Instrument identification automation machine for transformer substation

Abstract

The invention relates to the field of inspection robots, and particularly discloses an instrument identification automation machine for a transformer substation, which comprises a machine body, four mechanical feet are arranged below the machine body, a camera is arranged above the machine body, and two expansion pieces are symmetrically arranged in the machine body; the telescopic device comprises a shell and telescopic belts wound in the shell, one end of each telescopic belt extends to the outer side of the shell and is fixedly connected with the camera, the telescopic belts located on the outer side of the shell are longitudinally distributed, and the two telescopic belts are fixed through a plurality of supporting devices; the supporting device comprises a supporting plate and two sets of symmetrically-arranged fixing mechanisms, when the telescopic belt moves to the outer side of the shell, the telescopic belt drives the camera to move upwards, the upward moving height is 4-5 times of the height of the machine body, an instrument with the height of about two meters can be shot, and the working requirement is met.

Description

Technical Field

[0001] The invention belongs to the field of inspection robots, and more specifically, relates to an instrument identification automation machine for a transformer substation. Background Art

[0002] In a distribution station, each distribution cabinet has multiple meters, and the values ​​on the meters usually need to be recorded in order to determine the current working status of the distribution cabinet and avoid accidents. However, each distribution cabinet is relatively high, and the camera on the general inspection robot cannot shoot the instruments at a higher position, which makes it difficult to meet the work requirements. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide an automatic instrument identification machine for a substation, which can realize photographing and recording of instruments at higher positions.

[0004] The present invention provides an instrument identification automation machine for a substation, comprising a machine body,

[0005] Four mechanical feet are arranged below the machine body, a camera is arranged above the machine body, and two retractors are symmetrically arranged inside the machine body;

[0006] The retractor comprises a shell and a retractable belt wound in the shell, one end of the retractable belt extends to the outside of the shell and is fixedly connected to the camera, the retractable belt located outside the shell is longitudinally distributed, and two retractable belts are fixed by a plurality of supports;

[0007] The support device includes a support plate and two groups of symmetrically arranged fixing mechanisms, the fixing mechanisms include two rotating rods rotatably connected to the support plate, the outer ends of the rotating rods are fixedly connected to eccentrically arranged rubber blocks, the two telescopic belts are respectively located between the two rubber blocks in the two fixing mechanisms, and the support device also includes a turntable rotatably connected to the support plate and driving each of the rotating rods to rotate synchronously.

[0008] Preferably, the machine body is provided with an installation mechanism for placing or retracting the supporter onto the telescopic belt, and the installation mechanism comprises a storage box, a lifting plate that slides longitudinally in the storage box, and a push-pull plate that slides horizontally on the storage box.

[0009] Preferably, the mounting mechanism further comprises a screw rotatably arranged on the machine body for driving the lifting plate to slide, an eccentric plate for driving the push-pull plate to slide, and a driving plate rotatably arranged on the machine body;

[0010] The rotating shaft of the driving disk, the rotating shaft of the screw and the rotating shaft of the eccentric disk are parallel to each other. The outer wall of the driving disk is provided with a first gear and a second gear with a central angle less than 360°. The eccentric disk is coaxially provided with an eccentric disk gear meshing with the second gear, and the outer wall of the screw is provided with a screw gear meshing with the first gear.

[0011] Preferably, a turntable gear is coaxially arranged at one end of the turntable, and the mounting mechanism further comprises a switching gear rotatably arranged on the storage box and capable of meshing with the turntable gear; the switching gear is drivingly connected to the screw rod.

[0012] Preferably, a magnet that attracts the supporter is disposed on the push-pull plate, a push plate is disposed above the lifting plate, and the lifting plate and the push plate are connected via a compression spring.

[0013] Preferably, a threaded sleeve is provided on the lifting plate, and a threaded column which is radially slidably connected inside the threaded sleeve and is inserted into the threaded groove on the screw, a one-way bearing which cooperates with the screw is installed at the lower end of the threaded sleeve, the inner ring of the one-way bearing and the screw rotate synchronously in the circumferential direction through friction, and the outer ring of the one-way bearing is evenly provided with arc-shaped push grooves along the circumference; an abutting column which abuts against the push groove is provided on the threaded column, and a threaded spring which drives the threaded column to cooperate with the screw is also provided between the threaded column and the lifting plate.

[0014] Preferably, the telescopic device also includes two rollers rotatably connected to the upper end of the shell, the two rollers clamp the telescopic belt in the middle, the rollers are coaxially provided with synchronous gears, the two synchronous gears are meshed with each other, and the shell is also fixedly connected to a telescopic motor that drives one of the rollers to rotate.

[0015] Preferably, a coil spring for resetting the telescopic band is provided between the telescopic band and the housing, the telescopic band is supported by carbon steel, and the cross section of the telescopic band is "C"-shaped.

[0016] Preferably, the side wall of the turntable is provided with two parallel abutment surfaces, and the support is slidably connected with a abutment plate which can abut against the abutment surfaces and thus hinder the rotation of the turntable; a spring is provided between the abutment plate and the support plate to drive the abutment plate to abut against the turntable.

[0017] Preferably, a rotating gear is coaxially arranged on the outer wall of the rotating rod, the fixing mechanism further comprises a rack sliding on the supporting plate and meshing with the two rotating gears, and the rotating disk is coaxially arranged with a connecting gear meshing with the two racks.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: by setting a telescopic belt, when the telescopic belt is completely wound in the outer shell, the overall volume of the telescope is small, which is convenient for storage and movement of the body; when the telescopic belt moves to the outside of the outer shell, the telescopic belt drives the camera to move upward, and the upward movement height is 4-5 times the height of the body, so that instruments at a height of about two meters can be photographed, meeting work requirements.

[0019] This solution provides a support device so that after the support device is fixed between the two telescopic belts, the stability of the two telescopic belts is improved, and the telescopic belts can be moved to a higher position to prevent the telescopic belts from bending and collapsing.

[0020] In this solution, the rotating disk is rotated to make each rotating rod rotate synchronously, so that the rubber block clamps the telescopic belt, thereby fixing the support on the telescopic belt, or rotating the rubber block to separate from the telescopic belt, so as to facilitate the removal of the support from the telescopic belt and the recovery of the support into the storage box.

[0021] In this solution, the screw can rotate so that the screw can not only drive the lifting plate to move upward to facilitate the addition of new supports to the penetration position, but also drive the switching gear to rotate, thereby driving the turntable on each support to rotate.

[0022] This solution controls the rotation of the driving disk so that the driving disk can drive the push-pull plate to reciprocate, push the support device to be installed on the telescopic belt or recovered into the storage box, and can also drive the screw to rotate. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic diagram of the three-dimensional structure of an automated machine in a specific embodiment of the present invention;

[0024] Figure 2 for Figure 1 Schematic diagram of the three-dimensional structure inside the middle body;

[0025] Figure 3 for Figure 1 A schematic diagram of the three-dimensional structure of the middle retractor and the mounting mechanism;

[0026] Figure 4 for Figure 1 Schematic diagram of the three-dimensional structure of the middle telescopic belt;

[0027] Figure 5 for Figure 1 Schematic diagram of the exploded structure of the middle support;

[0028] Figure 6 for Figure 1 A schematic diagram of the three-dimensional structure of the mounting mechanism;

[0029] Figure 7 for Figure 1Schematic diagram of the exploded structure of the installation mechanism;

[0030] Figure 8 for Figure 1 Schematic diagram of the three-dimensional structure of the middle drive disc, screw rod and eccentric wheel;

[0031] Fig. 9 for Figure 1 A schematic diagram of the three-dimensional structure of the middle drive disk;

[0032] Fig.10 for Figure 1 Schematic diagram of the three-dimensional structure of the middle lifting plate and the one-way bearing;

[0033] Fig.11 for Figure 1 Schematic diagram of the three-dimensional structure of the automated machine when the camera moves upward.

[0034] Description of the numbers in the figure:

[0035] 11. Body; 12. Mechanical foot; 13. Camera; 2. Telescopic device; 21. Housing; 22. Telescopic belt; 221. Positioning plate; 23. Coil spring; 24. Roller; 241. Synchronous gear; 25. Telescopic motor; 3. Mounting mechanism; 31. Storage box; 32. Lifting plate; 321. Threaded sleeve; 33. Screw; 331. Screw gear; 322. Threaded column; 323. Thrust column; 324. Threaded spring; 325. One-way bearing; 326. Push groove; 327. Compression spring; 328. Push plate; 332. Synchronous belt ; 34. Push-pull plate; 341. Slide groove; 342. Magnet; 35. Eccentric disk; 351. Slide column; 352. Eccentric disk gear; 36. Drive disk; 361. First gear; 362. Second gear; 37. Drive motor; 38. Switch gear; 39. Reducer; 4. Support; 41. Support plate; 42. Rotating rod; 421. Rubber block; 422. Rotating gear; 43. Rack; 44. Turntable; 441. Abutment surface; 442. Turntable gear; 443. Connecting gear; 45. Abutment plate; 46. Spring. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] See also Figure 1-Figure 11 , Figure 1 A schematic diagram of the three-dimensional structure of an automated machine in a specific embodiment of the present invention; Figure 2 for Figure 1 Schematic diagram of the three-dimensional structure inside the middle body; Figure 3 for Figure 1 A schematic diagram of the three-dimensional structure of the middle retractor and the mounting mechanism; Figure 4 for Figure 1 Schematic diagram of the three-dimensional structure of the middle telescopic belt; Figure 5 for Figure 1 Schematic diagram of the exploded structure of the middle support; Figure 6 for Figure 1 A schematic diagram of the three-dimensional structure of the mounting mechanism; Figure 7 for Figure 1 Schematic diagram of the exploded structure of the installation mechanism; Figure 8 for Figure 1 Schematic diagram of the three-dimensional structure of the middle drive disc, screw rod and eccentric wheel; Fig. 9 for Figure 1 A schematic diagram of the three-dimensional structure of the middle drive disk; Fig.10 for Figure 1 Schematic diagram of the three-dimensional structure of the middle lifting plate and the one-way bearing; Fig.11 for Figure 1 Schematic diagram of the three-dimensional structure of the automated machine when the camera moves upward.

[0038] An instrument identification automation machine for a substation comprises a body 11, four mechanical feet 12 are arranged below the body 11, a camera 13 is arranged above the body 11, and two retractors 2 are symmetrically arranged inside the body 11.

[0039] The telescopic device 2 includes a housing 21, a telescopic belt 22 wound in the housing 21; one end of the telescopic belt 22 extends to the outside of the housing 21 and is fixedly connected to the camera 13; one end of the telescopic belt 22 can be fixedly connected to a positioning plate 221; the positioning plate 221 is fixedly connected to the camera 13. The telescopic belts 22 located outside the housing 21 are distributed longitudinally, and two telescopic belts 22 are fixed by multiple supports 4.

[0040] The support 4 includes a support plate 41 and two sets of symmetrically arranged fixing mechanisms; the fixing mechanisms include two rotating rods 42 rotatably connected to the support plate 41; one end of the rotating rod 42 is fixedly connected to an eccentrically arranged rubber block 421; the two telescopic belts 22 are respectively located between the two rubber blocks 421 in a fixing mechanism; the support 4 also includes a turntable 44 rotatably connected to the support plate 41 and driving each rotating rod 42 to rotate synchronously.

[0041] When the rotating rod 42 rotates to the extreme position where the two rubber blocks 421 are close to each other, the two rubber blocks 421 clamp the telescopic belt 22; when the rotating rod 42 rotates to the extreme position where the two rubber blocks 421 are far away from each other, the two rubber blocks 421 do not contact the telescopic belt 22, and the distance between the two rubber blocks 421 is greater than the thickness of the telescopic belt 22; the rotating rod 42 rotates 180°, so that the rubber blocks 421 switch between the two extreme positions.

[0042] The body 11 is provided with an installation mechanism 3 for placing or retrieving the support 4 on the telescopic belt 22; the installation mechanism 3 includes a storage box 31, a lifting plate 32 that slides longitudinally in the storage box 31, and a push-pull plate 34 that slides horizontally on the storage box 31.

[0043] A plurality of supports 4 are arranged vertically above the lifting plate 32 ; and a through hole is provided at the upper end of the side wall of the storage box 31 for the supports 4 and the push-pull plate 34 to pass through.

[0044] The mounting mechanism 3 further includes a screw rod 33 which is rotatably arranged on the machine body 11 and drives the lifting plate 32 to slide, an eccentric plate 35 which is rotatably arranged on the machine body 11 and drives the push-pull plate 34 to slide, and a driving plate 36 which is rotatably arranged on the machine body 11. The rotating shaft of the driving plate 36, the rotating shaft of the screw rod 33 and the rotating shaft of the eccentric plate 35 are parallel to each other; the outer wall of the driving plate 36 is provided with a first gear 361 and a second gear 362 whose central angle is less than 360°; the eccentric plate 35 is coaxially provided with an eccentric plate gear 352 which meshes with the second gear 362; the outer wall of the screw rod 33 is provided with a screw gear 331 which meshes with the first gear 361.

[0045] A sliding groove 341 is arranged at the upper end of the push-pull plate 34 and is distributed perpendicular to the sliding direction of the push-pull plate 34 ; a sliding column 351 is arranged at an eccentric position on the eccentric disk 35 and is slidably connected to the sliding groove 341 .

[0046] When the second gear 362 is meshed with the eccentric disk gear 352 , the first gear 361 is not meshed with the screw gear 331 ; when the first gear 361 is meshed with the screw gear 331 , the second gear 362 is not meshed with the eccentric disk gear 352 .

[0047] A driving motor 37 is fixedly connected to the main body 11 to drive the driving disk 36 to rotate.

[0048] A turntable gear 442 is coaxially arranged at one end of the turntable 44 ; the mounting mechanism 3 further comprises a switching gear 38 rotating on the storage box 31 and capable of meshing with the turntable gear 442 ; the switching gear 38 is transmission-connected to the screw rod 33 .

[0049] The push-pull plate 34 is provided with a magnet 342 that attracts the supporter 4 ; a push plate 328 is provided above the lifting plate 32 ; the lifting plate 32 and the push plate 328 are connected via a compression spring 327 .

[0050] Each supporter 4 is located at the upper end of the push plate 328 .

[0051] A threaded sleeve 321 is provided on the lifting plate 32; a threaded column 322 is radially slidably connected inside the threaded sleeve 321 and is plugged into the threaded groove on the screw 33; a one-way bearing 325 is installed at the lower end of the threaded sleeve 321 and cooperates with the screw 33; the inner ring of the one-way bearing 325 and the screw 33 rotate synchronously in the circumferential direction through friction; the outer ring of the one-way bearing 325 is evenly provided with arc-shaped push grooves 326 along the circumferential direction; abutting columns 323 are provided on the threaded column 322 and abut against the push grooves 326; a threaded spring 324 is provided between the threaded column 322 and the lifting plate 32 to drive the threaded column 322 to cooperate with the screw 33.

[0052] The inner ring of the one-way bearing 325 rotates synchronously in the circumferential direction relative to the screw rod 33 and slides relatively in the axial direction.

[0053] There are two screws 33 in the mounting mechanism 3; one screw 33 is transmission-connected to a threaded sleeve 321; each threaded sleeve 321 is provided with a one-way bearing 325 and a threaded column 322; the two screws 33 are transmission-connected via a synchronous belt 332; the switching gear 38 and one screw 33 are transmission-connected via a reduction gear box 39.

[0054] When the screw rod 33 rotates forward, the screw rod 33 drives the lifting plate 32 to move upward, and the outer ring of the one-way bearing 325 does not rotate; when the screw rod 33 rotates backward, the screw rod 33 drives the inner ring of the one-way bearing 325 to rotate, and then the outer ring of the one-way bearing 325 rotates synchronously, and the push groove 326 reciprocates to push the support column 323 to move, and the support column 323 drives the threaded column 322 to move synchronously. During this process, when the support column 323 and the position of the push groove 326 away from the center of the one-way bearing 325 are abutted, the threaded column 322 is separated from the thread 33, and then the lifting plate 32 moves downward under the action of its own gravity, and finally the lifting plate 32 falls to the bottom of the storage box 31; when the screw 33 does not rotate, the threaded spring 324 pushes the threaded column 322 to move in the direction of the screw 33, and the outer ring of the one-way bearing 325 rotates slightly, and the support column 323 will abut against the position in the push groove 326 close to the center of the one-way bearing 325, and the threaded column 322 and the screw 33 are re-matched.

[0055] The telescopic device 2 also includes two rollers 24 rotatably connected to the upper end of the shell 21; the two rollers 24 clamp the telescopic belt 22 in the middle; the rollers 24 are coaxially provided with a synchronous gear 241; the two synchronous gears 241 are meshed with each other; and a telescopic motor 25 is fixedly connected to the shell 21 to drive one roller 24 to rotate.

[0056] A coil spring 23 for resetting the telescopic belt 22 is arranged between the telescopic belt 22 and the housing 21; the telescopic belt 22 is supported by carbon steel; and the cross section of the telescopic belt 22 is "C"-shaped.

[0057] The “C”-shaped retractable belt 22 has good anti-bending ability and can remain vertical after extending out of the housing 21 .

[0058] The side wall of the turntable 44 is provided with two parallel abutment surfaces 441 ; a abutment plate 45 is slidably connected to the support 4 and can abut against the abutment surface 441 to hinder the rotation of the turntable 44 ; a spring 46 is provided between the abutment plate 45 and the support plate 41 to drive the abutment plate 45 to abut against the turntable 44 .

[0059] When the abutting plate 45 abuts against the abutting surface 441 , in the absence of external force, the abutting plate 45 prevents the rotating disk 44 from rotating, and thus each rubber block 421 does not move and remains at two extreme positions.

[0060] A rotating gear 422 is coaxially arranged on the outer wall of the rotating rod 42 ; the fixing mechanism further comprises a rack 43 sliding on the supporting plate 41 and meshing with the two rotating gears 422 ; and a connecting gear 443 meshing with the two racks 43 is coaxially arranged on the rotating disk 44 .

[0061] In the initial state, each support 4 is located in the storage box 31, the middle position of the second gear 362 is just meshed with the eccentric disk gear 352, the push-pull plate 34 is located at the extreme position in the direction away from the storage box 31, the push-pull plate 34 is directly opposite to the uppermost support 4, and the first gear 361 is not meshed with the screw gear 331; the telescopic belt 22 is retracted in the outer shell, and the camera 13 is located at the lower extreme position; in the support 4 located in the storage box 31, each rubber block 421 is located at the extreme position away from each other.

[0062] The machine body 11 controls the four mechanical feet 12 to work together to move. After moving to the side of the transformer cabinet, the instrument in the transformer cabinet is photographed and identified.

[0063] The telescopic motor 25 drives each roller 24 to rotate, and the roller 24 drives the telescopic belt 22 to leave the housing 21 and extend upward through friction. The two telescopic belts 22 synchronously drive the camera 13 to move upward.

[0064] When the camera 13 moves upward a certain distance, the support 4 needs to be installed between the two telescopic belts 22 .

[0065] Then the driving motor 37 drives the driving disk 36 to rotate 360° in the forward direction. During this process, the second gear 362 meshes with the eccentric gear 352, so that the eccentric gear 352 rotates 180°, and the eccentric disk 35 drives the push-pull plate 34 to move to the extreme position in the direction of the storage box 31 through the sliding column 351. The push-pull plate 34 pushes the uppermost support 4 to move synchronously, and the support 4 moves in the direction of the telescopic belt 22.

[0066] The push-pull plate 34 pushes the supporter 4 to move until the turntable gear 442 is meshed with the switching gear 38 , and at this time, the telescopic belt 22 is inserted between the two rubber blocks 421 .

[0067] Then the second gear 362 separates from the eccentric gear 352, and the first gear 362 meshes with the screw gear 331. The first gear 362 drives the screw gear 331 to rotate forward for a specified number of turns, and then the screw 33 drives the lifting plate 32 to move upward. Since the push-pull plate 34 is at the extreme position close to the storage box 31 at this time, the push-pull plate 34 prevents the various supports 4 located in the storage box 31 from moving upward, and then the compression spring 327 contracts and accumulates force.

[0068] At the same time, another screw 33 drives the switching gear 38 to rotate 180° through the reduction box 39, and then the switching gear 38 synchronously drives the turntable gear 442 to rotate 180°; in this process, the turntable 44 rotates, the abutment surface 441 and the abutment plate 45 are forced to separate, the connecting gear 443 drives the rack 43 to move, and then each rotating rod 42 rotates, and finally each rotating rod 42 rotates 180°, and the two adjacent rubber blocks 421 move to the extreme position close to each other, the rubber block 421 clamps the telescopic belt 22, and then the support 4 is fixed on the two telescopic belts 22, and at the same time the abutment plate 45 is again pressed against the abutment surface 441, and then the rubber block 421 remains in this state.

[0069] Then the telescopic motor 25 works, the telescopic belt 22 drives the support 4 clamped on the telescopic belt 22 to move upward synchronously, the support 4 and the magnet 342 are longitudinally staggered, the support 4 is separated from the storage box 31 and is not directly opposite the push-pull plate 34. Then the driving disk 36 continues to rotate, the second gear 362 meshes with the eccentric gear 352, and finally moves to the middle position of the second gear 362 and meshes with the eccentric gear 352. During this process, the second gear 362 drives the eccentric gear 352 to rotate 180°, and the push-pull frame 34 moves away from the storage box 31 and finally leaves the storage box 31; when the push-pull frame 34 leaves the storage box 31, the compression spring 327 extends, pushing the push plate 328 to move upward, and the push plate 323 drives each support 4 to move upward, so that the new support 4 is directly opposite to the push-pull plate 34.

[0070] At this point, the driving disc 36 has just rotated 360°, and the mounting mechanism 3 fixes a support 4 to the telescopic belt 22 .

[0071] The above process is repeated so that a support 4 is installed at a certain interval on the telescopic belt 22. As the camera 13 rises, the camera 13 takes pictures of the instruments along the way.

[0072] When the camera is close to the set height, the last support 4 is installed on the telescopic belt 22. After the support 4 is installed on the telescopic belt 22, the push-pull plate 34 is kept at the extreme position close to the storage box 31. At this time, the second gear 362 is just engaged with the eccentric disc gear 352, ready to drive the push-pull plate 34 to move away from the storage box 31, and the compression spring 322 has accumulated force.

[0073] Then the telescopic belt 22 is extended upwards to make the camera 13 reach the set height and work. After the camera 13 has finished working, it needs to move downwards for recovery.

[0074] The telescopic motor 25 drives the roller 24 to rotate in the opposite direction, and the telescopic belt 22 is retracted into the housing 21. The telescopic belt 22 is rewound into the housing 21 under the action of the coil spring 23. As the telescopic belt 22 and the camera 13 move downward, the support 4 at the lower end of the telescopic belt 22 moves to face the push-pull plate 34, and then the support 4 is tightly attracted to the push-pull plate 34 through the magnet 342, and the turntable gear 442 is meshed with the switching gear 38.

[0075] Then the driving motor 37 drives the driving disk 36 to rotate in the opposite direction. The first gear 361 meshes with the screw gear 331, driving the screw 33 to rotate in the opposite direction for a specified number of turns, and then the inner ring of the one-way bearing 325 drives the outer ring of the one-way bearing 325 to rotate, and the push groove 326 pushes the stop column 323 to move, so that the threaded column 322 is separated from the screw 33, and the stop plate 45 moves downward to the bottom of the storage box 31 under its own gravity, and the compression spring 322 no longer has elastic force. At this time, the uppermost supporter 4 in the storage box 31 is located below the through opening, and at the same time, the screw 33 drives the switching gear 38 to rotate 180° in the opposite direction through the reduction box 39, and the turntable gear 422 drives the rotation 44 to rotate 180°, and then the rubber block 421 moves to the extreme position away from each other.

[0076] Then the driving disk 36 continues to rotate in the opposite direction, and the second gear 362 drives the eccentric disk gear 325 to rotate until the middle position of the second gear 326 engages with the eccentric gear 325. At this time, the eccentric disk 35 rotates 180° in the opposite direction, and the sliding column 351 drives the push-pull plate 34 to move to the extreme position away from the storage box 31, and the magnet 342 synchronously drives the support 4 to move into the storage box 31; when the support 4 moves into the storage box 31, it will fall downward under the action of its own gravity, thereby completing the recovery of one support 4.

[0077] The above process is repeated to recycle each supporter 4 on the telescopic belt 22 .

[0078] When all the supports 4 are recovered into the storage box 31, the solution returns to the initial state. Thereafter, the machine body 11 moves to other distribution cabinets through the mechanical feet 12.

[0079] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An instrument identification automation machine for a substation, comprising a machine body, characterized in that: Four mechanical feet are arranged below the machine body, a camera is arranged above the machine body, and two retractors are symmetrically arranged inside the machine body; The retractor comprises a shell and a retractable belt wound in the shell, one end of the retractable belt extends to the outside of the shell and is fixedly connected to the camera, the retractable belt located outside the shell is longitudinally distributed, and two retractable belts are fixed by a plurality of supports; The support device includes a support plate and two groups of symmetrically arranged fixing mechanisms, the fixing mechanisms include two rotating rods rotatably connected to the support plate, the outer ends of the rotating rods are fixedly connected to eccentrically arranged rubber blocks, the two telescopic belts are respectively located between the two rubber blocks in the two fixing mechanisms, and the support device also includes a turntable rotatably connected to the support plate and driving each of the rotating rods to rotate synchronously.

2. The instrument identification automation machine for substation according to claim 1, characterized in that: The machine body is provided with an installation mechanism for placing or retrieving the supporter on the telescopic belt, and the installation mechanism comprises a storage box, a lifting plate that slides longitudinally in the storage box, and a push-pull plate that slides horizontally on the storage box.

3. The instrument identification automation machine for substation according to claim 2, characterized in that: The mounting mechanism also includes a screw rod rotatably arranged on the machine body for driving the lifting plate to slide, an eccentric plate for driving the push-pull plate to slide, and a driving plate rotatably arranged on the machine body; The rotating shaft of the driving disk, the rotating shaft of the screw and the rotating shaft of the eccentric disk are parallel to each other. The outer wall of the driving disk is provided with a first gear and a second gear with a central angle less than 360°. The eccentric disk is coaxially provided with an eccentric disk gear meshing with the second gear, and the outer wall of the screw is provided with a screw gear meshing with the first gear.

4. The instrument identification automation machine for substation according to claim 3 is characterized by: A turntable gear is coaxially arranged at one end of the turntable, and the installation mechanism also includes a switching gear rotatably arranged on the storage box and capable of meshing with the turntable gear; the switching gear is drivingly connected to the screw rod.

5. The instrument identification automation machine for substation according to claim 2, characterized in that: The push-pull plate is provided with a magnet that attracts the supporter, a push plate is provided above the lifting plate, and the lifting plate and the push plate are connected via a compression spring.

6. The instrument identification automation machine for substation according to claim 3, characterized in that: The lifting plate is provided with a threaded sleeve, and a threaded column which is radially slidably connected inside the threaded sleeve and is inserted into the threaded groove on the screw, a one-way bearing which cooperates with the screw is installed at the lower end of the threaded sleeve, and the inner ring of the one-way bearing rotates synchronously with the screw through friction, and the outer ring of the one-way bearing is evenly provided with arc-shaped push grooves along the circumference; an abutting column which abuts against the push groove is provided on the threaded column, and a threaded spring which drives the threaded column to cooperate with the screw is also provided between the threaded column and the lifting plate.

7. The instrument identification automation machine for substation according to claim 1, characterized in that: The telescopic device also includes two rollers rotatably connected to the upper end of the shell, the two rollers clamp the telescopic belt in the middle, the rollers are coaxially provided with synchronous gears, the two synchronous gears are meshed with each other, and the shell is also fixedly connected to a telescopic motor that drives one of the rollers to rotate.

8. The instrument identification automation machine for substation according to claim 1, characterized in that: A coil spring for resetting the telescopic band is arranged between the telescopic band and the shell. The telescopic band is supported by carbon steel, and the cross section of the telescopic band is "C" shaped.

9. The instrument identification automation machine for substation according to claim 1, characterized in that: The side wall of the turntable is provided with two parallel abutment surfaces, and the support is slidably connected with a abutment plate which can abut against the abutment surfaces and thus hinder the rotation of the turntable; a spring is provided between the abutment plate and the support plate to drive the abutment plate to abut against the turntable.

10. The instrument identification automation machine for substation according to claim 1, characterized in that: A rotating gear is coaxially arranged on the outer wall of the rotating rod, the fixing mechanism further comprises a rack that slides on the supporting plate and meshes with the two rotating gears, and the rotating disk is coaxially arranged with a connecting gear that meshes with the two racks.

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