Smart dog for transformer substation inspection

Abstract

The invention relates to the technical field of transformer substation inspection, in particular to a smart dog for transformer substation inspection, which comprises a stabilizing assembly including a mounting part, a ground-attaching part arranged on the mounting part, a rotating part arranged on the ground-attaching part, and an unfolding part arranged on the ground-attaching part; the dismounting and mounting assembly comprises an adjusting piece arranged on the ground attaching piece and a connecting piece arranged on the adjusting piece; the obstacle crossing assembly comprises a pushing piece arranged on the mounting piece, a driving piece arranged on the pushing piece and a wheel leg piece arranged on the pushing piece. The foot pad is unfolded while the main rod is driven to be unfolded through the rotating piece, the contact area between the foot pad and the ground can be increased through the action of the foot pad and the main rod, falling of the periphery of the supporting leg is prevented, the connecting piece is driven to be buckled to the supporting leg through the rotating adjusting piece, rapid disassembly and assembly are achieved, maintenance and replacement are conducted, and when the whole device accidentally falls into a cable trench, maintenance is convenient. Through rotation of the wheel leg pieces, the whole device can be driven to cross obstacles.

Description

Technical Field

[0001] The present invention relates to the technical field of substation inspection, and in particular to a smart dog used for substation inspection. Background Art

[0002] With the continuous expansion of the power grid and the increase in power equipment, traditional inspection methods can no longer meet the needs of modern power grid inspection. In order to improve the efficiency and accuracy of power grid inspection, a power inspection robot control system is needed to realize the automated inspection of power equipment. Among them, the substation inspection robot dog improves the intelligence level of power inspection, reduces inspection costs, and improves inspection efficiency and accuracy.

[0003] In the traditional use of mechanical dogs, since the limbs of the mechanical dogs are relatively slender, it is easy for the limbs of the mechanical dogs to sink into the ground when the road conditions are bad, which limits the use environment of the mechanical dogs and reduces the scope of application of the mechanical dogs. When the limbs of the mechanical dogs sink into the ground, the limbs may be bumped and affect walking. However, the limbs of the mechanical dogs that are stuck in the ground are difficult to disassemble and assemble quickly for maintenance and replacement. In addition, due to the presence of specific obstacles in the substation, such as cable trenches, the mechanical dogs may accidentally fall into the cable trenches, which will require manual intervention, reducing the inspection efficiency. Summary of the invention

[0004] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0005] In view of the above-mentioned problems that the limbs of the mechanical dog are sunk into the ground, it is difficult to quickly disassemble and assemble, and the mechanical dog may accidentally fall into the cable trench, the present invention is proposed.

[0006] Therefore, the object of the present invention is to provide a smart dog for substation inspection.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions: a smart dog for substation inspection, comprising a stabilizing component, including a mounting part, a ground-attached part arranged on the mounting part, a rotating part arranged on the ground-attached part, and an unfolding part arranged on the ground-attached part; a disassembly and assembly component, including an adjusting part arranged on the ground-attached part, and a connecting part arranged on the adjusting part; and an obstacle crossing component, including a pushing part arranged on the mounting part, a driving part arranged on the pushing part, and a wheel-leg part arranged on the pushing part.

[0008] As a preferred solution of the smart dog for substation inspection described in the present invention, the mounting part includes a mechanical dog body, a camera arranged on the mechanical dog body, a battery arranged on the mechanical dog body, a solar panel arranged on the battery, and a leg arranged on the mechanical dog body.

[0009] As a preferred solution of the smart dog for substation inspection described in the present invention, the ground-attaching part includes a top ring, a screw rod arranged on the top ring, and a bottom ring arranged on the screw rod.

[0010] As a preferred solution of the smart dog for substation inspection described in the present invention, the rotating part includes a motor arranged in the top ring, a gear ring arranged on the output end of the motor, and a spur gear arranged on the screw.

[0011] As a preferred solution of the smart dog for substation inspection described in the present invention, the unfolding part includes a lifting ring arranged on the screw rod, a main rod arranged on the lifting ring, a slide groove opened on the main rod, a support rod arranged on the bottom ring, and a foot pad arranged on the main rod.

[0012] As a preferred solution of the smart dog for substation inspection described in the present invention, the adjusting member includes a rotating disk arranged on the top ring, and an arc groove opened on the rotating disk.

[0013] As a preferred solution of the smart dog for substation inspection described in the present invention, the connecting member includes a disc arranged on the rotating disc, a notch opened on the disc, and a block arranged in the notch.

[0014] As a preferred solution of the smart dog for substation inspection described in the present invention, the pushing member includes an electric push rod arranged on the mechanical dog body, an L-shaped rod arranged on the output end of the electric push rod, a hook arranged on the mechanical dog body, and a base arranged on the L-shaped rod.

[0015] As a preferred solution of the smart dog for substation inspection described in the present invention, the driving member includes a push rod motor arranged on the base, a connecting rod arranged on the output end of the push rod motor, and a first gear arranged on the connecting rod.

[0016] As a preferred solution of the smart dog for substation inspection described in the present invention, the wheel leg member includes a second gear arranged on the base, a third gear arranged on the second gear, a connecting plate arranged on the third gear, a fourth gear arranged on the connecting plate, a grabbing leg arranged on the connecting plate, and a tooth groove opened on the grabbing leg.

[0017] The beneficial effects of the present invention are as follows: the present invention drives the main pole to unfold and drives the foot pad to unfold at the same time by setting a rotating part, so that when the overall device is used on the ground with poor road conditions, the contact area between the foot pad and the main pole can be increased to prevent the legs from sinking around, and the connecting parts can be driven by the rotating adjustment parts to snap onto the legs to achieve quick disassembly and assembly for maintenance and replacement, and when the overall device accidentally falls into the cable trench, the wheel leg parts can be rotated to drive the overall device to cross the obstacle, thereby reducing the need for manual intervention and improving inspection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0019] Figure 1 The figure is an overall schematic diagram of a smart dog used for substation inspection.

[0020] Figure 2 The figure is an overall schematic diagram of the ground-mounted part and the unfolded part of a smart dog used for substation inspection.

[0021] Figure 3 The figure is an overall schematic diagram of the ground-attaching part, rotating part and unfolding part of a smart dog used for substation inspection.

[0022] Figure 4 The figure is an overall schematic diagram of the disassembly and assembly components of a smart dog used for substation inspection.

[0023] Figure 5 The figure is an overall schematic diagram of an obstacle-crossing component of a smart dog used for substation inspection.

[0024] Figure 6 The figure is an overall schematic diagram of the wheel and leg parts of a smart dog used for substation inspection. DETAILED DESCRIPTION

[0025] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0026] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0027] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0028] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0029] Example 1

[0030] Reference Figure 1-Figure 6 , which is the first embodiment of the present invention, and provides a smart dog for substation inspection, including a stabilizing component 100, including a mounting component 101, used to receive a ground-attached component 102, and a disassembly component 200, wherein the ground-attached component 102 arranged on the mounting component 101 is used to receive a rotating component 103 and an unfolding component 104, the rotating component 103 arranged on the ground-attached component 102 provides a driving force for the unfolding component 104, and the unfolding component 104 arranged on the ground-attached component 102 is unfolded by the driving force of the rotating component 103 to increase the contact area with the ground, and the disassembly component 200 includes a setting The adjusting member 201 on the ground-contacting member 102 is used to connect the connecting member 202 with the mounting member 101, and the connecting member 202 arranged on the adjusting member 201 is driven by the adjusting member 201 to establish a connection with the mounting member 101, and the obstacle crossing component 300 includes a pushing member 301 arranged on the mounting member 101, which pushes the driving member 302 and the wheel-leg member 303 to move on the mounting, the driving member 302 arranged on the pushing member 301 provides driving force for the wheel-leg member 303, and the wheel-leg member 303 arranged on the pushing member 301 is used to help the entire device cross the cable trench.

[0031] Specifically, the mounting part 101 includes a mechanical dog body 101a, a camera 101b fixedly connected to the mechanical dog body 101a, a battery 101c fixedly connected to the top of the mechanical dog body 101a, a solar panel 101d fixedly connected to the top of the battery 101c, and a leg 101e rotatably connected to the mechanical dog body 101a. The mechanical dog body 101a is used to receive the camera 101b, the battery 101c and the leg 101e. The camera 101b is used to photograph the substation situation. The battery 101c is used to provide a power source. The solar panel 101d can absorb solar energy and convert it into electrical energy. A card slot is provided on the leg 101e for connecting the disassembly and assembly component 200. There are multiple legs 101e and they are symmetrically arranged.

[0032] Furthermore, the floor-contacting member 102 includes a top ring 102a, a screw rod 102b rotatably connected to the bottom of the top ring 102a, and a bottom ring 102c rotatably connected to the bottom of the screw rod 102b. The top ring 102a is hollow, and a plurality of screw rods 102b are arranged and evenly distributed around the circumference. The bottom ring 102c is used to receive the screw rod 102b.

[0033] Furthermore, the rotating member 103 includes a motor 103a disposed in the top ring 102a, a gear ring 103b fixedly connected to the output end of the motor 103a, and a spur gear 103c fixedly connected to the screw 102b. The motor 103a provides a driving force for the gear ring 103b, and the gear ring 103b is rotatably connected in the top ring 102a. There are multiple spur gears 103c that are symmetrically arranged, and the gear ring 103b is meshed with the spur gears 103c.

[0034] Furthermore, the unfolding member 104 includes a lifting ring 104a threadedly connected to the screw rod 102b, a main rod 104b rotatably connected to the lifting ring 104a, a slide groove 104c opened on the main rod 104b, a support rod 104d rotatably connected to the bottom ring 102c, and a foot pad 104e fixedly connected to the side of the main rod 104b. The lifting ring 104a is used to drive the main rod 104b to open. The main rod 104b is driven by the lifting ring 104a to open, and drives the foot pad 104e to open. The end of the support rod 104d away from the bottom ring 102c is slidably connected in the slide groove 104c. The slide groove 104c provides guidance for the support rod 104d, and the support rod 104d provides support for the main rod 104b.

[0035] Operation process: When the mechanical dog body 101a encounters a bad road condition, the motor 103a is started to drive the gear ring 103b to rotate. Since the gear ring 103b is meshed with the spur gear 103c, the multiple spur gears 103c drive the threaded rods to rotate on the top ring 102a and the bottom ring 102c, so that the lifting ring 104a moves from the top ring 102a position to the bottom ring 102c position, so that the main rod 104b can be rotated and unfolded on the lifting ring 104a at the same time. When the main rod 104b is unfolded, the support rod 104d slides in the slide groove 104c, so that the main rod 104b is supported by the support rod 104d. It plays a supporting role, and then after the lifting ring 104a moves to contact with the bottom ring 102c, the main rod 104b can be rotated to a horizontal state on the outside of the lifting ring 104a, so that through the expansion of the main rod 104b and the foot pad 104e between the main rod 104b, the contact area between the legs 101e of the mechanical dog body 101a and the ground can be increased through the action of the main rod 104b and the foot pad 104e, preventing the legs 101e of the mechanical dog body 101a from sinking into the ground. When not in use, the lifting ring 104a can be moved to the contact position with the top ring 102a, and the main rod 104b and the foot pad 104e can be folded and retracted.

[0036] Example 2

[0037] Reference Figure 4 , which is the second embodiment of the present invention. This embodiment is different from the first embodiment in that: the adjusting member 201 includes a rotating disk 201a rotatably connected to the top of the top ring 102a, and an arc groove 201b opened on the rotating disk 201a. The rotation of the rotating disk 201a drives the arc groove 201b to rotate accordingly. The arc groove 201b is used to place the connecting member 202. A plurality of arc grooves 201b are arranged and are evenly distributed around the circumference.

[0038] Specifically, the connecting member 202 includes a disk 202a rotatably connected to the top of the rotating disk 201a, a slot 202b opened on the disk 202a, and a block 202c slidably connected in the slot 202b. The disk 202a is used to place the block 202c, the slot 202b provides a guide for the block 202c, the block 202c is inserted into the slot opened on the support leg 101e, and the end of the slot is slidably connected in the arc groove 201b. The slot 202b, the block 202c and the slot are all provided in plurality and are evenly distributed around the circumference.

[0039] The rest of the structure is the same as that of Example 1.

[0040] Operation process: When the stabilizing component 100 needs to be disassembled, maintained or replaced, the rotating disk 201a is rotated to drive the arc groove 201b to rotate. Under the guidance of the arc groove 201b, multiple blocks 202c are driven to slide in the slots 202b opened on the disk 202a and perform an open and clamping movement, so that the blocks 202c are inserted into the slots opened on the legs 101e, or the buckles are cancelled to achieve quick disassembly and assembly for maintenance and replacement.

[0041] Example 3

[0042] Reference Figure 5-Figure 6 , which is the third embodiment of the present invention. This embodiment is different from the above embodiments in that: a pushing member 301 includes an electric push rod 301a fixedly connected to the bottom of the mechanical dog body 101a, an L-shaped rod 301b fixedly connected to the output end of the electric push rod 301a, a hook 301c fixedly connected to the bottom of the mechanical dog body 101a, and a base 301d fixedly connected to the L-shaped rod 301b. The electric push rod 301a provides thrust for the L-shaped rod 301b, and the L-shaped rod 301b is slidably connected to the hook 301c. The hook 301c provides guidance for the L-shaped rod 301b and has supporting force. A vertical plate is arranged on the base 301d. The base 301d is used to place the driving member 302 and the vertical plate of the base 301d is used to receive the wheel leg member 303.

[0043] Specifically, the driving member 302 includes a push rod motor 302a fixedly connected to the top of the base 301d, a connecting rod 302b fixedly connected to the output end of the push rod motor 302a, and a first gear 302c fixedly connected to the end of the connecting rod 302b. The push rod motor 302a provides driving force for the connecting rod 302b, the connecting rod 302b drives the first gear 302c to operate, and the first gear 302c provides driving force for the wheel leg member 303.

[0044] Furthermore, the wheel leg member 303 includes a second gear 303a rotatably connected to the vertical plate of the base 301d, a third gear 303b rotatably connected to the second gear 303a, a connecting piece 303c fixedly connected to the third gear 303b, a fourth gear 303d rotatably connected to the connecting piece 303c, a gripping leg 303e rotatably connected to the connecting piece 303c, and a tooth groove 303f provided on the gripping leg 303e. The second gear 303a and the third gear 303b are fixedly connected to the third gear 303b, and the fourth gear 303d is fixedly connected to the connecting piece 303c. The gears 303b are respectively engaged with the first gears 302c, the connecting plate 303c is used to drive the grabbing leg 303e to rotate, a connecting rod is connected between the fourth gear 303d and the second gear 303a, the fourth gear 303d rotates with the rotation of the second gear 303a, the fourth gear 303d is engaged in the tooth groove 303f, a friction plate is arranged on the end of the grabbing leg 303e to increase the friction force, the grabbing leg 303e and the tooth groove 303f are both provided with multiple and evenly distributed around the circumference.

[0045] The rest of the structure is the same as that of Example 2.

[0046] Operation process: When the whole device accidentally falls into the cable trench, the electric push rod 301a starts, pushing the L-shaped rod 301b out on the hook 301c, and the base 301d moves with the movement of the L-shaped rod 301b. The push rod motor 302a starts, driving the connecting rod 302b to move the first gear 302c and only mesh with the second gear 303a. When the first gear 302c rotates, it drives the second gear 303a to rotate, thereby causing the fourth gear 303d to rotate accordingly, and the third gear 303b and the connecting piece 303c do not rotate. At this time, due to the fourth gear 303d and the tooth groove 303 opened on the gripping leg 303e, the fourth gear 303d is locked. 3f is engaged, so the fourth gear 303d drives the multiple grabbing legs 303e to rotate on the connecting piece 303c and unfold. At this time, the push rod motor 302a pushes the first gear 302c, so that the first gear 302c is engaged with the second gear 303a and the third gear 303b at the same time. The rotation of the first gear 302c drives the second gear 303a, the third gear 303b, the connecting piece 303c, the fourth gear 303d and the grabbing leg 303e to rotate. The rotation of the grabbing leg 303e can enable the entire device to climb in the cable trench, thereby crossing obstacles, reducing the need for manual intervention and improving inspection efficiency.

[0047] Importantly, it should be noted that the construction and arrangement of the present application shown in a plurality of different exemplary embodiments are only exemplary. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and proportion of various elements, and parameter values ​​(e.g., temperature, pressure, etc.), installation arrangement, use of materials, color, directional changes, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in the application. For example, the element shown as integrally formed can be composed of multiple parts or elements, the position of the element can be inverted or otherwise changed, and the nature or number or position of the discrete element can be changed or changed. Therefore, all such modifications are intended to be included in the scope of the present invention. The order or sequence of any process or method steps can be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure of performing the function described herein, and is not only structurally equivalent but also equivalent structure. Without departing from the scope of the present invention, other replacements, modifications, changes and omissions can be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the invention is not limited to a specific embodiment, but extends to numerous modifications still falling within the scope of the appended claims.

[0048] Additionally, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0049] It will be appreciated that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but will be a routine task of design, fabrication, and production for those of ordinary skill having the benefit of this disclosure without undue experimentation.

[0050] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A smart dog for substation inspection, characterized by: include, A stabilizing component (100) comprises a mounting member (101), a floor-contacting member (102) disposed on the mounting member (101), a rotating member (103) disposed on the floor-contacting member (102), and an unfolding member (104) disposed on the floor-contacting member (102); The disassembly assembly (200) comprises an adjustment member (201) arranged on the floor-contacting member (102), and a connection member (202) arranged on the adjustment member (201); and, The obstacle surmounting component (300) comprises a pushing member (301) arranged on the mounting member (101), a driving member (302) arranged on the pushing member (301), and a wheel leg member (303) arranged on the pushing member (301).

2. The smart dog for substation inspection as claimed in claim 1, characterized in that: The mounting member (101) comprises a robot dog body (101a), a camera (101b) arranged on the robot dog body (101a), a battery (101c) arranged on the robot dog body (101a), a solar panel (101d) arranged on the battery (101c), and a leg (101e) arranged on the robot dog body (101a).

3. The smart dog for substation inspection as claimed in claim 2, characterized in that: The floor-contacting member (102) comprises a top ring (102a), a screw rod (102b) arranged on the top ring (102a), and a bottom ring (102c) arranged on the screw rod (102b).

4. The smart dog for substation inspection as claimed in claim 3, characterized in that: The rotating member (103) comprises a motor (103a) arranged in the top ring (102a), a gear ring (103b) arranged on the output end of the motor (103a), and a spur gear (103c) arranged on the screw rod (102b).

5. The smart dog for substation inspection as claimed in claim 4, characterized in that: The unfolding member (104) comprises a lifting ring (104a) arranged on the screw rod (102b), a main rod (104b) arranged on the lifting ring (104a), a sliding groove (104c) opened on the main rod (104b), a supporting rod (104d) arranged on the bottom ring (102c), and a foot pad (104e) arranged on the main rod (104b).

6. The smart dog for substation inspection as claimed in claim 5, characterized in that: The adjusting member (201) comprises a rotating disk (201a) arranged on the top ring (102a), and an arc-shaped groove (201b) opened on the rotating disk (201a).

7. The smart dog for substation inspection as claimed in claim 6, characterized in that: The connecting member (202) comprises a circular disk (202a) arranged on the rotating disk (201a), a notch (202b) opened on the circular disk (202a), and a clamping block (202c) arranged in the notch (202b).

8. The smart dog for substation inspection as claimed in claim 7, characterized in that: The pushing member (301) includes an electric push rod (301a) arranged on the mechanical dog body (101a), an L-shaped rod (301b) arranged on the output end of the electric push rod (301a), a hook (301c) arranged on the mechanical dog body (101a), and a base (301d) arranged on the L-shaped rod (301b).

9. The smart dog for substation inspection as claimed in claim 8, characterized in that: The driving member (302) comprises a push rod motor (302a) arranged on the base (301d), a connecting rod (302b) arranged on the output end of the push rod motor (302a), and a first gear (302c) arranged on the connecting rod (302b).

10. The smart dog for substation inspection as claimed in claim 9, characterized in that: The wheel leg member (303) comprises a second gear (303a) arranged on the base (301d), a third gear (303b) arranged on the second gear (303a), a connecting piece (303c) arranged on the third gear (303b), a fourth gear (303d) arranged on the connecting piece (303c), a gripping leg (303e) arranged on the connecting piece (303c), and a tooth groove (303f) opened on the gripping leg (303e).

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