CN210072413U - Motion control system of transformer substation inspection robot - Google Patents

Abstract

The utility model discloses a transformer substation patrols and examines robot motion control system, locate including chassis and a plurality of the variant wheel of chassis week side, the chassis is equipped with and is used for the drive variant wheel pivoted power supply unit, the variant wheel includes periphery and elastic track meshing's drive piece wheel, drive piece wheel inside be equipped with the extension mechanism that the coaxial rotation of variant wheel is connected, extension mechanism includes the auxiliary wheel and is used for the drive the auxiliary wheel stretches out and jack-up the elastic track is realized the hydraulic telescoping rod that the variant wheel warp. The motion control system of the transformer substation inspection robot can change various motion modes along with the deformation of the variant wheel, can efficiently, quickly, safely and reliably pass through various terrains, and has strong obstacle crossing capability.

Description

Motion control system of transformer substation inspection robot

Technical Field

The utility model relates to a transformer substation patrols and examines robot technical field, in particular to transformer substation patrols and examines robot motion control system.

Background

In recent years, the intelligent pace of the transformer substation is also quickened continuously, the system is also upgraded continuously, and meanwhile, the requirement of daily safety maintenance of the transformer substation is higher and higher. The appearance of the intelligent inspection robot provides a new way for reducing the labor intensity of workers and guaranteeing the personal safety of the workers.

Most of intelligent inspection robots in the transformer substation work in outdoor transformer substations and replace operators on duty to perform inspection tour on transformer substation equipment. Inside some unmanned transformer substations of patrolling and examining, because environmental factors such as weather can cause some objects that fall from high altitude, or some other barriers, cause the inside road unevenness of patrolling and examining of transformer substation, consequently, need the transformer substation to patrol and examine the robot and need certain autonomic obstacle-crossing ability. However, the existing transformer substation inspection robot, such as a wheel type inspection robot, has poor automatic obstacle avoidance capability and low inspection efficiency on an unmanned power station; the single-crawler type inspection robot has certain obstacle avoidance capability, but has low operation efficiency and is difficult to meet the requirement of long-distance inspection; if the wheel-track type inspection robot has the capability of switching between a wheel type and a track type, the structure is complex, and the usability of the transformer substation inspection robot in the power system industry is reduced.

Therefore, how to provide a transformer substation inspection robot motion control system which is efficient, rapid, safe and reliable to pass through various terrains, has strong obstacle crossing capability and is switched between a wheel type and a crawler type is a technical problem which needs to be solved by the technical personnel in the field.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a transformer substation patrols and examines robot motion control system can be along with the deformation transform multiple motion pattern of variant wheel, can be high-efficient, quick, safe and reliable through various topography, has stronger obstacle crossing ability.

In order to realize the above-mentioned purpose, the utility model provides a transformer substation patrols and examines robot motion control system, locate including chassis and a plurality of the variant wheel of chassis week side, the chassis is equipped with and is used for the drive variant wheel pivoted driving motor, the variant wheel is including periphery and elastic track meshing's drive piece wheel, drive piece wheel inside be equipped with the extension mechanism that the coaxial rotation of variant wheel is connected, extension mechanism includes the auxiliary wheel and is used for the drive the auxiliary wheel is withdrawed or is stretched out and jack-up the elastic track is realized the hydraulic telescoping rod that the variant wheel warp.

Preferably, the number of the variant wheels is four, and the four variant wheels are symmetrically arranged on two sides of the chassis.

Preferably, the number of the driving motors corresponds to the number of the variant wheels, and a transmission shaft of the driving motor is coaxially and fixedly connected with the driving sheet wheel.

Preferably, the chassis is further provided with a power supply unit and a control unit which are connected, the control unit is respectively connected with a first driving motor controller and a second driving motor controller, the first driving motor controller is respectively connected with the two driving motors on two sides of one end of the chassis through a control bus, and the second driving motor controller is respectively connected with the two driving motors on two sides of the other end of the chassis through the control bus.

Preferably, the chassis further comprises a communication unit and a sensor group, wherein the communication unit and the control unit are connected through a communication bus, the communication unit and the control unit are arranged in a control box body in the middle of the chassis, and the sensor group comprises an encoder coaxially connected with the transmission shaft, a gyroscope sensor fixedly installed in the control box body and a pressure sensor fixedly installed between the driving sheet wheel and the elastic crawler.

Preferably, the transmission shaft is provided with an emergency stop device, the chassis close to the variant wheel is provided with a variant wheel drive switch for controlling the hydraulic telescopic rod, and the variant wheel drive switch is connected with the control unit through the communication bus.

Preferably, the power supply unit comprises a control circuit connected with the control unit and a battery connected to the control circuit and connected with the driving motor, and the battery is a polymer battery pack capable of being repeatedly charged and discharged.

Preferably, the extension mechanism comprises two fixing plates arranged inside the driving sheet wheel, the two fixing plates are parallel to each other and coaxial with the driving sheet wheel, the hydraulic telescopic rod is fixedly installed on the inner side of each fixing plate through a fixing device, the auxiliary wheel is fixedly installed on the inner side of each fixing plate through an extension arm, and the hydraulic telescopic rod is connected with the extension arm through a connecting rod so as to drive the connecting rod to push the extension arm to drive the auxiliary wheel to extend and retract.

Preferably, the hydraulic telescopic rod and the auxiliary wheels are both two groups and symmetrically arranged on the fixing plate.

Preferably, the extension mechanism further comprises a plurality of transmission gears which are meshed in sequence, and a transmission wheel which is used for providing power for the auxiliary wheel, and the plurality of transmission gears are connected between the transmission wheel and the transmission shaft.

For above-mentioned background art, the utility model provides a transformer substation patrols and examines robot motion control system includes the chassis and a plurality of variant wheel of locating chassis week side, the chassis is equipped with and is used for driving variant wheel pivoted driving motor, the variant wheel includes the drive piece wheel and at the elastic crawler of drive piece wheel periphery meshing, the inside extension mechanism that is equipped with of drive piece wheel, extension mechanism is connected with the coaxial rotation of variant wheel, extension mechanism includes and is used for stretching out and jack-up elastic crawler makes the auxiliary wheel that variant wheel warp and is used for driving the hydraulic telescoping rod that the auxiliary wheel stretches out or withdraws, this transformer substation patrols and examines robot motion control system stretches out the mechanism through control and stretches out in order to drive the auxiliary wheel and make the deformation wheel warp, or drive the auxiliary wheel and withdraw and make the deformation wheel maintain unchangeably, realize multiple motion: when the extension mechanism retracts the auxiliary wheel, the variant wheel maintains a wheel type motion mode with the same shape as the driving sheet wheel, and is suitable for normal running of a flat road; when the extension mechanism stretches out the auxiliary wheel, the auxiliary wheel jacks up the elastic crawler, the variable wheel is changed into a crawler type motion mode after the elastic crawler is jacked up by the auxiliary wheel, and the system is suitable for obstacle crossing travel on rough roads.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a motion control system of a transformer substation inspection robot provided by an embodiment of the present invention;

FIG. 2 is a schematic view of the deformable wheel of FIG. 1 in the form of a wheel;

FIG. 3 is a schematic view of the morphing wheel of FIG. 1 as being crawler-type;

FIG. 4 is a schematic view of the interior of the morphing wheel of FIG. 3;

fig. 5 is a schematic view of an extending mechanism provided in an embodiment of the present invention when the deforming wheel is a wheel;

fig. 6 is a schematic view of an extending mechanism provided in an embodiment of the present invention when the deforming wheel is a crawler type;

fig. 7 is a first obstacle crossing diagram provided in the embodiment of the present invention;

fig. 8 is a second obstacle crossing diagram according to an embodiment of the present invention;

fig. 9 is a third obstacle crossing diagram according to an embodiment of the present invention;

fig. 10 is a fourth obstacle detouring diagram according to the embodiment of the present invention;

fig. 11 is a fifth obstacle crossing diagram according to an embodiment of the present invention.

Wherein:

the device comprises a 1-variable wheel, a 2-emergency stop device, a 3-first driving motor controller, a 4-control unit, a 5-second driving motor controller, a 6-encoder, a 7-power supply unit, an 8-driving motor, a 9-antenna, an 11-gyroscope sensor, a 12-control bus, a 13-transmission shaft, a 15-variable wheel driving switch, a 16-elastic crawler, a 17-driving sheet wheel, an 18-transmission gear, a 19-auxiliary wheel, a 20-stretching arm, a 21-transmission wheel, a 22-fixing plate, a 23-connecting rod, a 24-hydraulic telescopic rod and a 25-fixing device.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In order to make the technical field of the present invention better understand, the present invention will be described in detail with reference to the accompanying drawings and the detailed description.

Referring to fig. 1 to 11, in which fig. 1 is a schematic structural diagram of a motion control system of a substation inspection robot according to an embodiment of the present invention, fig. 2 is a schematic view of the deformation wheel of fig. 1 in the form of a wheel, fig. 3 is a schematic view of the deformation wheel of fig. 1 in the form of a crawler, fig. 4 is a schematic view of the inside of the deforming wheel in fig. 3, fig. 5 is a schematic view of the stretching mechanism provided by the embodiment of the invention when the deforming wheel is a wheel, figure 6 is a schematic view of the stretching mechanism provided by the embodiment of the invention when the deformation wheel is a crawler type, FIG. 7 is a first obstacle crossing map provided by an embodiment of the present invention, FIG. 8 is a second obstacle crossing map provided by an embodiment of the present invention, fig. 9 is a third obstacle crossing diagram provided by an embodiment of the present invention, fig. 10 is a fourth obstacle crossing diagram provided by an embodiment of the present invention, and fig. 11 is a fifth obstacle crossing diagram provided by an embodiment of the present invention.

In a first specific embodiment, the motion control system of the transformer substation inspection robot provided by the utility model comprises a chassis and a plurality of variant wheels 1 arranged on the periphery of the chassis, wherein the chassis is provided with a driving motor 8, and the driving motor 8 is used for driving the variant wheels 1 to rotate; the variant wheel 1 comprises a driving plate wheel 17 and an elastic crawler 16 engaged with the periphery of the driving plate wheel 17. The inside of the driving sheet wheel 17 is provided with an extension mechanism which is coaxially and rotationally connected with the variant wheel 1, namely the extension mechanism is coaxially and rotationally connected with the driving sheet wheel 17. The stretching mechanism comprises an auxiliary wheel 19 and a hydraulic telescopic rod 24 for driving the auxiliary wheel 19 to retract or extend, when the hydraulic telescopic rod 24 drives the auxiliary wheel 19 to extend, the auxiliary wheel 19 contacts and jacks up the elastic crawler 16, the elastic crawler 16 does not completely encircle the outer contour of the driving sheet wheel 17, and the elastic crawler 16 is deformed by the jacked deformation wheel 1.

In this embodiment, the driving plate wheel 17 has a circular shape, and teeth engaged with the inner side of the elastic crawler 16 are disposed on the outer circumference of the driving plate wheel 17, so that the driving plate wheel 17 rotates and simultaneously drives the elastic crawler 16 to move synchronously. The elastic crawler 16 is composed of five parts, namely a limiting section, an elastic section, an invariant section, a deformation section, a reinforcing rib section and the like, wherein the invariant section is a part of the elastic crawler 16 which is always in contact with the ground and plays a role in supporting.

When the stretching mechanism is not operated, the hydraulic telescopic rod 24 maintains the auxiliary wheel 19 to be fixed in the driving sheet wheel 17, the shape of the variant wheel 1 is wheel type, please refer to fig. 2, at this time, the elastic crawler 16 surrounds the periphery of the circular driving sheet wheel 17, and the substation inspection robot motion control system has a wheel type motion mode and is suitable for quick passing of a flat road surface.

When the ground is rough and the wheeled motion pattern is not fast enough, it is necessary to increase the contact area of the elastic crawler 16 with the road surface. When the stretching mechanism acts, the hydraulic telescopic rod 24 drives the auxiliary wheel 19 to extend out, the auxiliary wheel 19 contacts and jacks up the elastic crawler 16, the shape of the deformation wheel 1 is a crawler type, please refer to fig. 3, at the moment, the elastic crawler 16 simultaneously surrounds the peripheries of the driving sheet wheel 17 and the auxiliary wheel 19, the shape of the deformation wheel 1 is changed from a wheel type to a crawler type with a larger contact area with the road surface, and the motion control system of the substation inspection robot has a crawler type motion mode and is suitable for smooth obstacle crossing of the rough road surface.

In this embodiment, the hydraulic telescopic rod 24 may indirectly control the extension of the auxiliary wheel 19 relative to the driving sheet wheel 17 through the transmission relationship of the plurality of rod sets, or may directly connect and drive the driving sheet wheel 17 to extend, which also belongs to the description scope of this embodiment.

In a specific embodiment, the number of the variant wheels 1 is four, the four variant wheels 1 are symmetrically arranged on two sides of the chassis, in popular terms, the two variant wheels 1 are respectively arranged on the left side and the right side of the front part and the rear part of the chassis, and the four variant wheels are similar to a conventional four-wheel vehicle.

In the embodiment, the number of the driving motors 8 corresponds to the number of the variant wheels 1, and the transmission shaft 13 of the driving motor 8 is coaxially and fixedly connected with the driving sheet wheel 17. In other words, each variant wheel 1 is provided with a corresponding driving motor 8, the driving motor 8 outputs rotary power to the driving sheet wheel 17 through the transmission shaft 13, and the driving sheet wheel 17 drives the elastic crawler 16 to further realize the movement on the road surface under the action of the rotary power.

Illustratively, the driving motor 8 is a high-power high-speed direct current motor, and the maximum speed is not less than 1 m/s.

Besides, the chassis is further provided with a power supply unit 7 and a control unit 4 connected with the power supply unit 7, the control unit 4 is respectively connected with the first driving motor controller 3 and the second driving motor controller 5, the first driving motor controller 3 is respectively connected with the two driving motors 8 on two sides of one end of the chassis through a control bus 12, and the second driving motor controller 5 is respectively connected with the two driving motors 8 on two sides of the other end of the chassis through a control bus 12.

In this embodiment, the power supply unit 7 provides electric energy required by the motion control system of the substation inspection robot, and the control unit 4 controls the first driving motor controller 3 and the second driving motor controller 5 respectively, and further controls the two driving motors 8 at one end through the first driving motor controller 3, and controls the two driving motors 8 at the other end through the second driving motor controller 5.

In order to achieve better technical effects, the intelligent control device further comprises a communication unit and a sensor group which are connected with the control unit 4 through a communication bus, the control unit 4 and the communication unit are in bidirectional connection, and the base is provided with an antenna 9 connected with the communication unit. Specifically, the communication unit and the control unit 4 are arranged in a control box body in the middle of the chassis, and the sensor group includes an encoder 6, a gyro sensor 11, and a pressure sensor.

In this embodiment, the communication module adds a wireless signal interrupt protection function, sets an interrupt timeout function in a handshake signal manner, and immediately performs return flight if the interrupt is timeout until recovery of the communication signal is detected, and stops waiting for a next operation instruction in situ.

Besides, the encoders 6 are coaxially connected with the transmission shafts 13, that is, a total of four encoders 6 are respectively coaxially connected with the transmission shafts 13 of the four driving motors 8, and the moving distance and the driving speed are calculated and transmitted back to the control unit 4 through the communication bus; the gyroscope sensor 11 is fixedly arranged in the control box body, measures the inclination angle of the chassis and returns back to the control unit 4 through a communication bus; the pressure sensor is fixedly arranged between each driving sheet wheel 17 and the elastic crawler 16, measures the pressure of the elastic crawler 16 and transmits the pressure back to the control unit 4 through the communication bus.

For better technical effect, the transmission shaft 13 is provided with the emergency stop device 2, the chassis close to the variant wheel 1 is provided with a variant wheel drive switch 15 for controlling the hydraulic telescopic rod 24, and the variant wheel drive switch 15 is connected with the control unit 4 through a communication bus.

In the embodiment, the emergency stop device 2 controls the transmission shaft 13 to stop rotating, the control unit 4 is bidirectionally connected with the communication module and receives information from a control room in real time, and the control unit 4 is respectively connected with the input end of the first driving motor controller 3, the input end of the second driving motor controller 5 and the control end of the variable wheel driving switch 15 through communication buses and is simultaneously connected with the output end of the pressure sensor, the output end of the gyroscope sensor 11 and the control end of the power supply unit 7 through the communication buses.

Illustratively, the steering of the motion control system of the inspection robot of the transformer substation is realized by the rotating speed difference of the left and right elastic tracks 16, and the control unit 4 realizes the steering of the inspection robot according to the data returned by the encoder 6; the variant wheel driving switch 15 is controlled according to the data transmitted back by the gyroscope sensor 11 and the pressure sensor, the hydraulic telescopic rod 24 is further controlled, and the motion mode of the variant wheel 1 is changed through the retraction and the extension of the auxiliary wheel 19.

In the present embodiment, the power supply unit 7 is composed of a cable, a control circuit connected to the control unit 4, and a battery or the like connected to the control circuit, and the battery supplies electric power to the drive motor 8.

Illustratively, the control circuit of the power supply unit 7 is controlled by the control unit 4. The battery is a high-capacity high-power polymer battery pack, and the one-time cruising ability of the battery is not less than 5 hours; the charging mechanism comprises a body charging mechanism and an external charging mechanism, the body charging mechanism is a telescopic contact, when the robot receives a task ending instruction and returns to the charging cabin, and after the robot reaches a specified positioning point, the contact extends out and is in contact with a charging polar plate installed in the cabin, so that charging is realized. The charging polar plate in the small house is the external charging mechanism, the output end of the battery is connected with the driving motor 8, and the charging and discharging can be carried out repeatedly, so that the electric energy is provided for the whole device.

In another specific embodiment, as shown in fig. 5 and 6, the stretching mechanism includes two fixing plates 22 disposed inside the driving plate wheel 17, the two fixing plates 22 are parallel to each other and coaxial with the driving plate wheel 17, and the fixing plates 22 can be locked with the transmission shaft 13 in a linkage state, so as to realize synchronous rotation of the stretching mechanism and the driving plate wheel 17; the mechanism can be unlocked with the transmission shaft 13 to be in a free state, and the stretching mechanism does not rotate along with the rotation of the driving sheet wheel 17.

In the embodiment, the hydraulic telescopic rod 24 is fixedly installed on the inner side of the fixed plate 22 through a fixing device 25, the auxiliary wheel 19 is fixedly installed on the inner side of the fixed plate 22 through the extending arm 20, and the hydraulic telescopic rod 24 is connected with the extending arm 20 through a connecting rod 23, so that the hydraulic telescopic rod 24 drives the extending arm 20 to drive the auxiliary wheel 19 to extend and retract through the driving connecting rod 23. Illustratively, the hydraulic telescopic rods 24 and the auxiliary wheels 19 are arranged in two groups and symmetrically arranged on the fixing plate 22.

For better technical effect, the stretching mechanism further comprises a plurality of transmission gears 18 engaged in sequence, and a transmission wheel 21 for supplying power to the auxiliary wheel 19, the plurality of transmission gears 18 being connected between the transmission wheel 21 and the transmission shaft 13.

In special cases, the auxiliary wheel 19 also needs power, the plurality of transmission gears 18 transmit the power of the transmission shaft 13 to the transmission wheel 21, and the transmission wheel 21 provides power for the auxiliary wheel 19, so that the auxiliary wheel 19 rotates synchronously, and the obstacle crossing capability is enhanced. In addition, the driving wheel 21 supports the elastic track 16, preventing the elastic track 16 from loosening and coming out of contact with the ground to affect the normal transmission of torque and the normal running of the robot.

The description is made in connection with different movement patterns: in the wheel type movement mode, the transmission shaft 13 is connected with the driving wheel piece 17, the power of the driving motor 8 is transmitted to the driving wheel piece 17, the base is pushed to advance, meanwhile, the transmission gear 18 is separated from the transmission shaft 13, and the transmission wheel 21 does not rotate. In a track motion mode, the transmission shaft 13 is connected with the driving wheel sheet 17, the power of the driving motor 8 is transmitted to the driving wheel sheet to push the whole device to advance, meanwhile, the transmission gear 18 is connected with the transmission shaft 13, the transmission gear 18 is connected with the transmission wheel 21 to drive the transmission wheel 21 to rotate, and the transmission wheel drives the auxiliary wheel 19 to enhance the obstacle crossing capability. When the auxiliary wheel 19 rotates with power, the elastic crawler 16 is prevented from loosening, and the contact area with the ground is increased, thereby enhancing the obstacle crossing capability.

In this embodiment, the movement modes of the variant wheel 1 include a wheel type movement mode, a crawler type movement mode and other movement modes, and the control unit 4 autonomously switches the movement modes of the wheel and the crawler type according to the condition of the patrol road surface, so as to meet the patrol requirements of the substation on different roads.

The control unit 4 is a core part for other hardware to play a role, realizes the function of an information acquisition control carrier, is equivalent to the brain of an intelligent robot, mainly completes the large-scale specified actions of the intelligent robot, comprises motion driving and pan-tilt control, and enables the robot to be closer to the characteristics of power transformation operation and maintenance workers by integrating various processing and communication capabilities and utilizing a multi-sensor information fusion technology.

The wheel type motion mode is the most basic motion mode, the variant wheel 1 is circular, and can rapidly advance, turn and retreat like a wheel type robot, so that the energy consumption is low, and the maneuverability is high. The crawler-type motion mode is that the extension mechanism in the variant wheel 1 is opened, the two auxiliary wheels 19 are extended out, the variant wheel 1 is triangular, the contact area between the crawler form and the ground is large, the adhesive force is large, and the crawler-type motion mode is favorable for climbing slopes and stairs and avoiding obstacles. Other movement modes are that the stretching arm 20 and the stretching auxiliary wheel 19 are reasonably opened according to the actual need of obstacle avoidance and are freely combined by the control unit 4.

Besides, the motion control system of the transformer substation inspection robot realizes the whole-process monitoring of the pressure sensor, the gyroscope sensor 11 and the encoder 6 in the transformer substation inspection process, and transmits the acquired information back to the control unit 4 in real time, so that the system has the capability of autonomous obstacle crossing, and avoids the manual inspection of workers. Compared with wheeled and crawler-type inspection robots, the motion control system has stronger obstacle passing capability and higher operation efficiency, and can remotely inspect unattended transformer substations for a long time.

The description is made in connection with different obstacle crossing maps: as shown in fig. 7, when the robot travels on a flat road, the auxiliary wheel 19 is retracted, the variant wheel 1 maintains a circular shape, the wheel type motion mode can realize rapid advance, turning and backward movement like other wheel type robots, the rotation is flexible, and the robot has the remarkable characteristics of low energy consumption and high maneuverability.

As shown in fig. 8 and 11, the extension mechanism inside the variant wheel 1 acts, the auxiliary wheel 19 extends out, the elastic crawler 16 jacks up, the variant wheel 1 deforms and is triangular, the contact area between the crawler-type motion mode and the ground is large, the adhesive force is large, and the climbing, stair climbing and trench crossing are facilitated. In this embodiment, the fixed plate 22 of the stretching mechanism rotates freely coaxially with the transmission shaft 13 but does not rotate synchronously with the transmission shaft 13, and the stretching mechanism does not rotate synchronously with the driving plate wheel 17.

As shown in fig. 9 and 10, compared with the integrated crawler, the auxiliary wheel 19 of the variant wheel 1 can rotate around the driving sheet wheel 17, so that the obstacle crossing is facilitated. In the present embodiment, the fixing plate 22 is coaxially and lockingly linked with the transmission shaft 13, so that the fixing plate 22 rotates synchronously with the transmission shaft 13 and further rotates synchronously with the driving sheet wheel 17, so that the extended auxiliary wheel 19 can rotate around the driving sheet wheel 17. As shown in fig. 9, when the robot crosses a single high platform obstacle, the robot can be pushed against one side of the high platform, then the extending arm 20 at the front side is unfolded and lapped on the edge of the boss, and meanwhile, the extending arm 20 at the rear side is propped on the ground to form an inclined plane between the plane and the high platform; when descending the steps, the rear extension arm 20 is retracted. As shown in fig. 10, the center of gravity is raised when it crosses a high step, except that the front wheels are supported by the rear side extension arms 20, and the front side extension arms 20 are unfolded to ride on the edge of a high plateau and then climb up. The hydraulic telescopic rods 24 of the variable wheels 1 can be driven independently, the extension and retraction driving among the variable wheels 1 and the two hydraulic telescopic rods 24 inside a single variable wheel 1 can be driven independently, so that the efficiency of crossing obstacles is improved, and the electric quantity is saved.

In the control process of the substation inspection robot motion control system: when the inspection robot for the transformer substation inspects hardened pavement in the transformer substation, the stretching mechanism in the variable wheel 1 shrinks, the elastic crawler 16 becomes circular, the pressure sensor monitors the pressure value of the elastic crawler 16 in the whole process and transmits the pressure value back to the control unit 4 in real time, and the four variable wheels 1 on the left side and the right side of the inspection robot are equal to the contact pressure of the pavement, so that the inspection robot is switched to a wheel type motion mode.

Because unmanned on duty's transformer substation, can receive the influence of environmental factor such as weather, there are some barriers on the inside road of transformer substation, when the transformer substation patrols and examines the robot and patrols and examines under the road surface environment such as transformer substation's equipment district grit, meadow, the inside extension mechanism of variant wheel 1 opens, elastic track 16 becomes triangle-shaped, auxiliary wheel 19 follows drive piece wheel 17 and rotates, pressure sensor detects pressure, real-time passback the control unit 4, and according to the pressure value of difference, the expansion angle of change extension mechanism, thereby patrol and examine the robot with the transformer substation and switch to crawler-type motion mode.

When the inspection robot climbs a slope or climbs a stair, all stretching mechanisms inside the variant wheels 1 are stretched, the contact area between the elastic crawler tracks 16 and the ground or the stair is increased as much as possible, the pressure between the elastic crawler tracks 16 and the ground is reduced, meanwhile, the running speed of the inspection robot is correspondingly reduced by the control unit 4, the driving force is increased, the running speeds of the elastic crawler tracks 16 on the two sides are kept consistent, and the rollover phenomenon of the inspection robot in the climbing process is prevented.

When the transformer substation inspection robot inspects the road connected with the hardened road area and the equipment area in the transformer substation, under certain conditions, the transformer substation inspection robot needs to climb over barriers such as curbs and drainage ditches, and a reasonable advancing route is selected according to the judgment of the control unit 4.

It is noted that, in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities.

It is right above the utility model provides a transformer substation patrols and examines robot motion control system and has carried out detailed introduction. The principles and embodiments of the present invention have been explained herein using specific examples, and the above descriptions of the embodiments are only used to help understand the method and its core ideas of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims.

Claims (10)

1. The utility model provides a transformer substation patrols and examines robot motion control system, its characterized in that includes the chassis and a plurality of locating the variant wheel (1) of chassis week side, the chassis is equipped with and is used for the drive variant wheel (1) pivoted driving motor (8), variant wheel (1) is including drive piece wheel (17) of periphery and elasticity track (16) meshing, drive piece wheel (17) inside be equipped with the extension mechanism that variant wheel (1) coaxial rotation is connected, extension mechanism includes auxiliary wheel (19) and is used for the drive auxiliary wheel (19) are withdrawed or are stretched out and jack-up elasticity track (16) are realized the hydraulic telescoping rod (24) that variant wheel (1) warp.

2. The substation inspection robot motion control system according to claim 1, wherein the number of the variant wheels (1) is four, and the four variant wheels (1) are symmetrically arranged on two sides of the chassis.

3. The substation inspection robot motion control system according to claim 2, wherein the number of the driving motors (8) corresponds to the number of the variant wheels (1), and a transmission shaft (13) of each driving motor (8) is coaxially and fixedly connected with the driving sheet wheel (17).

4. The substation inspection robot motion control system according to claim 3, wherein the chassis is further provided with a power supply unit (7) and a control unit (4) which are connected, the control unit (4) is respectively connected with a first driving motor controller (3) and a second driving motor controller (5), the first driving motor controller (3) is respectively connected with the two driving motors (8) on two sides of one end of the chassis through a control bus (12), and the second driving motor controller (5) is respectively connected with the two driving motors (8) on two sides of the other end of the chassis through the control bus (12).

5. The substation inspection robot motion control system according to claim 4, further comprising a communication unit and a sensor group, wherein the communication unit and the control unit (4) are connected through a communication bus, the communication unit and the control unit (4) are arranged in a control box body in the middle of the chassis, and the sensor group comprises an encoder (6) coaxially connected with the transmission shaft (13), a gyroscope sensor (11) fixedly installed in the control box body, and a pressure sensor fixedly installed between the driving sheet wheel (17) and the elastic crawler (16).

6. The substation inspection robot motion control system according to claim 5, characterized in that the transmission shaft (13) is provided with an emergency stop device (2), the chassis near the variant wheel (1) is provided with a variant wheel drive switch (15) for controlling the hydraulic telescopic rod (24), and the variant wheel drive switch (15) is connected with the control unit (4) through the communication bus.

7. The substation inspection robot motion control system according to claim 4, wherein the power supply unit (7) comprises a control circuit connected with the control unit (4) and a battery connected to the control circuit and connected to the driving motor (8), and the battery is a polymer battery pack capable of being repeatedly charged and discharged.

8. The substation inspection robot motion control system according to claim 3, wherein the extending mechanism comprises two fixing plates (22) arranged inside the driving sheet wheel (17), the two fixing plates (22) are parallel to each other and coaxial with the driving sheet wheel (17), the hydraulic telescopic rod (24) is fixedly installed on the inner side of the fixing plate (22) through a fixing device (25), the auxiliary wheel (19) is fixedly installed on the inner side of the fixing plate (22) through an extending arm (20), and the hydraulic telescopic rod (24) is connected with the extending arm (20) through a connecting rod (23) so as to drive the connecting rod (23) to push the extending arm (20) to drive the auxiliary wheel (19) to extend and retract.

9. The substation inspection robot motion control system according to claim 8, wherein the hydraulic telescopic rods (24) and the auxiliary wheels (19) are arranged in two groups and symmetrically arranged on the fixing plate (22).

10. The substation inspection robot motion control system according to claim 8, wherein the extension mechanism further comprises a plurality of sequentially meshing transmission gears (18), and a transmission wheel (21) for powering the auxiliary wheel (19), the plurality of transmission gears (18) being connected between the transmission wheel (21) and the transmission shaft (13).

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