Quadruped robot inspection device for transformer substation

Abstract

The invention discloses a quadruped robot inspection device for a transformer substation, and relates to the field of inspection devices, and the quadruped robot inspection device comprises a machine body, mechanical feet, an inspection camera, a protection mounting mechanism, a camera protection mechanism and a quick change mechanism; wherein the mechanical feet are installed on the side wall of the machine body, and the inspection camera is rotationally installed on the machine body. By arranging the protection mounting mechanism and the camera protection mechanism on the outer side of the inspection camera, the inspection camera can be relatively sealed and protected, so that the camera is protected from being damaged by the external environment, normal and efficient work of the camera is guaranteed, meanwhile, a transparent protection plate can be buffered and protected by arranging corresponding springs and protection plates in a protection mounting frame, and the service life of the inspection camera is prolonged. And in addition, a quick change mechanism is arranged, so that the transparent protection plate can be conveniently and quickly changed when the transparent protection plate is abraded, damaged and the like, and normal and efficient work of the inspection camera is further protected.

Description

Technical Field

[0001] The invention relates to the field of inspection devices, and in particular to a quadruped robot inspection device for a substation. Background Art

[0002] The substation four-legged inspection robot is an intelligent machine that can work semi-autonomously or fully autonomously. It has basic features such as perception, decision-making, and execution. It can assist or even replace humans in completing dangerous, heavy, and complex tasks in substation inspections. It can not only improve work efficiency and quality, but also serve human life, expand or extend the scope of human activities and capabilities, etc.

[0003] However, the existing substation four-legged inspection robots still have some problems. For example, the inspection process is mainly recorded by the camera installed on them, or sent to the background, and the background monitoring personnel perform the next step of the instruction operation, or they analyze it themselves and autonomously control the next step. No matter which method is used, the high-definition camera function of the camera is very important, but the substation environment is complex, and the cameras equipped with traditional inspection robots lack camera lens protection function, which makes the camera lens prone to wear, blur, damage, etc., which not only affects the normal work of the inspection robot, but also increases the intensity and cost of maintenance and replacement work, etc., and there are certain shortcomings. Summary of the invention

[0004] Purpose of the invention: In view of the above shortcomings, the present invention provides a quadruped robot inspection device for substations to solve the above problems existing in the prior art.

[0005] Technical solution: A quadruped robot inspection device for a substation, comprising a body, a mechanical foot, an inspection camera, a protective installation mechanism, a camera protection mechanism and a quick-change mechanism;

[0006] Among them, the mechanical foot is installed on the side wall of the body to drive the body to move, the inspection camera is rotatably installed on the body, the protective mounting mechanism includes a mounting seat installed on the inspection camera and located outside the inspection camera, a protective mounting frame connected to the mounting seat, a mounting top plate installed on the protective mounting frame, and a first slot corresponding to the protective mounting frame and the mounting top plate, the camera protection mechanism is installed on the protective mounting frame to protect the inspection camera, and the quick change mechanism is installed on the camera protection mechanism.

[0007] In a further embodiment, the protective mounting mechanism further includes a first card slot, a first mounting plate, a first fixing hole and a first fixing nail;

[0008] Among them, the first card slot is opened on the mounting seat and is adapted to the protective mounting frame, the first mounting plate is connected to the mounting seat, the first fixing hole is correspondingly opened on the first mounting plate and the body, the first fixing nail is adapted to the first fixing hole, the first card slot is used to clamp the protective mounting frame and the mounting seat, and the first fixing nail is used to fix the mounting seat and the body.

[0009] In a further embodiment, the protective mounting mechanism further comprises a longitudinal protective groove and a transverse protective groove;

[0010] Wherein, the longitudinal protection groove is opened on the inner wall of the first slot, and the transverse protection groove is opened on the inner wall of the first slot and is arranged corresponding to the longitudinal protection groove.

[0011] In a further embodiment, the camera protection mechanism includes a longitudinal protection plate, a longitudinal protection spring, a transverse protection plate and a transverse protection spring;

[0012] Among them, the longitudinal protective plate is slidably set in the longitudinal protective groove, the longitudinal protective spring is connected between the longitudinal protective spring and the inner wall of the longitudinal protective groove, the transverse protective plate is slidably set in the transverse protective groove, and the transverse protective spring is connected between the transverse protective plate and the inner wall of the transverse protective groove.

[0013] In a further embodiment, the camera protection mechanism further comprises a transparent protection plate;

[0014] Among them, the transparent protective plate is slidably disposed in the first slot and is located outside the inspection camera, and the transparent protective plate is used to protect the inspection camera.

[0015] In a further embodiment, the camera protection mechanism further includes a protective top plate, a sealing top plate, and a second card slot;

[0016] Among them, the protective top plate is arranged on the mounting top plate, the sealing top plate is connected to the protective top plate, and the second card slot is opened on the protective top plate and is adapted to the transparent protective plate.

[0017] In a further embodiment, the quick-change mechanism includes a quick-change box, a second slot, and a spare protective plate;

[0018] Wherein, the quick-change box is arranged on the camera protection mechanism, the second slot is opened on the quick-change box, and the spare protection plate is inserted into the second slot.

[0019] In a further embodiment, the quick-change mechanism further includes a second mounting plate, a second mounting hole, and a second mounting nail;

[0020] Wherein, the second mounting plate is connected to the quick-change box, the second mounting hole is opened on the second mounting plate and the camera protection mechanism, and the second mounting nail is adapted to the second mounting hole for connecting the quick-change mechanism and the camera protection mechanism.

[0021] In a further embodiment, an alarm mechanism is also installed on the machine body for patrol alarm.

[0022] In a further embodiment, a mechanical arm is also installed on the machine body, and the mechanical arm includes a multi-axis joint arm and a knob operating mechanism connected to the end of the multi-axis joint arm.

[0023] Beneficial effects: The present invention discloses a four-legged robot inspection device for a substation. By arranging a protective installation mechanism and a camera protection mechanism on the outside of the inspection camera, the inspection camera can be relatively sealed and protected, thereby protecting the camera from damage by the external environment and ensuring the normal and efficient operation of the camera. At the same time, the arrangement of corresponding springs and protective plates in the protective installation frame can provide buffering protection for the transparent protective plate, thereby protecting the transparent protective plate and avoiding collision damage to the transparent protective plate. In addition, a quick-change mechanism is provided, which can facilitate the rapid replacement of the transparent protective plate when the transparent protective plate is worn or damaged, thereby further protecting the normal and efficient operation of the inspection camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0025] Figure 2 It is a schematic structural diagram of the protective installation mechanism, the camera protective mechanism and the quick-change mechanism of the present invention.

[0026] Figure 3 It is a schematic diagram of the explosion structure of the protective installation mechanism and the camera protection mechanism of the present invention.

[0027] Figure 4 for Figure 3 A partial enlarged view of point A in the middle.

[0028] Figure 5 It is a schematic diagram of the exploded structure of the quick-change mechanism of the present invention.

[0029] Figure 6 It is a schematic structural diagram of the four-legged inspection robot of the present invention.

[0030] The reference numerals in the figure are: 1. body; 2. mechanical foot; 3. inspection camera; 4. alarm mechanism; 5. mechanical arm; 6. protective mounting mechanism; 601. mounting seat; 602. first card slot; 603. protective mounting frame; 604. first mounting plate; 605. first fixing hole; 606. first fixing nail; 607. mounting top plate; 608. first slot; 609. longitudinal protective slot; 610. transverse protective slot; 7. camera protective mechanism; 701. transparent protective plate; 702. longitudinal protective plate; 703. longitudinal protective spring; 704. transverse protective plate; 705. transverse protective spring; 706. protective top plate; 707. sealing top plate; 708. second card slot; 8. quick change mechanism; 801. quick change box; 802. second slot; 803. spare protective plate; 804. second mounting plate; 805. second mounting hole; 806. second mounting nail. DETAILED DESCRIPTION

[0031] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present invention. However, it is apparent to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features well known in the art are not described.

[0032] The applicant believes that the cameras equipped on the existing substation four-legged inspection robots lack camera lens protection functions, which makes the camera lenses prone to wear, blur, damage, etc., which not only affects the normal work of the inspection robots, but also increases the intensity and cost of maintenance and replacement work, etc., and there are certain shortcomings.

[0033] To this end, the applicant proposes a quadruped robot inspection device for substations, such as Figure 1-Figure 6 As shown, it includes a body 1, a mechanical foot 2, an inspection camera 3, an alarm mechanism 4, a mechanical arm 5, a protective installation mechanism 6, a camera protection mechanism 7 and a quick-change mechanism 8.

[0034] Among them, the mechanical foot 2 is installed on the side wall of the body 1, and is used to drive the body 1 to move. The inspection camera 3 is rotatably installed on the body 1. The protective mounting mechanism 6 includes a mounting seat 601 installed on the inspection camera 3 and located on the outside of the inspection camera 3, a protective mounting frame 603 connected to the mounting seat 601, a mounting top plate 607 installed on the protective mounting frame 603, and a first slot 608 corresponding to the protective mounting frame 603 and the mounting top plate 607. The camera protection mechanism 7 is installed on the protective mounting frame 603, and is used to protect the inspection camera 3. The quick change mechanism 8 is installed on the camera protection mechanism 7. The alarm mechanism 4 is installed on the body 1 for inspection alarm. The mechanical arm 5 is installed on the body 1. The mechanical arm 5 includes a multi-axis joint arm, and a knob operating mechanism connected to the end of the multi-axis joint arm.

[0035] In the present application, the body 1 also includes a control mechanism, etc. Four mechanical feet 2 are usually arranged, which are symmetrically installed at predetermined positions on both sides of the body 1. The inspection camera 3 is used for inspection video recording, which can be sent to the background for the background personnel to control the overall next operation, and can also be used for self-analysis and self-control of the next operation. The alarm mechanism 4 is used to issue light, sound and other alarms when an emergency occurs during the inspection. The mechanical arm 5 includes multiple degrees of freedom of movement and adjustment, which can be used to control the rotation of the knob of the corresponding substation, etc., to achieve autonomous operation. For details, please refer to the corresponding mechanism and principle of the corresponding substation four-legged inspection robot in the prior art.

[0036] like Figure 2-Figure 4 As shown, the protective installation mechanism 6 also includes a first card slot 602 , a first installation plate 604 , a first fixing hole 605 , a first fixing nail 606 , a longitudinal protective groove 609 and a transverse protective groove 610 .

[0037] Among them, the first card slot 602 is opened on the mounting seat 601 and is adapted to the protective mounting frame 603, the first mounting plate 604 is connected to the mounting seat 601, the first fixing hole 605 is correspondingly opened on the first mounting plate 604 and the body 1, the first fixing nail 606 is adapted to the first fixing hole 605, the first card slot 602 is used to clamp the protective mounting frame 603 and the mounting seat 601, the first fixing nail 606 is used to fix the mounting seat 601 and the body 1, the longitudinal protective groove 609 is opened on the inner wall of the first slot 608, and the transverse protective groove 610 is opened on the inner wall of the first slot 608 and is arranged corresponding to the longitudinal protective groove 609.

[0038] In the present application, the protective mounting mechanism 6 is installed at a predetermined position on the body 1 through a mounting seat 601, a first mounting plate 604, a first fixing hole 605 and a first fixing nail 606, and is located on the outside of the inspection camera 3. The setting of the first card slot 602 facilitates the disassembly and assembly of the mounting seat 601 and the protective mounting frame 603. The protective mounting frame 603 is set on the outside of the inspection camera 3, which can provide a certain degree of protection for the inspection camera 3. The setting of the mounting top plate 607, the first slot 608, the longitudinal protective groove 609 and the transverse protective groove 610 facilitates the installation of a transparent protective plate 701, etc., and provides buffering protection for the transparent protective plate 701. Among them, the transparent protective plate 701 protects the inspection camera 3. At the same time, its transparent material will not affect the inspection camera 3. The longitudinal protective groove 609 and the transverse protective groove 610 are used to install corresponding springs, guard plates, etc., to provide buffering protection for the transparent protective plate 701, avoid damage to the transparent protective plate 701 caused by foreign objects, etc., and improve the service life of the transparent protective plate 701.

[0039] like Figure 3-Figure 4As shown, the camera protection mechanism 7 includes a longitudinal protection plate 702, a longitudinal protection spring 703, a transverse protection plate 704, a transverse protection spring 705, a transparent protection plate 701, a protection top plate 706, a sealing top plate 707 and a second card slot 708.

[0040] Among them, the longitudinal protective plate 702 is slidably set in the longitudinal protective groove 609, the longitudinal protective spring 703 is connected between the longitudinal protective spring 703 and the inner wall of the longitudinal protective groove 609, the transverse protective plate 704 is slidably set in the transverse protective groove 610, the transverse protective spring 705 is connected between the transverse protective plate 704 and the inner wall of the transverse protective groove 610, the transparent protective plate 701 is slidably set in the first slot 608 and is located on the outside of the inspection camera 3, the transparent protective plate 701 is used to protect the inspection camera 3, the protective top plate 706 is set on the installation top plate 607, the sealing top plate 707 is connected to the protective top plate 706, and the second card slot 708 is opened on the protective top plate 706 and is adapted to the transparent protective plate 701.

[0041] In the present application, the transparent protective plate 701 protects the inspection camera 3, and the longitudinal protective plate 702, the longitudinal protective spring 703, the transverse protective plate 704 and the transverse protective spring 705 can provide buffer protection for the transparent protective plate 701 to prevent scratches and damage to the transparent protective plate 701 caused by foreign objects and external forces, so that the transparent protective plate 701 can provide long-term and effective protection for the inspection camera 3, while preventing damage to the transparent protective plate 701 from affecting the filming of the inspection camera 3, etc. The protective top plate 706, the sealing top plate 707 and the second card slot 708 can provide sealed protection for the top of the camera protection mechanism 7, and at the same time, facilitate the disassembly and assembly of the quick-change mechanism 8.

[0042] like Figure 5 As shown, the quick-change mechanism 8 includes a quick-change box 801 , a second slot 802 , a spare protective plate 803 , a second mounting plate 804 , a second mounting hole 805 and a second mounting nail 806 .

[0043] Among them, the quick-change box 801 is arranged on the camera protection mechanism 7, the second slot 802 is opened on the quick-change box 801, the spare protection plate 803 is inserted in the second slot 802, the second mounting plate 804 is connected to the quick-change box 801, the second mounting hole 805 is opened on the second mounting plate 804 and the camera protection mechanism 7, and the second mounting nail 806 is adapted to the second mounting hole 805 for connecting the quick-change mechanism 8 and the camera protection mechanism 7.

[0044] In the present application, the provision of the second mounting plate 804, the second mounting hole 805 and the second mounting pin 806 facilitates the disassembly and assembly of the quick-change mechanism 8, the camera protection mechanism 7 and the protection mounting mechanism 6. The provision of the quick-change box 801, the second slot 802 and the spare protective plate 803 allows the user to replace the transparent protective plate 701 when the transparent protective plate 701 is scratched, damaged, etc., thereby not affecting the operation of the inspection camera 3.

[0045] As above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the present invention itself. Various changes may be made to it in form and detail without departing from the spirit and scope of the present invention defined in the appended claims.

Claims

1. A quadruped robot inspection device for a substation, characterized in that: include: Body 1; A mechanical foot 2, mounted on the side wall of the machine body 1, for driving the machine body 1 to move; An inspection camera 3 is rotatably mounted on the body 1; The protection installation mechanism 6 includes a mounting seat 601 mounted on the inspection camera 3 and located outside the inspection camera 3, a protection mounting frame 603 connected to the mounting seat 601, a mounting top plate 607 mounted on the protection mounting frame 603, and a first slot 608 correspondingly opened on the protection mounting frame 603 and the mounting top plate 607; A camera protection mechanism 7, mounted on the protection mounting frame 603, for protecting the inspection camera 3; The quick-change mechanism 8 is installed on the camera protection mechanism 7 .

2. A quadruped robot inspection device for a substation according to claim 1, characterized in that: The protective installation mechanism 6 also includes a first slot 602, a first installation plate 604, a first fixing hole 605 and a first fixing nail 606; The first slot 602 is provided on the mounting seat 601 and is adapted to the protective mounting frame 603; The first mounting plate 604 is connected to the mounting seat 601; The first fixing holes 605 are correspondingly opened on the first mounting plate 604 and the body 1; The first fixing nail 606 is matched with the first fixing hole 605; The first clamping slot 602 is used for clamping the protective mounting frame 603 with the mounting seat 601 , and the first fixing nail 606 is used for fixing the mounting seat 601 and the body 1 .

3. A quadruped robot inspection device for a substation according to claim 1, characterized in that: The protection installation mechanism 6 also includes a longitudinal protection groove 609 and a transverse protection groove 610; The longitudinal protection groove 609 is formed on the inner wall of the first slot 608; The transverse protection groove 610 is formed on the inner wall of the first slot 608 and is disposed corresponding to the longitudinal protection groove 609 .

4. A quadruped robot inspection device for a substation according to claim 3, characterized in that: The camera protection mechanism 7 includes a longitudinal protection plate 702, a longitudinal protection spring 703, a transverse protection plate 704 and a transverse protection spring 705; The longitudinal protection plate 702 is slidably disposed in the longitudinal protection groove 609; The longitudinal protection spring 703 is connected between the longitudinal protection spring 703 and the inner wall of the longitudinal protection groove 609; The transverse protection plate 704 is slidably disposed in the transverse protection groove 610; The transverse protection spring 705 is connected between the transverse protection plate 704 and the inner wall of the transverse protection groove 610 .

5. A quadruped robot inspection device for a substation according to claim 1, characterized in that: The camera protection mechanism 7 also includes a transparent protection plate 701; The transparent protection plate 701 is slidably disposed in the first slot 608 and is located outside the inspection camera 3; The transparent protection plate 701 is used to protect the inspection camera 3 .

6. A quadruped robot inspection device for a substation according to claim 5, characterized in that: The camera protection mechanism 7 further includes a protection top plate 706, a sealing top plate 707 and a second card slot 708; The protective top plate 706 is disposed on the mounting top plate 607; The sealing top plate 707 is connected to the protective top plate 706; The second card slot 708 is provided on the protective top plate 706 and is matched with the transparent protective plate 701 .

7. A quadruped robot inspection device for a substation according to claim 1, characterized in that: The quick-change mechanism 8 includes a quick-change box 801, a second slot 802 and a spare protective plate 803; The quick-change box 801 is disposed on the camera protection mechanism 7; The second slot 802 is provided on the quick-change box 801; The spare protection plate 803 is inserted into the second slot 802 .

8. A quadruped robot inspection device for a substation according to claim 7, characterized in that: The quick-change mechanism 8 further includes a second mounting plate 804, a second mounting hole 805 and a second mounting nail 806; The second mounting plate 804 is connected to the quick-change box 801; The second mounting hole 805 is provided on the second mounting plate 804 and the camera protection mechanism 7; The second mounting nail 806 is matched with the second mounting hole 805 and is used to connect the quick-change mechanism 8 and the camera protection mechanism 7 .

9. A quadruped robot inspection device for a substation according to claim 1, characterized in that: The body 1 is also provided with an alarm mechanism 4 for patrol alarm.

10. A quadruped robot inspection device for a substation according to claim 1, characterized in that: A mechanical arm 5 is also installed on the machine body 1. The mechanical arm 5 includes a multi-axis joint arm and a knob operating mechanism connected to the end of the multi-axis joint arm.

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