Autonomous obstacle crossing inspection robot for transformer substation

Abstract

The invention relates to the technical field of inspection robots, and discloses a transformer substation autonomous obstacle crossing inspection robot which comprises an inspection body with the bottom connected with four sets of walking wheel feet, the walking wheel feet are in driving connection with the inspection body, the bottoms of the walking wheel feet are in driving connection with a universal seat, and the inner side of the bottom of the universal seat is rotationally connected with a double-rod sleeve shaft; the double-rod sleeve shaft is in driving connection with the universal seat, the outer side of the middle of the double-rod sleeve shaft is connected with a telescopic sliding wheel leg deformation piece, the wheel leg deformation piece annularly surrounds the outer side of the double-rod sleeve shaft, and the position, connected with the double-rod sleeve shaft, of the universal seat is connected with a wheel body positioning part in an electromagnetic driving mode. According to the four-foot robot, the four feet can have a double-shape conversion function, when obstacle crossing is needed, the robot can easily pass through the four feet, when high-speed movement or low-altitude movement is needed, high-speed movement and low-altitude movement can be achieved in the mode that the four feet are converted into wheels, and the application range of transformer substation inspection in various environments can be widened.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and in particular to an autonomous obstacle-crossing inspection robot for a substation. Background Art

[0002] Substation inspection robots are devices used in substations, integrating multiple technologies to achieve all-weather, all-round, and fully autonomous intelligent inspection and monitoring. Among substation inspection robots, track-based robots move along fixed tracks, enabling inspections of fixed substation areas. Wheeled, tracked, and quadruped robots are able to move freely and conduct inspections of substations over large areas. Drone inspection robots also offer high-altitude inspection capabilities.

[0003] When inspecting substations, existing four-legged inspection robots complete their own movement and obstacle crossing by alternating the movement of their four legs. However, they do not have the function of high-speed movement, and the four-legged inspection robots cannot move close to the ground, making it difficult to inspect under the substation. Wheeled inspection robots do not have the obstacle crossing function.

[0004] Therefore, we make improvements to this and propose an autonomous obstacle-crossing inspection robot for substations. Summary of the Invention

[0005] The purpose of the present invention is to address the problems that the existing four-legged inspection robot has insufficient moving speed and is unable to inspect the area below the substation.

[0006] In order to achieve the above-mentioned purpose of the invention, the present invention provides the following substation autonomous obstacle-crossing inspection robot to improve the above-mentioned problem.

[0007] The specific application is as follows:

[0008] A substation autonomous obstacle-crossing inspection robot comprising:

[0009] The bottom is connected to an inspection body with four sets of walking wheel feet, the walking wheel feet are driven and connected to the inspection body, the bottom of the walking wheel feet is driven and connected to a universal seat, the inner side of the bottom of the universal seat is rotatably connected to a double-rod sleeve shaft, the double-rod sleeve shaft is driven and connected to the universal seat, the outer side of the middle part of the double-rod sleeve shaft is connected to a telescopic sliding wheel leg deformation part, the wheel leg deformation part is annular and surrounds the outer side of the double-rod sleeve shaft, the position where the universal seat is connected to the double-rod sleeve shaft is electromagnetically driven and connected to a wheel body positioning part, and the wheel body positioning part is clamped and locked with the double-rod sleeve shaft;

[0010] The double-rod sleeve shaft includes a rotating shaft and a wheel body deformation shaft. The wheel body deformation shaft is arranged inside the rotating shaft. The rotating shaft rotates to drive the wheel leg deformation member to telescope and deform into a wheel shape.

[0011] As the preferred technical solution of the present application, control centers are provided at both ends of the inspection body, the control centers are electrically connected to the walking wheel feet and the universal seat, the top surface of the inspection body is provided with equidistantly arranged equipment installation slots, the equipment installation slots are electrically connected to the control center, and the position where the inspection body is connected to the walking wheel feet is provided with a storage slot, and the walking wheel feet are embedded in the storage slot when folded and contracted.

[0012] As the preferred technical solution of the present application, a boom is provided at the position where the walking wheel foot is connected to the inspection body, the top of the boom is hinged inside the inspection body, the boom is drive-connected to the inspection body, the bottom end of the boom is drive-connected to two elastic arms, and the bottom ends of the two elastic arms are drive-connected to the universal seat.

[0013] As the preferred technical solution of the present application, a wheel groove is provided in the middle of the lower part of the universal seat, shaft holes are provided on both sides of the wheel groove, a drive motor is embedded in one side of the outer wall of the universal seat, the output end of the drive motor is connected to a drive gear, and a contact ring is provided on one side of the outer wall of the universal seat, and the center of the contact ring coincides with the center of the shaft hole.

[0014] As the preferred technical solution of this application, a transmission protection box and an insulation protection box are respectively provided on both sides of the shaft hole on the outer wall of the universal seat. The transmission protection box is sleeved on the outside of the driving gear, and the insulation protection box is sleeved on the outside of the contact ring.

[0015] As a preferred technical solution of the present application, a winding control box is connected to the middle of the rotating shaft, a driven gear is connected to one end of the rotating shaft, and a power receiving ring is connected to the end of the rotating shaft away from the driven gear. The power receiving ring is located at the center of the contact ring, and the outer wall of the power receiving ring is slidably connected to the inner wall of the contact ring. Two symmetrical groups of deformation and shrinkage holes are provided on both sides of the outer wall of the winding control box, and symmetrical positioning slots are provided on the side of the outer wall of the winding control box close to the wheel body positioning part.

[0016] As the preferred technical solution of the present application, a central driving roller is connected to the middle of the wheel deformation shaft, and the central driving roller rotates at the center of the winding control box. A driving steel wire is wound around the outer wall of the central driving roller, and one end of the rotating shaft connected to the driven gear is fixedly connected to a deformation motor, and the output end of the deformation motor is driven and connected to the central driving roller, and the two ends of the central driving roller are limited to rotate inside the two ends of the winding control box.

[0017] As a preferred technical solution of the present application, the winding control box is internally connected to driven wire rollers arranged in a ring and at equal intervals, a driven wire is wound around the middle of the driven wire roller, and the driven wire is slid through the outside of the winding control box at one end away from the driven wire roller. High-pressure springs are fitted at the positions where the two ends of the driven wire roller are connected to the winding control box, and the two ends of the high-pressure spring are respectively connected to the inner wall of the winding control box and the outer wall of the driven wire roller.

[0018] As a preferred technical solution of the present application, the wheel leg deformation part includes two symmetrical groups of leg spring steels, the leg spring steels are located on the upper and lower sides of the winding control box, a rubber tire is connected to the middle of the outer wall of the leg spring steel, and two symmetrical groups of fixing strips are vertically fixed on both sides of the bottom surface of the leg spring steel, the fixing strips are slidably passed through the deformation shrinkage hole, and the end of the driving steel wire away from the center driving roller passes through the outer wall of the winding control box, the driving steel wire is fixedly connected to the center of the leg spring steel, and both ends of the two groups of leg spring steels are hinged with lateral assemblies, the lateral assemblies are hinged to the leg spring steel to form a closure, and the end of the driven steel wire located outside the winding control box is fixedly connected to the outer wall of the lateral assembly.

[0019] As a preferred technical solution of the present application, the wheel body positioning part includes an embedded receiving groove opened on one side of the inner wall of the wheel groove, a rotating movable groove is opened at the bottom of the inner side of the embedded receiving groove, the top surface and the side surface of the inner wall of the rotating movable groove are connected with an electromagnetic piece, a positioning slide rod is embedded in the embedded receiving groove, a hinge rod is connected to the lower middle part of the positioning slide rod, the hinge rod is hinged between the rotating movable groove and the embedded receiving groove, the bottom end of the positioning slide rod is connected to an electromagnetic block, the electromagnetic block is located inside the rotating movable groove, the rotating movable groove and the electromagnetic piece are magnetically attracted and connected when the power is on, the rotating movable groove and the electromagnetic piece repel each other when the power is on, and the rotating movable groove and the electromagnetic piece are magnetically attracted and connected to drive the positioning slide rod to rotate and slide to the inside of the positioning groove.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] In the solution of the present application: by adding a universal seat at the bottom of the four legs, and using the double-rod sleeve shaft at the bottom of the universal seat and the leg deformation member driving member to transmit the transmission, the four legs can have the function of dual-shape transformation. When it is necessary to overcome obstacles, the four legs can easily pass through. When high-speed movement or low-altitude movement is required, the four legs can be transformed into wheels to achieve high-speed movement and low-altitude movement, which is conducive to improving the scope of application of substation inspections in various environments.

[0022] 1. The double-rod sleeve shaft of the present invention is divided into a rotating shaft and a wheel body deformation shaft, so that when the four legs of the inspection robot are in use, they can drive the wheel leg deformation parts to contract according to the actual movement route through the rotation of the wheel body deformation shaft, so that the four legs form a wheel body, thereby realizing the high-speed movement function of the inspection robot, and at the same time, cooperating with the walking wheel feet to complete the low-altitude inspection function.

[0023] 2. The present invention is provided with an annularly distributed and elastic driven wire roller inside the winding control box, and a driven steel wire is wound around the outside of the driven wire roller to connect with the lateral assembly. It can provide high-strength pulling force for the lateral assembly after deformation, enhance the supporting performance of the lateral assembly, and automatically complete the steel wire contraction and reset when deformed into four legs.

[0024] 3. The present invention provides a wheel body positioning part on one side of the inner wall of the wheel groove, which can automatically complete the fixation of the double-rod sleeve shaft and the universal seat when the wheel body is deformed into four legs, thereby avoiding the rotation of the four legs that can be deformed into the wheel body and improving the walking stability of the four-legged inspection robot. The wheel body positioning part and the double-rod sleeve shaft are electrically connected, and can automatically complete automatic locking through the switching of the four legs and the wheel body. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the overall structure of an autonomous obstacle-crossing inspection robot for substations provided by the present invention;

[0026] Figure 2 for Figure 1 The schematic diagram of the structure of the walking wheel foot in the folded state is shown;

[0027] Figure 3 for Figure 1 The structural diagram of the walking wheel foot shown in FIG.

[0028] Figure 4 for Figure 3 The structural diagram of the universal seat shown;

[0029] Figure 5 for Figure 4 The schematic diagram of the structure of the middle part of the universal seat is shown;

[0030] Figure 6 for Figure 5 A schematic diagram of the decomposition of the wheel leg deformation member structure shown;

[0031] Figure 7 for Figure 5 The structural diagram of the rotating shaft cross section shown;

[0032] Figure 8 for Figure 7 The schematic diagram of the structure decomposition of the wheel body deformation shaft shown;

[0033] Figure 9 for Figure 7 The schematic diagram of the structure of the retracting control box is shown in the exploded cross-section;

[0034] Figure 10 for Figure 5 The structural diagram of the wheel body positioning part shown;

[0035] Figure 11 for Figure 10 The schematic diagram of the structure of the wheel positioning part and the universal seat is shown;

[0036] Figure 12 for Figure 11 The structural sectional exploded diagram of the wheel body positioning part is shown.

[0037] Indicated in the figure:

[0038] 1. Inspection body; 11. Control center; 12. Equipment installation slot; 13. Storage slot;

[0039] 2. Walking wheel foot; 21. One-section upper arm; 22. Two-section elastic arm;

[0040] 3. Universal seat; 31. Wheel groove; 32. Shaft hole; 33. Drive motor; 34. Drive gear; 35. Contact ring; 36. Transmission protection box; 37. Insulation protection box;

[0041] 4. Double-rod sleeve shaft; 41. Rotating shaft; 411. Winding control box; 412. Driven gear; 413. Power receiving ring; 414. Deformation shrinkage hole; 415. Positioning notch;

[0042] 42. Wheel deformation axis; 421. Center drive roller; 422. Drive wire; 423. Deformation motor; 424. Driven wire roller; 425. Driven wire; 426. High-pressure spring;

[0043] 5. Wheel leg deformation part; 51. Leg spring steel; 52. Rubber tire; 53. Side assembly; 54. Fixing strip;

[0044] 6. Wheel body positioning part; 61. Embedded storage groove; 62. Rotating movable groove; 63. Electromagnetic sheet; 64. Positioning slide rod; 65. Hinge rod; 66. Electromagnetic block. DETAILED DESCRIPTION

[0045] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described 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 should fall within the scope of protection of the present invention.

[0046] As described in the background art, the four-legged inspection robot has an insufficient movement speed and is unable to inspect the area below the substation.

[0047] In order to solve this technical problem, the present invention provides an autonomous obstacle-crossing inspection robot for substations, which is used to realize high-speed movement and low-altitude inspection of a four-legged inspection robot, and at the same time has obstacle-crossing function, a large inspection range and wide applicability.

[0048] Specifically, please refer to Figures 1-12 The substation autonomous obstacle-crossing inspection robot specifically includes:

[0049] An inspection body 1 is connected to the bottom with four sets of walking wheel feet 2, the walking wheel feet 2 are drivingly connected to the inspection body 1, the bottom of the walking wheel feet 2 is drivingly connected to a universal seat 3, the inner side of the bottom of the universal seat 3 is rotatably connected to a double-rod sleeve shaft 4, the double-rod sleeve shaft 4 is drivingly connected to the universal seat 3, the middle outer side of the double-rod sleeve shaft 4 is connected to a telescopic sliding wheel leg deformation member 5, the wheel leg deformation member 5 is annular and surrounds the outer side of the double-rod sleeve shaft 4, the position where the universal seat 3 is connected to the double-rod sleeve shaft 4 is electromagnetically driven and connected to a wheel body positioning part 6, and the wheel body positioning part 6 is clamped and locked with the double-rod sleeve shaft 4;

[0050] The double-rod sleeve shaft 4 includes a rotating shaft 41 and a wheel body deformation shaft 42. The wheel body deformation shaft 42 is arranged inside the rotating shaft 41. The rotating shaft 41 rotates to drive the wheel leg deformation member 5 to telescope and deform into a wheel shape.

[0051] The present invention provides an autonomous obstacle-crossing inspection robot for substations. By adding a universal seat 3 at the bottom of the four legs and utilizing the double-rod sleeve shaft 4 at the bottom of the universal seat 3 to transmit the power to the leg deformation member driving member, the four legs can have the function of dual-shape transformation. When obstacles need to be overcome, the four legs can easily pass through. When high-speed movement or low-altitude movement is required, the four legs can be transformed into wheels to achieve high-speed movement and low-altitude movement, which is conducive to improving the scope of application of substation inspections in various environments.

[0052] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0053] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features and technical solutions therein may be combined with each other.

[0054] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0055] Example 1

[0056] Please refer to Figures 1-12 A substation autonomous obstacle-crossing inspection robot, wherein control centers 11 are provided at both ends of the inspection body 1, and the control center 11 is electrically connected to the walking wheel feet 2 and the universal seat 3. The top surface of the inspection body 1 is provided with equidistantly arranged equipment installation grooves 12, and the equipment installation grooves 12 are electrically connected to the control center 11. The position where the inspection body 1 is connected to the walking wheel feet 2 is provided with a storage groove 13, and the walking wheel feet 2 are embedded in the storage groove 13 when folded and retracted.

[0057] A large arm 21 is provided at the position where the walking wheel foot 2 is connected to the inspection body 1. The top of the large arm 21 is hinged inside the inspection body 1. The large arm 21 is driven and connected to the inspection body 1. The bottom end of the large arm 21 is driven and connected to two elastic arms 22. The bottom ends of the two elastic arms 22 are driven and connected to the universal seat 3.

[0058] A wheel groove 31 is provided in the middle of the lower part of the universal seat 3, and shaft holes 32 are provided on both sides of the wheel groove 31. A driving motor 33 is embedded in one side of the outer wall of the universal seat 3, and the output end of the driving motor 33 is connected to a driving gear 34. A contact ring 35 is provided on one side of the outer wall of the universal seat 3, and the center of the contact ring 35 coincides with the center of the shaft hole 32.

[0059] A transmission protection box 36 and an insulation protection box 37 are respectively provided on both sides of the shaft hole 32 on the outer wall of the universal seat 3. The transmission protection box 36 is sleeved on the outside of the driving gear 34, and the insulation protection box 37 is sleeved on the outside of the contact ring 35.

[0060] A winding control box 411 is connected to the middle of the rotating shaft 41, and a driven gear 412 is connected to one end of the rotating shaft 41. A power receiving ring 413 is connected to the end of the rotating shaft 41 away from the driven gear 412. The power receiving ring 413 is located at the center of the contact ring 35. The outer wall of the power receiving ring 413 is in sliding contact with the inner wall of the contact ring 35. Two symmetrical groups of deformation and shrinkage holes 414 are provided on both sides of the outer wall of the winding control box 411, and symmetrical positioning slots 415 are provided on the side of the outer wall of the winding control box 411 close to the wheel body positioning part 6.

[0061] The double-rod sleeve shaft 4 is divided into a rotating shaft 41 and a wheel body deformation shaft 42, so that when the four groups of the inspection robot are in use, they can drive the wheel leg deformation parts 5 to contract according to the actual movement route through the rotation of the wheel body deformation shaft 42, so that the four legs form a wheel body, realizing the high-speed movement function of the inspection robot, and at the same time cooperating with the walking wheel feet 2 to complete the low-altitude inspection function.

[0062] Example 2

[0063] The substation autonomous obstacle inspection robot provided in the first embodiment is further optimized. Specifically, Figures 1-12 A central driving roller 421 is connected to the middle of the wheel deformation shaft 42, and the central driving roller 421 rotates at the center of the winding control box 411. A driving steel wire 422 is wound around the outer wall of the central driving roller 421. One end of the rotating shaft 41 connected to the driven gear 412 is fixedly connected to a deformation motor 423. The output end of the deformation motor 423 is drivingly connected to the central driving roller 421, and both ends of the central driving roller 421 are limited to rotate inside the two ends of the winding control box 411.

[0064] The winding control box 411 is internally connected to a driven wire roller 424 that is equidistantly arranged in a ring shape, and a driven wire 425 is wound around the middle of the driven wire roller 424. The driven wire 425 slides through the outside of the winding control box 411 at one end away from the driven wire roller 424. High-pressure springs 426 are fitted at the positions where both ends of the driven wire roller 424 are connected to the winding control box 411. Both ends of the high-pressure spring 426 are respectively connected to the inner wall of the winding control box 411 and the outer wall of the driven wire roller 424.

[0065] The wheel leg deformation member 5 includes two symmetrical groups of standing leg spring steels 51, and the standing leg spring steels 51 are located on the upper and lower sides of the winding control box 411. A rubber tire 52 is connected to the middle of the outer wall of the standing leg spring steel 51. Two symmetrical groups of fixing bars 54 are vertically fixed on both sides of the bottom surface of the standing leg spring steel 51. The fixing bars 54 are slidably passed through the deformation shrinkage hole 414. The end of the driving steel wire 422 away from the center driving roller 421 passes through the outer wall of the winding control box 411. The driving steel wire 422 is fixedly connected to the center of the standing leg spring steel 51. Both ends of the two groups of standing leg spring steels 51 are hinged with lateral assemblies 53. The lateral assemblies 53 are hinged to the standing leg spring steel 51 to form a closure. The end of the driven steel wire 425 located outside the winding control box 411 is fixedly connected to the outer wall of the lateral assembly 53.

[0066] A circularly distributed and elastic driven wire roller 424 is provided inside the winding control box 411, and a driven steel wire 425 is wound around the outside of the driven wire roller 424 and connected to the lateral assembly 53. It can provide high-strength pulling force for the lateral assembly 53 after deformation, enhance the supporting performance of the lateral assembly 53, and automatically complete the steel wire contraction and reset when deformed into four groups.

[0067] Example 3

[0068] The substation autonomous obstacle inspection robot provided in the first or second embodiment is further optimized. Specifically, Figures 1-12 As shown, the wheel body positioning portion 6 includes an embedded receiving groove 61 opened on one side of the inner wall of the wheel groove 31, and a rotating movable groove 62 is opened at the bottom of the inner side of the embedded receiving groove 61. The top surface and side surface of the inner wall of the rotating movable groove 62 are connected with an electromagnetic piece 63. A positioning slide rod 64 is embedded in the embedded receiving groove 61, and a hinge rod 65 is connected to the lower middle part of the positioning slide rod 64. The hinge rod 65 is hinged between the rotating movable groove 62 and the embedded receiving groove 61, and an electromagnetic block 66 is connected to the bottom end of the positioning slide rod 64. The electromagnetic block 66 is located inside the rotating movable groove 62. The rotating movable groove 62 and the electromagnetic piece 63 are magnetically attracted and connected when the power is on. The rotating movable groove 62 and the electromagnetic piece 63 repel each other when the power is on. The magnetic attraction connection between the rotating movable groove 62 and the electromagnetic piece 63 drives the positioning slide rod 64 to rotate and slide to the inside of the positioning slot 415.

[0069] A wheel body positioning part 6 is provided on one side of the inner wall of the wheel groove 31, which can automatically complete the fixation of the double-rod sleeve shaft 4 and the universal seat 3 when the wheel body is deformed into four legs, thereby avoiding the rotation of the four legs that can be deformed into the wheel body and improving the walking stability of the four-legged inspection robot. The wheel body positioning part 6 and the double-rod sleeve shaft 4 are electrically connected and can automatically complete automatic locking through the switching of the four legs and the wheel body.

[0070] The use process of the substation autonomous obstacle-crossing inspection robot provided by the present invention is as follows:

[0071] Start the inspection body 1, and connect the control center 11 inside the inspection body 1 to the external control mechanism through electrical signals. The program set up in the control center 11 can be started by the external program, driving the inspection body 1 to drive the walking wheel feet 2 to perform various actions, thereby realizing the movement of the inspection robot.

[0072] When the inspection body 1 moves, the inspection body 1 will drive the walking wheel feet 2 to rotate through the internal driving mechanism. When the walking wheel feet 2 rotate, they will cooperate with the driving section of the large arm 21 and the second section of the elastic arm 22 to cooperate with each other to realize the four-legged movement of the inspection body 1.

[0073] When the inspection body 1 needs to move at high speed, the deformation motor 423 is started, and the deformation motor 423 drives the wheel deformation shaft 42 to rotate. The rotation of the wheel deformation shaft 42 drives the central driving roller 421 to rotate. The rotation of the central driving roller 421 reels the driving wire 422. The retraction of the driving wire 422 pulls the two sets of leg spring steels 51 to retract each other.

[0074] During the contraction of the standing leg spring steel 51, since its two ends are hinged by the lateral assembly 53 (the lateral assembly 53 is made of the same material as the standing leg spring rod), the contraction of the standing leg spring steel 51 will press the lateral assembly 53 to deform, causing the lateral assembly 53 to form a ring with the standing leg spring steel 51.

[0075] It should be noted that: since the central driving roller 421 rotates synchronously to wind the two sets of driving wires 422 connected to the leg spring steels 51, the two sets of leg spring steels 51 will move synchronously, so that the center point of the wheel body formed by the leg spring steels 51 and the lateral assembly 53 coincides with the rotation axis 41, ensuring the stability of the wheel body rotation.

[0076] When the standing leg spring steel 51 shrinks and slides, since the two ends of the standing leg spring steel 51 are connected with fixing bars 54 to limit the sliding inside the deformation shrinkage hole 414, the deer leg spring steel can slide stably and firmly outside the retracting control box 411.

[0077] It should be noted that the power required by the deformation motor 423 is transmitted through the connection between the contact ring 35 and the power receiving ring 413. After receiving the power, the power receiving ring 413 passes through the wire inside the wheel deformation shaft 42 to transmit the power to the deformation motor 423. At the same time, the power used to drive the deformation motor 423 to rotate will drive the electromagnetic plate 63, so that the magnetic force of the electromagnetic plate 63 can drive the electromagnetic block 66 to repel each other, allowing the positioning slide rod 64 to shrink inside the embedded storage groove 61, so that the retraction control box 411 is unlocked.

[0078] When the wheel leg deformation part 5 is deformed into the wheel body state, the drive motor 33 is started, and the drive motor 33 can be used to drive the drive motor to rotate. The rotation of the drive motor can drive the driven gear 412 to rotate. The rotation of the driven gear 412 can drive the rotating shaft 41 to rotate. The rotation of the rotating shaft 41 can use the fixed bar 54 to drive the wheel leg deformation part 5 to rotate, allowing the standing leg spring steel 51 to roll on the ground at high speed through the rubber tire 52, thereby realizing high-speed movement of the inspection body 1.

[0079] And by contracting the walking wheel feet 2, the inspection body 1 can slide at a low altitude at the bottom of the substation to complete the inspection of the bottom of the substation. When it is necessary to cross obstacles, it can be reversed to allow the wheel leg deformation part 5 to be deformed into a four-legged shape, and the two sections of the walking wheel feet 2 can be used to cooperate with each other to drive the inspection robot to complete the climbing and jumping.

[0080] It should be noted that when the wheel leg deformation member 5 is reversely deformed, the current is driven in the reverse direction, and the electromagnetic sheet 63 drives the electromagnetic block 66 to adsorb, and the positioning slide rod 64 is used to lock the rotating shaft 41.

[0081] It should be noted that before use, an inspection camera or inspection video camera or other equipment used for inspection can be installed inside the equipment installation slot 12 according to inspection needs.

[0082] It should be noted that the inspection body 1 is internally provided with a battery, which can drive all electric structures connected to the inspection body 1 .

[0083] It should be noted that in the present invention, the electromagnetic sheet 63 is electrically connected to the contact ring 35. When the contact ring 35 is energized, the electromagnetic sheet 63 is energized synchronously, starting the positioning slide 64 to be retracted or rotated out, completing the locking of the double-rod sleeve shaft 4.

[0084] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0085] Obviously, the embodiments described above are only some embodiments of the present invention, rather than all embodiments. The preferred embodiments of the present invention are given in the accompanying drawings, but they do not limit the patent scope of the present invention. The present invention can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive. Although the present invention has been described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions described in the aforementioned specific embodiments, or to make equivalent replacements for some of the technical features therein. Any equivalent structure made using the contents of the present invention specification and drawings, directly or indirectly used in other related technical fields, is also within the scope of patent protection of the present invention.

Claims

1. A substation autonomous obstacle inspection robot, characterized in that: include: The inspection body (1) is connected to four groups of walking wheel feet (2) at the bottom, the walking wheel feet (2) are connected to the inspection body (1) by driving, the bottom of the walking wheel feet (2) is connected to a universal seat (3) by driving, the inner side of the bottom of the universal seat (3) is connected to a double-rod sleeve shaft (4) by rotation, the double-rod sleeve shaft (4) and the universal seat (3) are connected by driving, the outer side of the middle of the double-rod sleeve shaft (4) is connected to a telescopic sliding wheel leg deformation member (5), the wheel leg deformation member (5) is annularly surrounding the outer side of the double-rod sleeve shaft (4), the position where the universal seat (3) is connected to the double-rod sleeve shaft (4) is electromagnetically driven to be connected to a wheel body positioning part (6), and the wheel body positioning part (6) is connected to the double-rod sleeve shaft (4) by snap-fit ​​locking; The double-rod sleeve shaft (4) comprises a rotating shaft (41) and a wheel body deformation shaft (42); the wheel body deformation shaft (42) is arranged inside the rotating shaft (41); the rotating shaft (41) rotates to drive the wheel leg deformation member (5) to telescopically deform into a wheel shape.

2. The substation autonomous obstacle-crossing inspection robot according to claim 1 is characterized in that: Control centers (11) are provided at both ends of the inspection body (1), and the control center (11) is electrically connected to the walking wheel feet (2) and the universal seat (3). The top surface of the inspection body (1) is provided with equidistantly arranged equipment installation slots (12), and the equipment installation slots (12) are electrically connected to the control center (11). A storage slot (13) is provided at the position where the inspection body (1) is connected to the walking wheel feet (2), and the walking wheel feet (2) are embedded in the storage slot (13) when folded and retracted.

3. The substation autonomous obstacle-crossing inspection robot according to claim 2 is characterized in that: A large arm (21) is provided at the position where the walking wheel foot (2) is connected to the inspection body (1); the top of the large arm (21) is hinged inside the inspection body (1); the large arm (21) is drivingly connected to the inspection body (1); the bottom end of the large arm (21) is drivingly connected to two elastic arms (22); the bottom ends of the two elastic arms (22) are drivingly connected to the universal seat (3).

4. The substation autonomous obstacle-crossing inspection robot according to claim 3 is characterized in that: A wheel groove (31) is provided in the middle of the lower portion of the universal seat (3), and shaft holes (32) are provided on both sides of the wheel groove (31). A driving motor (33) is embedded in one side of the outer wall of the universal seat (3), and the output end of the driving motor (33) is connected to a driving gear (34). A contact ring (35) is provided on one side of the outer wall of the universal seat (3), and the center of the contact ring (35) coincides with the center of the shaft hole (32).

5. The substation autonomous obstacle-crossing inspection robot according to claim 4 is characterized in that: A transmission protection box (36) and an insulation protection box (37) are respectively provided on both sides of the shaft hole (32) on the outer wall of the universal seat (3). The transmission protection box (36) is sleeved on the outside of the driving gear (34), and the insulation protection box (37) is sleeved on the outside of the contact ring (35).

6. The substation autonomous obstacle-crossing inspection robot according to claim 5, characterized in that: A reeling control box (411) is connected to the middle of the rotating shaft (41), one end of the rotating shaft (41) is connected to a driven gear (412), and one end of the rotating shaft (41) away from the driven gear (412) is connected to a power receiving ring (413), the power receiving ring (413) is located at the center of the contact ring (35), the outer wall of the power receiving ring (413) is in sliding contact with the inner wall of the contact ring (35), two symmetrical groups of deformation and shrinkage holes (414) are opened on both sides of the outer wall of the reeling control box (411), and symmetrical positioning notches (415) are opened on the side of the outer wall of the reeling control box (411) close to the wheel body positioning portion (6).

7. The substation autonomous obstacle-crossing inspection robot according to claim 6, characterized in that: A central driving roller (421) is connected to the middle of the wheel body deformation shaft (42), and the central driving roller (421) rotates at the center of the reeling control box (411). A driving steel wire (422) is wound around the outer wall of the central driving roller (421). One end of the rotating shaft (41) connected to the driven gear (412) is fixedly connected to a deformation motor (423). The output end of the deformation motor (423) is drivingly connected to the central driving roller (421), and both ends of the central driving roller (421) are limitedly rotated inside the two ends of the reeling control box (411).

8. The substation autonomous obstacle-crossing inspection robot according to claim 7, characterized in that: The reeling control box (411) is internally rotatably connected to driven wire rollers (424) arranged in an annular pattern and at equal intervals. A driven wire (425) is wound around the middle of the driven wire roller (424). One end of the driven wire (425) away from the driven wire roller (424) is slidably passed through the outside of the reeling control box (411). High-pressure springs (426) are fitted at the positions where the two ends of the driven wire roller (424) are connected to the reeling control box (411). The two ends of the high-pressure spring (426) are respectively connected to the inner wall of the reeling control box (411) and the outer wall of the driven wire roller (424).

9. The substation autonomous obstacle-crossing inspection robot according to claim 8, characterized in that: The wheel leg deformation member (5) comprises two symmetrical groups of standing leg spring steels (51), the standing leg spring steels (51) are located on the upper and lower sides of the reeling control box (411), a rubber tire (52) is connected to the middle of the outer wall of the standing leg spring steel (51), and two symmetrical groups of fixing strips (54) are vertically fixed on both sides of the bottom surface of the standing leg spring steel (51), the fixing strips (54) are slidably inserted into the deformation shrinkage hole (414), and the driving wire (422) is away from the center. One end of the driving roller (421) passes through the outer wall of the rewinding control box (411), the driving steel wire (422) is fixedly connected to the center of the leg spring steel (51), both ends of the two groups of leg spring steels (51) are hinged with lateral assemblies (53), the lateral assemblies (53) and the leg spring steels (51) are hinged to form a closed state, and one end of the driven steel wire (425) located outside the rewinding control box (411) is fixedly connected to the outer wall of the lateral assembly (53).

10. The substation autonomous obstacle-crossing inspection robot according to claim 9, characterized in that: The wheel body positioning portion (6) includes an embedded receiving groove (61) provided on one side of the inner wall of the wheel groove (31), a rotating movable groove (62) is provided at the bottom of the inner side of the embedded receiving groove (61), an electromagnetic sheet (63) is connected to the top surface and side surface of the inner wall of the rotating movable groove (62), a positioning slide rod (64) is embedded in the embedded receiving groove (61), a hinge rod (65) is connected to the lower middle part of the positioning slide rod (64), and the hinge rod (65) is hinged between the rotating movable groove (62) and the inner wall. The bottom end of the positioning slide bar (64) is connected to an electromagnetic block (66) between the embedded storage grooves (61), and the electromagnetic block (66) is located inside the rotating movable groove (62). The rotating movable groove (62) and the electromagnetic plate (63) are magnetically attracted and connected when the power is on. The rotating movable groove (62) and the electromagnetic plate (63) repel each other when the power is on. The magnetic attraction connection between the rotating movable groove (62) and the electromagnetic plate (63) drives the positioning slide bar (64) to rotate and slide to the inside of the positioning slot (415).

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