A power transmission and transformation equipment integrated inspection robot

Abstract

The utility model provides a kind of power transmission and transformation equipment integrated inspection robot, it is related to inspection robot technical field, including inspection robot main body, the bottom of the inspection robot main body is connected with driving device, the rear end surface of the inspection robot main body is connected with landing protection structure.In the utility model, when ground inspection is carried out, inspection robot main body can be moved in position by driving device, at the same time, unmanned aerial vehicle main body can generate point cloud data by laser radar when taking off and share to inspection robot main body path planning system, and inspection robot main body can dynamically adjust advancing route according to obstacle distribution, which can also solve the problem of limited field of view of traditional inspection robot main body, so as to realize air-ground collaborative work, and when landing and parking after completing aerial work, the damper in base cooperates with first spring and second spring to achieve the effect of buffering, realizing the protection of unmanned aerial vehicle main body.

Description

Technical Field

[0001] This utility model relates to the field of inspection robot technology, and in particular to an integrated inspection robot for power transmission and transformation equipment. Background Technology

[0002] Traditional manual inspection methods suffer from low efficiency, high labor intensity, and numerous safety hazards. For example, manual inspections are greatly limited by time and environment, and may not be able to be carried out normally under adverse weather conditions (such as heavy rain, heavy snow, and high temperatures). At the same time, manually recorded data has poor timeliness, making it impossible to conduct timely data comparison and analysis. Furthermore, the quality of inspections is highly dependent on the skills of the inspectors, their working environment, and their fatigue level. Under these circumstances, robotic inspections will replace manual inspections, and the market prospects are broad.

[0003] As described in announcement number CN221561325U, an inspection robot includes: a mobile vehicle body, a path monitoring component, an inspection and observation component, and a dynamic inspection component fixedly installed on the top surface of the mobile vehicle body. Each of the four corners of the mobile vehicle body has drive wheels, and a carrier is movably mounted on the surface of the mobile vehicle body. An adjustment servo motor located inside the mobile vehicle body is fixedly connected to one side of the carrier. The path monitoring component is detachably installed inside the carrier. The dynamic inspection component includes a fixed seat, a moving sleeve seat, a fork shaft, and a connecting rod. In this invention, by setting a novel dynamic inspection component structure, the first and second drive servos drive the inspection and observation component to perform lateral reciprocating deflection motion and longitudinal reciprocating deflection. The combined motion of these two servos achieves the scanning motion of the inspection and observation component, thereby expanding the inspection and observation range. The structure is simple and compact, which helps to reduce the size of the inspection robot and improve its maneuverability.

[0004] This patent can expand the inspection range and reduce the size of the inspection robot to improve its mobility. However, existing robots do not have the function of cooperating with drones for inspection and cannot achieve the function of air-ground collaborative operation. As a result, when inspecting at high places or above complex terrain, these areas will become blind spots and it will be impossible to fully grasp the overall situation. Utility Model Content

[0005] The purpose of this invention is to solve the problem that existing robots do not have the function of collaborative inspection with drones, and cannot achieve the function of air-ground collaborative operation. As a result, when conducting inspections at high altitudes or above complex terrain, these areas become blind spots, making it impossible to fully grasp the overall situation.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: an integrated inspection robot for power transmission and transformation equipment, comprising an inspection robot body, a drive device connected to the bottom of the inspection robot body, a landing protection structure connected to the rear end surface of the inspection robot body, the landing protection structure comprising a base, dampers connected to the four corners of the base, a landing platform connected to the top of the four sets of dampers, a drone body mounted on the top of the landing platform, grooves formed inside both sides of the base, a fixing rod fixedly connected inside the groove, a first spring sleeved on both sides of the fixing rod, a push plate connected to the inner side of both sets of the first springs, a first rotating shaft connected to the top of the push plate, a rotating rod connected to the surface of the first rotating shaft, and a second rotating shaft connected to one side of the rotating rod.

[0007] Furthermore, slots are provided inside both the front and rear ends of the base.

[0008] There is a second spring in the internal connection.

[0009] Furthermore, a top plate is connected to the top of the second spring, and a top block is fixedly connected to the top of the top plate.

[0010] Furthermore, the push plate and the first spring form an elastic structure, and the push plate is rotatably connected to the rotating rod through the first rotating shaft.

[0011] Furthermore, the rotating rod is rotatably connected to the landing platform via a second rotating shaft, and the outer surface of the top plate is in contact with the inner wall of the slot.

[0012] Furthermore, the top of the top block and the landing platform form an elastic structure, and the top plate and the second spring form an elastic structure through the slot.

[0013] Furthermore, a limiting and fixing component is connected to one outer surface of the landing platform. The limiting and fixing component includes a servo motor, and the output end of the servo motor is connected to a bidirectional screw.

[0014] Furthermore, a bearing is connected to one end of the bidirectional screw, and movable blocks are connected to both sides of the bidirectional screw.

[0015] Furthermore, the top of the moving block is connected to an insert block, the interior of the moving block has a threaded hole, and the servo motor is electrically connected to an external power source through a control switch.

[0016] Furthermore, the output end of the servo motor is fixedly connected to the bidirectional screw, and the bidirectional screw is threadedly connected to the moving block through a threaded hole. The moving block is L-shaped.

[0017] Compared with the prior art, the advantages and positive effects of this utility model are as follows:

[0018] 1. In this utility model, when conducting ground inspections, the main body of the inspection robot can move its position through the drive device. At the same time, when the main body of the drone takes off, it can generate point cloud data through lidar and share it with the path planning system of the main body of the inspection robot. The main body of the inspection robot can dynamically adjust its route according to the distribution of obstacles. This can also solve the problem of limited field of vision of traditional inspection robots, thereby realizing air-ground collaborative operation. When the main body of the drone lands after completing the aerial operation, the damper in the base will also work with the first spring and the second spring to achieve a buffering effect, thereby protecting the main body of the drone.

[0019] 2. In this utility model, after the drone is parked, the servo motor can be turned on, and the two sets of plugs can be moved inward by the rotation of the screw thread to fix the drone's main landing gear, thus avoiding the problem that the drone's main body may fall off when the drive device moves. Attached Figure Description

[0020] Figure 1 A three-dimensional structural diagram of an integrated inspection robot for power transmission and transformation equipment is provided for this utility model.

[0021] Figure 2 This utility model presents a three-dimensional structural diagram of an integrated inspection robot for power transmission and transformation equipment from another angle.

[0022] Figure 3 This utility model provides an exploded structural diagram of an integrated inspection robot for power transmission and transformation equipment.

[0023] Figure 4 This utility model provides a schematic diagram of the groove cross-sectional structure of an integrated inspection robot for power transmission and transformation equipment;

[0024] Figure 5 This utility model provides a schematic diagram of the slot cross-sectional structure of an integrated inspection robot for power transmission and transformation equipment;

[0025] Figure 6 This invention presents an exploded structural diagram of the landing platform of an integrated inspection robot for power transmission and transformation equipment.

[0026] Legend: 1. Inspection robot body; 2. Drive unit; 3. Landing protection structure; 301. Base; 302. Damper; 303. Landing platform; 304. UAV body; 305. Groove; 306. Fixing rod; 307. First spring; 308. Push plate; 309. First rotating shaft; 310. Rotating rod; 311. Second rotating shaft; 312. Slot; 313. Second spring; 314. Top plate; 315. Top block; 4. Limiting and fixing assembly; 401. Servo motor; 402. Bidirectional screw; 403. Bearing; 404. Moving block; 405. Insertion block; 406. Threaded hole. Detailed Implementation

[0027] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0028] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed in the following specification.

[0029] Example 1, such as Figure 1 - Figure 5As shown, this utility model provides an integrated inspection robot for power transmission and transformation equipment, including an inspection robot body 1. A drive device 2 is connected to the bottom of the inspection robot body 1. A landing protection structure 3 is connected to the rear end surface of the inspection robot body 1. The landing protection structure 3 includes a base 301. Dampers 302 are connected to the four corners of the base 301. A landing platform 303 is connected to the top of the four sets of dampers 302. A drone body 304 is set on the top of the landing platform 303. Grooves 305 are opened inside both sides of the base 301. A fixing rod 306 is fixedly connected inside the groove 305. First springs 307 are sleeved on both sides of the fixing rod 306. Push plates 308 are connected to the inner sides of the two sets of first springs 307. A first rotating shaft 309 is connected to the top of the push plate 308. A rotating rod 310 is connected to the surface of the base 301. A second rotating shaft 311 is connected to one side of the rotating rod 310. The front and rear ends of the base 301 are provided with slots 312. A second spring 313 is connected inside the slots 312. A top plate 314 is connected to the top of the second spring 313. A top block 315 is fixedly connected to the top of the top plate 314. A push plate 308 and a first spring 307 form an elastic structure. The push plate 308 is rotatably connected to the rotating rod 310 through the first rotating shaft 309. The rotating rod 310 is rotatably connected to the landing platform 303 through the second rotating shaft 311. The outer surface of the top plate 314 is in contact with the inner wall of the slot 312. The top of the top block 315 and the landing platform 303 form an elastic structure. The top plate 314 and the second spring 313 form an elastic structure through the slot 312.

[0030] The effect achieved in Embodiment 1 is that, during the inspection operation, the main body of the inspection robot 1 moves flexibly using the drive device 2 at its bottom to carry out ground inspection work according to a preset route or based on real-time conditions. Simultaneously, the main body of the drone 304 prepares to take off to perform aerial inspection tasks. During takeoff, its onboard lidar quickly starts working, generating detailed point cloud data by scanning the surrounding environment. This data is not isolated but shared in real-time with the path planning system of the main body of the inspection robot 1. After receiving the point cloud data from the drone, the path planning system of the main body of the inspection robot 1 can accurately identify the distribution of obstacles in the surrounding environment and dynamically adjust its own route based on this information. This not only effectively avoids collisions with obstacles but also cleverly solves the problem of limited field of vision caused by the limited perspective of the traditional inspection robot 1, truly realizing air-ground collaborative operation and conducting inspection work in all directions without blind spots. When the main body of the drone 304 completes its aerial operation and prepares to land, it will descend precisely towards the landing platform 303. At the moment the landing platform 303 bears the impact of the drone 304's landing, a series of ingenious buffering mechanisms begin to operate. Under the impact force, the landing platform 303 moves downwards, rotating relative to the rotating rod 310 via the second rotating shaft 311. The other side of the rotating rod 310 is connected to the push plate 308 via the first rotating shaft 309, pushing it to rotate. This causes the push plate 308 to slide smoothly along the surface of the fixed rod 306, thereby compressing the first spring 307. Simultaneously, the top block 315, also compressed by the landing platform 303, pushes the top plate 314 downwards, compressing the second spring 313. During this process, the damper 302 also works in concert. Through its unique damping characteristics, combined with the elastic deformation of the first spring 307 and the second spring 313, it gradually dissipates the enormous impact force of the drone's landing, creating an efficient buffer effect and minimizing damage to the drone body 304, thus achieving reliable protection for the drone body 304.

[0031] Example 2, as Figure 2 and Figure 6 As shown, a limiting and fixing component 4 is connected to one outer surface of the landing platform 303. The limiting and fixing component 4 includes a servo motor 401. The output end of the servo motor 401 is connected to a bidirectional screw 402. One end of the bidirectional screw 402 is connected to a bearing 403. Movable blocks 404 are connected to both sides of the bidirectional screw 402. An insert block 405 is connected to the top of the movable block 404. A threaded hole 406 is opened inside the movable block 404. The servo motor 401 is electrically connected to an external power supply through a control switch. The output end of the servo motor 401 is fixedly connected to the bidirectional screw 402. The bidirectional screw 402 is threadedly connected to the movable block 404 through the threaded hole 406. The movable block 404 is L-shaped.

[0032] The effect achieved in Embodiment 2 is that after the drone body 304 comes to a stable stop, the forward rotation function of the servo motor 401 can be activated. Once the servo motor 401 starts rotating forward, its output end will drive the bidirectional screw 402 to rotate forward. While the bidirectional screw 402 is rotating forward, it will rotate in the forward thread through the threaded hole 406 and the moving block 404. This forward thread rotation will drive the two sets of insert blocks 405 to move inward simultaneously, and finally insert them into the surface of the landing gear, thereby fixing the drone body 304 to the landing gear and effectively avoiding the problem that the drone body 304 may fall off when the drive device 2 moves.

[0033] Working principle: During ground inspection, the main body of the inspection robot 1 can move its position through the drive device 2. At the same time, when the main body of the drone 304 takes off, it can generate point cloud data through the lidar and share it with the path planning system of the main body of the inspection robot 1. The main body of the inspection robot 1 can dynamically adjust its route according to the distribution of obstacles. This can also solve the problem of limited field of vision of the traditional main body of the inspection robot 1, thus realizing air-ground collaborative operation. After completing the aerial operation, when the main body of the drone 304 lands, the damper 302 in the base 301, together with the first spring 307 and the second spring 313, will achieve a buffering effect to protect the main body of the drone 304. After the drone is parked, the servo motor 401 can be turned on, which drives the two sets of plugs 405 to move inward through the screw rotation, thereby fixing the landing gear of the main body of the drone 304 and preventing the main body of the drone 304 from falling when the drive device 2 moves.

[0034] The above are merely preferred embodiments of this utility model and are not intended to limit the utility model in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments for application in other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of this utility model without departing from the technical solution of this utility model shall still fall within the protection scope of this utility model.

Claims

1. An integrated inspection robot for power transmission and transformation equipment, comprising an inspection robot body (1), characterized in that: The bottom of the inspection robot body (1) is connected to a drive device (2), and the rear end surface of the inspection robot body (1) is connected to a landing protection structure (3). The landing protection structure (3) includes a base (301), with dampers (302) connected to the four corners of the base (301). The top of the four sets of dampers (302) is connected to a landing platform (303). The top of the landing platform (303) is provided with the main body of the UAV (304). The base (301) has grooves (305) on both sides. The grooves (305) are fixedly connected to the inside of the grooves (305). The two sides of the fixed rod (306) are fitted with first springs (307). The inner sides of the two sets of first springs (307) are connected to push plates (308). The top of the push plate (308) is connected to a first rotating shaft (309). The surface of the first rotating shaft (309) is connected to a rotating rod (310). The side of the rotating rod (310) is connected to a second rotating shaft (311).

2. The integrated inspection robot for power transmission and transformation equipment according to claim 1, characterized in that: The base (301) has slots (312) inside both the front and rear ends, and a second spring (313) is connected inside the slots (312).

3. The integrated inspection robot for power transmission and transformation equipment according to claim 2, characterized in that: The top of the second spring (313) is connected to a top plate (314), and a top block (315) is fixedly connected to the top of the top plate (314).

4. The integrated inspection robot for power transmission and transformation equipment according to claim 3, characterized in that: The push plate (308) and the first spring (307) form an elastic structure, and the push plate (308) is rotatably connected to the rotating rod (310) through the first rotating shaft (309).

5. The integrated inspection robot for power transmission and transformation equipment according to claim 4, characterized in that: The rotating rod (310) is rotatably connected to the landing platform (303) via the second rotating shaft (311), and the outer surface of the top plate (314) is in contact with the inner wall of the slot (312).

6. The integrated inspection robot for power transmission and transformation equipment according to claim 5, characterized in that: The top of the top block (315) and the landing platform (303) form an elastic structure, and the top plate (314) and the second spring (313) form an elastic structure through the slot (312).

7. The integrated inspection robot for power transmission and transformation equipment according to claim 1, characterized in that: A limiting and fixing component (4) is connected to one side of the outer surface of the landing platform (303). The limiting and fixing component (4) includes a servo motor (401), and the output end of the servo motor (401) is connected to a bidirectional screw (402).

8. The integrated inspection robot for power transmission and transformation equipment according to claim 7, characterized in that: One end of the bidirectional screw (402) is connected to a bearing (403), and both sides of the bidirectional screw (402) are connected to moving blocks (404).

9. The integrated inspection robot for power transmission and transformation equipment according to claim 8, characterized in that: The top of the moving block (404) is connected to a plug (405), and the inside of the moving block (404) is provided with a threaded hole (406). The servo motor (401) is electrically connected to an external power source through a control switch.

10. The integrated inspection robot for power transmission and transformation equipment according to claim 9, characterized in that: The output end of the servo motor (401) is fixedly connected to the bidirectional screw (402). The bidirectional screw (402) is threadedly connected to the moving block (404) through the threaded hole (406). The moving block (404) is L-shaped.

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