Climbing ability detection system for inspection robot of transformer substation

Abstract

The utility model provides a transformer substation inspection robot climbing ability detection system. The transformer substation inspection robot climbing ability detection system comprises a base, a supporting lifting mechanism, a climbing platform, an inclination angle parameter acquisition unit and a control unit. The base is connected with the ground, and the climbing platform is arranged above the base; the supporting lifting mechanisms are arranged between the base and the climbing platform at intervals. The inclination angle parameter acquisition unit is arranged on the climbing platform; the control unit is connected with the supporting lifting mechanism and controls the supporting lifting mechanism to ascend or descend. The control unit is further connected with the dip angle parameter acquisition unit, receives the real-time gradient data and judges whether the real-time gradient data is consistent with gradient data acquired from the upper computer or not so as to control the supporting lifting mechanism to adjust the lifting amplitude, and therefore the gradient of the uphill assembly and the gradient of the downhill assembly can be continuously adjusted within the preset gradient range. According to the utility model, the continuous adjustment of the gradient, the assembly and replacement of pavement materials and the integrated design of parameter acquisition are realized, and the detection efficiency is greatly improved.

Description

Technical Field

[0001] This utility model relates to the field of robot inspection technology, and more specifically, to a system for detecting the climbing ability of a substation inspection robot. Background Technology

[0002] Substation inspection robots are complex systems integrating mechatronics, multi-sensor fusion, electromagnetic compatibility, navigation and behavior planning, machine vision, security, and stable wireless transmission technologies. They can replace maintenance personnel in performing some inconvenient inspection tasks, playing a crucial role in preventing accidents and ensuring the safe operation of equipment. With the development of artificial intelligence technology, substation inspection robots represent an irreplaceable future development direction. The deployment of less-manned or even unmanned substations equipped with intelligent inspection robots will inevitably become the main trend in substation inspection, presenting a significant market prospect for the testing and inspection of substation inspection robots.

[0003] Substations are generally in a static environment, and inspection robots, which replace human labor, are mostly used in open outdoor locations. Their inspection routes are typically flat, but may contain potholes, slopes, and steps (while substations are designed with mostly flat roads, some mountainous substations have uneven roads and slopes or steps in areas with significant elevation changes). According to statistics, mechanical transmission and motion performance failures in substation inspection robots (hereinafter referred to as robots) account for 25.5% of all failures, caused by uncontrolled axis movement and inaccurate positioning. The robot's climbing ability has always been a crucial performance indicator. Currently, universities and research institutions focus primarily on the robot itself, with very little research on experimental systems and pilot-scale platforms for testing its climbing performance. No experimental devices or systems have been developed to assess the robot's climbing motion performance under different slopes and contact materials. If a pilot-scale platform for robot climbing performance with replaceable slope materials, continuously adjustable slope parameters, high efficiency, and convenience could be developed, it would greatly save researchers' energy and time, significantly shorten the experimental cycle, enhance the platform's specific experimental capabilities, and provide important technical support for the further development of robot engineering, productization, and industrialization. Summary of the Invention

[0004] In view of this, this utility model proposes a slope climbing ability detection system for substation inspection robots, aiming to solve the problem of discontinuous slope adjustment and low detection efficiency when detecting the slope climbing ability of substation inspection robots in the prior art.

[0005] This utility model proposes a substation inspection robot slope climbing ability detection system, comprising: a base, a support lifting mechanism, a slope climbing platform, a tilt angle parameter acquisition unit, and a control unit; wherein...

[0006] The base is connected to the ground, and the climbing platform is located above the base; the leveling components of the base and the climbing platform have built-in slide rails for sliding connection with one side of the supporting lifting mechanism.

[0007] The support lifting mechanism consists of multiple sets, with each set of the support lifting mechanism spaced apart between the base and the climbing platform, used to drive the climbing platform to lift and lower.

[0008] The tilt parameter acquisition unit is installed on the uphill or downhill component of the climbing platform to collect real-time slope data of the uphill or downhill component.

[0009] The control unit is connected to the support lifting mechanism to control the lifting or lowering of the support lifting mechanism; the control unit is also connected to the tilt parameter acquisition unit to receive the real-time slope data and determine whether the real-time slope data is consistent with the slope data obtained from the host computer, so as to control the support lifting mechanism to adjust the lifting or lowering range, thereby realizing continuous adjustment of the slope of the uphill component and the downhill component within a preset slope range.

[0010] Furthermore, in the aforementioned substation inspection robot slope climbing capability detection system, the slope climbing platform includes: an uphill component, a flat road component, and a downhill component connected in sequence; wherein,

[0011] Both the uphill component and the downhill component are inclined to the base;

[0012] The first end of the uphill component is connected to the base, and the second end of the uphill component is hinged to the level road component; the first end of the downhill component is hinged to the level road component, and the second end of the downhill component is connected to the base.

[0013] Furthermore, in the aforementioned substation inspection robot's slope climbing ability detection system, the uphill component, the flat road component, and the downhill component all have grooves for detachable connection with the road panel.

[0014] Furthermore, in the aforementioned substation inspection robot slope climbing ability detection system, the road panel is made of cement, asphalt, rubber, self-leveling compound, or marble.

[0015] Furthermore, in the above-mentioned substation inspection robot climbing ability detection system, the second end of the uphill component is connected to the flat road component via a pin, and the first end of the downhill component is connected to the flat road component via a pin.

[0016] Furthermore, in the aforementioned substation inspection robot slope climbing ability detection system, the supporting lifting mechanism includes: a drive component and a lifting component connected to each other; wherein,

[0017] The output shaft of the drive component is connected to the lifting component to drive the lifting component to descend or rise.

[0018] The top and bottom ends of the first side of the lifting assembly are slidably connected to the leveling component of the climbing platform and the base, respectively.

[0019] Furthermore, in the above-mentioned substation inspection robot climbing ability detection system, the base is riveted to the ground, the bottom of the second side of the lifting component is bolted to the base, and the top of the second side of the lifting component is bolted to the leveling component of the climbing platform.

[0020] Furthermore, in the aforementioned substation inspection robot slope climbing ability detection system, the preset slope range is 10-45°.

[0021] Furthermore, in the aforementioned substation inspection robot slope climbing ability detection system, the tilt angle parameter acquisition unit is a tilt angle sensor.

[0022] Furthermore, the aforementioned substation inspection robot's hill-climbing ability detection system also includes: a motion parameter acquisition unit; wherein,

[0023] The motion parameter acquisition unit is located at the connection between the flat road component and the uphill or downhill component of the climbing platform, and is used to acquire the speed, acceleration and position information of the robot under test when it moves on the climbing platform.

[0024] The substation inspection robot's slope climbing ability detection system of this utility model adjusts the height of the climbing platform relative to the ground through a support lifting mechanism, thereby adjusting the slope of the uphill and downhill components. At the same time, the control unit receives real-time slope data collected by the tilt parameter acquisition unit and determines whether the current slope data matches the slope adjustment data sent by the host computer, so as to further control the support lifting mechanism to adjust the lifting or lowering range, realizing continuous slope adjustment and greatly improving detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0026] Figure 1 A front view of the substation inspection robot climbing ability detection system provided in this embodiment of the utility model;

[0027] Figure 2 Side view of the substation inspection robot climbing ability detection system provided in this embodiment of the utility model;

[0028] Figure 3 A schematic diagram of the groove in the climbing platform of the substation inspection robot climbing ability detection system provided in this embodiment of the utility model;

[0029] Figure 4 A schematic diagram of the structure of road panels made of different materials in the substation inspection robot climbing ability detection system provided in this embodiment of the utility model;

[0030] Figure 5 A schematic diagram of the slope closed-loop control process in the slope climbing ability detection system of the substation inspection robot provided in this embodiment of the utility model. DETAILED DESCRIPTION

[0031] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, embodiments and features of the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0032] See Figure 1 and Figure 2The substation inspection robot climbing ability detection system of this utility model includes: a base 1, a support lifting mechanism 2, a climbing platform 3, an inclination parameter acquisition unit (not shown in the figure), and a control unit (not shown in the figure); wherein, the base 1 is connected to the ground, and the climbing platform 3 is disposed above the base 1; the leveling component 32 of the base 1 and the climbing platform 3 has built-in slide rails to slide with one side of the support lifting mechanism 2. The supporting lifting mechanism 2 consists of multiple sets, each set of which is spaced apart between the base 1 and the climbing platform 3 to drive the climbing platform 3 to rise and fall. The tilt parameter acquisition unit is installed on the uphill component 31 or downhill component 33 of the climbing platform 3 to acquire real-time slope data of the uphill component 31 or downhill component 33. The control unit is connected to the supporting lifting mechanism 2 to control the lifting or lowering of the supporting lifting mechanism 2. The control unit is also connected to the tilt parameter acquisition unit to receive the real-time slope data and determine whether the real-time slope data is consistent with the slope data obtained from the host computer, so as to control the supporting lifting mechanism 2 to adjust the lifting or lowering range, thereby realizing continuous adjustment of the slope of the uphill component 31 and the downhill component 33 within a preset slope range.

[0033] Specifically, the base 1 can be a plate-like structure, which is riveted to the ground. The climbing platform 3 is set above the base 1 and is connected to the base 1 through the supporting lifting mechanism 2.

[0034] The climbing platform 3 includes: an uphill component 31, a flat road component 32, and a downhill component 33 connected in sequence; wherein, the uphill component 31 and the downhill component 33 are both inclined to the base 1; the first end of the uphill component 31 is connected to the base 1, and the second end of the uphill component 31 is hinged to the flat road component 32; the first end of the downhill component 33 is hinged to the flat road component 32, and the second end of the downhill component 33 is connected to the base 1.

[0035] More specifically, the uphill component 31, the leveling component 32, and the downhill component 33 can be plate-like structures, forming a trapezoidal surface. The second end of the uphill component 31 is connected to the leveling component 32 via a pin 4, and the first end of the downhill component 33 is connected to the leveling component 32 via a pin 4. In practice, the mating portions of the uphill component 31 and the leveling component 32, and the leveling component 32 and the downhill component 33, are provided with connecting channels to allow the pin 4 to pass through; connecting ears can be provided on the sides of the connecting parts to connect with the pin 4, thereby enabling the lifting mechanism 2 to lift and lower the leveling component 32 from the ground at different opening and closing angles.

[0036] In this embodiment, the tilt angle parameter acquisition unit is a tilt angle sensor. Based on the robot's operating environment, the preset slope range in this embodiment is 10-45°. The control unit can be a PLC.

[0037] In this embodiment, the supporting lifting mechanism 2 includes a drive component 21 and a lifting component 22 connected to each other; wherein, the output shaft of the drive component 21 is connected to the lifting component 22 to drive the lifting component 22 to descend or rise; the top and bottom ends of the first side of the lifting component 22 are slidably connected to the leveling component 32 of the climbing platform 3 and the base 1, respectively.

[0038] In one specific embodiment, the base 1 is riveted to the ground, the bottom of the second side of the lifting assembly 22 is bolted to the base 1, and the top of the second side of the lifting assembly 22 is bolted to the leveling assembly 32 of the climbing platform 3, so as to provide stress support for the lifting assembly 22 to slide along the leveling assembly 32 or the base 1.

[0039] The drive assembly 21 can be a hydraulic cylinder. The hydraulic cylinder uses hydraulic oil as the working medium. The hydraulic oil is pressurized and sent to the upper end of the cylinder (piston rod end). The pressure of the hydraulic oil pushes the piston rod to extend / retract outward. The piston rod moves linearly along the axis of the hydraulic cylinder. The opening and closing of the lifting assembly 22 is controlled by the transmission connector.

[0040] Combine Figure 5 In this embodiment, the hydraulic cylinder is controlled by a PLC to extend / retract the piston rod by means of hydraulic oil. The opening and closing of the scissor fork support lifting mechanism 2 is controlled by the transmission connector 6 to lift / lower the leveling component 32 so as to realize the continuous change of the slope target value of the device (uphill component 31, downhill component 33) between 10° and 45°.

[0041] More specifically, in this embodiment, the lifting assembly 22 has a scissor-fork structure. The transmission connector 6 plays a role in changing the direction of transmission during the extension and retraction of the drive assembly 21, with one end connected to the drive assembly 21 and the other end connected to the lifting assembly 22. More specifically, the transmission connector 6 can be a linkage mechanism.

[0042] Specifically, pulleys 5 are embedded in the slide rails of the base and leveling assembly to provide stress support for lifting / lowering the leveling assembly 32. The top and bottom ends of one side of the supporting lifting mechanism 2 are connected to pulleys 5 to reduce friction between the climbing platform 3 and the ground. More specifically, the uphill assembly 31 and the downhill assembly 33 are connected to the ground via pulleys 5 to reduce friction between the bottom of the slope and the ground, achieving reliable and smooth horizontal movement.

[0043] Of course, in this embodiment, it may also include: a host computer; the host computer sends slope data to the PLC, the PLC obtains the slope data collected by the tilt parameter acquisition unit, and determines whether the real-time slope data is consistent with the slope data obtained from the host computer, that is, determines whether the slope adjustment meets the set requirements, so as to realize the closed-loop control of slope adjustment.

[0044] As can be clearly seen from the above, the substation inspection robot climbing ability detection system provided in this embodiment adjusts the height of the climbing platform relative to the ground through the support lifting mechanism, thereby adjusting the slope of the uphill and downhill components. At the same time, the control unit receives real-time slope data collected by the tilt parameter acquisition unit and determines whether the current slope data is the slope adjustment data to be executed sent by the host computer, so as to further control the support lifting mechanism to adjust the lifting or lowering range, realizing continuous slope adjustment and greatly improving detection efficiency.

[0045] See also Figures 3 to 4 In the above embodiments, the uphill component 31, the flat road component 32 and the downhill component 33 are all provided with grooves 331 for detachable connection with the road panel 7.

[0046] Specifically, the uphill component 31, downhill component 33, and level road component 32 all have built-in grooves of preset depth, which can be 30-60mm, for example, 50mm, to replace the road panel of the same material. The road panel 7 can be made of various materials. For example, the road panel can be made of different materials such as cement, asphalt, rubber, self-leveling compound, or marble to simulate different application environments in substations. This controllable slope device has replaceable slope materials and continuously adjustable slope parameters, enabling efficient and accurate simulation of multiple typical application scenarios in the actual inspection environment of the robot.

[0047] In specific implementation, connection holes are respectively opened on both sides of the uphill component 31, downhill component 33 and flat road component 32, and connection holes are opened on the side wall of the road panel in a corresponding manner, so as to achieve a reliable connection between the groove and the road panel through the pluggable pin 4.

[0048] The above embodiments may further include: a motion parameter acquisition unit; wherein the motion parameter acquisition unit is disposed at the connection between the flat road component 32 of the climbing platform 3 and the uphill component 31 or downhill component 33 of the climbing platform 3, and is used to acquire the speed, acceleration and position information of the robot under test when it moves on the climbing platform 3.

[0049] Specifically, the motion parameter acquisition unit can be a transceiver millimeter-wave velocity radar, which is arranged at the connection between the flat road component 32 and the uphill component 31 / downhill component 33. Its transmitting / receiving antenna is parallel to the uphill / downhill component 33 to collect the speed, acceleration and position information of the robot when it moves on a slope with a controllable angle, and transmit the data back to the host computer through a serial port connection.

[0050] Specifically, the motion parameter acquisition unit can collect the speed, acceleration, and position information of the robot under test and send it to the monitoring backend. It can test and record detailed climbing motion performance data of the robot under different application environments and specific test requirements.

[0051] In summary, this utility model's substation inspection robot slope climbing ability testing system adjusts the slope of the climbing platform relative to the ground through a support lifting mechanism, thereby adjusting the slope of the uphill and downhill components. Simultaneously, the control unit receives real-time slope data collected by the tilt parameter acquisition unit and determines whether the current slope data matches the slope adjustment data sent by the host computer, further controlling the lifting mechanism to adjust the lifting or lowering range. This achieves continuous slope adjustment and significantly improves testing efficiency. Furthermore, the slope climbing ability testing system includes tilt parameter and motion parameter acquisition units, integrating parameter acquisition and achieving high efficiency in integrating various parameter test data. This significantly reduces the testing cycle, and the manpower and time costs required for conducting relevant type tests are reduced by 40% compared to the original platform, laying the foundation for accumulating test data for subsequent large-scale specific tests of the robot.

[0052] Obviously, those skilled in the art can make various modifications and variations to this utility model without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this utility model and their equivalents, this utility model also intends to include these modifications and variations.

Claims

1. A substation inspection robot climbing ability detection system, characterized in that: include: Base, support lifting mechanism, climbing platform, inclination parameter acquisition unit and control unit; among which, The base is connected to the ground, and the climbing platform is arranged above the base; the flat road components of the base and the climbing platform are built with a slide rail to be slidably connected with one side of the supporting lifting mechanism; The supporting lifting mechanism comprises multiple groups, and each group of the supporting lifting mechanism is arranged between the base and the climbing platform at intervals to drive the climbing platform to rise and fall; The inclination parameter acquisition unit is arranged on the uphill component or the downhill component of the climbing platform, and is used to collect the real-time slope data of the uphill component or the downhill component; The control unit is connected to the support lifting mechanism to control the lifting or lowering of the support lifting mechanism; the control unit is also connected to the inclination parameter acquisition unit to receive the real-time slope data and determine whether the real-time slope data is consistent with the slope data obtained from the host computer, so as to control the support lifting mechanism to adjust the lifting or lowering amplitude, thereby realizing continuous adjustment of the slopes of the uphill component and the downhill component within a preset slope range.

2. The substation inspection robot climbing ability detection system according to claim 1 is characterized in that: The climbing platform comprises: an uphill component, a flat road component and a downhill component connected in sequence; wherein, The uphill component and the downhill component are both arranged obliquely with respect to the base; The first end of the uphill component is connected to the base, and the second end of the uphill component is hingedly connected to the flat road component; the first end of the downhill component is hingedly connected to the flat road component, and the second end of the downhill component is connected to the base.

3. The substation inspection robot climbing ability detection system according to claim 2 is characterized in that: The uphill component, the flat road component and the downhill component are all provided with grooves for detachably connecting with the road panel.

4. The substation inspection robot climbing ability detection system according to claim 3 is characterized in that: The road slab is made of cement, asphalt, rubber, self-leveling or marble.

5. The substation inspection robot climbing ability detection system according to claim 2 is characterized in that: The second end of the uphill component is connected to the leveling component via a latch, and the first end of the downhill component is connected to the leveling component via a latch.

6. The substation inspection robot climbing ability detection system according to claim 1 is characterized in that: The supporting lifting mechanism comprises: a driving assembly and a lifting assembly connected to each other; wherein, The output shaft of the driving assembly is connected to the lifting assembly to drive the lifting assembly to descend or ascend; The top end and the bottom end of the first side of the lifting assembly are slidably connected to the leveling assembly of the climbing platform and the base respectively.

7. The substation inspection robot climbing ability detection system according to claim 6 is characterized in that: The base is riveted to the ground, the bottom of the second side of the lifting component is bolted to the base, and the top of the second side of the lifting component is bolted to the leveling component of the climbing platform.

8. The substation inspection robot climbing ability detection system according to claim 1 is characterized in that: The preset slope range is 10-45°.

9. The substation inspection robot climbing ability detection system according to any one of claims 1 to 8, characterized in that: The tilt parameter acquisition unit is a tilt sensor.

10. The substation inspection robot climbing ability detection system according to claim 1, characterized in that: Also includes: Motion parameter acquisition unit; wherein, The motion parameter acquisition unit is arranged at the connection between the flat road component of the climbing platform and the uphill component or downhill component of the climbing platform, and is used to collect the speed, acceleration and position information of the robot to be tested when it moves on the climbing platform.

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