Quadruped robot for transformer substation inspection

Abstract

The invention belongs to the technical field of power systems, and discloses a quadruped robot for transformer substation inspection, which comprises an inspection robot, an alarm is embedded in the edge of the top end of the inspection robot, and an inspection camera I is fixedly mounted on the other side of the top end of the inspection robot. A mounting plate is mounted in the middle of the top end of the inspection robot through screws, contact limitation of a traditional charging mode is avoided, charging convenience and reliability are improved, powerful support is provided for continuous operation of the inspection unmanned aerial vehicle, and the purpose that in the prior art, personnel need to charge the inspection unmanned aerial vehicle is changed; and in the take-off process of the inspection unmanned aerial vehicle, the charging panel and the inspection robot are powered off, so that the problem of overdischarge can be avoided, the charging efficiency and the charging speed can be improved, and efficient, convenient and safe wireless charging is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of power systems, and particularly to a quadruped robot for substation inspection. Background Art

[0002] A substation refers to a place in the power system where voltage and current are transformed, electrical energy is received, and electrical energy is distributed. The substation in a power plant is a step-up substation, whose function is to step up the electrical energy generated by the generator and feed it into the high-voltage power grid. To ensure the safe use of the substation, regular inspections of the substation are required. Manual inspection is the traditional operation method for substation inspection. However, due to factors such as fatigue and boredom of the inspection personnel, it is very easy to cause missed inspections and misinspections. It can be seen that manual inspection is difficult to ensure the safe and reliable operation of the power system. Therefore, it has become a development trend to use inspection robots to complete the inspection tasks in substations;

[0003] By setting up a robot body and an inspection UAV, the robot body can perform inspections according to a pre-set program, saving manpower, reducing the work burden of the inspection personnel, ensuring the safety of the inspection personnel, and using the robot for inspection can carry out high-intensity inspection work at any time, greatly ensuring the safety of the substation. When encountering an inspection area that the robot body cannot reach, the inspection UAV can be controlled by the background terminal for auxiliary inspection, ensuring a non-blind-spot inspection of the substation, eliminating the situation of missed inspections, ensuring the property safety of the substation, and being able to effectively give early warnings for accidents;

[0004] After the inspection UAV has completed an inspection, the problem of insufficient battery power will occur for the inspection UAV at this time. In the prior art, it is not convenient to charge the UAV, resulting in the need to repeatedly pick up and charge the UAV, leading to the problem of low cruising efficiency.

[0005] Therefore, finding a technical solution that can solve the above technical problems has become an important research topic for those skilled in the art. Summary of the Invention

[0006] The present invention aims at the problem in the prior art that it is not convenient to charge the UAV, resulting in the need to repeatedly pick up and charge the UAV, leading to the problem of low cruising efficiency.

[0007] A quadruped robot for substation inspection provided by the present invention includes: an inspection robot and a drone component. An alarm is embedded at the edge of the top of the inspection robot. Another inspection camera is fixedly installed on the other side of the top of the inspection robot. A mounting plate is installed in the middle of the top of the inspection robot by screws. Baffle plates are installed on both sides of the mounting plate through hinges. A charging plate is movably connected up and down inside the baffle plates. The bottom end of the charging plate is connected with a plug through a connecting wire. An installation cover is fixedly installed on the outside of the plug. Columns are symmetrically embedded and installed at the top of the installation cover. The columns are fixedly installed at the bottom end of the charging plate. A plug hole is opened at the position corresponding to the bottom end of the plug on the top of the mounting plate;

[0008] A linkage arm is rotatably connected to the inner wall of the baffle plate. One end of the linkage arm is installed with a mounting block through a connecting shaft. The number of the mounting blocks is set to four in total. The four mounting blocks are respectively installed at the four corners of the bottom end of the charging plate. Two electric telescopic rods are embedded and installed between the bottom end of the charging plate and the top end of the mounting plate;

[0009] Side plates are symmetrically and fixedly installed on the top of the mounting plate. The side plates are slidably connected inside the charging plate. A slider is slidably connected inside the side plates. A fixed installation is made between the top end of the slider and the bottom end of the charging plate;

[0010] The drone component includes an inspection drone. An inspection camera two is fixedly installed at the bottom end of the inspection drone. The inspection drone stays on the charging plate and is limited between the two side plates. The charging plate is used for charging the inspection drone.

[0011] Optionally, a piston is embedded at the bottom end of the slider. A sleeve is fixedly installed at the bottom end of the piston. A support column is installed at the bottom end of the sleeve. The support column is installed on the top of the mounting plate. A connecting pipe one is embedded on one side of the outer surface of the sleeve. One end of the connecting pipe one penetrates inside the baffle plate. An extrusion plate is slidably connected inside the baffle plate.

[0012] Optionally, a connecting pipe two is embedded at the top of the outer surface of the sleeve. The same converging pipe is installed between one ends of the two connecting pipes two. A conical head is fixedly installed at the top end of the converging pipe. The included angle between the conical head and the horizontal plane is 45 degrees.

[0013] Optionally, a connecting pipe three is installed on one side of the outer surface of the sleeve. A blowing pipe is installed at one end of the connecting pipe three. A pressure valve is fixedly installed on the outside of the blowing pipe. An installation sleeve is fixedly installed at one end of the blowing pipe. A fixing rod is embedded at one end of the installation sleeve. The fixing rod is embedded inside the installation cover.

[0014] Optionally, a check valve is embedded at the bottom of the outer surface of the sleeve. The check valve is located between the connecting pipe one and the connecting pipe three.

[0015] Optionally, the diameter of the air blowing pipe near one end of the third connecting pipe is smaller than that of the other end, and the angle between the air outlet end of the air blowing pipe and the horizontal plane is 45 degrees.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] (1) This method avoids the contact limitation of the traditional charging method, improves the convenience and reliability of charging, provides strong support for the continuous operation of the inspection UAV, and changes the purpose of charging the inspection UAV by personnel in the prior art, thereby improving the endurance and convenience at the same time. And when the inspection UAV takes off, the power-off between the charging board and the inspection robot can avoid the problem of over-discharge, and at the same time, it can also improve the charging efficiency and charging speed, realizing efficient, convenient and safe wireless charging.

[0018] (2) Through the coordinated work of components such as the electric telescopic rod, the charging board, the linkage arm, and the partition board, the automatic release and safe recovery of the inspection UAV are realized. When the inspection UAV needs to operate, the electric telescopic rod drives the charging board to rise, and a series of mechanical linkages are used to open the barrier space, so that the UAV is exposed and rises. After the inspection is completed, the UAV resets, the electric telescopic rod resets, the partition board closes, and at the same time, the piston and sleeve structure is used to perform a sealing operation on the partition board to ensure the safe storage of the UAV and prevent external interference. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0020] Figure 1 Fig. shows a schematic structural diagram of a quadruped robot for substation inspection provided by the present invention;

[0021] Figure 2 Fig. shows a schematic installation structure diagram of a mounting plate in a quadruped robot for substation inspection provided by the present invention;

[0022] Figure 3 Fig. shows a schematic installation structure diagram of a mounting block in a quadruped robot for substation inspection provided by the present invention;

[0023] Figure 4 Fig. shows a schematic installation structure diagram of a charging board in a quadruped robot for substation inspection provided by the present invention;

[0024] Figure 5 Shown is a schematic installation structure diagram of connecting pipe three in a quadruped robot provided by the present invention for substation inspection.

[0025] In the figure: 1, inspection robot; 2, alarm; 3, first inspection camera; 4, mounting plate; 5, partition board; 6, linkage arm; 7, mounting block; 8, charging plate; 9, electric telescopic rod; 10, plug connector; 11, mounting cover; 12, column; 13, side plate; 14, slider; 15, piston; 16, sleeve; 17, first connecting pipe; 18, extrusion plate; 19, second connecting pipe; 20, converging pipe; 21, conical head; 22, inspection UAV; 23, second inspection camera; 25, third connecting pipe; 26, blowing pipe; 27, pressure valve; 28, mounting sleeve; 29, fixing rod; 30, check valve. Specific embodiments

[0026] In order to enable those skilled in the art to better understand the solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0027] A quadruped robot provided by an embodiment of the present invention for substation inspection, as Figures 1 to 5 shown, includes: an inspection robot 1, an alarm 2 is embedded and installed at the edge of the top of the inspection robot 1, a first inspection camera 3 is fixedly installed on the other side of the top of the inspection robot 1, a mounting plate 4 is installed in the middle of the top of the inspection robot 1 by screws, partition boards 5 are installed on both sides of the mounting plate 4 through hinges, a charging plate 8 is movably connected up and down inside the partition boards 5, the bottom end of the charging plate 8 is connected to a plug connector 10 through a connecting wire, a mounting cover 11 is fixedly installed outside the plug connector 10, columns 12 are symmetrically embedded and installed at the top of the mounting cover 11, the columns 12 are fixedly installed at the bottom end of the charging plate 8, a transmitting coil is installed inside the charging plate 8, a plug hole is opened at the position corresponding to the bottom end of the plug connector 10 on the top of the mounting plate 4, and a plug interface is opened at the position corresponding to the bottom end of the plug connector 10 on the top of the inspection robot 1 for electrical connection between the inspection robot 1 and the charging plate 8.

[0028] As Figure 3 shown, a linkage arm 6 is rotatably connected to the inner wall of the partition board 5, one end of the linkage arm 6 is installed with a mounting block 7 through a connecting shaft, the number of the mounting blocks 7 is set to four in total, the four mounting blocks 7 are respectively installed at the four corners of the bottom end of the charging plate 8, and two electric telescopic rods 9 are embedded and installed between the bottom end of the charging plate 8 and the top of the mounting plate 4;

[0029] Since the electric telescopic rod 9 drives the charging plate 8 to rise during operation, the charging plate 8 drives the mounting block 7 to rise when it rises, and the mounting block 7 drives the baffle 5 to flip under the action of the linkage arm 6 when it rises, so that the charging plate 8 is exposed to the external environment, and the takeoff height of the inspection UAV 22 is changed.

[0030] As Figure 3 , Figure 4 and Figure 5 shown, side plates 13 are symmetrically and fixedly installed at the top end of the mounting plate 4. The side plates 13 are slidably connected to the inside of the charging plate 8. A slider 14 is slidably connected to the inside of the side plates 13. A fixed installation is made between the top end of the slider 14 and the bottom end of the charging plate 8;

[0031] The side plates 13 limit the movement of the charging plate 8 when it moves, and can drive the movement of the slider 14, changing the difficulty of the slider 14 moving.

[0032] As Figure 3 and Figure 5 shown, a piston 15 is embedded at the bottom end of the slider 14. A sleeve 16 is fixedly installed at the bottom end of the piston 15. A support column is installed at the bottom end of the sleeve 16. The support column is installed at the top end of the mounting plate 4. A connecting pipe 17 is embedded on one side of the outer surface of the sleeve 16. One end of the connecting pipe 17 penetrates into the inside of the baffle 5. A pressing plate 18 is slidably connected to the inside of the baffle 5;

[0033] When the slider 14 moves, it drives the piston 15 to move. When the piston 15 moves, it squeezes the gas inside the sleeve 16, so that the gas inside the sleeve 16 enters the inside of the baffle 5 along the connecting pipe 17, and drives the pressing plate 18 to move. Through the two relatively moving pressing plates 18, the sealing performance between the two baffles 5 is increased.

[0034] As Figure 3 and Figure 5 shown, a connecting pipe 19 is embedded at the top of the outer surface of the sleeve 16. The same converging pipe 20 is installed between one ends of the two connecting pipes 19. A conical head 21 is fixedly installed at the top end of the converging pipe 20. The included angle between the conical head 21 and the horizontal plane is forty-five degrees;

[0035] Since the gas pressure inside the two sleeves 16 changes, at this time the gas enters the inside of the converging pipe 20 along the two connecting pipes 19 for convergence, and the converged gas blows out along the conical head 21, and the blown gas blows to the outside of the inspection camera 3, so as to clean the outside of the inspection camera 3.

[0036] As Figure 3 and Figure 5 ​As shown, a third connecting pipe 25 is installed on one side of the outer surface of the sleeve 16. One end of the third connecting pipe 25 is installed with a blowing pipe 26. A pressure valve 27 is fixedly installed on the outer side of the blowing pipe 26. An installation sleeve 28 is fixedly installed on the outer side of one end of the blowing pipe 26. A fixing rod 29 is embedded at one end of the installation sleeve 28, and the fixing rod 29 is embedded inside the installation cover 11;

[0037] When the gas pressure inside the sleeve 16 changes, it causes the pressure inside the third connecting pipe 25 to change. When the pressure inside the third connecting pipe 25 changes and reaches the threshold of the pressure valve 27, the gas inside the blowing pipe 26 flows outwards. The flowing-out gas sprays outside, and at the same time, the blowing pipe 26 is fixed under the action of the fixing rod 29 and the installation sleeve 28, changing the fixing difficulty of the blowing pipe 26.

[0038] As Figure 3 and Figure 5 shown, a one-way valve 30 is embedded at the bottom of the outer surface of the sleeve 16. The one-way valve 30 is located between the first connecting pipe 17 and the third connecting pipe 25. Through the action of the one-way valve 30, the outside gas can enter the inside of the sleeve 16, changing the difficulty of the outside gas entering the inside of the sleeve 16.

[0039] As Figure 3 and Figure 4 shown, the diameter of one end of the blowing pipe 26 close to the third connecting pipe 25 is smaller than that of the other end. The angle between the air outlet end of the blowing pipe 26 and the horizontal plane is 45 degrees;

[0040] Since the diameter of one end of the blowing pipe 26 close to the third connecting pipe 25 is smaller than that of the other end, the flow rate of the gas entering the blowing pipe 26 is reduced at this time, and the spraying range is increased. And the angle with the horizontal plane is 45 degrees. At this time, the purpose of comprehensively cleaning the inside of the insertion hole is achieved, ensuring the cleanliness of the inside of the insertion hole.

[0041] As Figure 3 and Figure 4 shown, this embodiment further includes a drone component. The drone component specifically includes an inspection drone 22. An inspection camera two 23 is fixedly installed at the bottom end of the inspection drone 22. The inspection drone 22 stays on the charging board 8, and the charging board 8 is used to charge the inspection drone 22. Specifically, the inspection drone 22 is located between the two side plates 13, which is used to limit the inspection drone 22. A receiving coil is installed inside the inspection drone 22.

[0042] Working principle: During the actual use of the device, since the inspection robot 1 inspects the substation through the first inspection camera 3, the inspection robot 1 can perform inspections according to a pre-set program, saving manpower, reducing the workload of the inspection personnel, ensuring the safety of the inspection personnel, and enabling high-intensity inspection work to be carried out at any time using the inspection robot 1, greatly ensuring the safety of the substation. When encountering an inspection area that the inspection robot 1 cannot reach, the inspection UAV 22 can be controlled to operate through the background terminal, and the second inspection camera 23 of the inspection UAV 22 is used for auxiliary inspection, ensuring a non-blind-spot inspection of the substation, eliminating the situation of missed inspections, ensuring the property safety of the substation, and being able to effectively give early warnings for accidents;

[0043] However, when controlling the operation of the inspection UAV 22, at this time, the inspection UAV 22 needs to be moved out along the inside of the inspection robot 1. At this time, the electric telescopic rod 9 is controlled to operate through the background terminal. When the electric telescopic rod 9 operates, it drives the charging plate 8 to rise. When the charging plate 8 rises, it drives the linkage arm 6 to deflect through the mounting block 7. When the linkage arm 6 rotates, it drives the baffle 5 to rotate. When the two baffles 5 rotate relative to each other, the blocking space at the top of the mounting plate 4 is opened, and at this time, the inspection UAV 22 is exposed to the outside. And since the charging plate 8 rises, at this time, the column 12 at the bottom of the charging plate 8 drives the mounting cover 11 to move. When the mounting cover 11 moves, it drives the plug connector 10 to move. When the plug connector 10 moves, it separates from the socket of the inspection robot 1, and at this time, the connection between the charging plate 8 and the inspection robot 1 is disconnected;

[0044] At the same time, the charging plate 8 moves along the outside of the side plate 13, so that the inspection UAV 22 rises. At the same time, since the charging plate 8 rises and drives the slider 14 to rise, the slider 14 rises and drives the piston 15 to rise. At this time, when the piston 15 moves, the gas in the upper part of the sleeve 16 is compressed. The compressed gas enters the converging pipe 20 along the second connecting pipe 19, and finally enters the conical head 21 along the converging pipe 20, and then blows to the outside of the first inspection camera 3 along the conical head 21. At this time, the purpose of blowing the outside of the first inspection camera 3 is achieved. At this time, the bottom of the sleeve 16 intakes air. Since the inlets of the first connecting pipe 17 and the third connecting pipe 25 are blocked, the check valve 30 is opened at this time. When the check valve 30 is opened, the outside gas can enter the sleeve 16;

[0045] Subsequently, the inspection UAV 22 receives a signal, causing the inspection UAV 22 to take off at this time. After the inspection UAV 22 takes off, it conducts inspections on the surroundings. When the inspection UAV 22 has completed the inspection, the inspection UAV 22 resets at this time, and then the electric telescopic rod 9 resets. At this time, the inspection UAV 22 enters between the two side plates 13. At the same time, the baffle plates 5 close to each other, and at the same time, the piston 15 squeezes the gas at the bottom of the sleeve 16. At this time, the gas at the bottom of the sleeve 16 moves along the inside of the first connecting pipe 17 and the third connecting pipe 25. When moving inside the first connecting pipe 17, it pushes the pressing plate 18 inside the baffle plate 5 to move. When the pressing plate 18 moves, the distance between the two baffle plates 5 is closed. When the two pressing plates 18 are pressed against each other, the gas cannot enter the inside of the first connecting pipe 17 at this time, resulting in a change in the pressure inside the sleeve 16. At this time, the gas pressure inside the third connecting pipe 25 changes. When the pressure exceeds the threshold of the pressure valve 27, the pressure drives the pressure valve 27 to open. When the pressure valve 27 opens, the gas enters the insertion port of the inspection robot 1 along the air blowing pipe 26. At this time, the purpose of cleaning the insertion port is achieved. Finally, the charging plate 8 is electrically connected to the inspection robot 1. At this time, based on the principle of near-field magnetic field coupling between the transmitting coil of the charging plate 8 and the receiving coil of the inspection UAV 22, the charging plate 8 converts direct current into high-frequency alternating current, generates an alternating magnetic field, and the receiving coil on the UAV generates a current after sensing the magnetic field. After rectification and other processes, it charges the battery. At this time, the purpose of charging the UAV is achieved.

[0046] The above has introduced in detail a quadruped robot for substation inspection provided by the present invention. For those of ordinary skill in the art, according to the idea of the embodiments of the present invention, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A quadruped robot for substation inspection, characterized in that, Including: An inspection robot (1) and a drone component. An alarm (2) is embedded and installed at the top edge of the inspection robot (1). On the other side of the top of the inspection robot (1), an inspection camera one (3) is fixedly installed. In the middle of the top of the inspection robot (1), a mounting plate (4) is installed by screws. On both sides of the mounting plate (4), baffle plates (5) are installed through hinges. Inside the baffle plates (5), a charging plate (8) is movably connected up and down. The bottom end of the charging plate (8) is connected with a plug connector (10) through a connecting wire. Outside the plug connector (10), a mounting cover (11) is fixedly installed. On the top of the mounting cover (11), columns (12) are symmetrically embedded and installed. The columns (12) are fixedly installed at the bottom end of the charging plate (8). At the position corresponding to the bottom end of the plug connector (10) on the top of the mounting plate (4), a plug hole is opened. A linkage arm (6) is rotatably connected to the inner wall of the baffle plate (5). One end of the linkage arm (6) is installed with a mounting block (7) through a connecting shaft. The number of the mounting blocks (7) is set to four in total. The four mounting blocks (7) are respectively installed at the four corners of the bottom end of the charging plate (8). Between the bottom end of the charging plate (8) and the top of the mounting plate (4), two electric telescopic rods (9) are embedded and installed. On the top of the mounting plate (4), side plates (13) are symmetrically and fixedly installed. The side plates (13) are slidably connected inside the charging plate (8). Inside the side plates (13), sliders (14) are slidably connected. Between the top end of the slider (14) and the bottom end of the charging plate (8), they are fixedly installed. The drone component includes an inspection drone (22). At the bottom end of the inspection drone (22), an inspection camera two (23) is fixedly installed. The inspection drone (22) stays on the charging plate (8) and is limited between the two side plates (13). The charging plate (8) is used for charging the inspection drone (22).

2. The quadruped robot for substation inspection according to claim 1, characterized in that, A piston (15) is embedded and installed at the bottom end of the slider (14). At the bottom end of the piston (15), a sleeve (16) is fixedly installed. At the bottom end of the sleeve (16), a support column is installed. The support column is installed on the top of the mounting plate (4). On one side of the outer surface of the sleeve (16), a connecting pipe one (17) is embedded and installed. One end of the connecting pipe one (17) penetrates inside the baffle plate (5). Inside the baffle plate (5), an extrusion plate (18) is slidably connected.

3. The quadruped robot for substation inspection according to claim 2, characterized in that, On the top of the outer surface of the sleeve (16), a connecting pipe two (19) is embedded and installed. Between the two ends of the connecting pipe two (19), the same converging pipe (20) is installed. At the top end of the converging pipe (20), a conical head (21) is fixedly installed. The included angle between the conical head (21) and the horizontal plane is 45 degrees.

4. A quadruped robot for substation inspection according to claim 3, characterized in that, On one side of the outer surface of the sleeve (16), a third connecting pipe (25) is installed. One end of the third connecting pipe (25) is installed with a blowing pipe (26). A pressure valve (27) is fixedly installed on the outer side of the blowing pipe (26). An installation sleeve (28) is fixedly installed on the outer side of one end of the blowing pipe (26). A fixing rod (29) is embedded at one end of the installation sleeve (28). The fixing rod (29) is embedded inside the installation cover (11).

5. A quadruped robot for substation inspection according to claim 4, characterized in that, A check valve (30) is embedded at the bottom of the outer surface of the sleeve (16). The check valve (30) is located between the first connecting pipe (17) and the third connecting pipe (25).

6. The quadruped robot for substation inspection according to claim 4, characterized in that, The diameter of one end of the blowing pipe (26) close to the third connecting pipe (25) is smaller than that of the other end. The angle between the air outlet end of the blowing pipe (26) and the horizontal plane is forty-five degrees.

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