Intelligent dog for substation inspection

Abstract

The application discloses an intelligent dog for substation inspection and relates to the technical field of inspection equipment, which comprises an intelligent dog body, and two mechanical legs are arranged on the two side portions of the intelligent dog body. When in use, the bidirectional screw rod and the rotating rod are synchronously rotated by a certain angle under the action of the first transmission assembly, the rotating rod drives the turnover plate to synchronously rotate, and then the turnover plate drives the cover plate to overturn, so that the front camera is exposed to perform shooting work; when the bidirectional screw rod rotates, the two rectangular blocks move towards each other, and then the mounting plate is driven to move upwards under the action of the lifting assembly, so that the top camera is lifted out of the storage box and is convenient for shooting work. When the inspection work is completed, the first motor is started to reversely rotate by a certain angle, and then the cover plate and the mounting plate are synchronously reset; after the reset, the top camera is cleaned under the cooperation of the swinging assembly and the second cleaning assembly, and the front camera is cleaned through the first cleaning assembly.

Description

Technical Field

[0001] This invention relates to the field of inspection equipment technology, and in particular to a smart dog for substation inspection. Background Technology

[0002] In terms of power grid line operation and maintenance, the scenarios are relatively complex. Currently, manual inspection is the main method. However, due to the low technical content of inspection, insufficient room for personnel growth, difficulty in recruiting high-quality personnel, and high staff turnover, robots are increasingly being used to replace manual inspection.

[0003] During the inspection process, the robot uses front and top cameras to capture images of the mechanical equipment's operation and transmits signals back, greatly reducing the workload of the staff. However, after the inspection is completed, the cameras are exposed and easily damaged, which can interfere with the inspection work. Furthermore, dirt can easily accumulate on the cameras after the inspection, seriously affecting the accuracy of the images and impacting the work of the staff. To address these issues, a smart dog for substation inspection is proposed. Summary of the Invention

[0004] The purpose of this application is to provide a smart camera for substation inspection, in order to solve the problems mentioned in the background art, that after the inspection work is completed, the cameras are exposed and easily damaged, which interferes with the inspection work, and that dirt easily accumulates on the cameras after the inspection work, which seriously affects the accuracy of the shooting and affects the work of the staff.

[0005] To achieve the above objectives, this application provides the following technical solution: a smart dog for substation inspection, comprising a smart dog body, two mechanical legs on each side of the smart dog body, a rotating seat on the top of the smart dog body, a mechanical arm on the side of the rotating seat, a front-facing camera fixedly mounted on the side of the smart dog body, and a mounting groove on the top of the smart dog body. A bidirectional lead screw and a rotating rod are rotatably mounted on the opposing inner walls of the mounting groove. The bidirectional lead screw and the rotating rod are connected by a first transmission assembly. A flip plate is fixedly sleeved on the rotating rod. A cover plate is fixedly installed on the side of the flip plate. A first cleaning component adapted to the front camera is provided on the side of the cover plate. Two rectangular blocks are threaded onto the bidirectional lead screw. A first limiting component is provided on the side of the two rectangular blocks. A storage box is fixedly installed on the top of the smart dog body. An installation plate is slidably installed in the storage box through a sliding component. A top camera is installed on the top of the installation plate. A lifting component is provided at the bottom of the installation plate. A second reciprocating lead screw is installed in the storage box through a swing component. A second cleaning component is provided on the second reciprocating lead screw.

[0006] Preferably, the first transmission assembly includes two first gears, which are respectively fixedly sleeved on the bidirectional lead screw and the rotating rod. A first chain is meshed on both first gears. A first motor is installed on the side of the smart dog body, and the output shaft of the first motor is connected to the end of the bidirectional lead screw.

[0007] Preferably, the first cleaning component includes two first reciprocating lead screws, a cleaning groove is provided on the side of the cover plate, both ends of the two first reciprocating lead screws are rotatably mounted on the opposite inner walls of the cleaning groove, the two first reciprocating lead screws are connected to each other through a second transmission unit, and a lifting cleaning brush is threadedly installed on the two first reciprocating lead screws, the lifting cleaning brush being adapted to the front-facing camera.

[0008] Preferably, the second transmission unit includes two second gears, which are respectively fixedly sleeved on two first reciprocating lead screws. A second chain is meshed on both second gears. A second motor is installed on the side of the cover plate, and the output shaft of the second motor is connected to the end of one of the first reciprocating lead screws.

[0009] Preferably, the first limiting component includes a first limiting rod, and the sides of both rectangular blocks are provided with first limiting holes. The first limiting rod is slidably installed in the two first limiting holes, and the two ends of the first limiting rod are respectively fixedly installed on the opposite inner walls of the mounting groove.

[0010] Preferably, the sliding assembly includes four sliders, and two grooves are formed on the opposite inner walls of the storage box. The four sliders are slidably installed in the four grooves respectively, and the two sides of the mounting plate are respectively connected to the sides of the four sliders.

[0011] Preferably, the lifting assembly includes two connecting rods, the bottom of the storage box has a rectangular hole that communicates with the mounting groove, one end of each of the two connecting rods is rotatably mounted on the opposite side of the two rectangular blocks, and the other end of each of the two connecting rods is rotatably mounted on the bottom of the mounting plate.

[0012] Preferably, the swing assembly includes a side plate, which is fixedly installed on the bottom inner wall of the storage box. A rotating shaft is rotatably installed on the side of the side plate and the inner wall of the side of the storage box. A third motor is installed on the side of the storage box. The output shaft of the third motor is connected to the end of the rotating shaft. A rotating plate is fixedly sleeved on the rotating shaft. A second reciprocating screw is rotatably installed on the side of the rotating plate.

[0013] Preferably, the second cleaning component includes a sliding brush threaded onto the second reciprocating screw, a fourth motor is mounted on the side of the rotating plate, the output shaft of the fourth motor is connected to the end of the second reciprocating screw, and a second limiting unit is provided on the side of the sliding brush.

[0014] Preferably, the second limiting unit includes a second limiting rod, a limiting plate is rotatably mounted on the side of the second reciprocating screw, a second limiting hole is opened on the side of the sliding brush, the second limiting rod is slidably mounted in the second limiting hole, one end of the second limiting rod is fixedly mounted on the side of the limiting plate, and the other end of the second limiting rod is fixedly mounted on the side of the rotating plate.

[0015] In summary, the technical effects and advantages of this invention are as follows:

[0016] 1. In this invention, before inspection, the first transmission component drives the bidirectional lead screw and the rotating rod to rotate synchronously at a certain angle. When the rotating rod rotates, it drives the flip plate to rotate synchronously, and then the flip plate drives the cover plate to flip, so that the front camera is exposed for shooting. When the bidirectional lead screw rotates, the first limiting component drives the two rectangular blocks to move towards each other, and then the lifting component drives the mounting plate to move upward, so that the top camera is raised outside the storage box for easy shooting. During the inspection, the rotating seat cooperates with the robotic arm to perform button presses and other operations.

[0017] 2. In this invention, after the inspection work is completed, the first motor is started and reversed at a certain angle, thereby driving the cover plate and the mounting plate to reset synchronously. After the reset, the second motor is started, and under the action of the two second gears and the second chain, the two first reciprocating screws are driven to rotate synchronously, thereby driving the lifting cleaning brush to move up and down to clean the front camera. The flip plate and the cover plate can also protect the front camera.

[0018] 3. In this invention, the third motor and the fourth motor are started. Under the action of the third motor, the rotating shaft and the rotating plate are driven to swing back and forth. Under the action of the fourth motor, the second reciprocating lead screw is driven to rotate synchronously. Under the action of the second limit rod, the sliding brush is driven to move back and forth horizontally. Combined with the reciprocating swinging motion of the rotating plate, the top camera is thoroughly cleaned. This setting can also protect the top camera. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a three-dimensional structural diagram of a smart dog used for substation inspection in an embodiment of this application;

[0021] Figure 2 This is a schematic diagram of a partial structural connection between the smart dog body and the flip plate in an embodiment of this application;

[0022] Figure 3 This is an enlarged schematic diagram of the first gear and the bidirectional lead screw in the embodiments of this application;

[0023] Figure 4 This is a schematic diagram of the structural connection between the flip plate and the lifting cleaning brush in an embodiment of this application;

[0024] Figure 5 This is a partial cross-sectional view of the smart dog body and storage box in the embodiments of this application;

[0025] Figure 6 for Figure 5 Enlarged structural diagram at point A in the middle.

[0026] In the diagram: 1. Smart dog body; 2. Mechanical leg; 3. Rotating seat; 4. Mechanical arm; 5. Front-facing camera; 6. Top camera; 7. Two-way lead screw; 8. Rotating rod; 9. First motor; 10. First gear; 11. First chain; 12. Flip plate; 13. Cover plate; 14. First reciprocating lead screw; 15. Second motor; 16. Second chain; 17. Second gear; 18. Lifting cleaning brush; 19. Rectangular block; 20. First limiting rod; 21. Storage box; 22. Slider; 23. Mounting plate; 24. Connecting rod; 25. Side plate; 26. Rotating shaft; 27. Third motor; 28. Rotating plate; 29. ​​Second reciprocating lead screw; 30. Fourth motor; 31. Limiting plate; 32. Sliding brush; 33. Second limiting rod. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0028] Example: Reference Figure 1-6 The smart dog shown includes a smart dog body 1, with two mechanical legs 2 on each side of the smart dog body 1. A rotating base 3 is located on the top of the smart dog body 1, and a mechanical arm 4 is located on the side of the rotating base 3. A front-facing camera 5 is fixedly mounted on the side of the smart dog body 1. A mounting groove is formed on the top of the smart dog body 1, and a bidirectional lead screw 7 and a rotating rod 8 are rotatably mounted on the opposing inner walls of the mounting groove. The bidirectional lead screw 7 and the rotating rod 8 are connected by a first transmission assembly. A flip plate 12 is fixedly sleeved on the rotating rod 8, and a cover is fixedly mounted on the side of the flip plate 12. The side of the cover plate 13 is provided with a first cleaning component adapted to the front camera 5. Two rectangular blocks 19 are threaded on the bidirectional lead screw 7. The sides of the two rectangular blocks 19 are jointly provided with a first limiting component. The top of the smart dog body 1 is fixedly installed with a storage box 21. The mounting plate 23 is slidably installed in the storage box 21 through a sliding component. The top of the mounting plate 23 is installed with a top camera 6. The bottom of the mounting plate 23 is provided with a lifting component. The second reciprocating lead screw 29 is installed in the storage box 21 through a swing component. The second reciprocating lead screw 29 is provided with a second cleaning component.

[0029] With the above structure, during use, before the inspection work, the first transmission component drives the bidirectional lead screw 7 and the rotating rod 8 to rotate synchronously at a certain angle. When the rotating rod 8 rotates, it drives the flip plate 12 to rotate synchronously, and then the flip plate 12 drives the cover plate 13 to flip, so that the front camera 5 is exposed for shooting. When the bidirectional lead screw 7 rotates, it drives the two rectangular blocks 19 to move towards each other under the action of the first limiting component, and then drives the mounting plate 23 to move upward under the action of the lifting component, so that the top camera 6 is raised outside the storage box 21 for easy shooting. During the inspection, the rotating seat 3 cooperates with the robotic arm 4 to perform button presses and other operations. After the inspection is completed, the first motor 9 is started and reversed at a certain angle, which in turn drives the cover plate 13 and the mounting plate 23 to reset synchronously. After resetting, the top camera 6 is cleaned under the cooperation of the swing component and the second cleaning component. At the same time, the front camera 5 is cleaned by the first cleaning component. This setting not only effectively protects the front camera 5 and the top camera 6 from damage, but also achieves the cleaning function, effectively cleaning the front camera 5 and the top camera 6, resulting in better performance.

[0030] like Figure 3As shown, the first transmission assembly includes two first gears 10, which are respectively fixedly sleeved on the bidirectional lead screw 7 and the rotating rod 8. A first chain 11 is meshed on both first gears 10. A first motor 9 is installed on the side of the smart dog body 1. The output shaft of the first motor 9 is connected to the end of the bidirectional lead screw 7. The advantage of this arrangement is that, through the arrangement of the two first gears 10 and the first chain 11, the linkage function between the bidirectional lead screw 7 and the rotating rod 8 can be realized, so that when the first motor 9 drives the bidirectional lead screw 7 to rotate, the rotating rod 8 will also rotate synchronously.

[0031] like Figure 4 As shown, the first cleaning component includes two first reciprocating lead screws 14. A cleaning groove is provided on the side of the cover plate 13. Both ends of the two first reciprocating lead screws 14 are rotatably mounted on the opposite inner walls of the cleaning groove. The two first reciprocating lead screws 14 are connected by a second transmission unit. A lifting cleaning brush 18 is threaded on the two first reciprocating lead screws 14. The lifting cleaning brush 18 is adapted to the front camera 5. The advantage of this setting is that the cleaning function of the front camera 5 can be realized through the setting of the two first reciprocating lead screws 14 and the lifting cleaning brush 18.

[0032] like Figure 4 As shown, the second transmission unit includes two second gears 17, which are respectively fixedly sleeved on two first reciprocating lead screws 14. A second chain 16 is meshed on both second gears 17. A second motor 15 is installed on the side of the cover plate 13. The output shaft of the second motor 15 is connected to the end of one of the first reciprocating lead screws 14. The advantage of this arrangement is that, through the arrangement of the two second gears 17 and the second chain 16, the two first reciprocating lead screws 14 can be driven to rotate synchronously, preventing the lifting cleaning brush 18 from getting stuck during the lifting process.

[0033] like Figure 3 As shown, the first limiting component includes a first limiting rod 20. The sides of the two rectangular blocks 19 are each provided with a first limiting hole. The first limiting rod 20 is slidably installed in the two first limiting holes. The two ends of the first limiting rod 20 are respectively fixedly installed on the opposite inner walls of the mounting groove. The advantage of this setting is that the first limiting rod 20 can limit the two rectangular blocks 19 and prevent the rectangular blocks 19 from rotating synchronously with the rotation of the bidirectional lead screw 7.

[0034] like Figure 6As shown, the sliding assembly includes four sliders 22. The inner walls of the storage box 21 each have two grooves. The four sliders 22 are slidably installed in the four grooves. The two sides of the mounting plate 23 are connected to the sides of the four sliders 22 respectively. The advantage of this arrangement is that the four sliders 22 can limit the mounting plate 23 and prevent the mounting plate 23 from tilting during the lifting process.

[0035] like Figure 6 As shown, the lifting assembly includes two connecting rods 24. The bottom of the storage box 21 has a rectangular hole that is connected to the mounting groove. One end of each connecting rod 24 is rotatably mounted on the opposite side of the two rectangular blocks 19, and the other end of each connecting rod 24 is rotatably mounted on the bottom of the mounting plate 23. The advantage of this arrangement is that the two connecting rods 24 enable the linkage function between the rectangular blocks 19 and the mounting plate 23, so that the horizontal movement of the rectangular blocks 19 drives the vertical movement of the mounting plate 23.

[0036] like Figure 6 As shown, the swing assembly includes a side plate 25, which is fixedly installed on the bottom inner wall of the storage box 21. The side of the side plate 25 and the inner wall of the side of the storage box 21 are rotatably mounted with a rotating shaft 26. A third motor 27 is installed on the side of the storage box 21. The output shaft of the third motor 27 is connected to the end of the rotating shaft 26. A rotating plate 28 is fixedly sleeved on the rotating shaft 26. A second reciprocating screw 29 is rotatably installed on the side of the rotating plate 28. The advantage of this arrangement is that, through the arrangement of the rotating shaft 26 and the rotating plate 28, the second cleaning assembly can be driven to swing back and forth, thereby achieving a more comprehensive cleaning function for the top camera 6.

[0037] like Figure 6 As shown, the second cleaning component includes a sliding brush 32, which is threaded onto the second reciprocating screw 29. A fourth motor 30 is mounted on the side of the rotating plate 28, and the output shaft of the fourth motor 30 is connected to the end of the second reciprocating screw 29. A second limiting unit is provided on the side of the sliding brush 32. The advantage of this arrangement is that the sliding brush 32 can work with the second reciprocating screw 29 to achieve reciprocating horizontal movement, thereby cleaning the top camera 6.

[0038] like Figure 6As shown, the second limiting unit includes a second limiting rod 33. A limiting plate 31 is rotatably mounted on the side of the second reciprocating screw 29. A second limiting hole is opened on the side of the sliding brush 32. The second limiting rod 33 is slidably installed in the second limiting hole. One end of the second limiting rod 33 is fixedly installed on the side of the limiting plate 31, and the other end of the second limiting rod 33 is fixedly installed on the side of the rotating plate 28. The advantage of this setting is that the second limiting rod 33 can limit the sliding brush 32 and prevent the sliding brush 32 from rotating synchronously with the rotation of the second reciprocating screw 29.

[0039] The working principle of this invention is as follows: Before the inspection, the first motor 9 is started. Under the combined action of the two first gears 10 and the first chain 11, the bidirectional lead screw 7 and the rotating rod 8 are driven to rotate synchronously at a certain angle. When the rotating rod 8 rotates, it drives the flip plate 12 to rotate synchronously. Then, the flip plate 12 drives the cover plate 13 to flip, so that the front camera 5 is exposed for shooting. When the bidirectional lead screw 7 rotates, under the action of the first limit rod 20, it drives the two rectangular blocks 19 to move synchronously towards each other. Then, under the action of the two connecting rods 24, it drives the mounting plate 23 to move upward, so that the top camera 6 is raised outside the storage box 21 for easy shooting. During the inspection, the rotating seat 3 cooperates with the robotic arm 4 to perform button presses and other operations. After the inspection is completed, the first motor 9 is started and reversed at a certain angle, which in turn drives the cover plate 13 and the mounting plate 23 to reset synchronously. After the reset, the second motor 15 is started, which drives the two first reciprocating screws 14 to rotate synchronously under the action of the two second gears 17 and the second chain 16, which in turn drives the lifting cleaning brush 18 to move up and down to clean the front camera 5. The third motor 27 and the fourth motor 30 are started. Under the action of the third motor 27, the rotating shaft 26 and the rotating plate 28 are driven to swing back and forth. Under the action of the fourth motor 30, the second reciprocating screw 29 is driven to rotate synchronously, and under the action of the second limit rod 33, the sliding brush 32 moves back and forth horizontally. Together with the back and forth swinging motion of the rotating plate 28, the top camera 6 is thoroughly cleaned.

[0040] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A smart dog for substation inspection, comprising a smart dog body (1), characterized in that: The smart dog body (1) has two mechanical legs (2) on both sides. The top of the smart dog body (1) has a rotating seat (3). The side of the rotating seat (3) has a mechanical arm (4). The side of the smart dog body (1) has a front-facing camera (5). The top of the smart dog body (1) has a mounting groove. The inner walls of the mounting groove are rotatably mounted with a two-way lead screw (7) and a rotating rod (8). The two-way lead screw (7) and the rotating rod (8) are connected by a first transmission assembly. A flip plate (12) is fixedly sleeved on the rotating rod (8). A cover plate (13) is fixedly mounted on the side of the flip plate (12). The side of the smart dog body (1) is provided with a first cleaning component adapted to the front camera (5). Two rectangular blocks (19) are threaded on the bidirectional screw (7). The sides of the two rectangular blocks (19) are jointly provided with a first limiting component. A storage box (21) is fixedly installed on the top of the smart dog body (1). An installation plate (23) is slidably installed in the storage box (21) through a sliding component. A top camera (6) is installed on the top of the installation plate (23). A lifting component is provided at the bottom of the installation plate (23). A second reciprocating screw (29) is installed in the storage box (21) through a swing component. A second cleaning component is provided on the second reciprocating screw (29). The lifting assembly includes two connecting rods (24). The bottom of the storage box (21) has a rectangular hole that is connected to the mounting groove. One end of each of the two connecting rods (24) is rotatably mounted on the opposite side of the two rectangular blocks (19), and the other end of each of the two connecting rods (24) is rotatably mounted on the bottom of the mounting plate (23).

2. The intelligent dog for substation inspection according to claim 1, characterized in that: The first transmission assembly includes two first gears (10), which are respectively fixedly sleeved on the bidirectional lead screw (7) and the rotating rod (8). A first chain (11) is meshed on both first gears (10). A first motor (9) is installed on the side of the smart dog body (1), and the output shaft of the first motor (9) is connected to the end of the bidirectional lead screw (7).

3. The intelligent dog for substation inspection according to claim 1, characterized in that: The first cleaning component includes two first reciprocating screws (14), and a cleaning groove is provided on the side of the cover plate (13). Both ends of the two first reciprocating screws (14) are rotatably installed on the opposite inner wall of the cleaning groove. The two first reciprocating screws (14) are connected to each other through a second transmission unit. A lifting cleaning brush (18) is threaded on the two first reciprocating screws (14). The lifting cleaning brush (18) is adapted to the front camera (5).

4. The intelligent dog for substation inspection according to claim 3, characterized in that: The second transmission unit includes two second gears (17), which are respectively fixedly sleeved on two first reciprocating screws (14). A second chain (16) is meshed on both second gears (17). A second motor (15) is installed on the side of the cover plate (13). The output shaft of the second motor (15) is connected to the end of one of the first reciprocating screws (14).

5. The intelligent dog for substation inspection according to claim 1, characterized in that: The first limiting component includes a first limiting rod (20), and the sides of the two rectangular blocks (19) are provided with first limiting holes. The first limiting rod (20) is slidably installed in the two first limiting holes, and the two ends of the first limiting rod (20) are respectively fixedly installed on the opposite inner walls of the mounting groove.

6. The intelligent dog for substation inspection according to claim 1, characterized in that: The sliding assembly includes four sliders (22). The inner walls of the storage box (21) each have two grooves. The four sliders (22) are slidably installed in the four grooves respectively. The two sides of the mounting plate (23) are connected to the sides of the four sliders (22) respectively.

7. The intelligent dog for substation inspection according to claim 1, characterized in that: The swing assembly includes a side plate (25), which is fixedly installed on the bottom inner wall of the storage box (21). The side of the side plate (25) and the inner wall of the side of the storage box (21) are rotatably mounted with a rotating shaft (26). A third motor (27) is installed on the side of the storage box (21). The output shaft of the third motor (27) is connected to the end of the rotating shaft (26). A rotating plate (28) is fixedly sleeved on the rotating shaft (26). The second reciprocating screw (29) is rotatably installed on the side of the rotating plate (28).

8. The intelligent dog for substation inspection according to claim 7, characterized in that: The second cleaning component includes a sliding brush (32), which is threaded onto the second reciprocating screw (29). A fourth motor (30) is mounted on the side of the rotating plate (28), and the output shaft of the fourth motor (30) is connected to the end of the second reciprocating screw (29). A second limiting unit is provided on the side of the sliding brush (32).

9. A smart dog for substation inspection according to claim 8, characterized in that: The second limiting unit includes a second limiting rod (33), a limiting plate (31) is rotatably mounted on the side of the second reciprocating screw (29), a second limiting hole is opened on the side of the sliding brush (32), the second limiting rod (33) is slidably mounted in the second limiting hole, one end of the second limiting rod (33) is fixedly mounted on the side of the limiting plate (31), and the other end of the second limiting rod (33) is fixedly mounted on the side of the rotating plate (28).

Images