A substation autonomous obstacle-crossing inspection robot

Abstract

The application relates to the technical field of inspection robots, and discloses a transformer substation autonomous obstacle-inspecting robot, which comprises an inspection body connected with four groups of walking wheel feet, wherein the walking wheel feet are drivingly connected with the inspection body, the bottom of each walking wheel foot is drivingly connected with a universal seat, 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 drivingly connected with the universal seat, the outer side of the middle part of the double-rod sleeve shaft is connected with a telescopic sliding wheel-leg deformation piece, the wheel-leg deformation piece is annularly arranged outside the double-rod sleeve shaft, and the position, where the universal seat is connected with the double-rod sleeve shaft, is electromagnetically drivingly connected with a wheel body positioning part; the four feet can be transformed into two shapes, when obstacle-inspecting is needed, the four feet can easily pass through, when high-speed movement or low-altitude movement is needed, the four feet can be transformed into wheels to realize high-speed movement and low-altitude movement, and the application range of the transformer substation inspection in various environments is improved.

Description

Technical Field

[0001] This invention relates to the field of inspection robot technology, and in particular to an autonomous obstacle-crossing inspection robot for substations. Background Technology

[0002] Substation inspection robots are devices used in substations that integrate multiple technologies to achieve all-weather, all-round, and fully autonomous intelligent inspection and monitoring. Among substation inspection robots, track-mounted robots move along fixed tracks to inspect fixed areas of the substation, while wheeled, tracked, and quadruped robots can move freely to complete inspections of large areas. Unmanned aerial vehicle (UAV) inspection robots possess high-altitude inspection capabilities.

[0003] Existing quadruped inspection robots move and overcome obstacles by alternating the movement of their four legs when inspecting substations. However, they do not have the ability to move at high speeds, and quadruped inspection robots cannot move close to the ground, making it difficult to inspect the area below the substation. Wheeled inspection robots, on the other hand, do not have the ability to overcome obstacles.

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

[0005] The purpose of this invention is to address the problems of insufficient movement speed and inability to inspect the area below substations by existing quadruped inspection robots.

[0006] To achieve the above-mentioned objectives, this invention provides a substation autonomous obstacle-crossing inspection robot to improve the aforementioned problems.

[0007] The application is as follows:

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

[0009] The inspection body has four sets of walking wheels connected to the bottom. The walking wheels are driven to the inspection body. A universal seat is driven to the bottom of the walking wheels. A double-rod sleeve shaft is rotatably connected to the inner side of the bottom of the universal seat. The double-rod sleeve shaft is driven to the universal seat. A telescopic sliding wheel leg deformable part is connected to the outer side of the middle part of the double-rod sleeve shaft. The wheel leg deformable part is ring-shaped and surrounds the outer side of the double-rod sleeve shaft. The universal seat is electromagnetically driven to the position of the double-rod sleeve shaft. The wheel body positioning part is locked to the double-rod sleeve shaft.

[0010] The double-rod sleeve shaft includes a rotating shaft and a wheel deformation shaft. The wheel deformation shaft is inserted inside the rotating shaft. The rotating shaft drives the wheel leg deformation component to extend and retract into a wheel shape.

[0011] As a preferred technical solution of this application, the inspection body has a control center at both ends inside. The control center is electrically connected to the walking wheels and the universal seat. The top surface of the inspection body has equidistantly arranged equipment mounting slots. The equipment mounting slots are electrically connected to the control center. A storage slot is provided at the position where the inspection body connects to the walking wheels. When the walking wheels are folded and retracted, they are embedded inside the storage slot.

[0012] As a preferred technical solution of this application, a section of the main arm is provided at the position where the walking wheel foot is connected to the inspection body. The top of the section of the main arm is hinged inside the inspection body. The section of the main arm is driven to be connected to the inspection body. Two elastic arms are driven to be connected to the bottom of the section of the main arm. The bottom of the two elastic arms is driven to be connected to the universal joint.

[0013] As a preferred technical solution of this application, a wheel groove is provided in the middle of the lower part of the universal seat, and 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, and a drive gear is connected to the output end of the drive motor. 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 a preferred technical solution of this application, the universal joint is provided with a transmission protection box and an insulation protection box on both sides of the shaft hole on the outer wall of the universal joint. The transmission protection box is fitted outside the drive gear, and the insulation protection box is fitted outside the contact ring.

[0015] As a preferred technical solution of this 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, a receiving ring is connected to the end of the rotating shaft away from the driven gear, the receiving ring is located at the center of the contact ring, the outer wall of the receiving ring is in close sliding connection with the inner wall of the contact ring, two sets of symmetrical deformation and shrinkage holes are opened on both sides of the outer wall of the winding control box, and symmetrical positioning slots are opened on the side of the outer wall of the winding control box near the wheel positioning part.

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

[0017] As a preferred technical solution of this application, the winding control box is rotatably connected to driven steel wire rollers arranged in a ring at equal intervals. Driven steel wires are wound in the middle of the driven steel wire rollers. The end of the driven steel wires away from the driven steel wire rollers slides through the outside of the winding control box. High-pressure springs are fitted at the positions where the two ends of the driven steel wire rollers are connected to the winding control box. The two ends of the high-pressure springs are respectively connected to the inner wall of the winding control box and the outer wall of the driven steel wire rollers.

[0018] As a preferred technical solution of this application, the wheel leg deformable component includes two symmetrical sets of upright leg spring steels. The upright leg spring steels are located on the upper and lower sides of the rewind control box. A rubber tire is connected to the middle of the outer wall of the upright leg spring steel. Two symmetrical sets of fixing strips are vertically fixed on both sides of the bottom surface of the upright leg spring steel. The fixing strips slide through the deformation and shrinkage hole. The end of the driving steel wire away from the central driving roller passes through the outer wall of the rewind control box. The driving steel wire is fixedly connected to the center of the upright leg spring steel. Both ends of the two sets of upright leg spring steels are hinged with lateral assemblies. The lateral assemblies are hinged to the upright leg spring steels to form a closure. The end of the driven steel wire located outside the rewind control box is fixedly connected to the outer wall of the lateral assemblies.

[0019] As a preferred technical solution of this application, the wheel positioning part includes an embedded storage groove formed on one side of the inner wall of the wheel groove. A rotating movable groove is formed at the bottom of the inner side of the embedded storage groove. An electromagnetic plate is connected to the top and side of the inner wall of the rotating movable groove. A positioning slide rod is embedded inside the embedded storage 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 storage groove. An electromagnetic block is connected to the bottom end of the positioning slide rod. The electromagnetic block is located inside the rotating movable groove. The rotating movable groove and the electromagnetic plate are magnetically attracted and connected when energized. The rotating movable groove and the electromagnetic plate are repelled when energized. The magnetic attraction between the rotating movable groove and the electromagnetic plate drives the positioning slide rod to rotate and slide into the positioning groove.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0021] In the solution of this application: by adding a universal seat to the bottom of the four legs, and using the double rod sleeve shaft at the bottom of the universal seat and the driving component of the leg deformation component for transmission, the four legs can have the function of dual-form transformation. When it is necessary to cross obstacles, the four legs can easily pass through. When it is necessary to move at high speed or low altitude, the four legs can be transformed into wheels to achieve high-speed movement and low-altitude movement, which is conducive to improving the applicability of substation inspection in various environments.

[0022] 1. In this invention, the double-rod sleeve shaft is divided into a rotation shaft and a wheel deformation shaft, which enables the four legs of the inspection robot to retract the wheel leg deformation parts by rotating the wheel deformation shaft according to the actual movement route, so that the four legs form wheels, realizing the high-speed movement function of the inspection robot. At the same time, in conjunction with the walking wheel legs, it can complete the function of low-altitude inspection.

[0023] 2. The present invention has a ring-shaped distribution of driven steel wire rollers with elasticity inside the winding control box, and driven steel wires are wound around the outside of the driven steel wire rollers and connected to the lateral assembly. This can provide high-strength tensile force for the lateral assembly after deformation, enhance the support performance of the lateral assembly, and automatically complete the steel wire retraction and reset when deformed into four legs.

[0024] 3. The present invention has a wheel positioning part on one side of the inner wall of the wheel groove, which can automatically fix the double rod sleeve shaft and the universal seat when the wheel body is transformed into four legs, preventing the four legs that can be transformed into wheels from rotating, improving the walking stability of the four-legged inspection robot. Moreover, the wheel positioning part and the double rod sleeve shaft are electrically connected, and can automatically lock by switching between four legs and wheels. Attached Figure Description

[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 diagram shows the structure with the wheels folded.

[0027] Figure 3 for Figure 1 The diagram shows the structure of the walking wheel feet;

[0028] Figure 4 for Figure 3 The diagram shown is a structural schematic of the universal joint.

[0029] Figure 5 for Figure 4 The diagram shows a cross-sectional exploded view of the middle section of the universal joint.

[0030] Figure 6 for Figure 5 A schematic diagram showing the disassembled structure of the wheel leg deformable component;

[0031] Figure 7 for Figure 5 A schematic diagram of the structure shown in cross-section of the rotation axis;

[0032] Figure 8 for Figure 7 The diagram shown is an exploded view of the wheel deformation shaft.

[0033] Figure 9 for Figure 7 The diagram shown is an exploded cross-sectional view of the internal structure of the rewind control box.

[0034] Figure 10 for Figure 5 The diagram shows the structure of the wheel positioning part;

[0035] Figure 11 for Figure 10 The diagram shows an exploded structural schematic of the wheel positioning part and the universal joint.

[0036] Figure 12 for Figure 11 The diagram shows an exploded cross-sectional view of the wheel positioning section.

[0037] The image shows:

[0038] 1. Inspection unit; 11. Control center; 12. Equipment mounting slot; 13. Storage slot;

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

[0040] 3. Universal joint; 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. Rewind control box; 412. Driven gear; 413. Current receiving ring; 414. Deformation and shrinkage hole; 415. Positioning slot;

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

[0043] 5. Deformable wheel leg components; 51. Spring steel for upright legs; 52. Rubber tires; 53. Side assembly components; 54. Fixing strips;

[0044] 6. Wheel positioning part; 61. Embedded storage groove; 62. Rotating movable groove; 63. Electromagnetic plate; 64. Positioning slide rod; 65. Hinge rod; 66. Electromagnetic block. Detailed Implementation

[0045] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0046] As described in the background section, quadruped inspection robots have insufficient movement speed and are unable to inspect areas below substations.

[0047] To address this technical problem, the present invention provides an autonomous obstacle-crossing inspection robot for substations. This robot enables high-speed movement and low-altitude inspection of quadrupedal inspection robots, while also possessing obstacle-crossing capabilities, a large inspection range, and wide applicability.

[0048] For details, please refer to Figures 1-12 The aforementioned autonomous obstacle-crossing inspection robot for substations specifically includes:

[0049] An inspection body 1 is connected to four sets of walking wheels 2 at the bottom. The walking wheels 2 are driven to the inspection body 1. A universal seat 3 is driven to the bottom of the walking wheels 2. A double rod sleeve shaft 4 is rotatably connected to the inner side of the bottom of the universal seat 3. The double rod sleeve shaft 4 is driven to the universal seat 3. A telescopic sliding wheel leg deformable part 5 is connected to the outer side of the middle part of the double rod sleeve shaft 4. The wheel leg deformable part 5 is arranged in a ring around the outer side of the double rod sleeve shaft 4. The position of the universal seat 3 connected to the double rod sleeve shaft 4 is electromagnetically driven to the wheel body positioning part 6. The wheel body positioning part 6 is engaged and locked to 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 inserted inside the rotating shaft 41. The rotating shaft 41 rotates to drive the wheel leg deformation component 5 to extend 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 to the bottom of the four legs, and using the double rod sleeve shaft 4 at the bottom of the universal seat 3 to drive the leg deformable parts, the four legs can have a dual-shape transformation function. When it is necessary to cross obstacles, the four legs can easily pass through. When high-speed or low-altitude movement is required, the four legs can be transformed into wheels to achieve high-speed and low-altitude movement, which is beneficial to improving the applicability of substation inspection in various environments.

[0052] To enable those skilled in the art to better understand 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, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.

[0054] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0055] Example 1

[0056] Please refer to Figures 1-12 A substation autonomous obstacle-crossing inspection robot, wherein the inspection body 1 has a control center 11 at both ends inside, the control center 11 is electrically connected to the walking wheels 2 and the universal seat 3, the top surface of the inspection body 1 has equidistantly arranged equipment mounting slots 12, the equipment mounting slots 12 are electrically connected to the control center 11, and the position where the inspection body 1 connects to the walking wheels 2 has a storage slot 13, the walking wheels 2 are embedded in the storage slot 13 when folded and retracted.

[0057] A section of the main arm 21 is provided at the position where the walking wheel 2 is connected to the inspection body 1. The top of the main arm 21 is hinged inside the inspection body 1. The main arm 21 is driven to be connected to the inspection body 1. Two elastic arms 22 are driven to be connected to the bottom of the main arm 21. The bottom of the two elastic arms 22 is driven to be 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 drive motor 33 is embedded in one side of the outer wall of the universal seat 3. A drive gear 34 is connected to the output end of the drive motor 33. 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] The universal joint 3 has a transmission protection box 36 and an insulation protection box 37 respectively on both sides of the shaft hole 32 on the outer wall. The transmission protection box 36 is fitted outside the drive gear 34, and the insulation protection box 37 is fitted outside the contact ring 35.

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

[0061] The double-rod sleeve shaft 4 is divided into a rotation shaft 41 and a wheel deformation shaft 42. When the four groups of the inspection robot are in use, they can retract the wheel leg deformation parts 5 by rotating the wheel deformation shaft 42 according to the actual movement route, so that the four legs form wheels, realizing the high-speed movement function of the inspection robot. At the same time, in conjunction with the walking wheel legs 2, it can complete the function of low-altitude inspection.

[0062] Example 2

[0063] The autonomous obstacle-crossing inspection robot for substations provided in Embodiment 1 has been further optimized, specifically, as follows: Figures 1-12 A central drive roller 421 is connected to the middle of the wheel deformation shaft 42. The central drive roller 421 rotates at the center of the take-up control box 411. A drive steel wire 422 is wound around the outer wall of the central drive roller 421. A deformation motor 423 is fixedly connected to one end of the rotating shaft 41 connected to the driven gear 412. The output end of the deformation motor 423 is driven by the central drive roller 421. The two ends of the central drive roller 421 are limited to rotate inside the two ends of the take-up control box 411.

[0064] The winding control box 411 is internally connected to driven steel wire rollers 424 arranged in a ring at equal intervals. Driven steel wires 425 are wound around the middle of the driven steel wire rollers 424. The end of the driven steel wires 425 away from the driven steel wire rollers 424 slides through the outside of the winding control box 411. High-pressure springs 426 are fitted at the positions where the driven steel wire rollers 424 are connected to the winding control box 411. The two ends of the high-pressure springs 426 are respectively connected to the inner wall of the winding control box 411 and the outer wall of the driven steel wire rollers 424.

[0065] The wheel leg deformable component 5 includes two symmetrical sets of upright leg spring steels 51. The upright leg spring steels 51 are located on the upper and lower sides of the rewind control box 411. A rubber tire 52 is connected to the middle of the outer wall of the upright leg spring steel 51. Two symmetrical sets of fixing strips 54 are vertically fixed on both sides of the bottom surface of the upright leg spring steel 51. The fixing strips 54 slide through the deformation and shrinkage hole 414. One end of the drive steel wire 422 away from the central drive roller 421 passes through the outer wall of the rewind control box 411. The drive steel wire 422 is fixedly connected to the center of the upright leg spring steel 51. Both ends of the two sets of upright leg spring steels 51 are hinged with lateral assembly 53. The lateral assembly 53 is hinged to the upright leg spring steel 51 to form a closure. One end of the driven steel wire 425 located outside the rewind control box 411 is fixedly connected to the outer wall of the lateral assembly 53.

[0066] Inside the winding control box 411, there is a ring-shaped distribution of driven steel wire rollers 424 with elasticity. Driven steel wires 425 are wound around the outside of the driven steel wire rollers 424 and connected to the side assembly 53. This can provide high-strength tensile force to the side assembly 53 after deformation, enhance the support performance of the side assembly 53, and automatically complete the wire retraction and reset when deformed into four groups.

[0067] Example 3

[0068] The autonomous obstacle-crossing inspection robot for substations provided in Embodiment 1 or 2 has been further optimized, specifically, as follows: Figures 1-12 As shown, the wheel positioning part 6 includes an embedded storage groove 61 formed on one side of the inner wall of the wheel groove 31. A rotating movable groove 62 is formed at the bottom of the inner side of the embedded storage groove 61. An electromagnetic plate 63 is connected to the top and side of the inner wall of the rotating movable groove 62. A positioning slide rod 64 is embedded inside the embedded storage groove 61. 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 storage groove 61. 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 plate 63 are magnetically attracted and connected when energized. The rotating movable groove 62 and the electromagnetic plate 63 repel each other when energized. The magnetic attraction between the rotating movable groove 62 and the electromagnetic plate 63 drives the positioning slide rod 64 to rotate and slide into the positioning groove opening 415.

[0069] A wheel positioning part 6 is provided on one side of the inner wall of the wheel groove 31. When the wheel body is transformed into four legs, the double rod sleeve shaft 4 and the universal seat 3 can be automatically fixed, preventing the four legs that can be transformed into wheels from rotating and improving the walking stability of the four-legged inspection robot. The wheel positioning part 6 and the double rod sleeve shaft 4 are electrically connected and can automatically lock by switching between the four legs and the wheel body.

[0070] The usage process of the autonomous obstacle-crossing inspection robot for substations provided by this invention is as follows:

[0071] The inspection body 1 is started. The control center 11 inside the inspection body 1 is connected to the external control mechanism by electrical signal. The program set inside the control center 11 can be started by the external program, which drives the inspection body 1 to drive the walking wheels 2 to perform various actions, so as to realize the movement of the inspection robot.

[0072] When the inspection body 1 moves, the inspection body 1 will drive the walking wheels 2 to rotate through the internal drive mechanism. When the walking wheels 2 rotate, they will cooperate with the drive of the first section of the main arm 21 and the second section of the elastic arm 22 to achieve 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. The deformation motor 423 drives the wheel deformation shaft 42 to rotate. The rotation of the wheel deformation shaft 42 drives the central drive roller 421 to rotate. The rotation of the central drive roller 421 winds up the drive steel wire 422. The winding of the drive steel wire 422 pulls the two sets of upright leg spring steel 51 to retract each other.

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

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

[0076] When the upright leg spring steel 51 retracts and slides, the two ends of the upright leg spring steel 51 are connected to the fixing strips 54 to limit the sliding inside the deformation and shrinkage hole 414. Therefore, the deer leg spring steel can slide stably and firmly outside the rewind control box 411.

[0077] It should be noted that the power required by the deformable motor 423 is transmitted through the connection between the contact ring 35 and the receiving ring 413. After receiving the power, the receiving ring 413 transmits the power to the deformable motor 423 through a wire passing through the inside of the wheel body deformable shaft 42. At the same time, the power used to drive the deformable 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, causing the positioning slide rod 64 to retract into the embedded storage groove 61, and causing the winding control box 411 to disengage from the lock.

[0078] When the wheel leg deformable part 5 is deformed into a wheel body state, the drive motor 33 is started, which drives the drive motor to rotate. The rotation of the drive motor drives the driven gear 412 to rotate, which in turn drives the rotating shaft 41 to rotate. The rotation of the rotating shaft 41 drives the wheel leg deformable part 5 to rotate through the fixing bar 54, allowing the upright leg spring steel 51 to roll at high speed on the ground through the rubber tire 52, thus realizing the high-speed movement of the inspection body 1.

[0079] Furthermore, by retracting the walking wheel legs 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 reverse the deformation, allowing the wheel leg deformation parts 5 to deform into a four-legged state. The two sections of the walking wheel legs 2 work together to drive the inspection robot to climb and jump.

[0080] It should be noted that when the wheel leg deformable part 5 is deformed in the reverse direction, the current drives it in the reverse direction, and the electromagnetic plate 63 will drive the electromagnetic block 66 to be attracted, and the positioning slide rod 64 will lock the rotating shaft 41.

[0081] It should be noted that before use, inspection cameras or other inspection video equipment can be installed inside the equipment mounting slot 12 as needed for inspection.

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

[0083] It should be noted that: In this invention, the electromagnetic plate 63 is electrically connected to the contact ring 35. When the contact ring 35 is energized, the electromagnetic plate 63 is energized synchronously, which activates the positioning slide rod 64 to retract or rotate out, thereby completing the locking of the double rod sleeve shaft 4.

[0084] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0085] Obviously, the embodiments described above are merely some embodiments of the present invention, not all embodiments. The accompanying drawings show preferred embodiments of the present invention, but do not limit the patent scope of the present invention. The present invention can be implemented in many different forms; rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the patent protection scope of this invention.

Claims

1. A substation autonomous obstacle-crossing inspection robot, characterized in that, include: An inspection body (1) is connected to four sets of walking wheels (2) at the bottom. The walking wheels (2) are driven to the inspection body (1). A universal seat (3) is driven to the bottom of the walking wheels (2). A double rod sleeve shaft (4) is rotatably connected to the inner side of the bottom of the universal seat (3). The double rod sleeve shaft (4) is driven to the universal seat (3). A telescopic sliding wheel leg deformable part (5) is connected to the outer side of the middle part of the double rod sleeve shaft (4). The wheel leg deformable part (5) is arranged in a ring around the outer side of the double rod sleeve shaft (4). The universal seat (3) is connected to the position of the double rod sleeve shaft (4) by electromagnetic drive to a wheel positioning part (6). The wheel positioning part (6) is engaged and locked with the double rod sleeve shaft (4). 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 inserted inside the rotating shaft (41). The wheel body deformation shaft (42) rotates to drive the wheel leg deformation member (5) to extend and retract into a wheel shape. The rotating shaft (41) is connected to a winding control box (411) in the middle, and two sets of symmetrical deformation shrinkage holes (414) are opened on both sides of the outer wall of the winding control box (411). A central drive roller (421) is connected to the middle of the wheel deformation shaft (42). The central drive roller (421) rotates at the center of the winding control box (411). A drive steel wire (422) is wound around the outer wall of the central drive roller (421). The wheel leg deformable component (5) includes two symmetrical sets of upright leg spring steels (51). The upright 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 upright leg spring steel (51). Two symmetrical sets of fixing strips (54) are vertically fixed on both sides of the bottom surface of the upright leg spring steel (51). The fixing strips (54) slide through the deformation shrinkage hole (414). One end of the drive wire (422) away from the central drive roller (421) passes through the outer wall of the winding control box (411). The drive wire (422) is fixedly connected to the center of the upright leg spring steel (51).

2. The substation autonomous obstacle-crossing inspection robot according to claim 1, characterized in that, The inspection body (1) has a control center (11) at both ends inside. The control center (11) is electrically connected to the walking wheel (2) and the universal seat (3). The top surface of the inspection body (1) has equipment mounting slots (12) arranged at equal intervals. The equipment mounting slots (12) are electrically connected to the control center (11). The position where the inspection body (1) is connected to the walking wheel (2) has a storage slot (13). When the walking wheel (2) is folded and retracted, it is embedded in the storage slot (13).

3. The substation autonomous obstacle-crossing inspection robot according to claim 2, characterized in that, A section of arm (21) is provided at the position where the walking wheel (2) is connected to the inspection body (1). The top of the section of arm (21) is hinged inside the inspection body (1). The section of arm (21) is driven to be connected to the inspection body (1). Two sections of elastic arms (22) are driven to be connected to the bottom of the section of arm (21). The bottom of the two sections of elastic arms (22) is driven to be connected to the universal seat (3).

4. The substation autonomous obstacle-crossing inspection robot according to claim 3, characterized in that, 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 drive motor (33) is embedded in one side of the outer wall of the universal seat (3), and a drive gear (34) is connected to the output end of the drive motor (33). 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, characterized in that, The universal joint (3) has a transmission protection box (36) and an insulation protection box (37) respectively on both sides of the shaft hole (32) on the outer wall. The transmission protection box (36) is fitted outside the drive gear (34), and the insulation protection box (37) is fitted outside the contact ring (35).

6. The substation autonomous obstacle-crossing inspection robot according to claim 5, characterized in that, One end of the rotating shaft (41) is connected to a driven gear (412), and the other end of the rotating shaft (41) away from the driven gear (412) is connected to a receiving ring (413). The receiving ring (413) is located at the center of the contact ring (35). The outer wall of the receiving ring (413) is in close contact with the inner wall of the contact ring (35). The outer wall of the winding control box (411) is provided with symmetrical positioning slots (415) on the side of the outer wall near the wheel positioning part (6).

7. The substation autonomous obstacle-crossing inspection robot according to claim 6, characterized in that, The rotating shaft (41) is fixedly connected to a driven gear (412) at one end, and a deformable motor (423) is connected to the output end of the deformable motor (423) for driving connection with the central drive roller (421). The two ends of the central drive roller (421) are limited to rotate inside the two ends of the winding control box (411).

8. The substation autonomous obstacle-crossing inspection robot according to claim 7, characterized in that, Inside the winding control box (411), there are driven steel wire rollers (424) arranged in a ring at equal intervals. A driven steel wire (425) is wound in the middle of the driven steel wire roller (424). The end of the driven steel wire (425) away from the driven steel wire roller (424) slides through the outside of the winding control box (411). High pressure springs (426) are fitted at the positions where the two ends of the driven steel wire roller (424) are connected to the winding control box (411). The two ends of the high pressure springs (426) are respectively connected to the inner wall of the winding control box (411) and the outer wall of the driven steel wire roller (424).

9. The substation autonomous obstacle-crossing inspection robot according to claim 8, characterized in that, Both ends of the two sets of upright leg spring steels (51) are hinged with lateral assemblies (53), which are hinged to the upright leg spring steels (51) to form a closed loop. The driven steel wire (425) located outside the winding 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 positioning part (6) includes an embedded storage groove (61) formed on one side of the inner wall of the wheel groove (31). A rotating movable groove (62) is formed at the bottom of the inner side of the embedded storage groove (61). Electromagnetic plates (63) are connected to the top and side surfaces of the inner wall of the rotating movable groove (62). A positioning slide rod (64) is embedded inside the embedded storage groove (61). A hinge rod (65) is connected to the lower middle part of the positioning slide rod (64). The hinge rod (65) is hinged to the rotating movable groove (62) and the inner wall. Between the recessed storage slots (61), the bottom end of the positioning slide rod (64) is connected to an electromagnetic block (66). The electromagnetic block (66) is located inside the rotating movable slot (62). The rotating movable slot (62) and the electromagnetic plate (63) are magnetically attracted to each other when energized. The rotating movable slot (62) and the electromagnetic plate (63) repel each other when energized. The magnetic attraction between the rotating movable slot (62) and the electromagnetic plate (63) drives the positioning slide rod (64) to rotate and slide into the positioning slot opening (415).

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