a gear transmission device, and the gear transmission device is connected to the traveling driving wheel 123, so that the traveling driving wheel 123 may be driven to rotate by controlling the first motor 122. The transmission 125 may include a plurality of couplings. Through setting up speed change gear 125, power equipment state detection robot under the dangerous power scene can export great moment of torsion at low speed state to improve the climbing ability and the obstacle crossing ability of power equipment state detection robot under the dangerous power scene, high speed state can improve the mobile speed of power equipment state detection robot under the dangerous power scene, thereby realizes quick deployment under the emergency.

The gear arrangement may include a first bevel gear 1271, a second bevel gear 1272, a first bearing housing 1273 and a second bearing housing 1274. The first bevel gear 1271 is connected to the output end of the speed reducer 126, and the second bevel gear 1272 is connected to the travel drive wheel 123. First bevel gear 1271 meshes with second bevel gear 1272, changing the direction of transmission and increasing the transfer torque. The first bevel gear 1271 may be in the form of a gear shaft, and the shaft portion of the first bevel gear 1271 is matched with a tapered roller bearing in the first bearing seat 1273, so that the first bevel gear 1271 can be axially fixed by using a locking nut, the tapered roller bearing can bear axial force and radial force loaded on the first bevel gear 1271, and the axial force and radial force of the working load on the output shaft of the speed reducer 126 are avoided, so that the speed reducer 126 can be protected, and the service life of the speed reducer 126 is prolonged.

The second bevel gear 1272 comprises a sleeve, which is hollow, the outer wall of which cooperates with bearings in the second bearing housing 1274, the second bearing housing 1274 being fixed to the side plate 1211, the sleeve being keyed to the running gear 123, a distance ring 128 being provided between the running gear 123 and the second bearing housing 1274. The distance ring 128 may be provided with a first stop 129 at its end, the first stop 129 may be fastened to the end of the second bevel gear 1272 by means of screws, and the distance ring 128 and the first stop 129 may be used to limit the axial movement of the travelling drive wheel 123.

Fig. 16 schematically shows a partial view at the driven drive wheel of the running gear according to an embodiment of the invention. Fig. 17 schematically shows a cross-sectional view at A-A of the embodiment of fig. 16.

As shown in fig. 10-17, running gear 12 may further include a third bearing seat 1210 and a driven bushing 1220. Driven hub 1220 is hollow and may transmit torque to the drive shaft of driven traveling wheel 124. The driven shaft sleeve 1220 and the walking driven wheel 124 can be connected through a key, a distance ring 128 can be arranged between the walking driven wheel 124 and the third bearing seat 1210, a second baffle 1230 is arranged at the tail end of the driven shaft sleeve, the second baffle 1230 is fixed at the tail end of the driven shaft sleeve 1220 through a screw, and the distance ring 128 and the second baffle 1230 are used for limiting the axial movement of the walking driven wheel 124. The shaft sleeve, the bearing seat and the bevel gear used in the two travelling mechanisms 12 can be of the same size and specification, so that the interchangeability of the travelling mechanisms 12 can be improved, the design can be simplified, and the manufacturing cost can be reduced.

Fig. 18 schematically shows an exploded view of a vehicle body according to an embodiment of the invention, without the travelling mechanism shown. Fig. 19 schematically shows a cross-sectional view at B-B of the embodiment of fig. 18. Fig. 20 schematically shows an exploded view of the first swing arm or the second swing arm according to an embodiment of the invention. Fig. 21 schematically illustrates a front view of the first swing arm or the second swing arm, without the guard plate, according to an embodiment of the present invention. Fig. 22 schematically shows a partial view of a swing arm mechanism according to an embodiment of the invention. Fig. 23 schematically shows a cross-sectional view at A-A of the embodiment of fig. 21. Fig. 24 schematically shows a cross-sectional view at B-B of the embodiment of fig. 21. Fig. 25 schematically shows a cross-sectional view at D-D of the embodiment of fig. 21.

As shown in fig. 1-25, in some embodiments, the vehicle body 1 further includes a swing arm mechanism 17. The swing arm mechanism 17 includes two first swing arms 171 and two second swing arms 172. The first swing arms 171 are mounted at the front end of the chassis 11 and are located at two sides of the travelling mechanism 12, one of the first swing arms 171 is coaxially connected with the travelling driving wheel 123 of one travelling mechanism 12, and the other first swing arm 171 is coaxially and rotatably connected with the travelling driven wheel 124 of the other travelling mechanism 12. Two second swing arms 172 are respectively installed at the rear end of the chassis 11 and are positioned at two sides of the travelling mechanism 12, one of the second swing arms 172 is coaxially connected with the travelling driving wheel 123 of one travelling mechanism 12, and the other second swing arm 172 is coaxially and rotatably connected with the travelling driven wheel 124 of the other travelling mechanism 12.

The swing arm mechanism 17 further includes two swing arm driving devices. The swing arm driving device is connected to the first swing arm 171 or the second swing arm 172, respectively. Each swing arm drive includes a second motor 1731 and a swing arm drive shaft 1732. The two first swing arms 171 or the two second swing arms 172 are connected by a swing arm driving shaft 1732. The swing arm driving shaft 1732 is driven to rotate by the second motor 1731, thereby driving the first swing arm 171 or the second swing arm 172 to swing.

Each swing arm drive also includes a flange sleeve 1733 and a speed reducer 126. The second motor 1731 is fixed to the speed reducer 126 through a flange sleeve 1733, a transition shaft 1734 is arranged between an output shaft of the second motor 1731 and the speed reducer 126, and a swing arm driving shaft 1732 is connected with the speed reducer 126 through a key. The second motor 1731 drives the swing arm driving shaft 1732 to rotate after being decelerated by the speed reducer 126. Two ends of the swing arm driving shaft 1732 are respectively connected with the two first swing arms 171 or the two second swing arms 172 through keys, and two ends of the swing arm driving shaft 1732 can be further provided with a driving shaft sleeve 1735 and a third baffle 1736, so that axial movement of the first swing arms 171 or the second swing arms 172 can be limited.

The first swing arm 171 and/or the second swing arm 172 includes a swing arm body 174, a connecting sleeve 175, a swing arm adjusting device 176, a swing arm driving wheel 177, a swing arm driven wheel 178, and a guard 179. The swing arm driven wheel 178 is connected with the swing arm driving wheel 177 through a crawler belt in a transmission way. The swing arm main body 174 is sleeved on the swing arm driving shaft 1732 through the connecting sleeve 175, the swing arm driving wheel 177 is sleeved on the connecting sleeve 175 through a bearing, and the swing arm driving wheel 177 is arranged in a limit groove 1741 of the swing arm main body 174. The swing arm adjusting device 176 is disposed at one end of the limit groove 1741 far away from the swing arm driving wheel 177. Bearings may be provided on the inner wall of the driven bushing 1220 to provide a support point for the swing arm drive shaft 1732. Bearings may be provided on the inner wall of the second bevel gear 1272 to provide a support point for the swing arm drive shaft 1732.

The swing arm driven wheel 178 is connected to the swing arm adjusting device 176 through a swing arm driven shaft 1720, the swing arm adjusting device 176 is detachably installed in a limit groove 1741 of the swing arm main body 174, and a limit screw 1762 can be screwed or loosened, so that the center distance between the swing arm driven wheel 178 and the swing arm driving wheel 177 can be adjusted, and the track tension can be further adjusted. Specifically, the swing arm adjusting device 176 includes an adjusting plate 1761, the swing arm driven wheel 178 is mounted on the adjusting plate 1761, the limit groove 1741 of the swing arm main body 174 is formed with two through holes, a bridge 1742 is connected between the through holes, the adjusting plate 1761 is disposed in one of the through holes, the limit screw 1762 extends from the through hole opposite to the adjusting plate 1761 through the bridge 1742, and the center distance between the swing arm driven wheel 178 and the swing arm driving wheel 177 is adjusted by screwing or loosening the limit screw 1762 to push the swing arm driven wheel 178 to move, so that the track tension is adjusted.

The first swing arm 171 and/or the second swing arm 172 may further include a guide groove 1710. The guide groove 1710 may be fixed to the edge of the swing arm body 174 using a screw, thereby limiting the track offset. The swing arm body 174 may be made of a lightweight material to extend its useful life. The connection sleeve 175 may be made of a high strength material to meet the rigidity requirements of the first swing arm 171 and/or the second swing arm 172.

The vehicle body 1 has good obstacle crossing capability and ground adaptability by arranging the crawler belt transmission, and the vehicle body 1 can adapt to various complex road conditions by arranging the swing arm mechanism 17, so that the power equipment state detection robot has stronger superiority in climbing, obstacle crossing and trench crossing under dangerous power scenes. By arranging the traveling mechanism 12 and the swing arm mechanism 17, the power equipment state detection robot in a dangerous power scene can have larger load capacity and faster moving speed, and can adapt to the complex environment of the power equipment. Various other functional components such as the mechanical arm 2, the sensor, the actuator and the like can be mounted on the vehicle body 1 according to actual needs, and the vehicle has the characteristics of flexible movement, light weight and strong universality.

In some embodiments, the power equipment status detection robot in a hazardous power scenario further comprises two cameras. The camera devices are respectively installed at the front end and the rear end of the vehicle body 1, and are configured to acquire second image data of the dangerous power scene so as to observe road conditions of the dangerous power scene in real time, and can realize omnibearing observation of the dangerous power scene when used in combination with the detection device 3.

In some embodiments, the power device state detection robot in a hazardous power scenario further comprises a processor. A processor may be mounted on the detection device 3, the processor being configured to control the angle of rotation of each link in the robotic arm 2 based on the first image data, the second image data, the audio data and the discharge data, the detection device 3 being brought closer to the discharge apparatus by adjusting the angle of rotation of each link. The processor can acquire feature data about the dangerous power scene through the first image data and the second image data, compares the feature data with corresponding original data, and plans a walking route of the power equipment state detection robot under the dangerous power scene in real time so as to improve the working efficiency of the power equipment state detection robot under the dangerous power scene. The characteristic data may be a distance of the probe robot from the discharge device, a volume of the obstacle, etc.

In some embodiments, the processor controls the angle at which the first swing arm 171 and/or the second swing arm 172 swings based on the first image data, the second image data, the audio data, and the discharge data. When the tracks of the two travelling mechanisms 12 move in the same direction and at the same speed, the power equipment state detection robot in the dangerous power scene walks in a straight line, when the tracks of the two travelling mechanisms 12 move in the opposite direction and at the same speed, the tracks of the two travelling mechanisms 12 revolve in situ at zero radius, the moving direction of the power equipment state detection robot in the dangerous power scene can be adjusted by adjusting the rotating speed and the moving direction of the two tracks, for example, the power equipment state detection robot in the dangerous power scene can realize the rotation of various radiuses by adjusting the different speeds of the same direction movement of the two tracks.

Fig. 26a to 26i schematically show a movement state diagram of a vehicle body according to an embodiment of the present invention.

The swinging angle of the first swing arm 171 and/or the second swing arm 172 can be adjusted according to different terrains of the dangerous power scene, for example, in the case of soft, muddy and rugged terrains, the first swing arm 171 and the second swing arm 172 are controlled to land simultaneously, and the contact area of the power equipment state detection robot in the dangerous power scene is increased, as shown in fig. 26a to 26 b; when in a slope with a smaller gradient, the first swing arm 171 and the second swing arm 172 do not need to be driven to change the swing angle, and as shown in fig. 26c to 26e, a plurality of swing angles are provided; when steering in a small space is required, the first swing arm 171 and the second swing arm 172 can be controlled to swing toward the center of the vehicle body 1, as shown in fig. 26 f; while on a slope with a large gradient, the first swing arm 171 and the second swing arm 172 may be controlled to land simultaneously, as shown in fig. 26a to 26 b; when the robot is in a steep slope with a larger gradient, the first swing arm 171 and the second swing arm 172 can be controlled to swing to a triangular state formed by surrounding the vehicle body 1 and the ground, so that the stability of the gravity center of the vehicle body 1 is improved, and the power equipment state detection robot is ensured to climb the slope smoothly in a dangerous power scene, as shown in fig. 26g to 26 i. When the power equipment state detection robot is in flat ground running under the dangerous power scene, the running resistance is smaller, the maximum running resistance is 0.2G, and G is the whole gravity of the power equipment state detection robot under the dangerous power scene. In a shallow water scene, the first swing arm 171 and the second swing arm 172 may be controlled to swing toward the ground, lifting the chassis 11, to avoid the vehicle body 1 from being immersed in water.

Fig. 27a to 27h schematically show a process diagram of the power equipment state detection robot crossing an obstacle in a dangerous power scenario according to an embodiment of the present invention.

The first motor 122 is controlled to rotate, the travelling mechanism 12 is driven to creep forwards, after approaching an obstacle, the second motor 1731 is controlled to rotate, the gripping and climbing force of the caterpillar band on the first swing arm 171 on the obstacle is utilized to climb upwards, the second swing arm 172 swings downwards to push the vehicle body 1 to move forwards, and the vehicle body 1 is lifted until the second swing arm 172 swings to be vertical to the ground.

As shown in fig. 27e, when the vehicle body 1 climbs over an obstacle, the first swing arm 171 swings forward and downward to prop up the vehicle body 1, and the vehicle body 1 continues to advance until the center of gravity of the vehicle body 1 thereof passes over the obstacle. After the center of gravity passes over the obstacle, the first swing arm 171 swings forward and upward until the first swing arm 171 is attached to the ground, while the second swing arm 172 is controlled to swing backward and upward to form a rear attack angle with the chassis 11 until the vehicle body 1 passes over the obstacle.

While the foregoing embodiments have been described in some detail for purposes of clarity of understanding, it will be appreciated that the invention is not limited to the specific embodiments described above, but is to be accorded the full scope of the invention as defined by the appended claims.

Claims (9)

1. The utility model provides a power equipment state detection robot under dangerous electric power scene which characterized in that includes:

a vehicle body;

one end of the mechanical arm is arranged above the vehicle body, and the vehicle body drives the mechanical arm to move;

the detection device is installed on the other end of arm, detection device includes:

a mounting base;

the ultrahigh frequency sensor is detachably mounted on the mounting seat, and the mechanical arm drives the ultrahigh frequency sensor to be in contact with discharge equipment in the power equipment under the condition that the vehicle body drives the detection device to be close to the power equipment in a dangerous power scene, so that the discharge data of the power equipment are obtained;

wherein, the uhf sensor includes:

the groove is formed on one side, far away from the discharge equipment, of the ultrahigh frequency sensor and is matched with the buckle on the mounting seat in a clamping manner so as to fix the ultrahigh frequency sensor on the mounting seat;

the buckle includes:

the fixed pressing block is arranged on the mounting seat;

the adjusting seat is arranged on the mounting seat;

the movable pressing block is arranged between the fixed pressing block and the adjusting seat, the movable pressing block and the fixed pressing block are provided with protrusions which are arranged oppositely, and the ultrahigh frequency sensor is mounted on the mounting seat through the matching of the protrusions and the grooves;

the adjusting rod is connected with the adjusting seat, and the dynamic pressure block is close to or far away from the ultrahigh frequency sensor by rotating the adjusting rod, so that the ultrahigh frequency sensor is fixed or detached.

2. The power equipment state detection robot in a hazardous power scenario of claim 1, wherein the robotic arm comprises:

and the plurality of connecting rods are connected with each other in a rotating way, and the ultrahigh frequency sensor is driven to contact with the discharging equipment by controlling the rotating angle of the connecting rods.

3. The power equipment state detection robot in a hazardous power scenario of claim 2, wherein the detection device further comprises:

a thermal imaging sensor mounted on the mount, the thermal imaging sensor configured to acquire first image data of the hazardous power scene;

an audio sensor mounted on the mount, the audio sensor configured to acquire audio data of the hazardous power scene.

4. The power equipment status detection robot in a hazardous power scenario of claim 1, wherein the vehicle body comprises:

a chassis;

the two running mechanisms are respectively arranged on two sides of the chassis, and each running mechanism comprises:

a support frame;

the first motor is arranged on the support frame;

the walking driving wheel is arranged on the supporting frame and is connected with the output shaft of the first motor;

the walking driven wheel is arranged on the supporting frame and is in transmission connection with the walking driving wheel.

5. The power equipment state detection robot in a dangerous power scenario according to claim 4, wherein two of the first motors are symmetrically arranged based on a center of the chassis so that a center of gravity of the vehicle body is located at a center of the vehicle body.

6. The power equipment status detection robot in a hazardous power scenario of claim 5, wherein the vehicle body further comprises a swing arm mechanism comprising:

the two first swing arms are arranged at the front end of the chassis and positioned at two sides of the travelling mechanism, one of the first swing arms is coaxially connected with the travelling driving wheel of one travelling mechanism, and the other first swing arm is coaxially and rotatably connected with the travelling driven wheel of the other travelling mechanism;

two second swing arms are arranged at the rear end of the chassis and positioned at two sides of the travelling mechanism, one of the second swing arms is coaxially connected with the travelling driving wheel of one travelling mechanism, and the other second swing arm is coaxially and rotatably connected with the travelling driven wheel of the other travelling mechanism.

7. The power equipment status detection robot in a hazardous power scenario of claim 3, further comprising: and two image pick-up devices respectively installed at the front end and the rear end of the vehicle body, wherein the image pick-up devices are configured to acquire second image data of the dangerous power scene.

8. The power equipment status detection robot in a hazardous power scenario of claim 7, further comprising:

and the processor is installed on the detection device and is configured to control the rotation angle of each connecting rod in the mechanical arm based on the first image data, the second image data, the audio data and the discharge data.

9. The power equipment status detection robot in a hazardous power scenario of claim 8, wherein the processor controls an angle at which the first swing arm and/or the second swing arm swings based on the first image data, the second image data, the audio data, and the discharge data.