Mechanical arm electrical equipment inspection device based on visual identification

Abstract

The invention discloses a mechanical arm electrical equipment inspection device based on visual identification, and belongs to the technical field of mechanical arms. Comprising a control box, a control cavity is integrally formed in the control box, a rotating column is rotationally connected to the lower surface of the interior of the control cavity through a rotating shaft, and the top end of the rotating column extends to the position above the control box and is fixedly connected with a rotating platform; a first motor drives a first gear and a second gear to rotate, a rotating column and a rotating platform are driven to rotate, meanwhile, a first connecting arm, a second connecting arm and a third connecting arm move in a matched mode, the position and angle of the graph collecting device can be rapidly adjusted, electrical equipment is comprehensively inspected, the inspection time is greatly shortened, manpower input is reduced, and the inspection efficiency is improved. Meanwhile, the device can flexibly move and adjust the height through the moving wheels and the electric telescopic rods on the supporting bottom plate, so that the inspection efficiency is further improved, and the labor cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and in particular to an inspection device for electrical equipment of a robotic arm based on visual recognition. Background Art

[0002] In modern industrial production, electrical equipment is widely used in various fields. The stability and reliability of its operating state are directly related to the normal progress of production. Once a fault occurs in the electrical equipment, it may lead to serious consequences such as production interruption, equipment damage, and even casualties. Therefore, regular inspection of electrical equipment to timely detect potential fault hazards is of great significance for ensuring the safety and stability of industrial production;

[0003] Traditional inspection of electrical equipment mainly relies on manual labor. Inspectors need to carry various detection tools and check the equipment one by one according to the specified routes and time intervals. Manual inspection requires a large amount of time and manpower. Especially in large industrial plants, where there are numerous equipment and a wide distribution range, it is very difficult for inspectors to complete a comprehensive and detailed inspection in a short time. Summary of the Invention

[0004] Object of the Invention: The object of the present invention is to solve the problem that traditional inspection of electrical equipment mainly relies on manual labor, which requires a large amount of time and manpower.

[0005] Technical Solution: An inspection device for electrical equipment of a robotic arm based on visual recognition, including a control box. A control cavity is integrally formed inside the control box. A rotating column is rotatably connected to the lower surface inside the control cavity through a rotating shaft. The top end of the rotating column extends above the control box and is fixedly connected to a rotating platform;

[0006] A pillar is fixedly connected to the center of the upper surface of the rotating platform. A first connecting arm is movably connected to the outer side wall of the rotating platform. A second connecting arm is movably connected to the inner side wall of the first connecting arm. A third connecting arm is movably connected to the outer side wall of the second connecting arm. Fixing plates are symmetrically fixedly connected to the right side of the third connecting arm. A graphic acquisition device is jointly arranged on the opposite sides of the two fixing plates.

[0007] Furthermore, a support bottom plate is arranged below the control box. A plurality of electric telescopic rods are fixedly connected to the upper surface of the support bottom plate. The top ends of the output shafts of the plurality of electric telescopic rods are fixedly connected to the lower surface of the control box. Moving wheels are symmetrically rotatably connected to the front surface and the rear surface of the support bottom plate through rotating shafts.

[0008] Furthermore, a plurality of collision sensors are arranged on the outer side wall of the support bottom plate.

[0009] Furthermore, a first motor is fixedly connected to the inner lower surface of the control cavity. The top end of the output shaft of the first motor is fixedly connected to a first rotating rod. The top end of the first rotating rod is rotatably connected to the inner upper surface of the control cavity. A first gear is fixedly connected to the outer sidewall of the first rotating rod. A second gear is fixedly connected to the outer sidewall of the rotating column. The outer sidewall of the first gear is meshed with the outer sidewall of the second gear.

[0010] Furthermore, fixing boxes are symmetrically and fixedly connected to the upper surface of the support bottom plate. A transmission box is fixedly connected to the upper surface of the support bottom plate and on the opposite sides of the two fixing boxes. A second motor is fixedly connected to the upper surface of the transmission box. The bottom end of the output shaft of the second motor is fixedly connected to a second rotating rod. The bottom end of the second rotating rod is rotatably connected to the inner lower surface of the transmission box through a rotating shaft. A first pulley is fixedly connected to the outer sidewall of the second rotating rod. The inner upper surface and the inner lower surface of the two fixing boxes are both rotatably connected by rotating shafts to screw rods. Second pulleys are fixedly connected to the lower sides of the outer sidewalls of the two screw rods. A transmission belt meshes with the outer sidewalls of the two second pulleys and the outer sidewall of the first pulley.

[0011] Furthermore, through slots are formed in the inner front surfaces and the inner rear surfaces of the two fixing boxes. Moving plates are threadedly connected to the outer sidewalls of the two screw rods and above the two second pulleys. Connecting blocks are fixedly connected to the front surfaces and the rear surfaces of the two moving plates. The sides of the multiple connecting blocks away from the two moving plates respectively pass through the multiple through slots and are fixedly connected to support legs.

[0012] Furthermore, guide rods are fixedly connected to the inner upper surfaces and the inner lower surfaces of the multiple through slots. The outer sidewalls of the multiple guide rods are respectively slidably connected to the interiors of the multiple connecting blocks.

[0013] Furthermore, limiting blocks are arranged below the two moving plates on the left sides and the right sides inside the two fixing boxes.

[0014] Beneficial effects: The device drives the first gear and the second gear to rotate through the first motor, drives the rotating column and the rotating platform to rotate, and at the same time, in cooperation with the activities of the first connecting arm, the second connecting arm, and the third connecting arm, can quickly adjust the position and angle of the graphic acquisition device, conduct a comprehensive inspection of electrical equipment, greatly shorten the inspection time, reduce the labor input. At the same time, through the moving wheels and the electric telescopic rods on the support bottom plate, the device can move flexibly and adjust the height, further improving the inspection efficiency and reducing the labor cost.

[0015] The graphic acquisition device can adjust its position and angle in multiple dimensions, enabling all-round inspection of electrical equipment, avoiding inspection blind spots. Combining with visual recognition technology, it can accurately capture subtle abnormalities of the equipment, such as heat discoloration on the surface of the equipment and wire damage, which is more accurate than manual visual recognition. This helps to detect potential fault hazards in a timely manner and reduce the risk of equipment failure;

[0016] At the same time, through the second motor, multiple legs can be simultaneously controlled to move downward until they touch the ground, gradually lifting the device, and the moving wheels on the support base leave the ground, greatly improving the stability of the device and preventing its movement. When the inspection is over, operate the second motor in reverse to raise the legs and make the moving wheels contact the ground again for the device to move. This effectively avoids shaking or displacement of the device caused by external forces or its own movement during the inspection, ensuring the stability of the graphic acquisition device when collecting images of electrical devices and improving the accuracy and reliability of the inspection. Description of the Drawings

[0017] Figure 1 is the overall structural schematic diagram of the present invention;

[0018] Figure 2 is the front sectional structural schematic diagram of the fixed box and the transmission box of the present invention;

[0019] Figure 3 is the side sectional structural schematic diagram of the fixed box of the present invention;

[0020] Figure 4 is the front sectional structural schematic diagram of the control box of the present invention.

[0021] In the figure: 1. Control box; 2. Control cavity; 3. Rotating column; 4. Rotating platform; 5. Support pillar; 6. Connecting arm one; 7. Connecting arm two; 8. Connecting arm three; 9. Fixed plate; 10. Graphic acquisition device; 11. Support base plate; 12. Electric telescopic rod; 13. Moving wheel; 14. Collision sensor; 15. First motor; 16. First rotating rod; 17. First gear; 18. Second gear; 19. Fixed box; 20. Transmission box; 21. Second motor; 22. Second rotating rod; 23. First pulley; 24. Screw; 25. Second pulley; 26. Transmission belt; 27. Vertical groove; 28. Moving plate; 29. Connecting block; 30. Leg; 31. Guide rod; 32. Limit block. Detailed Embodiments

[0022] To make the technical solutions of the present invention clearer, the following further describes the present invention in detail with reference to the accompanying drawings and specific embodiments.

[0023] Embodiment

[0024] As Figure 1 and Figure 4As shown in the figure, a visual recognition-based inspection device for robotic arm electrical equipment is provided, including a control box 1. An integral control cavity 2 is formed inside the control box 1. A rotating column 3 is rotatably connected to the lower surface inside the control cavity 2 through a rotating shaft. The top end of the rotating column 3 extends above the control box 1 and is fixedly connected to a rotating platform 4. A support column 5 is fixedly connected to the center of the upper surface of the rotating platform 4. A first connecting arm 6 is movably connected to the outer side wall of the rotating platform 4. A second connecting arm 7 is movably connected to the inner side wall of the first connecting arm 6. A third connecting arm 8 is movably connected to the outer side wall of the second connecting arm 7. Fixing plates 9 are symmetrically and fixedly connected to the right side of the third connecting arm 8. A graphic acquisition device 10 is jointly arranged on the opposite sides of the two fixing plates 9. A first motor 15 is fixedly connected to the lower surface inside the control cavity 2. The top end of the output shaft of the first motor 15 is fixedly connected to a first rotating rod 16. The top end of the first rotating rod 16 is rotatably connected to the upper surface inside the control cavity 2. A first gear 17 is fixedly connected to the outer side wall of the first rotating rod 16. A second gear 18 is fixedly connected to the outer side wall of the rotating column 3. The outer side wall of the first gear 17 is meshed with the outer side wall of the second gear 18;

[0025] When the device is in use, starting the first motor 15 drives the first rotating rod 16 to rotate. The top end of the first rotating rod 16 is rotatably connected to the upper surface inside the control cavity 2, ensuring the stability of rotation. When the first rotating rod 16 rotates, the first gear 17 rotates accordingly. Therefore, the rotation of the first gear 17 drives the second gear 18 to rotate. The rotation of the second gear 18 causes the rotating column 3 to rotate around the rotating shaft connected to the lower surface inside the control cavity 2. The rotating platform 4 fixedly connected to the top end of the rotating column 3 and extending above the control box 1 also rotates accordingly. When the rotating platform 4 rotates, the first connecting arm 6 is controlled to rotate. The second connecting arm 7 movably connected to the inner side wall of the first connecting arm 6 and the third connecting arm 8 movably connected to the outer side wall of the second connecting arm 7 can flexibly adjust the position and angle of the third connecting arm 8 through their movable connections. Driven by the third connecting arm 8, the graphic acquisition device 10 moves to different parts of the electrical equipment to perform graphic acquisition on the electrical equipment, completing the inspection work. Thus, compared with manual inspection, the inspection efficiency is greatly improved. At the same time, the position and angle can be adjusted in multiple dimensions, enabling all-round inspection of the electrical equipment and avoiding inspection dead corners.

[0026] As Figure 1 shown in the figure, a support base plate 11 is arranged below the control box 1. A plurality of electric telescopic rods 12 are fixedly connected to the upper surface of the support base plate 11. The top ends of the output shafts of the plurality of electric telescopic rods 12 are all fixedly connected to the lower surface of the control box 1. Movable wheels 13 are symmetrically rotatably connected to the front surface and the rear surface of the support base plate 11 through rotating shafts;

[0027] The multiple moving wheels 13 provided enable the device to move flexibly to the designated electrical equipment inspection position. After reaching the inspection position, if it is necessary to adjust the heights of the control box 1, the upper rotating platform 4, the connecting arm and other components above to better inspect the electrical equipment, multiple electric telescopic rods 12 fixedly connected to the upper surface of the support base plate 11 can be started. The top of the output shaft of the electric telescopic rod 12 is fixedly connected to the lower surface of the control box 1. When the electric telescopic rod 12 extends or contracts, it drives the control box 1 to rise or fall, thereby adjusting the height of the graphic acquisition device 10 to make it more suitable for inspecting electrical equipment at different heights, further improving the inspection efficiency, and is especially suitable for places with multiple electrical equipment distributions such as large factories or power distribution rooms.

[0028] As Figure 1 shown, multiple collision sensors 14 are provided on the outer side wall of the support base plate 11;

[0029] When it is necessary to move the device to different inspection locations, the device is moved through the moving wheels 13. During the movement, multiple collision sensors 14 on the outer side wall of the support base plate 11 continuously monitor the surrounding environment of the device, effectively avoiding the device from colliding with surrounding objects during the movement. This not only protects the device itself from damage caused by collisions, but also prevents damage to surrounding electrical equipment, personnel or other facilities, ensuring the safe progress of the inspection work.

[0030] As Figures 1 - 3 shown, fixed boxes 19 are symmetrically and fixedly connected to the upper surface of the support base plate 11. On the upper surface of the support base plate 11 and on the opposite sides of the two fixed boxes 19, a transmission box 20 is fixedly connected. A second motor 21 is fixedly connected to the upper surface of the transmission box 20. The bottom end of the output shaft of the second motor 21 is fixedly connected to a second rotating rod 22. The bottom end of the second rotating rod 22 is rotationally connected to the inner lower surface of the transmission box 20 through a rotating shaft. A first pulley 23 is fixedly connected to the outer side wall of the second rotating rod 22. The inner upper surface and the inner lower surface of the two fixed boxes 19 are both rotationally connected to a screw rod 24 through a rotating shaft. Below the outer side walls of the two screw rods 24, second pulleys 25 are fixedly connected. A transmission belt 26 is meshed and connected to the outer side walls of the two second pulleys 25 and the outer side wall of the first pulley 23. Through slots 27 are provided on the inner front surface and the inner rear surface of the two fixed boxes 19. On the outer side walls of the two screw rods 24 and above the two second pulleys 25, moving plates 28 are threadedly connected. Connection blocks 29 are fixedly connected to the front surface and the rear surface of the two moving plates 28. One side of the multiple connection blocks 29 away from the two moving plates 28 respectively passes through the multiple through slots 27 and is fixedly connected to a support leg 30;

[0031] After the device moves to the position of the electrical equipment, the second motor 21 is started to drive the second rotating rod 22 to rotate. When the second rotating rod 22 rotates, it drives the first pulley 23 to rotate synchronously. The rotation of the first pulley 23 drives the two second pulleys 25 to rotate through the transmission belt 26. The rotation of the two second pulleys 25 makes the two screw rods 24 rotate synchronously. As the screw rods 24 rotate, the moving plate 28 moves downward on the screw rods 24. When the moving plate 28 moves downward, it drives the connecting block 29 and the supporting legs 30 to move downward. The supporting legs 30 move downward until they contact the ground. As the moving plate 28 continues to move downward, the supporting legs 30 gradually lift the device, and the moving wheels 13 on the supporting bottom plate 11 leave the ground. At this time, the device is supported by the supporting legs 30. When the electrical device is inspected by the graphic acquisition device 10, the stability of the device is greatly improved, preventing its movement. After the inspection is completed, the second motor 21 is operated in reverse to raise the supporting legs 30, and the moving wheels 13 contact the ground again for the device to move. Thereby, it effectively avoids the shaking or displacement of the device caused by external forces or its own movement during the inspection process, ensures the stability of the graphic acquisition device 10 when collecting images of the electrical device, and improves the accuracy and reliability of the inspection.

[0032] As Figure 3 shown, on the inner upper surface and inner lower surface of the multiple vertical grooves 27, guide rods 31 are fixedly connected in common. The outer side walls of the multiple guide rods 31 are respectively slidably connected to the inside of the multiple connecting blocks 29;

[0033] When the second motor 21 operates to drive the screw rods 24 to rotate and the moving plate 28 has a tendency to move along the axial direction of the screw rods 24 due to threaded connection, at this time, the connecting block 29 can only slide smoothly along the axial direction of the guide rods 31, and will not be offset or shaken due to factors such as torque during the rotation of the screw rods 24. Thereby, it further improves the stability of the entire device during the inspection.

[0034] As Figure 2 and Figure 3 shown, on the left side and right side inside the two fixed boxes 19 and below the two moving plates 28, limit blocks 32 are provided;

[0035] When the second motor 21 drives the screw rods 24 to rotate and the moving plate 28 moves along the axial direction of the screw rods 24, the limit blocks 32 play a key role in stroke limitation. As the moving plate 28 descends, when it reaches the position where the limit blocks 32 are provided on the left side and right side inside the two fixed boxes 19, the moving plate 28 will contact the limit blocks 32, thereby preventing the moving plate 28 from continuing to move downward, and ensuring the stability and safety of the transmission structure below the two fixed boxes 19.

[0036] The above-described embodiments merely represent several implementation manners of the present invention. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent for the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention shall be subject to the appended claims.

Claims

1. A mechanical arm electrical equipment inspection device based on visual recognition, comprising a control box (1), characterized in that: The control box (1) has a control chamber (2) integrally formed inside, the lower surface of the control chamber (2) is rotatably connected to a rotating column (3) via a rotating shaft, the top end of the rotating column (3) extends to the top of the control box (1) and is fixedly connected to a rotating platform (4); A support column (5) is fixedly connected at the center of the upper surface of the rotating platform (4); a connecting arm 1 (6) is movably connected to the outer side wall of the rotating platform (4); a connecting arm 2 (7) is movably connected to the inner side wall of the connecting arm 1 (6); a connecting arm 3 (8) is movably connected to the outer side wall of the connecting arm 2 (7); a fixing plate (9) is symmetrically fixedly connected to the right side of the connecting arm 3 (8); and a graphic acquisition device (10) is commonly provided on opposite sides of the two fixing plates (9).

2. The mechanical arm electrical equipment inspection device based on visual recognition according to claim 1 is characterized in that: A supporting base plate (11) is arranged below the control box (1), a plurality of electric telescopic rods (12) are fixedly connected to the upper surface of the supporting base plate (11), the top ends of the output shafts of the plurality of electric telescopic rods (12) are fixedly connected to the lower surface of the control box (1), and the front and rear surfaces of the supporting base plate (11) are symmetrically connected to movable wheels (13) via rotating shafts.

3. The mechanical arm electrical equipment inspection device based on visual recognition according to claim 2 is characterized in that: The outer side wall of the supporting bottom plate (11) is provided with a plurality of collision sensors (14).

4. The mechanical arm electrical equipment inspection device based on visual recognition according to claim 1 is characterized in that: The inner lower surface of the control chamber (2) is fixedly connected to a motor 1 (15); the top end of the output shaft of the motor 1 (15) is fixedly connected to a rotating rod 1 (16); the top end of the rotating rod 1 (16) is rotatably connected to the inner upper surface of the control chamber (2); the outer wall of the rotating rod 1 (16) is fixedly connected to a gear 1 (17); the outer wall of the rotating column (3) is fixedly connected to a gear 2 (18); the outer wall of the gear 1 (17) is meshingly connected to the outer wall of the gear 2 (18).

5. The mechanical arm electrical equipment inspection device based on visual recognition according to claim 2 is characterized in that: The upper surface of the support base plate (11) is symmetrically fixedly connected with a fixed box (19), and the upper surface of the support base plate (11) and located on the opposite side of the two fixed boxes (19) are fixedly connected with a transmission box (20), the upper surface of the transmission box (20) is fixedly connected with a second motor (21), the lower end of the output shaft of the second motor (21) is fixedly connected with a second rotating rod (22), the lower end of the second rotating rod (22) is rotatably connected to the inner lower surface of the transmission box (20) through a rotating shaft, the outer side wall of the second rotating rod (22) is fixedly connected with a first pulley (23), the inner upper surface and the inner lower surface of the two fixed boxes (19) are both rotatably connected with a screw rod (24) through a rotating shaft, and the lower side walls of the two screw rods (24) are fixedly connected with a second pulley (25), and the outer side walls of the two second pulleys (25) and the outer side wall of the first pulley (23) are meshed and connected with a transmission belt (26).

6. The mechanical arm electrical equipment inspection device based on visual recognition according to claim 5 is characterized in that: The inner front surface and the inner rear surface of the two fixed boxes (19) are both provided with a through vertical groove (27); the outer side walls of the two screw rods (24) and located above the two pulleys (25) are both threadedly connected with a movable plate (28); the front surface and the rear surface of the two movable plates (28) are both fixedly connected with a connecting block (29); the side of the plurality of connecting blocks (29) away from the two movable plates (28) respectively passes through the plurality of vertical grooves (27) and are all fixedly connected with a supporting leg (30).

7. The mechanical arm electrical equipment inspection device based on visual recognition according to claim 6 is characterized in that: The inner upper surfaces and the inner lower surfaces of the plurality of vertical grooves (27) are both fixedly connected to guide rods (31), and the outer side walls of the plurality of guide rods (31) are respectively slidably connected to the inside of the plurality of connection blocks (29).

8. The mechanical arm electrical equipment inspection device based on visual recognition according to claim 6 is characterized in that: Limiting blocks (32) are provided on the inner left side and the inner right side of the two fixed boxes (19) and below the two movable plates (28).

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