Hexapod robot for transformer substation inspection

Abstract

The utility model provides a hexapod robot for transformer substation inspection. The hexapod robot for transformer substation inspection comprises a base, supporting legs, a cleaning assembly and a protection assembly, the cleaning assembly comprises a cross arm, the cross arm is fixedly connected with the edge position of one side of the top of the base through a connecting piece, a guide rail is fixedly connected to the top of the cross arm, and a sliding block is slidably connected to the surface of the guide rail; a vertical rod is fixedly connected to the top of the sliding block, a communicating vessel is fixedly connected to the top of the vertical rod, a rack is fixedly connected to the surface of one side wall of the cross arm through a connecting plate, and a driving motor is fixedly connected to the outer wall of the vertical rod; the hexapod robot for transformer substation inspection has the advantages that dust attached to the hexapod robot can be cleaned after an inspection task is completed, and meanwhile the foot structures can be switched when the hexapod robot moves to landforms such as a stone road.

Description

Technical Field

[0001] The utility model relates to the field of substation inspection robots, in particular to a six-legged robot used for substation inspection. Background Art

[0002] A substation is a place in the power system where voltage and current are transformed, electric energy is received, and electric energy is distributed. Substations are usually located between power plants and users, and are used to boost the lower voltage electric energy generated by power plants for long-distance transmission. In order to ensure the normal operation of substations, security inspections of substations are required. Currently, inspections are mostly completed by robots, which are equipped with cameras, infrared imagers and other equipment to inspect various places in the substation. In order to enable the robot to move on various terrains such as gravel roads and mud roads, some substations currently use hexapod robots to complete this task.

[0003] Traditional hexapod robots used for substation inspection still have certain shortcomings during use: during the inspection work, the robot's active joints and various instruments and equipment are easily contaminated by sand and dust on cement roads or gravel roads, which may affect their normal use, and the appearance becomes relatively dirty. The current hexapod robots for substation inspection are unable to clean the dust attached to themselves after the inspection task is completed. At the same time, when moving on normal surfaces such as rubber floors or cement floors, the rubber pads on the robot's feet can reduce noise and reduce wear on the ground, but when moving on gravel roads, the rubber pads on the feet and the sides of the feet are easily scratched or even damaged by stones.

[0004] Therefore, it is necessary to provide a new hexapod robot for substation inspection to solve the above technical problems. Utility Model Content

[0005] The technical problem solved by the utility model is to provide a six-legged robot for substation inspection, which can clean the dust attached to itself after completing the inspection task and can switch the foot structure when moving on terrain such as gravel roads.

[0006] In order to solve the above technical problems, the utility model provides a hexapod robot for substation inspection, comprising: a base, supporting legs, a cleaning assembly and a protection assembly, wherein the cleaning assembly comprises a cross arm, the cross arm is fixedly connected to the edge position of one side of the top of the base through a connecting piece, the top of the cross arm is fixedly connected to a guide rail, the surface of the guide rail is slidably connected to a slider, the top of the slider is fixedly connected to a vertical pole, the top of the vertical pole is fixedly connected to a communicating vessel, a side wall surface of the cross arm is fixedly connected to a rack through a connecting plate, the outer wall of the vertical pole is fixedly connected to a driving motor, the output end of the driving motor is fixedly connected to a gear, and the gear is meshed with the rack;

[0007] A number of support legs are provided. A rubber pad is fixedly connected to the bottom of each support leg. The protection component is used to be arranged on the support legs. The protection component includes an electric telescopic rod, which is fixedly connected to the support leg. The output end of the electric telescopic rod is fixedly connected with a mounting member. The mounting member is fixedly connected with a housing through bolts. The housing is slidably connected to the support leg. Fixed shafts are fixedly connected to both the left and right sides of the bottom of the housing. A support foot is rotatably connected to the surface of each fixed shaft. Torsion springs are arranged on the surface of the fixed shafts on both sides of the support foot.

[0008] As a further solution of the present utility model, a number of air nozzles arranged at equal intervals are installed at the bottom of the communicating vessel. A fan is fixedly connected to the surface of the vertical rod through a connecting block. A connecting pipe is connected between the output end of the fan and the communicating vessel. The communicating vessel is located above the base.

[0009] Through the above technical solution, during the inspection work, the movable joints and various instruments and equipment of the robot are prone to being contaminated with dust on cement roads or gravel roads, which may affect its normal use, and at the same time, it becomes relatively dirty in appearance. Therefore, a cleaning component is provided in this device. After the inspection task is completed, the user can start the fan and the drive motor. The drive motor drives the slider to move horizontally on the guide rail through the meshing of the gear and the rack, and the fan can supply air to a number of air nozzles, so that the moving communicating vessel can pass through the upper sides of the base and a number of support legs to blow the dust on the surface of the robot structure, which is convenient for cleaning and does not require manual operation.

[0010] As a further solution of the present utility model, fixing members are fixedly connected to the four corner positions and the front and rear side wall surfaces of the base. A fixing motor is fixedly connected inside the fixing member. A first cylinder is arranged on the surface of the fixing member. A first rotating member is rotatably connected to the surface of the first cylinder. The output end of the fixing motor penetrates through the first cylinder and is fixedly connected to the surface of the first rotating member through a connecting plate.

[0011] Through the above technical solution, when the fixing motor is started, it can drive the first rotating member to rotate around the first cylinder, providing kinetic energy for the forward or backward movement of the robot's foot.

[0012] As a further solution of the present utility model, a first motor is fixedly connected inside the first rotating member. A second cylinder is fixedly connected to the surface of the first rotating member. A second rotating member is rotatably connected to the second cylinder. The output end of the first motor penetrates through the second cylinder and is fixedly connected to the second rotating member through a connecting plate.

[0013] Through the above technical solution, when the first motor operates, the second rotating member can rotate around the second cylinder, providing kinetic energy for the forward or backward movement of the robot's foot.

[0014] As a further solution of the utility model, a third cylinder is fixedly connected to the surface of the second rotating member, a second motor is fixedly connected to the inside of the second rotating member, the number of the support legs is the same as that of the second rotating members, the third cylinder on the surface of the second rotating member is rotatably connected to one side of the support legs, and the output end of the second motor penetrates through the surface of the third cylinder and is fixedly connected to one side of the support legs through a connecting plate.

[0015] Through the above technical solution, when the second motor operates, the support legs can rotate around the third cylinder, thereby providing kinetic energy for the forward or backward movement of the robot's foot.

[0016] As a further solution of the utility model, a control module is fixedly connected to the upper surface of the base, and the fixed motor, the driving motor, the fan, the first motor, the second motor and the electric telescopic rod are all electrically connected to the control module.

[0017] Through the above technical solution, by controlling various electrical appliances and devices on the hexapod robot through the control module, the hexapod robot can adapt to various terrains and is convenient for inspection work in the substation.

[0018] As a further solution of the utility model, a support member is fixedly connected to the top of the base outside the control module, a control motor is installed at the bottom of the support member, the output end of the control motor is fixedly connected to a rotating seat, the rotating seat is rotatably connected to the top of the support member, and an infrared imager and a camera are respectively installed at the front and rear sides of the surface of the rotating seat. The infrared imager, the camera and the control motor are all electrically connected to the control module.

[0019] Through the above technical solution, the camera can capture scenes at various locations in the substation during the walking of the hexapod robot, while the infrared imager can monitor the temperature of various facilities in the substation to avoid situations such as fires.

[0020] Compared with the related technology, a hexapod robot for substation inspection provided by the utility model has the following beneficial effects:

[0021] 1. In the utility model, during the inspection work, the moving joints and various instruments and equipment of the robot are prone to being contaminated with dust on cement roads or gravel roads, which may affect its normal use and make the appearance dirty. Therefore, a cleaning component is provided. After the inspection task is completed, the user can start the fan and the driving motor. The driving motor drives the slider to move horizontally on the guide rail through the meshing of the gear and the rack, and the fan can supply air to several air nozzles, so that the communicating vessel during the movement can pass through the base and the upper sides of several support legs to blow the dust on the surface of the robot structure, which is convenient for cleaning and does not require manual operation;

[0022] 2. In the utility model, when moving on normal ground such as rubber ground or cement ground, the rubber pads on the robot's feet can reduce noise, reduce wear on the ground, etc., but when moving on gravel roads, the rubber pads on the feet and the sides of the feet are easily scratched or even damaged by stones. Therefore, a protective component is provided in the device. On normal rubber ground or cement ground, the rubber pads on the supporting legs of the six-legged robot are in contact with the ground to prevent increased vibration of the equipment on the robot, reduce noise and wear on the ground. When encountering sites such as gravel roads, the supporting legs can be lifted by the second motor, and then the electric telescopic rod is operated. At this time, the shell slides to one side, and when the supporting legs are separated from the surface of the supporting legs, they will rotate under the action of the torsion springs and protect the rubber pads therein. The shell can protect the surface of the supporting legs, and the supporting legs will protect the rubber pads to prevent sharp stones from causing greater damage to them. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to facilitate understanding by those skilled in the art, the present invention is further described below in conjunction with the accompanying drawings.

[0024] Figure 1 This is a schematic diagram of the overall structure of a six-legged robot used for substation inspection in the utility model;

[0025] Figure 2 The schematic diagram of the partial structure of a six-legged robot used for substation inspection in the utility model is shown in FIG. Figure 1 ;

[0026] Figure 3 The schematic diagram of the partial structure of a six-legged robot used for substation inspection in the utility model is shown in FIG. Figure 2 ;

[0027] Figure 4 The utility model is a partial structural schematic diagram of a six-legged robot used for substation inspection.

[0028] Description of main symbols:

[0029] 1. Base; 2. Control module; 3. Control motor; 4. Rotating seat; 5. Camera; 6. Infrared imager; 7. Cleaning assembly; 8. Connecting pipe; 9. Protective assembly; 10. Rack; 11. Fixing part; 12. Fixing motor; 13. First rotating part; 14. First motor; 15. Second rotating part; 16. Second motor; 17. Support leg; 18. Electric telescopic rod; 19. Casing; 20. Support foot; 21. Mounting part; 22. Torsion spring; 23. Rubber pad; 24. Connecting vessel; 25. Cross arm; 26. Fan; 27. Slider; 28. Guide rail; 29. ​​Gear. DETAILED DESCRIPTION

[0030] Please combine Figures 1 to 4 ,in,Figure 1 Schematic diagram of the overall structure of a six-legged robot for substation inspection in the present utility model; Figure 2 Schematic diagram of the partial structure disassembly of a six-legged robot for substation inspection in the present utility model Figure 1 ; Figure 3 Schematic diagram of the partial structure disassembly of a six-legged robot for substation inspection in the present utility model Figure 2 ; Figure 4 Schematic diagram of the partial structure of a six-legged robot for substation inspection in the present utility model. A six-legged robot for substation inspection includes:

[0031] Base 1, support legs 17, cleaning component 7 and protection component 9. The cleaning component 7 includes a cross arm 25. The cross arm 25 is fixedly connected to one side edge position of the top of the base 1 through a connecting piece. A guide rail 28 is fixedly connected to the top of the cross arm 25. A slider 27 is slidably connected to the surface of the guide rail 28. A vertical rod is fixedly connected to the top of the slider 27. A communicating vessel 24 is fixedly connected to the top of the vertical rod. A rack 10 is fixedly connected to the surface of one side wall of the cross arm 25 through a connecting plate. A driving motor is fixedly connected to the outer wall of the vertical rod. The output end of the driving motor is fixedly connected to a gear 29. The gear 29 meshes with the rack 10;

[0032] A number of support legs 17 are provided. Rubber pads 23 are fixedly connected to the bottoms of the support legs 17. The protection component 9 is used to be arranged on the support legs 17. The protection component 9 includes an electric telescopic rod 18. The electric telescopic rod 18 is fixedly connected to the support leg 17. The output end of the electric telescopic rod 18 is fixedly connected to a mounting member 21. The mounting member 21 is fixedly connected to a housing 19 through bolts. The housing 19 is slidably connected to the support leg 17. Fixed shafts are fixedly connected to both left and right sides of the bottom of the housing 19. A support foot 20 is rotatably connected to the surface of the fixed shaft. Torsion springs 22 are arranged on the surfaces of the fixed shafts on both sides of the support foot 20.

[0033] As Figures 1 - 4 shown, a number of air nozzles arranged at equal intervals are installed at the bottom of the communicating vessel 24. A blower 26 is fixedly connected to the surface of the vertical rod through a connecting block. A connecting pipe 8 is connected between the output end of the blower 26 and the communicating vessel 24. The communicating vessel 24 is located above the base 1.

[0034] During the inspection work, the moving joints of the robot and various instruments and equipment are prone to being contaminated by dust on cement roads or gravel roads, which may affect their normal use and make the appearance dirty. Therefore, the device is provided with a cleaning component 7. After the inspection task is completed, the user can start the blower 26 and the drive motor. The drive motor drives the slider 27 to move horizontally on the guide rail 28 through the engagement of the gear 29 and the rack 10, while the blower 26 supplies air to several air nozzles, enabling the communicating vessel 24 during the movement to pass through from the upper side of the base 1 and several support legs 17 to blow the dust on the surface of the robot structure, which is convenient for cleaning and does not require manual operation.

[0035] As Figures 1 - 4 shown, fixing members 11 are fixedly connected to the four corner positions and the front and rear side wall surfaces of the base 1. A fixing motor 12 is fixedly connected inside the fixing member 11. A first cylinder is provided on the surface of the fixing member 11, and a first rotating member 13 is rotatably connected to the surface of the first cylinder. The output end of the fixing motor 12 penetrates through the first cylinder and is fixedly connected to the surface of the first rotating member 13 through a connecting plate.

[0036] When the fixing motor 12 is started, it can drive the first rotating member 13 to rotate around the first cylinder, providing kinetic energy for the forward or backward movement of the robot's foot.

[0037] As Figures 1 - 4 shown, a first motor 14 is fixedly connected inside the first rotating member 13. A second cylinder is fixedly connected to the surface of the first rotating member 13. A second rotating member 15 is rotatably connected to the second cylinder. The output end of the first motor 14 penetrates through the second cylinder and is fixedly connected to the second rotating member 15 through a connecting plate.

[0038] When the first motor 14 operates, the second rotating member 15 can rotate around the second cylinder, providing kinetic energy for the forward or backward movement of the robot's foot.

[0039] As Figures 1 - 4 shown, a third cylinder is fixedly connected to the surface of the second rotating member 15. A second motor 16 is fixedly connected inside the second rotating member 15. The number of support legs 17 is the same as the number of second rotating members 15. The third cylinder on the surface of the second rotating member 15 is rotatably connected to one side of the support leg 17. The output end of the second motor 16 penetrates through the surface of the third cylinder and is fixedly connected to one side of the support leg 17 through a connecting plate.

[0040] When the second motor 16 operates, the support leg 17 can rotate around the third cylinder, thereby providing kinetic energy for the forward or backward movement of the robot's foot.

[0041] As Figures 1 - 4As shown in the figure, a control module 2 is fixedly connected to the upper surface of the base 1. The fixed motor 12, the driving motor, the blower 26, the first motor 14, the second motor 16, and the electric telescopic rod 18 are all electrically connected to the control module 2.

[0042] By controlling various electrical appliances and devices on the hexapod robot through the control module 2, the hexapod robot can adapt to various terrains and facilitate the inspection work in the substation.

[0043] As Figures 1 - 4 As shown in the figure, a support member is fixedly connected to the top of the base 1 outside the control module 2. A control motor 3 is installed at the bottom of the support member. The output end of the control motor 3 is fixedly connected to a rotating seat 4. The rotating seat 4 is rotatably connected to the top of the support member. An infrared imager 6 and a camera 5 are respectively installed at the front and rear sides of the surface of the rotating seat 4. The infrared imager 6, the camera 5, and the control motor 3 are all electrically connected to the control module 2.

[0044] The camera 5 can capture various scenes inside the substation during the walking of the hexapod robot, while the infrared imager 6 can monitor the temperature of various facilities in the substation to avoid situations such as fires.

[0045] The working principle of a hexapod robot for substation inspection provided by the present utility model is as follows:

[0046] The first step: During the inspection work, the moving joints and various instruments and equipment of the robot are prone to being contaminated by dust on cement roads or gravel roads, which may affect its normal use. At the same time, the appearance becomes relatively dirty. Therefore, a cleaning component 7 is provided in this device. After the inspection task is completed, the user can start the blower 26 and the driving motor. The driving motor drives the slider 27 to move horizontally on the guide rail 28 through the engagement of the gear 29 and the rack 10, and the blower 26 can supply air to several air nozzles, so that the communicating vessel 24 during the movement can pass through the base 1 and the upper sides of several support legs 17 to blow the dust on the surface of the robot structure, which is convenient for cleaning and does not require manual operation.

[0047] Second step: When moving on normal ground such as rubber ground or cement ground, the rubber pads 23 on the robot's feet can reduce noise and wear on the ground. However, when moving on a gravel road, the rubber pads 23 on its feet and the sides of the feet are easily scratched or even damaged by gravel. Therefore, a protection component 9 is provided in this device. On a normal rubber ground or cement ground, the rubber pads 23 on the six-legged robot's support legs 17 are in contact with the ground to prevent the vibration of the equipment on the robot from increasing, reduce noise, and reduce wear on the ground. When encountering a gravel road or other sites, the support legs 17 can be lifted by the second motor 16 at this time, and then the electric telescopic rod 18 is operated. At this time, the outer shell 19 slides to one side. When the support feet 20 leave the surface of the support legs 17, they will rotate under the action of the torsion spring 22 and protect the rubber pads 23 therein. The outer shell 19 can protect the surface of the support legs 17, and the support feet 20 will protect the rubber pads 23 to avoid greater damage caused by relatively sharp gravel.

[0048] It should be noted that the device structure and drawings of the present invention mainly describe the principle of the present invention. Based on the technical principle of this design, the settings of the power mechanism, power supply system, control system, etc. of the device are not fully described. However, on the premise that those skilled in the art understand the principle of the above-mentioned utility model, the specific details of its power mechanism, power supply system, and control system can be clearly obtained. The control method of the application document is automatically controlled by a controller, and the control circuit of the controller can be realized by simple programming by those skilled in the art.

[0049] The standard parts used therein can all be purchased from the market, and can also be customized according to the description of the specification and drawings. The specific connection methods of each part all adopt conventional means such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts, and equipment all adopt conventional models in the prior art, and the components known to those skilled in the art, their structures and principles can all be known by those skilled in the art through technical manuals or through conventional experimental methods.

[0050] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present invention, or directly or indirectly applied. In other related technical fields, the scope of the present invention is defined by the appended claims and their equivalents, and is similarly included within the scope of the patent protection of the present invention.

Claims

1. A six-legged robot for substation inspection, characterized in that: The cleaning assembly (7) comprises a base (1), a supporting leg (17), a cleaning component (7) and a protection component (9), wherein the cleaning component (7) comprises a cross arm (25), wherein the cross arm (25) is fixedly connected to an edge position of one side of the top of the base (1) via a connecting piece, wherein a guide rail (28) is fixedly connected to the top of the cross arm (25), wherein a slider (27) is slidably connected to the surface of the guide rail (28), wherein the top of the slider (27) is fixedly connected to a vertical pole, wherein the top of the vertical pole is fixedly connected to a connecting vessel (24), wherein a rack (10) is fixedly connected to the surface of a side wall of the cross arm (25) via a connecting plate, wherein a driving motor is fixedly connected to the outer wall of the vertical pole, wherein a gear (29) is fixedly connected to the output end of the driving motor, wherein the gear (29) is meshed with the rack (10); A plurality of support legs (17) are provided, and a rubber pad (23) is fixedly connected to the bottom of the support leg (17). The protection component (9) is used to be arranged on the support leg (17). The protection component (9) comprises an electric telescopic rod (18), and the electric telescopic rod (18) is fixedly connected to the support leg (17). The output end of the electric telescopic rod (18) is fixedly connected to a mounting member (21), and the mounting member (21) is fixedly connected to a housing (19) by bolts. The housing (19) is slidably connected to the support leg (17). Fixed shafts are fixedly connected to the left and right sides of the bottom of the housing (19), and a support leg (20) is rotatably connected to the surface of the fixed shaft. Torsion springs (22) are provided on the surfaces of the fixed shaft located on both sides of the support leg (20).

2. The hexapod robot for substation inspection according to claim 1, characterized in that: The bottom of the communicating vessel (24) is provided with a plurality of air nozzles arranged at equal intervals, the surface of the vertical pole is fixedly connected to a fan (26) via a connecting block, a connecting pipe (8) is connected between the output end of the fan (26) and the communicating vessel (24), and the communicating vessel (24) is located on the upper side of the base (1).

3. The hexapod robot for substation inspection according to claim 2, characterized in that: The four corners of the base (1) and the surfaces of the front and rear side walls are all fixedly connected with fixing parts (11), the fixing part (11) is fixedly connected with a fixing motor (12) inside, a cylinder body 1 is provided on the surface of the fixing part (11), a first rotating part (13) is rotatably connected to the surface of the cylinder body 1, and the output end of the fixing motor (12) passes through the cylinder body 1 and is fixedly connected to the surface of the first rotating part (13) through a connecting plate.

4. The hexapod robot for substation inspection according to claim 3, characterized in that: A first motor (14) is fixedly connected inside the first rotating member (13), a second cylinder is fixedly connected to the surface of the first rotating member (13), the second cylinder is rotatably connected to a second rotating member (15), and an output end of the first motor (14) passes through the second cylinder and is fixedly connected to the second rotating member (15) via a connecting plate.

5. The hexapod robot for substation inspection according to claim 4, characterized in that: The surface of the second rotating member (15) is fixedly connected to a cylinder body three, the interior of the second rotating member (15) is fixedly connected to a second motor (16), the number of the support legs (17) is the same as the number of the second rotating member (15), the cylinder body three on the surface of the second rotating member (15) is rotatably connected to the support legs (17) on one side, and the output end of the second motor (16) passes through the surface of the cylinder body three and is fixedly connected to the support legs (17) on one side through a connecting plate.

6. The hexapod robot for substation inspection according to claim 5, characterized in that: A control module (2) is fixedly connected to the upper surface of the base (1); the fixed motor (12), the drive motor, the fan (26), the first motor (14), the second motor (16) and the electric telescopic rod (18) are all electrically connected to the control module (2).

7. The hexapod robot for substation inspection according to claim 6, characterized in that: A support member is fixedly connected to the top of the base (1) located outside the control module (2), a control motor (3) is installed at the bottom of the support member, an output end of the control motor (3) is fixedly connected to a rotating seat (4), the rotating seat (4) is rotatably connected to the top of the support member, an infrared imager (6) and a camera (5) are respectively installed at the front and rear sides of the surface of the rotating seat (4), and the infrared imager (6), the camera (5) and the control motor (3) are all electrically connected to the control module (2).

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