Smart dog and substation inspection device

Abstract

A smart dog and a substation inspection device thereof, said device comprising: a frame (1), an anti-seismic mechanism (2), a camera apparatus (3), and a locking apparatus (4). The anti-seismic mechanism (2) is mounted on the frame (1). The camera apparatus (3) comprises a first mounting base (31) and a camera assembly (32), the first mounting base (31) is mounted on the frame (1) by means of the anti-seismic mechanism (2), and the camera assembly (32) is mounted on the first mounting base (31). The locking apparatus (4) is mounted on the frame (1) and the locking apparatus (4) is configured to fix the camera apparatus (3).

Description

Smart Dog and Substation Inspection Equipment

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on August 7, 2023, with application number 202310981623.0, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of inspection equipment, for example, to a smart dog and substation inspection equipment. Background Art

[0003] Nowadays, people's lives are becoming more and more dependent on electricity. Before electricity is supplied to users, it needs to be processed by substations. Therefore, the stable operation of substations is particularly important. For this reason, substations need to be inspected on schedule, but manual inspections are time-consuming, labor-intensive and inefficient. Nowadays, inspection equipment is usually used for automatic inspections, and inspection equipment usually uses shooting images for comparison to carry out inspections. However, the camera devices of the inspection equipment are relatively delicate. During use, the camera devices are easily damaged and the maintenance costs are high.

[0004] Chinese patent application CN115539781A discloses an intelligent inspection device for electric power equipment with a protective structure. The device is equipped with an anti-collision mechanism to prevent the inspection robot from colliding with an object, thereby reducing damage to the robot, thereby reducing losses and increasing the service life of the inspection robot. Through the inspection camera retraction and extension mechanism, the inspection camera can be retracted into the trolley box when the inspection robot is not working or charging, avoiding unnecessary damage caused by external factors, thereby improving the working quality of the inspection robot, avoiding unnecessary maintenance of the inspection robot, and increasing the service life of the inspection robot. When the impact force is too large, the anti-collision mechanism will buffer the impact and, through the linkage mechanism, will cause the retraction and extension mechanism to perform a retraction movement, retracting the camera assembly into the trolley box, thereby reducing damage to the camera assembly due to excessive impact force, thereby minimizing the losses suffered in the event of an accident.

[0005] However, when the inspection equipment encounters an obstacle, the camera is only protected by the anti-collision mechanism, but it cannot buffer the impact, and the camera is still easily damaged by vibration.

[0006] Summary of the Invention

[0007] The present application provides a smart dog and its substation inspection equipment, which solves the problem that the camera module of the inspection device is easily damaged by vibration through a mechanical dog, an anti-vibration mechanism, a camera device and a locking mechanism.

[0008] The present application provides a substation inspection device with earthquake-proof performance, including a frame, an earthquake-proof mechanism, a camera device and a locking device; the earthquake-proof mechanism is installed on the frame, the camera device includes a first mounting seat and a camera assembly, the first mounting seat is installed on the frame through the earthquake-proof mechanism, the camera assembly is installed on the first mounting seat, and the locking device is installed on the frame and the locking device is configured to fix the camera device.

[0009] In one or more embodiments, the anti-vibration mechanism includes a first buffer assembly, which includes a bracket, an extension plate and a first elastic member; the bracket is slidably mounted on the frame, the first mounting seat is mounted on the bracket, two extension plates are provided and the extension plates are respectively installed on both sides of the bracket, two first elastic members are provided, and the two ends of the first elastic member are respectively connected to the extension plate and the frame.

[0010] In one or more embodiments, the anti-seismic mechanism also includes a second buffer assembly, which includes a guide rail, a slide, a right-angle support and a second elastic member; the guide rail and the right-angle support are installed on the frame, the slide is slidably installed on the guide rail, the two ends of the first elastic member are respectively connected to the extension plate and the slide, and the two ends of the second elastic member are respectively connected to the bracket and the right-angle support.

[0011] In one or more embodiments, the anti-seismic mechanism also includes a third buffer assembly, which includes a sliding frame, a sliding rail and a third elastic member; the sliding frame is installed on the bracket, the sliding rail is set on the sliding frame, the first mounting seat is slidably installed on the slide rail, and the two ends of the third elastic member are respectively connected to the first mounting seat and the sliding frame.

[0012] In one or more embodiments, the locking device includes a second mounting seat, a locking block, a docking plate and a control component; the second mounting seat is mounted on the frame, the locking block is slidably mounted on the second mounting seat, a fourth elastic member is mounted on the locking block, and the two ends of the fourth elastic member are respectively connected to the locking block and the second mounting seat; the docking plate is mounted on the bracket, and at least two locking grooves that cooperate with the locking block are provided on the docking plate, and the multiple locking grooves are distributed in an array; the control component is mounted on the frame and the control component is configured to control the movement of the locking block.

[0013] In one or more embodiments, the control component includes a linear drive and a push block, the push block is slidably mounted on the second mounting seat and the push block is tightly fitted with the locking block, the linear drive is mounted on the second mounting seat and the driving end of the linear drive is transmission-connected to the push block.

[0014] In one or more embodiments, the camera device also includes a lifting assembly, which includes a rotary drive, a screw and a bevel gear; the rotary drive is mounted on the bracket, the screw is rotatably mounted on the bracket and is threadedly connected to the sliding frame, and two bevel gears are provided, which are respectively sleeved on the driving ends of the screw and the rotary drive, and the two bevel gears are connected in transmission.

[0015] In one or more embodiments, a reinforcing rib is provided on the right-angle support.

[0016] In one or more embodiments, an inertial sensor is mounted on the frame.

[0017] The present application also provides a smart dog, including a mechanical dog, on which a substation inspection device is installed. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a three-dimensional schematic diagram of a smart dog and its substation inspection equipment;

[0019] FIG2 is a perspective schematic diagram of a substation inspection device;

[0020] FIG3 is a perspective schematic diagram of an anti-seismic mechanism in a substation inspection device;

[0021] FIG4 is a partial enlarged schematic diagram of point A in FIG3 ;

[0022] FIG5 is a perspective schematic diagram of another anti-seismic mechanism in a substation inspection device;

[0023] FIG6 is a perspective schematic diagram of a third buffer assembly and a camera assembly in a substation inspection device;

[0024] FIG7 is a perspective schematic diagram of a locking device in a substation inspection device;

[0025] FIG8 is a perspective exploded schematic diagram of a locking device in a substation inspection device.

[0026] Reference numerals in the figure are: 1 - frame; 11 - inertial sensor; 2 - anti-seismic mechanism; 21 - first buffer assembly; 211 - bracket; 212 - extension plate; 213 - first elastic member; 22 - second buffer assembly; 221 - guide rail; 222 - slide seat; 223 - right-angle support; 2231 - reinforcement rib; 224 - second elastic member; 23 - third buffer assembly; 231 - slide frame; 232 - slide rail; 233 - third elastic member; 3 - camera device; 31 - first mounting seat; 32 - camera assembly; 33 - lifting assembly; 331 - rotary driver; 332 - screw; 333 - bevel gear; 4 - locking device; 41 - second mounting seat; 42 - locking block; 421 - fourth elastic member; 43 - docking plate; 431 - locking groove; 44-control component; 441-linear drive; 442-push block; 5-mechanical dog. DETAILED DESCRIPTION

[0027] In order to understand the features, technical means, and specific objectives and functions achieved by this application, this application is described below in conjunction with the accompanying drawings and implementation methods.

[0028] Referring to Figures 1 to 2: A substation inspection equipment with earthquake-proof performance (substation intelligent inspection equipment) includes a mounting frame, an earthquake-proof mechanism 2, a camera device 3 and a locking device 4; the earthquake-proof mechanism 2 is installed on the mounting frame, the camera device 3 includes a first mounting seat 31 and a camera assembly 32, the first mounting seat 31 is installed on the mounting frame through the earthquake-proof mechanism 2, the camera assembly 32 is installed on the first mounting seat 31, and the locking device 4 is installed on the mounting frame and the locking device 4 is configured to fix the camera device 3.

[0029] A substation inspection device (substation intelligent inspection device) with earthquake-proof performance includes a frame 1, an earthquake-proof mechanism 2, a camera device 3 and a locking device 4; the earthquake-proof mechanism 2 is installed on the frame 1, the camera device 3 includes a first mounting seat 31 and a camera assembly 32, the first mounting seat 31 is installed on the frame 1 through the earthquake-proof mechanism 2, the camera assembly 32 is installed on the first mounting seat 31, and the locking device 4 is installed on the frame 1 and is configured to fix the camera device 3.

[0030] The present application realizes the function of reducing the vibration of the camera device 3 through the mechanical dog 5, the anti-vibration mechanism 2, the camera device 3 and the locking device 4, and achieves the effect of quickly stabilizing the camera device 3 through the locking device 4, thereby improving the clarity of the image shooting, avoiding blurred shooting pictures, and solving the problem that the camera module of the inspection device is easily damaged by vibration. The operator installs the frame 1 on a mobile device for movement, which can be a mechanical dog 5. The mechanical dog 5, the camera assembly 32 and the locking device 4 are electrically connected to the controller; when the frame 1 encounters an obstacle during movement, it may be bumped or hit. When the frame 1 is hit, it generates strong vibrations, which are absorbed and buffered by the anti-vibration mechanism 2 to prevent the camera assembly 32 from being strongly impacted, thereby protecting the camera assembly 32; and when the frame 1 is moving, since the camera assembly 32 is supported by the anti-vibration mechanism 2, the anti-vibration mechanism 2 will continue to buffer and shake. At this time, when shooting, the shot will be blurred due to the instability of the lens. For this reason, a locking device 4 is provided. After the frame 1 stops moving, the camera device 3 shakes due to inertia. At this time, the controller sends a signal to the locking device 4. After receiving the signal, the locking device 4 fixes the camera device 3. The controller sends a signal to the camera assembly 32. After receiving the signal, the camera assembly 32 shoots the target object and transmits the picture for comparison to realize the inspection function.

[0031] Referring to Figures 1 to 4: the anti-seismic mechanism 2 includes a first buffer assembly 21, the first buffer assembly 21 includes a bracket 211, an extension plate 212 and a first elastic member 213; the bracket 211 is slidably installed on the frame 1, the first mounting seat 31 is installed on the bracket 211, two extension plates 212 are provided and the extension plates 212 are respectively installed on both sides of the bracket 211, two first elastic members 213 are provided, and the two ends of the first elastic member 213 are respectively connected to the extension plate 212 and the frame 1.

[0032] The present application utilizes the bracket 211, extension plate 212, and first elastic member 213 to achieve vertical cushioning, thereby reducing the impact on the camera assembly 3. When impacted, the frame 1 vibrates, causing the bracket 211 and first mounting base 31 to shake. At this point, the first elastic member 213 continuously contracts, cushioning the impact while converting mechanical energy into heat, dissipating it, absorbing vibration, and preventing damage to the camera assembly 32. Furthermore, a hydraulic damping rod can be installed on the first elastic member 213 to further absorb vibration, improve shock absorption, and quickly stabilize the camera assembly 32.

[0033] Referring to Figures 1 to 5: the anti-seismic mechanism 2 also includes a second buffer assembly 22, the second buffer assembly 22 includes a guide rail 221, a slide 222, a right-angle support 223 and a second elastic member 224; the guide rail 221 and the right-angle support 223 are installed on the frame 1, the slide 222 is slidably installed on the guide rail 221, the two ends of the first elastic member 213 are respectively connected to the extension plate 212 and the slide 222, and the two ends of the second elastic member 224 are respectively connected to the bracket 211 and the right-angle support 223.

[0034] The present application achieves a buffering function along the horizontal plane through the guide rail 221, the slide 222, the right-angle support 223, and the second elastic member 224, thereby reducing the impact on the camera assembly 32. When subjected to an impact, the frame 1 shakes, which in turn causes the bracket 211 and the first mounting seat 31 to shake. At this time, the first elastic member 213 continuously contracts, buffering the impact and converting mechanical energy into heat energy for dissipation, consuming energy, and absorbing vibration. At the same time, the second elastic member 224 continuously contracts under the impact, and the slide 222 slides back and forth along the guide rail 221, consuming energy, reducing the impact of the first mounting seat 31 along the horizontal plane, and further preventing damage to the camera assembly 32.

[0035] Referring to Figures 2, 5 and 6: the anti-seismic mechanism 2 also includes a third buffer assembly 23, the third buffer assembly 23 includes a sliding frame 231, a sliding rail 232 and a third elastic member 233; the sliding frame 231 is installed on the bracket 211, the sliding rail 232 is set on the sliding frame 231, the first mounting seat 31 is slidably installed on the slide rail 232, and the two ends of the third elastic member 233 are respectively connected to the first mounting seat 31 and the sliding frame 231.

[0036] The present application achieves a longitudinal buffering function along the horizontal plane through the sliding frame 231, the slide rail 232, and the third elastic member 233, thereby supplementing the horizontal plane buffering range. When subjected to an impact, the frame 1 vibrates, thereby causing the bracket 211 and the first mounting seat 31 to shake. At this time, the first elastic member 213 continuously contracts, buffering the impact and converting mechanical energy into heat energy for dissipation, consuming energy, and absorbing vibration. At the same time, the second elastic member 224 continuously contracts under the impact, and the slide 222 reciprocates along the guide rail 221, consuming energy and mitigating the impact of the first mounting seat 31 along the horizontal plane. At the same time, the first mounting seat 31 slides along the slide rail 232, and the third elastic member 233 continuously contracts and deforms, consuming the impact energy, further preventing damage to the camera assembly 32.

[0037] Referring to Figures 2, 3, 7 and 8: the locking device 4 includes a second mounting seat 41, a locking block 42, a docking plate 43 and a control component 44; the second mounting seat 41 is installed on the frame 1, and the locking block 42 is slidably installed on the second mounting seat 41. A fourth elastic member 421 is installed on the locking block 42, and the two ends of the fourth elastic member 421 are respectively connected to the locking block 42 and the second mounting seat 41; the docking plate 43 is installed on the bracket 211, and at least two locking grooves 431 that cooperate with the locking block 42 are provided on the docking plate 43, and multiple locking grooves 431 are distributed in an array; the control component 44 is installed on the frame 1 and the control component 44 is configured to control the movement of the locking block 42.

[0038] The present application realizes the function of fixing the camera device 3 through the second mounting seat 41, the locking block 42, the docking plate 43 and the control component 44, so as to achieve the effect of quickly stabilizing the camera component 32 and performing the shooting task. The control component 44 is electrically connected to the controller; when the frame 1 suddenly switches from a moving state to a stationary state to perform a shooting task, the camera component 32 will continue to shake for a period of time due to the influence of inertia, and the pictures taken during the shaking process will appear blurred, double images, etc. For this reason, a locking device 4 is provided. When performing a shooting task, the controller sends a signal to the control component 44, and the control component 44 releases the restriction on the locking block 42. The locking block 42 has a tendency to extend under the elastic force of the fourth elastic member 421. If the locking block 42 is in the locking groove 4 31 does not correspond, the locking block 42 is squeezed by the docking plate 43, the fourth elastic member 421 contracts, and the bracket 211 continues to move with the shaking of the camera assembly 32. When the locking block 42 is just aligned with the locking groove 431, the locking block 42 slides into the locking groove 431 under the elastic force of the fourth elastic member 421. The movement of the bracket 211 is restricted by the cooperation between the locking block 42 and the locking groove 431, the shaking amplitude of the bracket 211 is reduced, and the continuous shaking of the bracket 211 is avoided, thereby stabilizing the camera assembly 32.

[0039] Referring to Figures 2, 7 and 8: the control component 44 includes a linear driver 441 and a push block 442, the push block 442 is slidably mounted on the second mounting seat 41 and the push block 442 is tightly fitted with the locking block 42, the linear driver 441 is mounted on the second mounting seat 41 and the driving end of the linear driver 441 is transmission-connected to the push block 442.

[0040] The present application realizes the function of controlling the movement range of the locking block 42 through the linear drive 441 and the push block 442, thereby achieving the effect of controlling the start and stop of the locking device 4. The linear drive 441 can be a linear cylinder, and the linear drive 441 is electrically connected to the controller; during the movement process, the operator closes the locking device 4, and the controller sends a signal to the linear drive 441. After receiving the signal, the linear drive 441 drives the push block 442 to slide, and the push block 442 pushes the locking block 42, so that the fourth elastic member 421 is in a retracted state, preventing the locking block 42 from sliding out under the action of the elastic force; during the shooting process, the controller sends a signal to the linear drive 441, and the linear drive 441 drives the push block 442 to extend, thereby releasing the movement restriction of the locking block 42, so that the locking block 42 can slide into the locking groove 431 under the elastic force of the fourth elastic member 421.

[0041] Referring to Figures 1 to 5: the camera device 3 also includes a lifting assembly 33, which includes a rotary driver 331, a screw 332 and a bevel gear 333; the rotary driver 331 is mounted on the bracket 211, the screw 332 is rotatably mounted on the bracket 211 and the screw 332 is threadedly connected to the sliding frame 231, and two bevel gears 333 are provided. The two bevel gears 333 are respectively sleeved on the driving ends of the screw 332 and the rotary driver 331, and the two bevel gears 333 are transmission connected.

[0042] The present application realizes the function of driving the camera assembly 32 to rise and fall by means of a rotary driver 331, a screw 332 and a bevel gear 333, thereby achieving the effect of adjusting the camera range. The rotary driver 331 can be a servo motor, which is electrically connected to a controller. In order to improve the shooting sensitivity, a lifting assembly 33 is provided. According to the shooting position, the controller sends a signal to the rotary driver 331. After receiving the signal, the rotary driver 331 drives the screw 332 to rotate via the bevel gear 333. The screw 332 drives the sliding frame 231 threadedly connected to the screw 332 to rise and fall. The sliding frame 231 drives the first mounting seat 31 and the camera assembly 32 to move, thereby completing the adjustment of the camera height, making it faster and more convenient to find the shooting target and improving the inspection efficiency.

[0043] 1 to 5 , a reinforcing rib 2231 is provided on the right-angle support 223 .

[0044] The present application achieves the function of increasing the structural strength of the right-angle support 223 through the reinforcement ribs 2231, thereby improving the overall stability of the frame 1. Because the buffering of the bracket 211 depends on the right-angle support 223, when the bracket 211 shakes, the right-angle support 223 needs to support the bracket 211, and thus the right-angle support 223 will repeatedly bear large pressure. To this end, the reinforcement ribs 2231 are provided on the right-angle support 223. The support of the reinforcement ribs 2231 increases the structural strength of the right-angle support 223, stably supporting the bracket 211, preventing breakage, and further improving the support stability of the camera assembly 32.

[0045] 1 , 2 and 7 : an inertial sensor 11 is mounted on the frame 1 .

[0046] This application utilizes an inertial sensor 11 to monitor the movement of the rack 1, automatically opening and closing the locking device 4 based on the movement of the rack 1, and reducing manual labor. The inertial sensor 11 is electrically connected to a controller; after the inspection device is activated, the inertial sensor 11 monitors the movement of the rack 1 in real time and feeds back information to the controller. The controller automatically opens and closes the locking device 4 based on the information fed back by the inertial sensor 11, thus achieving automatic inspection without manual intervention and further enhancing the intelligence of the inspection device.

[0047] Referring to Figure 1: This application also provides a smart dog, including a mechanical dog 5, on which a substation inspection device is installed.

[0048] The present application realizes the function of automatic movement through the mechanical dog 5, and the mechanical dog 5 can be a four-legged mechanical dog. Compared with wheeled movement, the four-legged mechanical dog has a stronger obstacle-crossing ability and is more adaptable to complex terrain, and can adapt to more inspection tasks.

[0049] This application has the following effects:

[0050] 1. This application realizes the function of reducing the vibration of the camera device through a mechanical dog, an anti-vibration mechanism, a camera device and a locking device, and achieves the effect of quickly stabilizing the camera device through the locking device, thereby improving the clarity of image capture, avoiding blurred images, and solving the problem that the camera module of the inspection device is easily damaged by vibration.

[0051] 2. This application realizes the function of fixing the camera device through the second mounting base, locking block, docking plate and control assembly, thereby achieving the effect of quickly stabilizing the camera assembly and performing shooting tasks.

[0052] 3. This application realizes the function of controlling the moving range of the locking block through the linear drive and the push block, thereby achieving the effect of controlling the start and stop of the locking device.

[0053] The above embodiments represent only one or several implementation methods of the present application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present application. Various modifications and improvements can be made without departing from the concept of the present application, and all of these fall within the scope of protection of the present application.

Claims

1. A substation inspection device, comprising a frame (1), an anti-seismic mechanism (2), a camera device (3) and a locking device (4); The anti-vibration mechanism (2) is mounted on the frame (1); the camera device (3) comprises a first mounting seat (31) and a camera assembly (32); the first mounting seat (31) is mounted on the frame (1) via the anti-vibration mechanism (2); the camera assembly (32) is mounted on the first mounting seat (31); the locking device (4) is mounted on the frame (1) and the locking device (4) is configured to fix the camera device (3).

2. The device according to claim 1, wherein: The anti-vibration mechanism (2) comprises a first buffer assembly (21), wherein the first buffer assembly (21) comprises a bracket (211), an extension plate (212) and a first elastic member (213); The bracket (211) is slidably mounted on the frame (1), the first mounting seat (31) is mounted on the bracket (211), two extension plates (212) are provided and the extension plates (212) are respectively mounted on two sides of the bracket (211), and two first elastic members (213) are provided, and two ends of the first elastic member (213) are respectively connected to the extension plates (212) and the frame (1).

3. The device according to claim 2, wherein: The anti-vibration mechanism (2) further comprises a second buffer assembly (22), wherein the second buffer assembly (22) comprises a guide rail (221), a sliding seat (222), a right-angle support (223) and a second elastic member (224); The guide rail (221) and the right-angle support (223) are installed on the frame (1), the slide seat (222) is slidably installed on the guide rail (221), the two ends of the first elastic member (213) are respectively connected to the extension plate (212) and the slide seat (222), and the two ends of the second elastic member (224) are respectively connected to the bracket (211) and the right-angle support (223).

4. The device according to claim 3, wherein: The anti-vibration mechanism (2) further comprises a third buffer assembly (23), wherein the third buffer assembly (23) comprises a sliding frame (231), a sliding rail (232) and a third elastic member (233); The sliding frame (231) is mounted on the bracket (211), the sliding rail (232) is arranged on the sliding frame (231), the first mounting seat (31) is slidably mounted on the sliding rail (232), and the two ends of the third elastic member (233) are respectively connected to the first mounting seat (31) and the sliding frame (231).

5. The device according to claim 2, wherein: The locking device (4) comprises a second mounting seat (41), a locking block (42), a docking plate (43) and a control assembly (44); The second mounting seat (41) is mounted on the frame (1), the locking block (42) is slidably mounted on the second mounting seat (41), a fourth elastic member (421) is mounted on the locking block (42), and two ends of the fourth elastic member (421) are respectively connected to the locking block (42) and the second mounting seat (41). connect; The docking plate (43) is mounted on the bracket (211), and at least two locking grooves (431) cooperating with the locking block (42) are formed on the docking plate (43), and the plurality of locking grooves (431) are distributed in an array; The control component (44) is mounted on the frame (1) and is configured to control the movement of the locking block (42).

6. The device according to claim 5, wherein: The control component (44) comprises a linear drive (441) and a push block (442); the push block (442) is slidably mounted on the second mounting seat (41) and the push block (442) is tightly fitted with the locking block (42); the linear drive (441) is mounted on the second mounting seat (41) and the driving end of the linear drive (441) is transmission-connected with the push block (442).

7. The device according to claim 4, wherein: The camera device (3) further comprises a lifting assembly (33), wherein the lifting assembly (33) comprises a rotary driver (331), a screw rod (332) and a bevel gear (333); The rotary driver (331) is mounted on the bracket (211), the screw rod (332) is rotatably mounted on the bracket (211) and the screw rod (332) is threadedly connected to the sliding frame (231), two bevel gears (333) are provided, and the two bevel gears (333) are respectively sleeved on the screw rod (332) and the driving end of the rotary driver (331), and the two bevel gears (333) are transmission connected.

8. The device according to claim 3, wherein: The right-angle support (223) is provided with a reinforcing rib (2231).

9. The device according to claim 1, wherein: An inertial sensor (11) is mounted on the frame (1).

10. A smart dog, wherein: It comprises a mechanical dog (5), on which the substation inspection device according to any one of claims 1 to 9 is installed.

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