A power inspection robot dog with an inspection mechanical arm

Abstract

The present invention relates to the field of inspection machine technology, and discloses an electric power inspection robot dog with an inspection mechanical arm, comprising a robot dog body, a high-definition camera installed at the top front position of the robot dog body, a mechanical arm installed at the top rear position of the robot dog body, a connecting component installed at the free end of the mechanical arm, an electromagnetic sensor probe component installed on the connecting component, and the electromagnetic sensor probe component comprising a detection head, a rectangular groove is provided on the top of the detection head, and four contact pieces are horizontally arranged in the groove. When the present invention performs abnormal discharge detection on a cable, as the mechanical arm drives the detection head to approach the cable, when the cable contacts multiple contact pieces, the multiple contact pieces can be adaptively deflected to better fit the surface of the cable, thereby increasing the contact area between the contact piece and the cable, thereby improving the accuracy of the detection head in detecting abnormal discharge of the cable.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection machines, and in particular to an electric power inspection robot dog with an inspection mechanical arm. Background Art

[0002] As one of the most important national infrastructures, the stable operation of substations and power grids is a top priority for economic and people's livelihood development. In order to ensure the stable operation of substations and power grids, it is necessary to arrange power personnel to conduct regular inspections. However, since substations and power grids are generally large and there are many inspection items, the efficiency of manual inspections is low. For this reason, many substations and power grid projects have introduced inspection robot dogs to assist in inspections, thereby helping inspectors improve inspection efficiency.

[0003] Some existing inspection robot dogs are equipped with mechanical arms, so that when inspecting the substation, the electromagnetic sensor installed on the mechanical arm can detect abnormal discharge of the distribution cabinet or cable in the substation or power grid. However, since the contact part of the existing electromagnetic sensor probe is mostly flat, the electromagnetic sensor probe can maintain a good fit with the cabinet door when it is attached to the distribution cabinet. However, when the electromagnetic sensor probe is detecting the cable, since the surface of the cable is an arc surface and some parts of the cable are bent, the contact on the electromagnetic sensor probe cannot maintain a good fit with the surface of the cable, which in turn affects the accuracy of the electromagnetic sensor in detecting abnormal discharge of the cable.

[0004] Therefore, it is necessary to invent an electric power inspection robot dog with an inspection mechanical arm to solve the above problems. Summary of the invention

[0005] In view of the above problems, the present invention provides an electric power inspection robot dog with an inspection mechanical arm to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an electric power inspection robot dog with an inspection mechanical arm, comprising a robot dog body, a high-definition camera is installed at the top front position of the robot dog body, a mechanical arm is installed at the top rear position of the robot dog body, a connecting assembly is installed at the free end of the mechanical arm, an electromagnetic sensor probe assembly is installed on the connecting assembly, the electromagnetic sensor probe assembly comprises a detection head, a rectangular groove is opened at the top of the detection head, four contact pieces are horizontally arranged in the groove, and a completely identical first support rod and a second support rod are vertically arranged in the same vertical plane at the bottom of the contact piece, the first support rod and the second support rod are both vertically fixedly connected to the groove wall at the bottom of the groove, and the second support rod is closer to the center position of the detection head than the first support rod, and the first support rod and the second support rod are located at the bottom of the detection head. The bottom of the contact piece is located near the front or rear inner wall of the groove, and the four contact pieces are symmetrical with respect to the front and rear symmetrical planes and the left and right symmetrical planes of the detection head, a first connecting block is provided at the top of the first support rod, and a second connecting block is provided at the top of the second support rod, the first connecting block is fixedly connected to the bottom of the contact piece, a sliding groove is provided at the position opposite to the bottom of the contact piece and the second connecting block, the length direction of the sliding groove is parallel to the plane where the first support rod and the second support rod are located, the second connecting block is slidably installed in the sliding groove, the bottoms of the first connecting block and the second connecting block are both rotatably connected with the first connecting ball, the two first connecting balls are respectively fixedly connected to the tops of the first support rod and the second support rod, the bottoms of the multiple contact pieces are provided with the same supporting assembly, and the top edge positions on the left and right sides of the groove are provided with arc-shaped card grooves.

[0007] Furthermore, the connecting assembly includes a connecting column, which is hinged to the free end of the robotic arm, and a third connecting block is provided at the top of the connecting column, and the third connecting block is fixedly connected to the bottom of the detection head, and a second connecting ball is rotatably installed at the bottom end of the third connecting block, and a third support rod is fixedly connected between the bottom end of the second connecting ball and the top of the connecting column, and a reset spring is sleeved on the periphery of the connecting column, and both ends of the reset spring are respectively fixedly connected to the bottom of the detection head and the top of the connecting column.

[0008] Furthermore, the support assembly includes a magnetic support ring, the bottom of the support ring is fixedly connected with a plurality of L-shaped connecting rods, and the plurality of connecting rods are fixedly connected together at one end away from the support ring, the bottoms of the connecting ends of the plurality of connecting rods are vertically fixedly connected with telescopic rods, the telescopic rods are vertically fixedly connected to the inner wall of the bottom of the groove, a support spring is sleeved on the telescopic rod, one end of the support spring is connected to the connecting ends of the plurality of connecting rods, and the other end is fixedly connected to the inner wall of the bottom of the groove, a fan-shaped magnetic block is fixedly connected to an angle position of the bottom of the contact piece near the center of the detection head, and the magnetic block and the support ring can be adsorbed together, the bottom of the magnetic block is flush with the bottom of the contact piece, the four magnetic blocks at the bottom of the contact piece can be spliced ​​into a complete circle, and the center of the circle coincides with the center of the support ring, and the radius of the support ring is smaller than the radius of the magnetic block.

[0009] Furthermore, magnetic strips are fixedly connected to the front and rear sides of the detection head, the top of the magnetic strip is flush with the top of the detection head, and the sum of the suction forces of the two magnetic strips is greater than the sum of the gravity of the detection head and all its internal structures.

[0010] Furthermore, the support ring is in the shape of a smooth round tube throughout, and in an initial state, the plurality of contact pieces can remain flush with the top of the detection head under the support of the support ring.

[0011] Furthermore, the free end of the robotic arm is not limited to being connected to the detection head, but the free end of the robotic arm can also be connected to a robotic claw.

[0012] Furthermore, the maximum arm span of the robotic arm is not less than one meter, and the robotic arm can be folded and stored on the top of the robot dog body.

[0013] Technical effects and advantages of the present invention:

[0014] 1. When the present invention detects abnormal discharge of a cable, as the mechanical arm drives the detection head to approach the cable, when the cable contacts multiple contact pieces, the multiple contact pieces can be adaptively deflected to better fit the cable surface, thereby increasing the contact area between the contact piece and the cable, thereby improving the accuracy of the detection head for abnormal discharge detection of the cable;

[0015] 2. The present invention is provided with a connection assembly. When the detection head is pressed on the power distribution cabinet by the mechanical arm, the detection head can deflect with the second connection ball as the center, so as to ensure that the contact piece on the detection head is better fitted with the power distribution cabinet, thereby ensuring the accuracy of the detection. In addition, during the movement of the robot dog body, when the vibration is transmitted from the mechanical arm to the position of the reset spring, the reset spring can also absorb the vibration, thereby playing a shock-absorbing role for the detection head, avoiding damage to the detection head under long-term vibration.

[0016] 3. When it is necessary to press buttons or open or close doors of the power distribution cabinet, the detection head can be replaced with a mechanical claw, thereby replacing manpower to realize live control operations on the circuit, improving the safety of the operation, and by providing a mechanical arm with a longer arm span, it is more convenient to cooperate with the mechanical claw or detection head to press buttons or perform detection work on circuit equipment, and the foldable and storable mechanical arm can also effectively reduce the overall volume of the present invention, making it convenient to carry and store. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a schematic diagram of the overall structure of the connection detection head of the present invention;

[0019] Figure 2 It is a schematic diagram of the overall structure of the connecting mechanical claw of the present invention;

[0020] Figure 3 It is a three-dimensional schematic diagram of the robot arm, the detection head and the connection components in the present invention;

[0021] Figure 4 It is a three-dimensional schematic diagram of the connection component, the detection head, the contact piece and the magnetic strip in the present invention;

[0022] Figure 5 It is a three-dimensional schematic diagram of the detection head, the contact piece and the magnetic strip in the present invention;

[0023] Figure 6 It is a three-dimensional schematic diagram of the detection head and its internal structure in the present invention;

[0024] Figure 7 It is a three-dimensional schematic diagram of structures such as a contact piece, a support assembly, a first support rod and a second support rod in the present invention.

[0025] In the figure: 1. Robot dog body; 2. High-definition camera; 3. Robot arm; 4. Connecting assembly; 41. Connecting column; 42. Third connecting block; 43. Second connecting ball; 44. Third supporting rod; 45. Reset spring; 5. Detection head; 6. Contact piece; 7. First supporting rod; 8. Second supporting rod; 9. First connecting block; 10. Second connecting block; 11. Slide groove; 12. First connecting ball; 13. Support assembly; 131. Support ring; 132. Connecting rod; 133. Telescopic rod; 134. Support spring; 135. Magnetic block; 14. Card slot; 15. Magnetic strip; 16. Mechanical claw. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments.

[0027] The present invention provides Figures 1 to 7 The electric power inspection robot dog with an inspection mechanical arm shown in the figure comprises a robot dog body 1, a high-definition camera 2 is installed at the top front position of the robot dog body 1, a mechanical arm 3 is installed at the top rear position of the robot dog body 1, a connecting component 4 is installed at the free end of the mechanical arm 3, an electromagnetic sensor probe component is installed on the connecting component 4, and the electromagnetic sensor probe component comprises a detection head 5, a rectangular groove is opened at the top of the detection head 5, four contact pieces 6 are horizontally arranged in the groove, and the bottom of the contact piece 6 is vertically provided with a completely identical first support rod 7 and a second support rod 8 in the same vertical plane, the first support rod 7 and the second support rod 8 are both vertically fixedly connected to the groove wall at the bottom of the groove, and the second support rod 8 is closer to the center position of the detection head 5 than the first support rod 7, and the first support rod 7 and the second support rod 8 are located at the bottom of the contact piece 6 near the front or rear side of the groove. The position of the inner wall, and the four contact pieces 6 are symmetrical with respect to the front and rear symmetrical planes and the left and right symmetrical planes of the detection head 5, respectively. A first connecting block 9 is provided at the top of the first support rod 7, and a second connecting block 10 is provided at the top of the second support rod 8. The first connecting block 9 is fixedly connected to the bottom of the contact piece 6, and a slide groove 11 is provided at the position opposite to the bottom of the contact piece 6 and the second connecting block 10. The length direction of the slide groove 11 is parallel to the plane where the first support rod 7 and the second support rod 8 are located. The second connecting block 10 is slidably installed in the slide groove 11, and the bottoms of the first connecting block 9 and the second connecting block 10 are both rotatably connected with a first connecting ball 12, and the two first connecting balls 12 are respectively fixedly connected to the tops of the first support rod 7 and the second support rod 8, and the bottoms of the plurality of contact pieces 6 are provided with the same supporting assembly 13, and the top edges on the left and right sides of the groove are both provided with arc-shaped card grooves 14;

[0028] The support assembly 13 includes a magnetic support ring 131, a plurality of L-shaped connecting rods 132 are fixedly connected to the bottom of the support ring 131, and the ends of the plurality of connecting rods 132 away from the support ring 131 are fixedly connected together, and the bottoms of the connecting ends of the plurality of connecting rods 132 are vertically fixedly connected with telescopic rods 133, and the telescopic rods 133 are vertically fixedly connected to the inner wall of the bottom of the groove, and a support spring 134 is sleeved on the telescopic rod 133, and one end of the support spring 134 is connected to the connecting ends of the plurality of connecting rods 132, and the other end is fixedly connected to the inner wall of the bottom of the groove, and the contact piece 6 A fan-shaped magnetic block 135 is fixedly connected to a corner of the bottom near the center of the detection head 5, and the magnetic block 135 and the support ring 131 can be adsorbed together, the bottom of the magnetic block 135 is flush with the bottom of the contact piece 6, and the four magnetic blocks 135 at the bottom of the contact piece 6 can be spliced ​​into a complete circle, and the center of the circle coincides with the center of the support ring 131. The radius of the support ring 131 is smaller than the radius of the magnetic block 135. The support ring 131 is a smooth circular tube shape throughout, and in the initial state, the plurality of contact pieces 6 can be kept flush with the top of the detection head 5 under the support of the support ring 131;

[0029] When abnormal discharge detection is performed on the cable, the robot dog body 1 can determine the to-be-detected point of the cable through the high-definition camera 2, and then the robot arm 3 can first drive the detection head 5 to deflect, so that the gaps on the left and right sides of the detection head 5 can be opposite to the length direction of the cable, and then the robot arm 3 can extend and drive the detection head 5 to approach the position of the cable to be detected. In this process, if the cable is in a straight state, when the four contact pieces 6 on the detection head 5 contact the cable, the side of the multiple contact pieces 6 away from the respective first support rods 7 and the second support rods 8 can be squeezed by the two second support rods at the bottom of the cable. The connecting line of the center of the connecting ball 43 is deflected in the groove by the rotating shaft, and as the contact piece 6 deflects into the groove, the support ring 131 can compress the telescopic rod 133 and the support spring 134 through the connecting rod 132 under the pressure of the contact piece 6, and the cable is gradually inserted into the card slots 14 on the left and right sides of the detection head 5, and when the cable is fitted with the two card slots 14, the multiple contact pieces 6 also stop deflecting. At this time, the multiple contact pieces 6 can keep fitting with the surface of the cable. Compared with the existing contact piece 6, the contact area between the contact piece 6 and the cable is increased, thereby improving the accuracy of the detection head 5 in detecting abnormal discharge of the cable;

[0030] When the detection head 5 approaches the cable, if the cable is in a bent state, when the four contact pieces 6 on the detection head 5 contact the cable, in addition to the above-mentioned deflection operation, the contact pieces 6 will also deflect into the groove with the first connecting ball 12 at the bottom of the first support rod 7 as the center, so that the contact pieces 6 can further fit the cable to be detected, thereby improving the accuracy of the detection;

[0031] When the detection is completed, as the robot arm 3 drives the detection head 5 to separate from the cable, the support ring 131 can gradually return to its original position under the support of the support spring 134 on the connecting rod 132. During this process, the multiple contact pieces 6 can gradually return to a horizontal state under the push of the support ring 131, and when the support ring 131 is reset, the multiple contact pieces 6 can be adsorbed together with the support ring 131 through the suction force between the magnetic block 135 and the support ring 131.

[0032] like Figure 3 and Figure 4 As shown, the connecting component 4 includes a connecting column 41, and the connecting column 41 is hinged with the free end of the mechanical arm 3, and a third connecting block 42 is arranged at the top of the connecting column 41, and the third connecting block 42 is fixedly connected to the bottom of the detection head 5, and a second connecting ball 43 is rotatably mounted on the bottom end of the third connecting block 42, and a third supporting rod 44 is fixedly connected between the bottom end of the second connecting ball 43 and the top of the connecting column 41, and a reset spring 45 is sleeved on the periphery of the connecting column 41, and the two ends of the reset spring 45 are respectively fixedly connected to the bottom of the detection head 5 and the top of the connecting column 41;

[0033] When the detection head 5 performs abnormal discharge detection on the distribution cabinet, since the mechanical arm 3 cannot ensure that it is completely perpendicular to the distribution cabinet being detected, when the detection head 5 is driven by the mechanical arm 3 and pressed on the distribution cabinet, the detection head 5 may be skewed, resulting in the contact piece 6 being unable to fit well with the distribution cabinet. At this time, by providing a connecting component 4, when the detection head 5 is pressed on the distribution cabinet by the mechanical arm 3, the detection head 5 can deflect with the second connecting ball 43 as the center of the circle, thereby ensuring that the contact piece 6 on the detection head 5 is better fitted with the distribution cabinet, thereby ensuring the accuracy of the detection; and in the process of the deflection of the detection head 5, the reset spring 45 can adaptively twist to meet the deflection requirement of the detection head 5, and when the detection of the detection head 5 is completed, as the mechanical arm 3 removes the detection head 5 from the distribution cabinet, the reset spring 45 can drive the detection head 5 to return to its original position under the action of its own elastic force;

[0034] In addition, due to the presence of the reset spring 45, during the movement of the robot dog body 1, when the vibration is transmitted from the mechanical arm 3 to the position of the reset spring 45, the reset spring 45 can also absorb the vibration, thereby playing a shock-absorbing role for the detection head 5, thereby preventing the detection head 5 from being damaged under long-term vibration conditions.

[0035] like Figures 3 to 6 As shown, the front and rear sides of the detection head 5 are fixedly connected with magnetic strips 15, the top of the magnetic strips 15 is flush with the top of the detection head 5, and the sum of the suction forces of the two magnetic strips 15 is greater than the sum of the gravity of the detection head 5 and all its internal structures;

[0036] By providing the magnetic strip 15, when the detection head 5 is attached to the cabinet door of the distribution cabinet under the drive of the mechanical arm 3, the magnetic strip 15 can cooperate with the mechanical arm 3 to stably adsorb the detection head 5 on the cabinet door of the distribution cabinet, thereby improving the stability and accuracy of the detection head 5 during detection.

[0037] like Figure 2 As shown, the free end of the mechanical arm 3 is not limited to connecting to the detection head 5, but the free end of the mechanical arm 3 can also be connected to the mechanical claw 16;

[0038] When it is necessary to press a button or open or close a door of the distribution cabinet, the detection head 5 can be replaced with a mechanical claw 16, thereby replacing human labor to realize live control operations on the circuit, thereby improving the safety of the operation.

[0039] like Figure 1 and Figure 2 As shown, the maximum arm span of the mechanical arm 3 is not less than one meter, and the mechanical arm 3 can be folded and stored on the top of the robot dog body 1;

[0040] By providing a robot arm 3 with a longer arm span, it is more convenient to cooperate with the robot claw 16 or the detection head 5 to perform button pressing or detection work on the circuit equipment, and the foldable robot arm 3 can also effectively reduce the overall volume of the present invention, making it convenient to carry and store.

[0041] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them.

Claims

1. An electric power inspection robot dog with an inspection mechanical arm, comprising a robot dog body (1), characterized in that: A high-definition camera (2) is installed at the front position of the top of the robot dog body (1); a mechanical arm (3) is installed at the rear position of the top of the robot dog body (1); a connecting assembly (4) is installed at the free end of the mechanical arm (3); an electromagnetic sensor probe assembly is installed on the connecting assembly (4); the electromagnetic sensor probe assembly comprises a detection head (5); a rectangular groove is provided at the top of the detection head (5); four contact pieces (6) are horizontally arranged in the groove; a first support rod (7) and a second support rod (8) are vertically arranged in the same vertical plane at the bottom of the contact piece (6); the first support rod (7) and the second support rod (8) are both vertically fixedly connected to the groove wall at the bottom of the groove; the second support rod (8) is closer to the center position of the detection head (5) than the first support rod (7); the first support rod (7) and the second support rod (8) are located at the bottom of the contact piece (6) near the front or rear inner wall of the groove; and the four contact pieces (6) are spaced apart from each other. The detection head (5) is symmetrical with respect to the front and rear symmetrical surfaces and the left and right symmetrical surfaces. The top of the first support rod (7) is provided with a first connecting block (9), and the top of the second support rod (8) is provided with a second connecting block (10). The first connecting block (9) is fixedly connected to the bottom of the contact piece (6). A slide groove (11) is provided at a position of the bottom of the contact piece (6) opposite to the second connecting block (10). The length direction of the slide groove (11) is parallel to the plane where the first support rod (7) and the second support rod (8) are located. The second connecting block (10) is slidably installed in the slide groove (11). The bottoms of the first connecting block (9) and the second connecting block (10) are both rotatably connected with first connecting balls (12). The two first connecting balls (12) are respectively fixedly connected to the tops of the first support rod (7) and the second support rod (8). The bottoms of the plurality of contact pieces (6) are provided with the same supporting assembly (13). The top edges of the left and right sides of the groove are both provided with arc-shaped card grooves (14). The support assembly (13) comprises a support ring (131) with magnetism, a plurality of L-shaped connecting rods (132) being fixedly connected to the bottom of the support ring (131), and one end of the plurality of connecting rods (132) away from the support ring (131) being fixedly connected together, a telescopic rod (133) being vertically fixedly connected to the bottom of the connecting ends of the plurality of connecting rods (132), the telescopic rod (133) being vertically fixedly connected to the inner wall of the bottom of the groove, a support spring (134) being sleeved on the telescopic rod (133), and one end of the support spring (134) being connected to the ends of the plurality of connecting rods (132). The contact piece (6) is connected to the connecting end, and the other end is fixedly connected to the inner wall of the bottom of the groove. A fan-shaped magnetic block (135) is fixedly connected to a corner of the bottom of the contact piece (6) close to the center of the detection head (5), and the magnetic block (135) and the support ring (131) can be adsorbed together. The bottom of the magnetic block (135) is flush with the bottom of the contact piece (6). The magnetic blocks (135) at the bottom of the four contact pieces (6) can be spliced ​​into a complete circle, and the center of the circle coincides with the center of the support ring (131). The radius of the support ring (131) is smaller than the radius of the magnetic block (135).

2. The power inspection robot dog with an inspection mechanical arm according to claim 1, characterized in that: The connecting assembly (4) comprises a connecting column (41), wherein the connecting column (41) is hingedly connected to a free end of the mechanical arm (3), a third connecting block (42) is arranged at the top end of the connecting column (41), the third connecting block (42) is fixedly connected to the bottom of the detection head (5), a second connecting ball (43) is rotatably mounted at the bottom end of the third connecting block (42), a third supporting rod (44) is fixedly connected between the bottom end of the second connecting ball (43) and the top end of the connecting column (41), a reset spring (45) is sleeved on the periphery of the connecting column (41), and two ends of the reset spring (45) are respectively fixedly connected to the bottom of the detection head (5) and the top of the connecting column (41).

3. The power inspection robot dog with inspection mechanical arms according to claim 1, characterized in that: The front and rear sides of the detection head (5) are both fixedly connected with magnetic strips (15), the top of the magnetic strips (15) is flush with the top of the detection head (5), and the sum of the suction forces of the two magnetic strips (15) is greater than the sum of the gravity of the detection head (5) and all its internal structures.

4. The power inspection robot dog with inspection mechanical arms according to claim 3, characterized in that: The support ring (131) is in the shape of a smooth circular tube throughout, and in an initial state, the plurality of contact pieces (6) can remain flush with the top of the detection head (5) under the support of the support ring (131).

5. The power inspection robot dog with inspection mechanical arms according to claim 4, characterized in that: The free end of the mechanical arm (3) is not limited to being connected to the detection head (5); the free end of the mechanical arm (3) can also be connected to a mechanical claw (16).

6. The power inspection robot dog with inspection mechanical arms according to claim 5, characterized in that: The maximum arm span of the mechanical arm (3) is not less than one meter, and the mechanical arm (3) can be folded and stored on the top of the robot dog body (1).

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