A quadruped robot for substation inspection

Abstract

The present invention belongs to the technical field of power systems and discloses a four-legged robot for substation inspection, including an inspection robot, an alarm embedded in the edge of the top of the inspection robot, an inspection camera fixedly installed on the other side of the top of the inspection robot, and a mounting plate installed on the middle part of the top of the inspection robot by screws, which avoids the contact limitation of traditional charging methods, improves the convenience and reliability of charging, provides strong support for the continuous operation of inspection drones, and changes the purpose of the existing technology that requires personnel to charge the inspection drones, thereby improving the endurance and convenience. Moreover, when the inspection drone takes off, the power between the charging plate and the inspection robot is cut off, which can avoid the problem of over-discharge, and also improve the charging efficiency and charging speed, thereby realizing efficient, convenient and safe wireless charging.

Description

Technical Field

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

[0002] A substation is a place in the power system where voltage and current are transformed, electric energy is received, and electric energy is distributed. The substation in a power plant is a step-up substation, whose function is to step up the voltage of the electric energy generated by the generator and feed it into the high-voltage power grid. To ensure the safe use of the substation, regular inspections are required. Manual inspections are the traditional way of inspecting substations, but sometimes due to factors such as fatigue and boredom, inspectors are prone to missed inspections or wrong inspections. It can be seen that manual inspections cannot ensure the safe and reliable operation of the power system. Therefore, the use of inspection robots to complete inspection tasks in substations has become a development trend.

[0003] By setting up a robot body and an inspection drone, the robot body can conduct inspections according to pre-set programs, saving manpower, reducing the workload of inspection personnel, and ensuring the safety of inspection personnel. The robot inspection can be used to conduct high-intensity inspections at any time, greatly ensuring the safety of the substation. When encountering inspection areas that the robot body cannot reach, the inspection drone can be controlled through the background terminal to perform auxiliary inspections, ensuring a no-dead-angle inspection of the substation, eliminating the situation of missed inspections, ensuring the property safety of the substation, and being able to effectively issue early warnings for accidents.

[0004] After the inspection drone completes the inspection, it will have a problem of insufficient power. The existing technology is not convenient for charging the drone, so the drone needs to be picked up and taken back and forth for charging, resulting in low cruising efficiency.

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

[0006] The present invention addresses the problem in the prior art that it is inconvenient to charge a drone, which results in the drone having to be taken back and forth for charging, leading to low cruising efficiency.

[0007] The present invention provides a quadruped robot for substation inspection, comprising: an inspection robot and a drone assembly, wherein an alarm is embedded and installed on the edge of the top of the inspection robot, an inspection camera is fixedly installed on the other side of the top of the inspection robot, a mounting plate is mounted on the middle part of the top of the inspection robot by screws, blocking plates are mounted on both sides of the mounting plate by hinges, a charging plate is movably connected to the inside of the blocking plate, the bottom of the charging plate is connected to a plug connector by a connecting line, a mounting cover is fixedly installed on the outside of the plug connector, a column is symmetrically embedded and installed on the top of the mounting cover, the column is fixedly mounted on the bottom of the charging plate, and a plug hole is opened at the position of the top of the mounting plate corresponding to the bottom of the plug connector;

[0008] The inner wall of the blocking plate is rotatably connected to a linkage arm, one end of which is mounted with a mounting block via a connecting shaft. The number of the mounting blocks is set to four in total, and the four mounting blocks are respectively mounted 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] The top of the mounting plate is symmetrically fixed with side plates, the side plates are slidably connected to the inside of the charging plate, and the inside of the side plates is slidably connected with sliders, which are fixed between the top of the sliders and the bottom of the charging plate;

[0010] The drone assembly includes an inspection drone, and an inspection camera 2 is fixedly installed at the bottom 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 to charge the inspection drone.

[0011] Optionally, a piston is embedded in 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 at the top end of the mounting plate, a connecting tube 1 is embedded in one side of the outer surface of the sleeve, one end of the connecting tube 1 passes through the interior of the blocking plate, and an extrusion plate is slidably connected to the interior of the blocking plate.

[0012] Optionally, a connecting pipe 2 is embedded in the top of the outer surface of the sleeve, and the same converging pipe is installed between one end of the two connecting pipes 2. A conical head is fixedly installed on the top of the converging pipe, and the angle between the conical head and the horizontal plane is forty-five degrees.

[0013] Optionally, a connecting pipe three is installed on one side of the outer surface of the sleeve, a blowing pipe is installed on one end of the connecting pipe three, a pressure valve is fixedly installed on the outside of the blowing pipe, a mounting sleeve is fixedly installed on the outside of one end of the blowing pipe, a fixing rod is embedded in one end of the mounting sleeve, and the fixing rod is embedded in the inside of the mounting cover.

[0014] Optionally, a one-way valve is embedded in the bottom of the outer surface of the sleeve, and the one-way valve is located between the connecting pipe 1 and the connecting pipe 3.

[0015] Optionally, the diameter of one end of the blowing pipe close to the connecting pipe 3 is smaller than the diameter of the other end, and the angle between the air outlet end of the blowing pipe and the horizontal plane is forty-five degrees.

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

[0017] (1) This method avoids the contact limitations of traditional charging methods, improves the convenience and reliability of charging, provides strong support for the continuous operation of the inspection drone, and changes the purpose of the existing technology that requires personnel to charge the inspection drone, thereby improving the endurance and convenience. When the inspection drone takes off, the power between the charging plate and the inspection robot is cut off, which can avoid the problem of over-discharge. At the same time, it can also improve the charging efficiency and charging speed, and realize efficient, convenient and safe wireless charging.

[0018] (2) The automatic release and safe recovery of the inspection drone are achieved through the coordinated work of the electric telescopic rod, charging plate, linkage arm, barrier plate and other components. When the inspection drone needs to be operated, the electric telescopic rod drives the charging plate to rise, and the barrier space is opened through a series of mechanical linkages, so that the drone is exposed and rises. After the inspection is completed, the drone is reset, the electric telescopic rod is reset, and the barrier plate is closed. At the same time, the piston and sleeve structure are used to perform a tight operation on the barrier plate to ensure the safe storage of the drone and prevent external interference. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

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

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

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

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

[0024] Figure 5 The figure shows a schematic diagram of the installation structure of the connecting pipe 3 in a quadruped robot for substation inspection provided by the present invention.

[0025] In the figure: 1. Inspection robot; 2. Alarm; 3. Inspection camera 1; 4. Mounting plate; 5. Blocking plate; 6. Linkage arm; 7. Mounting block; 8. Charging plate; 9. Electric telescopic rod; 10. Plug connector; 11. Mounting cover; 12. Column; 13. Side panel; 14. Slider; 15. Piston; 16. Sleeve; 17. Connecting pipe 1; 18. Extrusion plate; 19. Connecting pipe 2; 20. Converging pipe; 21. Conical head; 22. Inspection drone; 23. Inspection camera 2; 25. Connecting pipe 3; 26. Blowing pipe; 27. Pressure valve; 28. Mounting sleeve; 29. ​​Fixing rod; 30. One-way valve. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0027] The embodiment of the present invention provides a quadruped robot for substation inspection, such as Figures 1 to 5 As shown, it includes: an inspection robot 1, an alarm 2 is embedded and installed on the top edge of the inspection robot 1, an inspection camera 3 is fixedly installed on the other side of the top of the inspection robot 1, a mounting plate 4 is installed on the middle part of the top of the inspection robot 1 by screws, and barrier plates 5 are installed on both sides of the mounting plate 4 by hinges. The inside of the barrier plate 5 is movably connected to a charging plate 8, and the bottom end of the charging plate 8 is connected to a plug connector 10 through a connecting line. A mounting cover 11 is fixedly installed on the outside of the plug connector 10, and a column 12 is symmetrically embedded and installed on the top of the mounting cover 11. The column 12 is fixedly installed on the bottom end of the charging plate 8, and a transmitting coil is installed inside the charging plate 8. A plug hole is provided at the top of the mounting plate 4 corresponding to the bottom end of the plug connector 10, and a plug interface is provided at the top of the inspection robot 1 corresponding to the bottom end of the plug connector 10 for electrical connection between the inspection robot 1 and the charging plate 8.

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

[0029] When the electric telescopic rod 9 is in operation, it drives the charging plate 8 to rise, and when the charging plate 8 rises, it drives the mounting block 7 to rise. When the mounting block 7 rises, the blocking plate 5 is flipped over by the action of the linkage arm 6, thereby exposing the charging plate 8 to the external environment and changing the take-off height of the inspection drone 22.

[0030] like Figure 3 、 Figure 4 and Figure 5 As shown, the top of the mounting plate 4 is symmetrically fixed with a side plate 13, the side plate 13 is slidably connected to the inside of the charging plate 8, and the inside of the side plate 13 is slidably connected with a slider 14, which is fixed between the top of the slider 14 and the bottom of the charging plate 8;

[0031] The side plate 13 is used to limit the movement of the charging plate 8 and can drive the movement of the slider 14, thereby changing the difficulty of moving the slider 14.

[0032] like Figure 3 and Figure 5 As shown, a piston 15 is embedded in 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, and the support column is installed at the top end of the mounting plate 4. A connecting pipe 17 is embedded in one side of the outer surface of the sleeve 16, and one end of the connecting pipe 17 passes through the interior of the blocking plate 5, and an extrusion plate 18 is slidably connected to the interior of the blocking plate 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 baffle plate 5 along the connecting pipe 17 and drives the extrusion plate 18 to move. By the relative movement of the two extrusion plates 18, the sealing between the two baffle plates 5 is increased.

[0034] like Figure 3 and Figure 5 As shown, a second connecting pipe 19 is embedded in the top of the outer surface of the sleeve 16. A same converging pipe 20 is installed between one end of the two connecting pipes 19. A conical head 21 is fixedly installed on the top of the converging pipe 20. The angle between the conical head 21 and the horizontal plane is 45 degrees.

[0035] When the gas pressure inside the two sleeves 16 changes, the gas enters the converging pipe 20 along the two connecting pipes 19 and converges. The converged gas is ejected along the conical head 21, and the ejected gas blows to the outside of the inspection camera 3, thereby cleaning the outside of the inspection camera 3.

[0036] like Figure 3 and Figure 5As shown, a connecting pipe 3 25 is installed on one side of the outer surface of the sleeve 16, a blowing pipe 26 is installed on one end of the connecting pipe 3 25, a pressure valve 27 is fixedly installed on the outside of the blowing pipe 26, a mounting sleeve 28 is fixedly installed on the outside of one end of the blowing pipe 26, a fixing rod 29 is embedded in one end of the mounting sleeve 28, and the fixing rod 29 is embedded in the interior of the mounting cover 11;

[0037] When the gas pressure inside the sleeve 16 changes, the pressure of the gas along the connecting pipe three 25 also changes. When the pressure inside the connecting pipe three 25 changes and reaches the threshold of the pressure valve 27, the gas inside the blowing pipe 26 flows outward. The outward-flowing gas is sprayed to the outside, and at the same time, the blowing pipe 26 is fixed under the action of the fixing rod 29 and the mounting sleeve 28, which changes the difficulty of fixing the blowing pipe 26.

[0038] like Figure 3 and Figure 5 As shown, a one-way valve 30 is embedded in the bottom of the outer surface of the sleeve 16. The one-way valve 30 is located between the connecting pipe 17 and the connecting pipe 3 25. Through the action of the one-way valve 30, external gas can enter the interior of the sleeve 16, which changes the difficulty of external gas entering the interior of the sleeve 16.

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

[0040] Since the diameter of the blowing pipe 26 at one end close to the connecting pipe 3 25 is smaller than the diameter at the other end, the flow rate of the gas entering the blowing pipe 26 is reduced, and the spray range is increased. The angle between the blowing pipe 26 and the horizontal plane is forty-five degrees, which achieves the purpose of all-round cleaning of the inside of the plug hole and ensures the cleanliness of the inside of the plug hole.

[0041] like Figure 3 and Figure 4 As shown, this embodiment also includes a drone component, which specifically includes an inspection drone 22. An inspection camera 23 is fixedly installed at the bottom of the inspection drone 22. The inspection drone 22 stays on the charging plate 8, and the charging plate 8 is used to charge the inspection drone 22. Specifically, the inspection drone 22 is located between two side panels 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 inspection camera 1 3, the inspection robot 1 can inspect according to a pre-set program, saving manpower, reducing the workload of the inspection personnel, and ensuring the safety of the inspection personnel. The inspection robot 1 can be used to carry out high-intensity inspections at any time, which greatly ensures the safety of the substation. When encountering an inspection area that the inspection robot 1 cannot reach, the inspection drone 22 can be controlled to run through the background terminal, and the inspection camera 2 23 of the inspection drone 22 performs auxiliary inspections, ensuring a no-dead-angle inspection of the substation, eliminating the situation of missed inspections, ensuring the property safety of the substation, and being able to effectively issue early warnings for accidents.

[0043] However, since the inspection drone 22 is controlled to be in operation, it is necessary to move the inspection drone 22 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 is in operation, 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 blocking plate 5 to rotate. When the two blocking plates 5 rotate relative to each other, the blocking space at the top of the mounting plate 4 is opened. At this time, the inspection drone 22 is exposed to the outside world. Moreover, when the charging plate 8 rises, 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 is separated from the plug interface of the inspection robot 1. 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 drone 22 rises. At the same time, the rising of the charging plate 8 drives the slider 14 to rise, and the rising of the slider 14 drives the piston 15 to rise. At this time, when the piston 15 moves, the gas on the upper part of the sleeve 16 is compressed, and the compressed gas enters the inside of the convergence pipe 20 along the connecting pipe 29, and finally enters the inside of the conical head 21 along the converging pipe 20, and then blows to the outside of the inspection camera 3 along the conical head 21. At this time, the purpose of blowing the outside of the inspection camera 3 is achieved. At this time, air is taken in from the bottom end of the sleeve 16. Since the air inlets of the connecting pipe 17 and the connecting pipe 3 25 are both blocked, the one-way valve 30 is opened. When the one-way valve 30 is opened, the outside gas can enter the inside of the sleeve 16;

[0045] Then the inspection drone 22 receives the signal, and the inspection drone 22 takes off. After taking off, the inspection drone 22 inspects the surrounding area. After the inspection, the inspection drone 22 resets, and then the electric telescopic rod 9 resets, and the inspection drone 22 enters between the two side panels 13. At the same time, the barrier plates 5 are closed 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 connecting pipe 17 and the connecting pipe 3 25. When the connecting pipe 17 moves, it pushes the squeezing plate 18 inside the barrier plate 5 to move. When the squeezing plate 18 moves, the distance between the two barrier plates 5 is closed. When the two squeezing plates 18 are squeezed and fit together, the inside of the connecting pipe 17 cannot be entered. Gas causes the pressure inside the sleeve 16 to change, which in turn causes the gas pressure inside the connecting pipe three 25 to change. When the pressure exceeds the threshold of the pressure valve 27, the pressure drive causes the pressure valve 27 to open. When the pressure valve 27 is opened, the gas enters the plug interface of the inspection robot 1 along the blower pipe 26, and the purpose of cleaning the plug interface is achieved. Finally, the charging plate 8 is electrically connected to the inspection robot 1. At this time, the transmitting coil of the charging plate 8 and the receiving coil of the inspection drone 22 are coupled through the near-field magnetic field principle. The charging plate 8 converts direct current into high-frequency alternating current to generate an alternating magnetic field. The receiving coil on the drone generates current after inducing the magnetic field, and the battery is charged after rectification and other processing. At this time, the purpose of charging the drone is achieved.

[0046] The above is a detailed introduction to a quadruped robot for substation inspection provided by the present invention. For those skilled in the art, according to the ideas of the embodiments of the present invention, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A quadruped robot for substation inspection, characterized in that: include: An inspection robot (1) and a drone assembly, wherein an alarm (2) is embedded and installed at the edge of the top of the inspection robot (1), an inspection camera (3) is fixedly installed at the other side of the top of the inspection robot (1), a mounting plate (4) is installed at the middle of the top of the inspection robot (1) by screws, baffle plates (5) are installed on both sides of the mounting plate (4) by hinges, a charging plate (8) is movably connected to the inside of the baffle plate (5), the bottom of the charging plate (8) is connected to a plug connector (10) by a connecting line, a mounting cover (11) is fixedly installed on the outside of the plug connector (10), a column (12) is symmetrically embedded and installed at the top of the mounting cover (11), the column (12) is fixedly installed at the bottom of the charging plate (8), and a plug hole is provided at the top of the mounting plate (4) corresponding to the bottom of the plug connector (10); The inner wall of the blocking plate (5) is rotatably connected to a linkage arm (6), one end of the linkage arm (6) is mounted with a mounting block (7) via a connecting shaft, and the number of the mounting blocks (7) is set to four in total. The four mounting blocks (7) are respectively mounted at the four corners of the bottom end of the charging plate (8), and two electric telescopic rods (9) are embedded and mounted between the bottom end of the charging plate (8) and the top end of the mounting plate (4); A side plate (13) is symmetrically fixedly mounted on the top of the mounting plate (4), the side plate (13) is slidably connected to the inside of the charging plate (8), a slider (14) is slidably connected to the inside of the side plate (13), and the slider (14) is fixedly mounted between the top of the slider (14) and the bottom of the charging plate (8); The drone assembly includes an inspection drone (22), a second inspection camera (23) is fixedly mounted on the bottom of the inspection drone (22), the inspection drone (22) stays on the charging plate (8) and is limited between the two side plates (13), and the charging plate (8) is used to charge the inspection drone (22); A piston (15) is embedded in the bottom end of the slider (14), a sleeve (16) is fixedly installed on the bottom end of the piston (15), a support column is installed on the bottom end of the sleeve (16), and the support column is installed on the top end of the mounting plate (4). A connecting pipe (17) is embedded in one side of the outer surface of the sleeve (16), and one end of the connecting pipe (17) passes through the interior of the blocking plate (5). The interior of the blocking plate (5) is slidably connected to an extrusion plate (18); A second connecting pipe (19) is embedded and installed at the top of the outer surface of the sleeve (16), and a same convergence pipe (20) is installed between one end of the two second connecting pipes (19). A conical head (21) is fixedly installed at the top of the convergence pipe (20), and the angle between the conical head (21) and the horizontal plane is forty-five degrees; A connecting pipe (25) is installed on one side of the outer surface of the sleeve (16), a blowing pipe (26) is installed on one end of the connecting pipe (25), a pressure valve (27) is fixedly installed on the outside of the blowing pipe (26), a mounting sleeve (28) is fixedly installed on the outside of one end of the blowing pipe (26), a fixing rod (29) is embedded and installed at one end of the mounting sleeve (28), and the fixing rod (29) is embedded and installed inside the mounting cover (11); A one-way valve (30) is embedded in the bottom of the outer surface of the sleeve (16), and the one-way valve (30) is located between the connecting pipe 1 (17) and the connecting pipe 3 (25); The diameter of one end of the blowing pipe (26) close to the connecting pipe 3 (25) is smaller than the diameter of the other end, and the angle between the air outlet end of the blowing pipe (26) and the horizontal plane is forty-five degrees.

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