Laser ranging radar device applied to electric four-footed inspection robot

Abstract

The invention discloses a laser ranging radar device applied to an electric power four-footed inspection robot, and belongs to the technical field of electric power inspection equipment, the laser ranging radar device comprises a mounting substrate fixed on the upper side of an inspection robot shell, and the upper side of the mounting substrate is fixedly connected with a horizontal rotation adjusting mechanism. The upper end of the horizontal rotation adjusting mechanism is fixedly connected with a concave shell, the concave shell is provided with an angle adjusting mechanism, the two ends of the angle adjusting mechanism penetrate through the concave shell and are fixedly connected with a rectangular frame, and the inner side of the rectangular frame is provided with a laser ranging radar device body. According to the invention, the horizontal rotation adjusting mechanism and the angle adjusting mechanism are arranged to realize multi-angle adjustment of the laser ranging radar device body, the positioning is accurate, the adjustment is convenient, the ranging range is improved, the damping mechanism is arranged to make the laser ranging radar device body more stable in the moving process of the inspection robot, and the ranging accuracy is improved.

Description

Technical Field

[0001] The invention relates to the technical field of electric power inspection equipment, and in particular to a laser ranging radar device applied to an electric power quadruped inspection robot. Background Art

[0002] In recent years, with the development of artificial intelligence technology, more and more power intelligent hardware devices integrated with artificial intelligence algorithms have been promoted and applied in substations. Among them, the inspection robot system can perform inspection tasks on outdoor high-voltage equipment in unmanned or low-staffed substations due to its flexible control and operation mode. It plays a certain role in timely discovering and eliminating equipment defects, preventing accidents, and ensuring the safe operation of equipment. The robot can be accurately positioned through laser radar and other auxiliary sensors to ensure the robot's effective detection of primary equipment in the station.

[0003] In a Chinese patent, an operational intelligent legged robot and control method for power inspection (patent number: CN116787457A), the device can achieve high-precision environmental perception through the onboard sensors. At the same time, the five-degree-of-freedom serial robot arm is combined with the quadruped robot to perform special tasks such as target acquisition and object grasping in complex power inspection scenarios; through the belt-driven legs, different leg configurations can be selected according to actual conditions, and a robot bionic control method is proposed, which can achieve unified control of the five-degree-of-freedom serial robot arm and the quadruped robot. However, in the device, the laser ranging radar is directly fixed on the inspection robot. When the inspection robot moves during inspection, it will produce a large shake, which will drive the laser ranging radar to shake at the same time, resulting in poor stability, which in turn affects the accuracy of the laser ranging. At the same time, the laser ranging radar of the device cannot be adjusted at multiple angles, the visible ranging range is limited, and it is inconvenient to use. Summary of the invention

[0004] The purpose of the present invention is to provide a laser ranging radar device applied to an electric quadruped inspection robot to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a laser ranging radar device applied to an electric quadruped inspection robot, comprising a mounting base plate for fixing on the upper side of the inspection robot shell, a horizontal rotation adjustment mechanism fixedly connected to the upper side of the mounting base plate, and a concave shell fixedly connected to the upper end of the horizontal rotation adjustment mechanism, an angle adjustment mechanism is provided on the concave shell, and both ends of the angle adjustment mechanism penetrate the concave shell and are fixedly connected to a rectangular frame, a laser ranging radar device body is provided on the inner side of the rectangular frame, shock absorbing mechanisms are provided in the upper and lower side walls of the rectangular frame, and the two shock absorbing mechanisms are respectively connected to the two ends of the laser ranging radar device body, the horizontal rotation adjustment mechanism, the angle adjustment mechanism and one end of the laser ranging radar device body are respectively electrically connected to the power supply control end of the inspection robot, and anti-collision cushions are fixedly connected to the opposite left and right inner walls of the rectangular frame.

[0006] As a further solution of the present invention: wherein, the horizontal rotation adjustment mechanism includes a casing fixed on the upper side of the mounting base, a first motor is fixedly connected to one side of the casing, and the main shaft end of the first motor passes through the casing and is fixedly connected to a bevel gear, a cylinder is inserted into and rotatably connected to the upper side of the casing, and the outer side wall of the cylinder is fixedly connected to a bevel gear ring meshing with the bevel gear, and the upper end of the cylinder is fixedly connected to the concave shell.

[0007] As a further solution of the present invention: wherein, the center of the inner bottom wall of the casing is rotatably connected to the lower end of the cylinder through a rotating member.

[0008] As a further scheme of the present invention: wherein, the angle adjustment mechanism includes a second motor fixed on the front side of the horizontal and vertical end of the concave shell, the main shaft end of the second motor penetrates into the concave shell and is fixedly connected to a worm, two support plates are fixedly connected to the inner wall of the horizontal and vertical end of the concave shell, and the side walls of the two support plates are inserted and rotatably connected to a rotating rod, the rotating rod is fixedly connected to a worm wheel meshing with the worm, both ends of the rotating rod are fixedly connected to a driving wheel, the opposite side walls of the concave shell are inserted and rotatably connected to a rotating shaft, and a driven wheel is fixedly connected to the rotating shaft, and the driving wheel is transmission-connected to the driven wheel through a transmission belt.

[0009] As a further solution of the present invention: wherein, the inner wall of the concave shell is rotatably connected to the rotating shaft through a bearing seat.

[0010] As a further solution of the present invention: wherein, the shock absorbing mechanism includes a mounting groove provided in the side wall of the rectangular frame, a damping mechanism is fixedly connected to the center of the inner bottom wall of the mounting groove, and the upper end of the damping mechanism is fixedly connected to the laser ranging radar device body, two symmetrically arranged fixing plates are fixedly connected to the inner bottom wall of the mounting groove on both sides of the damping mechanism, and a support rod is fixedly connected between the fixing plate and the mounting groove, a sliding sleeve is sleeved on the support rod and slidably connected, and a shock absorbing spring is fixedly connected between the sliding sleeve and the inner wall of the mounting groove, the upper side of the sliding sleeve is hingedly connected to an inclined swing rod through a first hinge, and the lower side of the laser ranging radar device body is hingedly connected to the upper end of the swing rod through a second hinge.

[0011] As a further solution of the present invention: wherein, the damping mechanism includes a hydraulic rod and a damping spring vertically fixed between the mounting groove and the laser ranging radar device body, and the damping spring is sleeved on the outside of the hydraulic rod.

[0012] As a further solution of the present invention: wherein, the upper side of the mounting substrate is provided with four prefabricated holes which are arranged around with equal intervals.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1. A laser ranging radar device applied to an electric four-legged inspection robot is provided with a horizontal rotation adjustment mechanism. When the horizontal angle of the laser ranging radar device body needs to be adjusted, the first motor is started to work. Since the bevel gear is meshed with the bevel gear ring, the cylinder is driven to rotate, thereby realizing the horizontal angle adjustment of the laser ranging radar device body and improving the ranging range.

[0015] 2. This laser ranging radar device applied to the electric power quadruped inspection robot is provided with an angle adjustment mechanism. When the inclination angle of the laser ranging radar device body needs to be adjusted according to the electric power maintenance ranging demand, the second motor is started to work. Since the worm and the worm wheel are meshed, the rotating rod is driven to rotate. Since the driving wheel is transmitted to the driven wheel through the transmission belt, the two rotating shafts are driven to rotate synchronously, thereby realizing the inclination angle adjustment of the laser ranging radar device body, the positioning is accurate, the adjustment is convenient, and the ranging range is improved.

[0016] 3. The laser ranging radar device applied to the electric quadruped inspection robot is provided with a shock absorbing mechanism and a damping mechanism. When the rectangular frame shakes during the movement of the inspection robot, the hydraulic rod and the damping spring are squeezed to generate elastic force. At the same time, the laser ranging radar device body pushes the rocker arm to swing, which can push the sliding sleeve to move on the support rod, squeeze the shock absorbing spring to generate elastic force, weaken the vibration force, improve the shock absorption, make the laser ranging radar device body more stable, and improve the accuracy of ranging. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0018] Figure 2 It is a front view structural schematic diagram of the present invention;

[0019] Figure 3 It is a schematic diagram of the front cross-sectional structure of the casing of the present invention;

[0020] Figure 4 It is a schematic diagram of the front cross-sectional structure of the concave shell and the rectangular frame in the present invention;

[0021] Figure 5 For the present invention Figure 4 A is an enlarged structural diagram of FIG.

[0022] The corresponding relationship between the illustrations and component names in the figure is as follows:

[0023] 1. Mounting base plate; 2. Concave shell; 3. Rectangular frame; 4. Laser ranging radar device body; 5. Casing; 6. First motor; 7. Bevel gear; 8. Cylinder; 9. Bevel gear ring; 10. Rotating member; 11. Second motor; 12. Worm; 13. Support plate; 14. Rotating rod; 15. Worm wheel; 16. Driving wheel; 17. Rotating shaft; 18. Driven wheel; 19. Transmission belt; 20. Mounting groove; 21. Fixed plate; 22. Support rod; 23. Sliding sleeve; 24. Shock-absorbing spring; 25. First hinge; 26. Rocker arm; 27. Second hinge; 28. Hydraulic rod; 29. ​​Damping spring; 30. Prefabricated hole; 31. Anti-collision cushion. DETAILED DESCRIPTION

[0024] See also Figures 1 to 5 In the practical embodiment, a laser ranging radar device applied to an electric quadruped inspection robot includes a mounting base 1 for fixing on the upper side of the inspection robot shell, a horizontal rotation adjustment mechanism is fixedly connected to the upper side of the mounting base 1, and a concave shell 2 is fixedly connected to the upper end of the horizontal rotation adjustment mechanism, an angle adjustment mechanism is provided on the concave shell 2, and both ends of the angle adjustment mechanism penetrate the concave shell 2 and are fixedly connected to a rectangular frame 3, a laser ranging radar device body 4 is provided on the inner side of the rectangular frame 3, shock absorbing mechanisms are provided in the upper and lower end side walls of the rectangular frame 3, and the two shock absorbing mechanisms are respectively connected to the two ends of the laser ranging radar device body 4, the horizontal rotation adjustment mechanism, the angle adjustment mechanism and one end of the laser ranging radar device body 4 are respectively electrically connected to the power supply control end of the inspection robot, and the left and right inner walls opposite to each other of the rectangular frame 3 are fixedly connected with anti-collision cushions 31, which can protect both sides of the laser ranging radar device body 4.

[0025] like Figure 2 and Figure 3As shown: the horizontal rotation adjustment mechanism includes a casing 5 fixed on the upper side of the mounting base plate 1, a first motor 6 is fixedly connected to one side of the casing 5, and the main shaft end of the first motor 6 passes through the casing 5 and is fixedly connected to a bevel gear 7, a cylinder 8 is inserted and rotatably connected to the upper side of the casing 5, and the outer side wall of the cylinder 8 is fixedly connected to a bevel gear ring 9 meshing with the bevel gear 7, and the upper end of the cylinder 8 is fixedly connected to the concave shell 2. When the horizontal angle of the laser ranging radar device body 4 needs to be adjusted, the first motor 6 is started to work, and the bevel gear 7 is meshed with the bevel gear ring 9, thereby driving the cylinder 8 to rotate, thereby realizing the adjustment of the horizontal angle of the laser ranging radar device body 4 and improving the ranging range.

[0026] like Figure 3 As shown: the center of the inner bottom wall of the casing 5 is rotatably connected to the lower end of the cylinder 8 through a rotating member 10, so that the rotation of the cylinder 8 is more stable.

[0027] like Figure 4 As shown: the angle adjustment mechanism includes a second motor 11 fixed to the front side of the horizontal end of the concave shell 2, the main shaft end of the second motor 11 penetrates into the concave shell 2 and is fixedly connected to a worm 12, two support plates 13 are fixedly connected to the inner wall of the horizontal end of the concave shell 2, and the side walls of the two support plates 13 are inserted and rotatably connected to a rotating rod 14, and a worm wheel 15 meshing with the worm 12 is fixedly connected to the rotating rod 14, and both ends of the rotating rod 14 are fixedly connected to a driving wheel 16, and the opposite side walls of the concave shell 2 are inserted and rotatably connected to a rotating shaft 17, and the rotating shaft 17 is A driven wheel 18 is fixedly connected, and the driving wheel 16 is connected to the driven wheel 18 through a transmission belt 19. When the inclination angle of the laser ranging radar device body 4 needs to be adjusted according to the distance measurement demand of the power maintenance, the second motor 11 is started to work. Since the worm 12 is engaged with the worm wheel 15, the rotating rod 14 is driven to rotate. Since the driving wheel 16 is transmitted to the driven wheel 18 through the transmission belt 19, the two rotating shafts 17 are driven to rotate synchronously, thereby realizing the adjustment of the inclination angle of the laser ranging radar device body 4, the positioning is accurate, the adjustment is convenient, and the ranging range is improved.

[0028] like Figure 4 As shown: the inner wall of the concave shell 2 is rotatably connected to the rotating shaft 17 through the bearing seat, so that the rotation of the rotating shaft 17 is more stable.

[0029] like Figure 5As shown in the figure, the shock absorbing mechanism includes a mounting groove 20 provided in the side wall of the rectangular frame 3, a damping mechanism is fixedly connected at the center of the inner bottom wall of the mounting groove 20, and the upper end of the damping mechanism is fixedly connected to the laser ranging radar device body 4, and two symmetrically arranged fixing plates 21 are fixedly connected to the inner bottom wall of the mounting groove 20 on both sides of the damping mechanism, and a support rod 22 is fixedly connected between the fixing plate 21 and the mounting groove 20, a sliding sleeve 23 is sleeved on the support rod 22 and slidably connected, and a shock absorbing spring 24 is fixedly connected between the sliding sleeve 23 and the inner wall of the mounting groove 20, and the sliding sleeve 23 is fixedly connected to the inner wall of the mounting groove 20. The upper side of the sleeve 23 is hingedly connected to an inclined swing rod 26 through a first hinge 25, and the lower side of the laser ranging radar device body 4 is hingedly connected to the upper end of the swing rod 26 through a second hinge 27. When the rectangular frame 3 shakes while following the movement of the inspection robot, the laser ranging radar device body 4 pushes the swing rod 26 to swing, which can push the sliding sleeve 23 to move on the support rod 22, squeeze the shock-absorbing spring 24 to generate elastic force, which can weaken the vibration force, improve the shock absorption, make the laser ranging radar device body 4 more stable, and improve the accuracy of ranging.

[0030] like Figure 5 As shown: the damping mechanism includes a hydraulic rod 28 and a damping spring 29 vertically fixed between the mounting slot 20 and the laser ranging radar device body 4. The damping spring 29 is sleeved on the outside of the hydraulic rod 28. When the rectangular frame 3 shakes during the movement of the inspection robot, the hydraulic rod 28 and the damping spring 29 are squeezed to generate elastic force, which can weaken the vibration force and improve the shock absorption.

[0031] like Figure 3 As shown: the upper side of the mounting base plate 1 is provided with four prefabricated holes 30 which are arranged around with equal spacing, and can be mounted on the housing of the inspection robot by bolts.

[0032] Working principle: When the device is used to perform laser ranging on a quadruped inspection robot, when the horizontal angle of the laser ranging radar device body 4 needs to be adjusted, the first motor 6 is started to work, and the bevel gear 7 is meshed with the bevel gear ring 9, thereby driving the cylinder 8 to rotate, thereby realizing the horizontal angle adjustment of the laser ranging radar device body 4 and improving the ranging range;

[0033] Secondly, when the inclination angle of the laser ranging radar device body 4 needs to be adjusted according to the power maintenance and ranging requirements, the second motor 11 is started to work, and the worm 12 is meshed with the worm wheel 15, thereby driving the rotating rod 14 to rotate, and the driving wheel 16 is driven by the driven wheel 18 through the transmission belt 19, thereby driving the two rotating shafts 17 to rotate synchronously, thereby realizing the adjustment of the inclination angle of the laser ranging radar device body 4, with accurate positioning, convenient adjustment, and improved ranging range;

[0034] Secondly, when the rectangular frame 3 shakes while following the movement of the inspection robot, the hydraulic rod 28 and the damping spring 29 are squeezed to generate elastic force. At the same time, the laser ranging radar device body 4 pushes the rocker arm 26 to swing, which can push the sleeve 23 to move on the support rod 22, and squeeze the shock-absorbing spring 24 to generate elastic force, which can weaken the vibration force, improve the shock absorption, make the laser ranging radar device body 4 more stable, and improve the accuracy of ranging.

[0035] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A laser ranging radar device applied to an electric quadruped inspection robot, comprising a mounting base (1) for fixing on the upper side of the inspection robot housing, characterized in that: A horizontal rotation adjustment mechanism is fixedly connected to the upper side of the mounting base plate (1), and a concave shell (2) is fixedly connected to the upper end of the horizontal rotation adjustment mechanism. An angle adjustment mechanism is provided on the concave shell (2), and both ends of the angle adjustment mechanism penetrate the concave shell (2) and are fixedly connected to a rectangular frame (3). A laser ranging radar device body (4) is provided on the inner side of the rectangular frame (3). Shock absorbing mechanisms are provided in the upper and lower side walls of the rectangular frame (3), and the two shock absorbing mechanisms are respectively connected to the two ends of the laser ranging radar device body (4). The horizontal rotation adjustment mechanism, the angle adjustment mechanism and the laser ranging radar device body (4) are all electrically connected to the power supply control end of the inspection robot. The left and right inner walls of the rectangular frame (3) are fixedly connected to anti-collision cushions (31).

2. A laser ranging radar device applied to an electric quadruped inspection robot according to claim 1, characterized in that: The horizontal rotation adjustment mechanism comprises a casing (5) fixed on the upper side of the mounting base (1); a first motor (6) is fixedly connected to one side of the casing (5); a main shaft end of the first motor (6) penetrates into the casing (5) and is fixedly connected to a bevel gear (7); a cylinder (8) is inserted and rotatably connected to the upper side of the casing (5); an outer side wall of the cylinder (8) is fixedly connected to a bevel gear ring (9) meshing with the bevel gear (7); and the upper end of the cylinder (8) is fixedly connected to the concave shell (2).

3. A laser ranging radar device applied to an electric quadruped inspection robot according to claim 2, characterized in that: The center of the inner bottom wall of the casing (5) is rotatably connected to the lower end of the cylinder (8) via a rotating member (10).

4. The laser ranging radar device applied to the electric quadruped inspection robot according to claim 1, characterized in that: The angle adjustment mechanism comprises a second motor (11) fixed to the front side of the horizontal end of the concave shell (2); the main shaft end of the second motor (11) penetrates into the concave shell (2) and is fixedly connected to a worm (12); two support plates (13) are fixedly connected to the inner wall of the horizontal end of the concave shell (2); and a rotating rod (14) is inserted into and rotatably connected to the side walls of the two support plates (13); a worm wheel (15) meshingly connected to the worm (12) is fixedly connected to the rotating rod (14); both ends of the rotating rod (14) are fixedly connected to a driving wheel (16); both opposite side walls of the concave shell (2) are inserted into and rotatably connected to a rotating shaft (17); and a driven wheel (18) is fixedly connected to the rotating shaft (17); and the driving wheel (16) is transmission-connected to the driven wheel (18) via a transmission belt (19).

5. The laser ranging radar device applied to the electric quadruped inspection robot according to claim 4, characterized in that: The inner wall of the concave shell (2) is rotatably connected to the rotating shaft (17) via a bearing seat.

6. The laser ranging radar device applied to the electric quadruped inspection robot according to claim 1, characterized in that: The damping mechanism comprises a mounting groove (20) provided in the side wall of the rectangular frame (3); a damping mechanism is fixedly connected at the center of the inner bottom wall of the mounting groove (20); and the upper end of the damping mechanism is fixedly connected to the laser ranging radar device body (4); two symmetrically arranged fixing plates (21) are fixedly connected to the inner bottom wall of the mounting groove (20) located on both sides of the damping mechanism; and a support rod (22) is fixedly connected between the fixing plate (21) and the mounting groove (20); a sliding sleeve (23) is sleeved on the support rod (22) and slidably connected; and a damping spring (24) is fixedly connected between the sliding sleeve (23) and the inner wall of the mounting groove (20); the upper side of the sliding sleeve (23) is hingedly connected to an inclined swing rod (26) through a first hinge (25); and the lower side of the laser ranging radar device body (4) is hingedly connected to the upper end of the swing rod (26) through a second hinge (27).

7. A laser ranging radar device applied to an electric quadruped inspection robot according to claim 6, characterized in that: The damping mechanism comprises a hydraulic rod (28) and a damping spring (29) vertically fixed between the mounting groove (20) and the laser ranging radar device body (4); the damping spring (29) is sleeved on the outside of the hydraulic rod (28).

8. The laser ranging radar device applied to the electric quadruped inspection robot according to claim 1, characterized in that: The upper side of the mounting substrate (1) is provided with four prefabricated holes (30) which are arranged around the mounting substrate at equal intervals.

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