Indoor substation inspection unmanned aerial vehicle

Abstract

The invention discloses an indoor transformer substation inspection unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicles, the indoor transformer substation inspection unmanned aerial vehicle comprises a rack, four groups of mounting positions symmetrically distributed on the rack are used for mounting motors, each motor is provided with a paddle, the rack is provided with an image acquisition device used for acquiring images, and output shafts of the motors are provided with quick release structures. The blades are used for limiting the positions of the blades; the four sets of installation positions are connected with the rack through a connecting mechanism, the connecting mechanism is provided with an angle adjusting and resetting structure, and the positions of all the installation positions are positioned by conducting circular motion around the axis point of the angle adjusting and resetting structure. A falling buffering structure is further arranged at the bottom of the machine frame. Through operation of the quick release structure, the device is convenient for quickly replacing the blades of the unmanned aerial vehicle, and the problem that the blades cannot be replaced in time when being damaged is effectively avoided. And meanwhile, the quick release structure remarkably shortens the paddle replacement time, and the paddle maintenance efficiency is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to an indoor substation inspection UAV. Background Art

[0002] Indoor substation inspection drones are unmanned aerial vehicles (UAVs) specifically designed for internal substation inspections. They are typically equipped with high-precision sensors, HD cameras, and other inspection equipment. Their primary function is to rapidly inspect and monitor substation equipment through automated flight.

[0003] The existing drones in indoor substation inspection applications currently lack structural reliability. For example, the drone arm lacks an automatic retraction mechanism in the event of a collision, causing the arm to directly bear the impact force and easily break. This will affect the flight stability of the drone and even lead to the interruption of the inspection mission. The replacement efficiency of the connecting arm is low and the replacement takes a long time, resulting in a decrease in the efficiency of indoor substation inspections and an inability to resume the mission in a timely manner. When an existing drone falls, it may land directly on the ground without a reliable landing cushioning structure, causing the fuselage and internal equipment (such as cameras and sensors) to be damaged by the impact force. The blades may be installed with fixed screws or complex structures, which cannot be quickly disassembled and replaced when damaged, causing the drone to be grounded for a long time, affecting the timeliness of the inspection mission. Summary of the Invention

[0004] The purpose of the present invention is to provide an indoor substation inspection drone to solve the current market problems raised by the above background technology.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an indoor substation inspection drone, comprising a frame, four symmetrically distributed mounting positions on the frame for mounting a motor, propellers mounted on each of the motors, and an image acquisition device mounted on the frame for acquiring images, characterized in that: A quick-release structure is installed on the motor output shaft to limit the position of the blade; The four groups of mounting positions are connected to the frame via a connecting mechanism, and the connecting mechanism is provided with an angle adjustment and reset structure, and the position of each mounting position is positioned by performing a circular motion around the axis of the adjustment and reset structure; A landing buffer structure is also provided at the bottom of the frame.

[0006] Preferably, the connecting mechanism includes an articulated seat connected to the frame and an arm connected to the mounting position, the articulated seat and the arm are connected by an adjustable reset structure, and a limit block is provided on the articulated seat to limit the maximum rotation angle of the arm, and the maximum flip of the arm is to contact with the limit block.

[0007] Preferably, the adjustment and reset structure includes: A rotating shaft, a connecting strip connected to the machine arm is installed on the rotating shaft, the rotating shaft bearing is connected to the hinge seat and the top passes through the hinge seat, the bottom of the rotating shaft is connected to the bottom of the hinge seat through a ratchet structure, and the ratchet structure enables the machine arm to move unidirectionally in the direction away from the limit block.

[0008] Preferably, the ratchet structure includes a groove coaxially opened at the bottom of the hinged seat and the rotating shaft, a plurality of ratchet teeth are distributed in the groove, the bottom of the rotating shaft is connected to a turntable located in the groove, and the turntable is provided with one-way teeth made of elastic material that cooperate with the one-way movement of the ratchet teeth. The rotating shaft has the freedom of upward linear movement. When the machine arm is reset, the rotating shaft is lifted upward to drive the one-way teeth to move upward and disengage the ratchet teeth and rotate the rotating shaft to move in the direction of the limit block. After resetting, the rotating shaft moves downward to drive the one-way teeth to engage with the ratchet teeth.

[0009] Preferably, a torsion spring is installed between the hinge seat and the connecting bar, which automatically twists the arm after lifting the rotating shaft upward during reset, and a reset knob is installed on the rotating shaft extending from the top of the hinge seat, and the arc surface of the reset knob is provided with anti-slip grooves.

[0010] Preferably, the connecting mechanism is also provided with a plug-in structure for disassembly between the articulated seat and the arm, wherein the plug-in structure includes: a slot provided on the connecting strip and a block in the arm that cooperates with the slot to limit the arm, a sliding groove is left in the arm for the sliding of the block, and a tension spring is also installed in the sliding groove for keeping the block and the slot in a tensioned state.

[0011] Preferably, a limiting rod is further provided in the sliding groove, the clamping block slides on the limiting rod, and the limiting rod is used to limit the maximum stroke of the clamping block.

[0012] Preferably, the card slots are provided in at least two groups on the connecting strip and the card blocks are provided on the machine arm; or / and the card blocks are made of rubber material; or / and the edges of the card blocks are rounded.

[0013] Preferably, the landing buffer structure includes a plurality of landing brackets located at the bottom of the frame, each landing bracket is provided with a buffer groove for sliding a buffer rod, a buffer spring is installed on the buffer rod in the buffer groove, and there is damping between the buffer groove and the buffer rod, and a bracket foot is connected below the buffer rod, and an anti-slip pad is provided at the bottom of the bracket foot; The landing buffer structure further includes a plurality of reinforcement grooves arranged around the buffer groove in the landing bracket, and reinforcement rods are slidably connected in the reinforcement grooves.

[0014] Preferably, the quick-release structure includes a base fixed to the motor, and the blade sleeve is pressed on the base by a pressure strip; The base is provided with a plurality of L-shaped grooves, the pressure strips are the same in number as the L-shaped grooves and are fixed on the same pin shaft, the top of the pin shaft is provided with a quick-release cap and the quick-release cap is provided with an anti-slip groove, a limit shaft is provided in an empty groove coaxial with the base, and a quick-release spring is installed on the limit shaft; When limiting the position of the blade, the pressure strip moves vertically and linearly to the bottom of the L-shaped groove and then moves horizontally to limit the position.

[0015] Compared with the prior art, the present invention has the following beneficial effects: By manipulating auxiliary structures, this system design allows the drone's arms to automatically retract in the event of a collision, preventing them from breaking during use. The arms retract inward when encountering resistance, significantly reducing the risk of damage to the connecting arms. Furthermore, if the arms are damaged, they can be quickly replaced, ensuring that the efficiency and timeliness of indoor substation inspections are not affected.

[0016] By manipulating the landing buffer structure, the drone can effectively cushion the impact when it falls, preventing it from directly hitting the ground and minimizing damage. This not only helps reduce drone maintenance costs but also improves the overall efficiency and reliability of indoor substation inspections.

[0017] By operating the quick-release mechanism, this device facilitates the rapid replacement of drone blades, effectively avoiding the problem of being unable to replace damaged blades in a timely manner. At the same time, the quick-release mechanism significantly shortens the time it takes to replace blades, greatly improving the efficiency of blade maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, as part of this disclosure, are intended to provide a further understanding of the disclosure. The exemplary embodiments of the disclosure and their descriptions are intended to explain the disclosure and do not constitute undue limitations thereon. Obviously, the drawings described below are merely examples, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0019] Figure 1 This is a structural diagram of an indoor substation inspection drone according to the present invention; Figure 2 This is a schematic diagram of a connection mechanism for an indoor substation inspection drone according to the present invention; Figure 3 This is a schematic diagram of the arm structure of an indoor substation inspection drone of the present invention; Figure 4 For the present invention Figure 3 A in the middle is an enlarged schematic diagram; Figure 5 This is a schematic diagram of the ratchet structure of an indoor substation inspection drone of the present invention; Figure 6 This is a schematic diagram of the card block and card slot connection structure of an indoor substation inspection drone of the present invention; Figure 7 This is a cross-sectional schematic diagram of the plug-in structure of an indoor substation inspection drone according to the present invention; Figure 8 This is a schematic diagram of a landing buffer structure for an indoor substation inspection drone according to the present invention; Figure 9 This is a cross-sectional schematic diagram of a landing buffer structure for an indoor substation inspection drone according to the present invention; Figure 10 This is a schematic cross-sectional view of a quick-disassembly structure of an indoor substation inspection drone according to the present invention; Figure 11 This is a schematic diagram of the L-shaped slot structure of an indoor substation inspection drone of the present invention.

[0020] In the figure: 1, frame; 2, propeller blade; 3, motor; 4, mounting position; 5, image acquisition device; 6, connecting mechanism; 601, hinge seat; 602, machine arm; 603, reset knob; 604, torsion spring; 605, rotating shaft; 606, connecting bar; 607, slot; 608, slide; 609, block; 610, limit rod; 611, tension spring; 612, anti-slip groove; 613, ratchet; 614, One-way tooth; 615, groove; 616, turntable; 617, limit block; 7, landing buffer structure; 71, landing bracket; 72, bracket foot; 73, anti-slip pad; 74, reinforcement rod; 75, buffer rod; 76, buffer spring; 77, buffer groove; 8, quick release structure; 81, base; 82, empty slot; 83, quick release spring; 84, limit shaft; 85, pin shaft; 86, quick release cap; 87, pressure strip; 88, L-shaped groove. DETAILED DESCRIPTION

[0021] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0022] See also Figures 1-11 , an indoor substation inspection drone, e.g. Figure 1As shown, it includes a frame 1, four groups of mounting positions 4 symmetrically distributed on the frame 1 for mounting motors 3, blades 2 mounted on each motor 3, and an image acquisition device 5 mounted on the frame 1 for acquiring images.

[0023] A quick-release structure 8 is installed on the output shaft of the motor 3 to limit the position of the blade 2; The four groups of mounting positions 4 are connected to the frame 1 through a connecting mechanism 6, and the connecting mechanism 6 is provided with an angle adjustment and reset structure, and the position of each mounting position 4 is positioned by making a circular motion around the axis point of the adjustment and reset structure; A landing buffer structure 7 is also provided at the bottom of the frame 1 .

[0024] In specific implementation, combined with Figure 2 and Figure 3 As shown, the connecting mechanism 6 includes an articulated seat 601 connected to the frame 1 and an arm 602 connected to the mounting position 4. The articulated seat 601 and the arm 602 are connected by an adjustable reset structure. A limit block 617 is provided on the articulated seat 601 to limit the maximum rotation angle of the arm 602. The maximum flip of the arm 602 is to contact the limit block 617.

[0025] As a further illustration: Combined Figure 3-Figure 5 As shown, the adjustment reset structure includes: The rotating shaft 605 has a connecting bar 606 installed on it, which is connected to the machine arm 602. The bearing of the rotating shaft 605 is connected to the hinge seat 601 and the top passes through the hinge seat 601. The bottom of the rotating shaft 605 is connected to the bottom of the hinge seat 601 through a ratchet structure. The ratchet structure allows the machine arm 602 to move unidirectionally in the direction away from the limit block 617.

[0026] The ratchet structure includes a groove 615 coaxially opened at the bottom of the hinged seat 601 and the rotating shaft 605, and a plurality of ratchet teeth 613 are distributed in the groove 615. The bottom of the rotating shaft 605 is connected to a turntable 616 located in the groove 615, and the turntable 616 is provided with one-way teeth 614 made of elastic material that cooperate with the ratchet teeth 613 for unidirectional movement. The rotating shaft 605 has the freedom of upward linear movement. When the machine arm 602 is reset, the rotating shaft 605 is lifted upward to drive the one-way teeth 614 to move upward to disengage the ratchet teeth 613 and rotate the rotating shaft 605 to move in the direction of the limit block 617. After resetting, the rotating shaft 605 moves downward to drive the one-way teeth 614 to engage with the ratchet teeth 613.

[0027] Also installed between the articulated seat 601 and the connecting bar 606 is a torsion spring 604 that automatically twists the machine arm 602 after lifting the rotating shaft 605 upward when resetting. A reset knob 603 is installed on the rotating shaft 605 extending from the top of the articulated seat 601, and the arc surface of the reset knob 603 is provided with anti-slip grooves 612.

[0028] Combine Figure 6and Figure 7 As shown, the connecting mechanism 6 is also provided with a plug-in structure for disassembly between the articulated seat 601 and the arm 602, wherein the plug-in structure includes: a slot 607 provided on the connecting strip 606 and a block 609 in the arm 602 that cooperates with the slot 607 to limit the arm 602, a slide groove 608 is reserved in the arm 602 for sliding of the block 609, and a tensioning spring 611 is also installed in the slide groove 608 for keeping the block 609 and the slot 607 in a tensioned state.

[0029] A limiting rod 610 is further provided in the sliding groove 608 , and the block 609 slides on the limiting rod 610 , and the limiting rod 610 is used to limit the maximum stroke of the block 609 .

[0030] There are at least two groups of card slots 607 on the connecting strip 606 and card blocks 609 on the arm 602; or / and the card blocks 609 are made of rubber material; or / and the edges of the card blocks 609 are rounded.

[0031] like Figure 8 and Figure 9 As shown, the landing buffer structure 7 includes a plurality of landing brackets 71 located at the bottom of the frame 1. Each landing bracket 71 defines a buffer groove 77 for sliding a buffer rod 75. A buffer spring 76 is installed on the buffer rod 75 in the buffer groove 77, and there is damping between the buffer groove 77 and the buffer rod 75. The buffer rod 75 is connected to a bracket foot 72 below, and an anti-slip pad 73 is provided at the bottom of the bracket foot 72. The landing buffer structure 7 further includes a plurality of reinforcement grooves 78 provided around the buffer groove 77 in the landing bracket 71 , and reinforcement rods 74 are slidably connected in the reinforcement grooves 78 .

[0032] See also Figure 10 and Figure 11 The quick-release structure 8 includes a base 81 fixed on the motor 3, and the blade 2 is sleeved on the base 81 and pressed tightly by the pressure strip 87; The base 81 is provided with a plurality of L-shaped grooves 88. The number of the pressure strips 87 is the same as that of the L-shaped grooves 88 and they are fixed on the same pin 85. The top of the pin 85 is provided with a quick-release cap 86 and the quick-release cap 86 is provided with an anti-slip groove 89. A limit shaft 84 is also provided in the empty groove 82 coaxial with the base 81, and a quick-release spring 83 is also installed on the limit shaft 84. When the blade 2 is limited, the pressure strip 87 moves vertically and linearly to the bottom of the L-shaped groove 88 and then moves horizontally to limit the position.

[0033] It should be noted that when using the indoor substation inspection drone, when the arm 602 collides, the arm 602 folds by making a circular motion around the rotating shaft 605 of the adjustment reset structure, and the flipping angle of the arm 602 is maintained by the one-way structure of the ratchet structure to reduce the damage rate.

[0034] To reset the machine arm 602, pull the reset knob 603 upward to drive the ratchet 613 at the bottom of the rotating shaft 605 to separate from the one-way tooth 614 to release the one-way structure. Since the torsion spring 604 is compressed during the collision, when the one-way structure is released, the torsion spring 604 releases its elastic potential energy to drive the machine arm 602 to flip to the limit block 617.

[0035] When arm 602 is damaged and needs to be repaired, a pulling force is applied toward motor 3. When the pulling force reaches a threshold, the slot 607 of connecting bar 606 squeezes the block 609, causing it to slide in the slot 608 and compress the tension spring 611, separating the connecting bar 606 from the arm 602 and allowing replacement. During installation, the connecting bar 606 is aligned with the insertion point of arm 602 and inserted, with the block 609 engaging the slot 607 on the connecting bar 606 to lock in place.

[0036] When landing, the anti-skid pad 73 of the support foot 72 contacts the ground, and the internal buffer spring 76 and damping reduce the impact force during landing.

[0037] If the propeller 2 needs to be replaced, rotate the quick-release cap 86 to allow the pressure strip 87 on the pin 85 to rotate horizontally to the end of the L-shaped slot 88. At this time, the compressed quick-release spring 83 pushes the pressure strip 87 out of the vertical slot of the L-shaped slot 88 through the elastic potential energy to release the pressure on the propeller 2. During installation, put the propeller 2 on the base 81, insert the pin 85 into the empty slot 82, until the pressure strip 87 contacts the bottom of the vertical slot of the L-shaped slot 88, then rotate the quick-release cap 86 to move the pressure strip 87 horizontally to the end to complete the installation.

[0038] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. An indoor substation inspection drone, comprising a frame (1), four symmetrically distributed mounting positions (4) on the frame (1) for mounting a motor (3), a propeller (2) mounted on each of the motors (3), and an image acquisition device (5) mounted on the frame (1) for acquiring images, characterized in that: A quick-release structure (8) is installed on the output shaft of the motor (3) for limiting the position of the blade (2); The four groups of mounting positions (4) are connected to the frame (1) via a connecting mechanism (6), and the connecting mechanism (6) is provided with an angle adjustment and reset structure, and the position of each mounting position (4) is positioned by performing a circular motion around the axis of the adjustment and reset structure; A landing buffer structure (7) is also provided at the bottom of the frame (1).

2. The indoor substation inspection drone according to claim 1, characterized in that: The connecting mechanism (6) comprises an articulated seat (601) connected to the frame (1) and an arm (602) connected to the mounting position (4); the articulated seat (601) and the arm (602) are connected via an adjustable reset structure; a limit block (617) is provided on the articulated seat (601) for limiting the maximum rotation angle of the arm (602); the arm (602) is turned to the maximum extent until it contacts the limit block (617).

3. The indoor substation inspection drone according to claim 2, characterized in that: The adjustment and reset structure includes: A rotating shaft (605) is mounted on the rotating shaft (605), a connecting bar (606) connected to the machine arm (602), a bearing of the rotating shaft (605) is connected to the articulated seat (601) and the top thereof passes through the articulated seat (601), and the bottom of the rotating shaft (605) is connected to the bottom of the articulated seat (601) via a ratchet structure, and the ratchet structure enables the machine arm (602) to move unidirectionally in a direction away from the limit block (617).

4. The indoor substation inspection drone according to claim 3, characterized in that: The ratchet structure includes a groove (615) coaxially opened at the bottom of the hinge seat (601) and the rotating shaft (605), wherein a plurality of ratchet teeth (613) are distributed in the groove (615), the bottom of the rotating shaft (605) is connected to a rotating disk (616) located in the groove (615), and the rotating disk (616) is provided with one-way teeth (614) made of elastic material and cooperating with the ratchet teeth (613) for one-way movement. The rotating shaft (605) has the freedom of upward linear movement. When the machine arm (602) is reset, the rotating shaft (605) is lifted upward to drive the one-way teeth (614) to move upward to release the meshing connection with the ratchet teeth (613) and rotate the rotating shaft (605) to move in the direction of the limit block (617). After reset, the rotating shaft (605) moves downward to drive the one-way teeth (614) to mesh with the ratchet teeth (613).

5. The indoor substation inspection drone according to claim 4, characterized in that: A torsion spring (604) is also installed between the articulated seat (601) and the connecting bar (606) for automatically twisting the machine arm (602) after the rotating shaft (605) is lifted upward during resetting. A reset knob (603) is installed on the rotating shaft (605) extending from the top of the articulated seat (601), and the arc surface of the reset knob (603) is provided with anti-slip grooves (612).

6. The indoor substation inspection drone according to claim 5, characterized in that: The connecting mechanism (6) is further provided with a plug-in structure for disassembly between the hinge seat (601) and the machine arm (602), wherein the plug-in structure comprises: a slot (607) provided on the connecting strip (606) and a block (609) in the machine arm (602) that cooperates with the slot (607) to limit the machine arm (602), a slide groove (608) is provided in the machine arm (602) for providing the slide of the block (609), and a tension spring (611) is further installed in the slide groove (608) for maintaining the block (609) and the slot (607) in a tensioned state.

7. The indoor substation inspection drone according to claim 6, characterized in that: A limiting rod (610) is further provided in the sliding groove (608), the clamping block (609) slides on the limiting rod (610), and the limiting rod (610) is used to limit the maximum stroke of the clamping block (609).

8. The indoor substation inspection drone according to claim 6 or 7, characterized in that: At least two groups of the card slots (607) are provided on the connecting strip (606) and the card blocks (609) are provided on the machine arm (602); or / and the card blocks (609) are made of rubber material; or / and the edges of the card blocks (609) are rounded.

9. The indoor substation inspection drone according to claim 1, characterized in that: The landing buffer structure (7) includes a plurality of landing brackets (71) located at the bottom of the frame (1), each landing bracket (71) is provided with a buffer groove (77) for sliding a buffer rod (75), a buffer spring (76) is installed on the buffer rod (75) in the buffer groove (77), and there is damping between the buffer groove (77) and the buffer rod (75), the buffer rod (75) is connected to the bracket foot (72) below, and an anti-slip pad (73) is provided at the bottom of the bracket foot (72); The landing buffer structure (7) further comprises a plurality of reinforcement grooves (78) provided around the buffer groove (77) in the landing bracket (71), and reinforcement rods (74) are slidably connected in the reinforcement grooves (78).

10. The indoor substation inspection drone according to claim 1, characterized in that: The quick-release structure (8) includes a base (81) fixed on the motor (3), and the blade (2) is sleeved on the base (81) and pressed tightly by a pressure strip (87); The base (81) is provided with a plurality of L-shaped grooves (88), the pressure strips (87) are the same in number as the L-shaped grooves (88) and are fixed on the same pin (85), the top of the pin (85) is provided with a quick-release cap (86) and the quick-release cap (86) is provided with an anti-slip groove (89), and a limit shaft (84) is provided in the empty groove (82) coaxial with the base (81), and a quick-release spring (83) is also installed on the limit shaft (84); When limiting the position of the blade (2), the pressure strip (87) moves vertically and linearly to the bottom of the L-shaped groove (88) and then moves horizontally to limit the position.

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