CN114683297A - Rotatable supporting leg of foot type inspection robot of transformer substation and working method of rotatable supporting leg - Google Patents
Rotatable supporting leg of foot type inspection robot of transformer substation and working method of rotatable supporting leg Download PDFInfo
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- CN114683297A CN114683297A CN202011636760.3A CN202011636760A CN114683297A CN 114683297 A CN114683297 A CN 114683297A CN 202011636760 A CN202011636760 A CN 202011636760A CN 114683297 A CN114683297 A CN 114683297A
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- inspection robot
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- 238000007689 inspection Methods 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 82
- 230000005855 radiation Effects 0.000 claims description 5
- 238000001816 cooling Methods 0.000 claims description 2
- 230000007704 transition Effects 0.000 claims description 2
- 210000002414 leg Anatomy 0.000 description 75
- 230000036544 posture Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000004575 stone Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000003292 glue Substances 0.000 description 2
- 230000017525 heat dissipation Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a rotatable supporting leg of a foot type inspection robot of a transformer substation and a working method thereof, wherein the rotatable supporting leg comprises the following steps: a leg rotating mechanism, a first leg mechanism and a second leg mechanism; the leg rotating mechanism comprises a rotating support and a second driving motor, one end of the rotating support is connected with the first driving motor of the first leg mechanism, the other end of the rotating support is connected with the second leg mechanism, the second driving motor is installed inside the rotating support, the second leg mechanism is controlled to swing through the first driving motor, and the rotating angle of the second leg mechanism is controlled through the second driving motor. The leg of the foot type inspection robot is driven to rotate by the leg rotating mechanism in a rotating mode to rotate by any angle around the axis of the leg rotating mechanism, the problem that the leg is poor in trafficability when walking due to the fact that the leg is of a rigid structure and is single in leg structure is solved, and the posture of different legs is adjusted to meet the walking requirement.
Description
Technical Field
The invention relates to the technical field of foot type inspection robots of transformer substations, in particular to a rotatable supporting leg of a foot type inspection robot of a transformer substation and a working method of the rotatable supporting leg.
Background
The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.
The transformer substation inspection robots all adopt wheel type chassis at present, and are suitable for running on a relatively flat road surface, but terrains such as steps, stone road surfaces and stairs exist in the transformer substation, so that the inspection area is difficult to be fully covered; the crawler chassis has the problems of high energy consumption, easy abrasion of the crawler, black marks left on the ground and the like, and is not beneficial to long-term operation; the leg-foot type moving mechanism has discrete foot falling points and good terrain trafficability.
The foot type inspection robot needs to adjust the leg structure according to different terrain conditions in the transformer substation so as to better complete inspection operation; however, the existing foot type robot platform is a universal platform, the supporting legs of the existing foot type robot platform are of a rigid structure, only one degree of freedom exists in thighs and shanks, and the passing performance is poor when the existing foot type robot platform walks on steps, stone pavements, stairs and other road conditions in a transformer substation due to the fact that the leg structure is single.
Disclosure of Invention
In order to solve the problems, the invention provides a rotatable supporting leg of a foot type inspection robot of a transformer substation and a working method thereof.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, the invention provides a transformer substation foot type inspection robot rotatable supporting leg, which comprises: the leg rotating mechanism, the first leg mechanism and the second leg mechanism; the leg rotating mechanism comprises a rotating support and a second driving motor, one end of the rotating support is connected with the first driving motor of the first leg mechanism, the other end of the rotating support is connected with the second leg mechanism, the second driving motor is installed inside the rotating support, the second leg mechanism is controlled to swing through the first driving motor, and the rotating angle of the second leg mechanism is controlled through the second driving motor.
In a second aspect, the invention provides a working method of the rotatable support leg of the foot-type inspection robot for the transformer substation, which comprises the following steps: when the posture of the support leg is changed, the first driving motor is controlled to be locked so as to fix the position of the second leg mechanism; and controlling the second driving motor to rotate so as to drive the second leg mechanism to rotate around the axis of the leg rotating mechanism by any angle.
In a third aspect, the invention provides a transformer substation foot type inspection robot, which comprises the transformer substation foot type inspection robot rotatable supporting legs of the first aspect.
Compared with the prior art, the invention has the beneficial effects that:
the invention innovatively develops a rotatable supporting leg of a transformer substation foot type inspection robot, creates a transformer substation foot type inspection robot with the posture of the supporting leg capable of being adaptively changed, constructs a foot type operation platform multi-degree-of-freedom active adjustment motion model, and provides a method for changing the rotatable supporting leg of the transformer substation foot type inspection robot The motion stability of the legged robot platform under different pavement environments such as gravel terrains and grasslands enhances the adaptability of the legged robot platform to different pavements in the station.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
Fig. 1 is a schematic structural view of a rotatable support leg of a foot type inspection robot for a transformer substation provided in embodiment 1 of the present invention;
fig. 2(a) -2(b) are schematic diagrams of the first leg mechanism provided in embodiment 1 of the present invention;
fig. 3(a) -3(d) are schematic diagrams illustrating the composition of the leg rotation mechanism provided in embodiment 1 of the present invention;
fig. 4(a) -4(b) are schematic assembly views of a leg rotation mechanism provided in embodiment 1 of the present invention;
fig. 5 is a schematic view of a second leg mechanism provided in embodiment 1 of the present invention;
FIG. 6 is a schematic view of the foot mechanism assembly provided in example 1 of the present invention;
FIG. 7 is a schematic view of the foot mechanism assembly provided in example 1 of the present invention;
fig. 8 is a schematic view of a posture 1 of a rotatable support leg of the foot type inspection robot for the transformer substation provided in embodiment 2 of the present invention;
fig. 9 is a schematic diagram of a posture 2 of a rotatable support leg of the foot type inspection robot for the transformer substation provided in embodiment 2 of the present invention;
the device comprises a first leg mechanism 1, a first leg mechanism 2, a leg rotating mechanism 3, a second leg mechanism 4, a foot mechanism 5, a shell 6, a third driving motor 7, a cooling fan 8, a first support 9, a first driving motor 10, a rotating support 11, a rotating mounting plate 12, a second driving motor 13, a connecting piece 14, a second support 15, a spring 16, a foot fixing plate 17, a foot mounting plate 18 and a grounding foot.
The specific implementation mode is as follows:
the invention is further described with reference to the following figures and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise, and furthermore, it should be understood that the terms "comprises" and "comprising," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
Example 1
As shown in fig. 1, the present embodiment provides a rotatable support leg of a foot-type inspection robot for a transformer substation; the method comprises the following steps: a first leg mechanism 1, a leg rotating mechanism 2, a second leg mechanism 3 and a foot mechanism 4; the leg rotating mechanism 2 is connected with the first leg mechanism 1 and the second leg mechanism 3, and the other end of the second leg mechanism 3 is connected with the foot mechanism 4.
As shown in fig. 2(a) -2(b), the first leg mechanism 1 includes a housing 5, a first drive motor 9, a heat radiation fan 7, a first bracket 8, and a third drive motor 6;
in this embodiment, the gap between the third driving motor 6 and the heat dissipation fan 7 is adhered with high strength glue to supplement the gap; the heat radiation fan 7 enhances the air flow between the third driving motor 6 and the shell 5 in the movement process of the first leg mechanism 1, and enhances the heat radiation;
preferably, the heat radiation fan 7 is connected to the third driving motor 6 by bolts.
In the present embodiment, the housing 5 is disposed on the first bracket 8;
preferably, the housing 5 is bolted to the first bracket 8;
preferably, the shell 5 is made of an aluminum alloy material, so that the heat dissipation area of the third driving motor 6 is increased.
In this embodiment, two ends of the first bracket 8 are respectively connected with the first driving motor 9 and the third driving motor 6;
preferably, the first driving motor 9 is connected to the leg rotating mechanism 2 through a key transmission to drive the second leg mechanism 3 to swing.
Preferably, the first bracket 8, the first driving motor 9 and the third driving motor 6 can be connected by bolts;
it is understood that flange connections, rivets, dowel connections, etc. may be used in addition to bolted connections.
As shown in fig. 3(a) -3(d) and fig. 4(a) -4(b), the leg rotation mechanism 2 includes a rotation bracket 10, a rotation mounting plate 11, a second drive motor 12, and a link 13;
the rotating bracket 10 is connected with the first driving motor 9 of the first leg mechanism 2 through a key connection and is connected with the second leg mechanism 3 through a connecting piece 13;
in this embodiment, the upper edge of the connecting member 13 is mounted on the rotating bracket 11, and the lower edge thereof is mounted on the second leg mechanism 3 in a clearance fit manner;
preferably, a positioning groove is formed in the side surface of the rotating support 10, an inward concave positioning groove is formed in the upper edge of the connecting piece 13, and the inward concave positioning groove is in transition fit with the positioning groove;
preferably, the connecting member 13 is of a fixed buckle structure, and includes a first half buckle and a second half buckle, and the first half buckle and the second half buckle are connected through a bolt.
In this embodiment, a mounting groove is formed inside the rotary bracket 10, and the second driving motor 12 is connected to the rotary mounting plate 11 by a bolt and then mounted in the mounting groove of the rotary bracket 10 by the bolt;
preferably, the second driving motor 12 is a rotating motor, and changes the rotation angle of the second leg mechanism 3 by connecting the leg rotating mechanism 2 with the second leg mechanism 3.
As shown in fig. 5, the second leg mechanism 3 includes a second bracket 14 and a spring 15; the second bracket 14 is in clearance fit with the lower edge of the connecting piece 13; an inner cavity is arranged at the lower part of the second bracket 14, and a spring 15 is arranged in the inner cavity in a matching way.
As shown in fig. 6-7, the foot mechanism 4 includes a foot fixing plate 16, a foot mounting plate 17, and a ground foot 18;
the foot mounting plate 17 is connected to the second bracket 14, and the upper part of the foot fixing plate 16 is in clearance fit with the spring 15;
preferably, the four corners of the foot mounting plate 17 are connected to the second bracket 14 by bolts.
A round hole is formed in the middle of the foot mounting plate 17, and a connecting shaft of the grounding foot 18 penetrates through the round hole of the foot mounting plate 17 to be connected with the foot fixing plate 16;
preferably, the upper end of the connecting shaft of the grounding foot 18 is provided with a threaded hole for connecting with the foot fixing plate 16 through a bolt.
Preferably, the outer portion of the grounding foot 18 is adhered with a rubber material by high-strength glue.
In more embodiments, still provide a transformer substation foot formula and patrol and examine robot, including above-mentioned rotatable landing leg, through the rotation of control second driving motor, carry out the adjustment of different landing leg gestures to transformer substation foot formula and patrol and examine robot to satisfy the walking requirement.
Example 2
In this embodiment, a working method of a rotatable leg of a foot-type inspection robot of a substation according to embodiment 1 is provided; the method specifically comprises the following steps: when the posture of the supporting leg is changed, the first driving motor is controlled to be locked so as to fix the position of the second leg mechanism, and the second driving motor is controlled to rotate so as to drive the second leg mechanism to rotate around the axis of the leg rotating mechanism by any angle.
In this embodiment, two leg poses of the rotatable leg are provided; one of which is shown in fig. 8; after the angle of the second leg mechanism is determined, locking the current angle, and realizing the advancing of the foot type inspection robot of the transformer substation through the coordination control of the first driving motor and the third driving motor; the posture of the support leg is suitable for the road conditions such as flat road surfaces and upper steps in the transformer substation.
The second is shown in FIG. 9; when the posture of the supporting leg needs to be changed, the third driving motor is controlled to lift the supporting leg, the first driving motor is controlled to lock the second leg mechanism, the output shaft of the rotating motor is controlled to rotate, and the second leg mechanism rotates around the axis of the leg rotating mechanism by any angle; the posture of the support leg is suitable for the road conditions such as a flat road surface, a lower step and the like in a transformer substation.
Besides, in the environments such as grassland, stone pavement and the like in the transformer substation, the postures of different support legs can be adjusted to meet the walking requirement by controlling the rotation of the rotating motor according to the situation of on-site obstacles.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (10)
1. The utility model provides a transformer substation's sufficient formula is patrolled and examined rotatable landing leg of robot which characterized in that includes: a leg rotating mechanism, a first leg mechanism and a second leg mechanism; the leg rotating mechanism comprises a rotating support and a second driving motor, one end of the rotating support is connected with the first driving motor of the first leg mechanism, the other end of the rotating support is connected with the second leg mechanism, the second driving motor is installed inside the rotating support, the second leg mechanism is controlled to swing through the first driving motor, and the rotating angle of the second leg mechanism is controlled through the second driving motor.
2. The substation foot inspection robot rotatable leg of claim 1, wherein the first leg mechanism further comprises a first bracket, a cooling fan and a third drive motor; and two ends of the first support are respectively connected with a first driving motor and a third driving motor, and a heat radiation fan is installed on the third driving motor.
3. The substation foot type inspection robot rotatable leg according to claim 1, wherein the rotating bracket is connected with the second leg mechanism through a connecting piece, a first edge of the connecting piece is connected with the rotating bracket, and a second edge of the connecting piece is connected with the second leg mechanism;
or the rotating bracket is connected with the first driving motor through a key connection.
4. The substation foot type inspection robot rotatable leg according to claim 3, wherein a positioning groove is formed in a side surface of the rotating bracket, a concave positioning groove is formed in a first edge of the connecting piece, and the concave positioning groove is in transition fit connection with the positioning groove;
or the connecting piece comprises a first half buckle and a second half buckle, and the first half buckle and the second half buckle are connected through a bolt.
5. The substation foot type inspection robot rotatable leg according to claim 1, wherein the leg rotating mechanism further comprises a rotating mounting plate, a mounting groove is formed in the rotating support, and the second driving motor is mounted in the mounting groove after being connected with the rotating mounting plate.
6. The substation foot inspection robot rotatable leg of claim 1, wherein the second leg mechanism comprises a second bracket and a spring, the second bracket being connected to the rotatable bracket; a spring is mounted in the inner cavity of the second bracket.
7. The substation foot inspection robot rotatable leg according to claim 1, further comprising a foot mechanism, wherein the foot mechanism comprises a foot fixing plate, a foot mounting plate and a grounding foot, the foot mounting plate is connected with the second bracket of the second leg mechanism, and the foot fixing plate is connected with the spring of the second leg mechanism.
8. The substation foot type inspection robot rotatable supporting leg according to claim 7, wherein a round hole is formed in the middle of the foot mounting plate, and a connecting shaft of the grounding foot penetrates through the round hole to be connected with the foot fixing plate.
9. A method of operating a substation foot inspection robot rotatable leg according to any one of claims 1-8, comprising: when the posture of the support leg is changed, the first driving motor is controlled to be locked so as to fix the position of the second leg mechanism; and controlling the second driving motor to rotate so as to drive the second leg mechanism to rotate around the axis of the leg rotating mechanism by any angle.
10. A substation foot type inspection robot is characterized by comprising the rotatable supporting legs of the substation foot type inspection robot according to any one of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011636760.3A CN114683297B (en) | 2020-12-31 | 2020-12-31 | Rotatable supporting leg of transformer substation foot type inspection robot and working method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011636760.3A CN114683297B (en) | 2020-12-31 | 2020-12-31 | Rotatable supporting leg of transformer substation foot type inspection robot and working method thereof |
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| CN114683297A true CN114683297A (en) | 2022-07-01 |
| CN114683297B CN114683297B (en) | 2023-10-27 |
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|---|---|---|---|---|
| US5739655A (en) * | 1994-09-09 | 1998-04-14 | Kabushiki Kaisha Komatsu Seisakusho | Ambulatory robot and ambulation control method for same |
| JP2003266337A (en) * | 2002-03-11 | 2003-09-24 | National Institute Of Advanced Industrial & Technology | Bipedal walking robot |
| CN205131424U (en) * | 2015-10-09 | 2016-04-06 | 杭州南江机器人股份有限公司 | Leg formula robot shank structure |
| CN109501881A (en) * | 2019-01-14 | 2019-03-22 | 浙江大学 | A kind of quadruped robot walking mechanism |
| CN110065552A (en) * | 2019-05-22 | 2019-07-30 | 贵州大学 | A kind of voice control quadruped robot |
| CN110253620A (en) * | 2019-07-25 | 2019-09-20 | 长安大学 | A kind of integrated joint of fast demountable can variant multi-foot robot |
| CN110667726A (en) * | 2019-09-30 | 2020-01-10 | 中铁第四勘察设计院集团有限公司 | Four-foot walking inspection robot applied to subway train inspection warehouse |
| CN111332382A (en) * | 2020-04-01 | 2020-06-26 | 安徽工业大学 | Horizontal joint quadruped robot |
| CN111360868A (en) * | 2020-03-24 | 2020-07-03 | 北京理工大学 | Bionic robot and limb structure of parallel driving joint of bionic robot |
| US20200216127A1 (en) * | 2019-01-04 | 2020-07-09 | Hyundai Motor Company | Vehicles and systems and components thereof |
-
2020
- 2020-12-31 CN CN202011636760.3A patent/CN114683297B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5739655A (en) * | 1994-09-09 | 1998-04-14 | Kabushiki Kaisha Komatsu Seisakusho | Ambulatory robot and ambulation control method for same |
| JP2003266337A (en) * | 2002-03-11 | 2003-09-24 | National Institute Of Advanced Industrial & Technology | Bipedal walking robot |
| CN205131424U (en) * | 2015-10-09 | 2016-04-06 | 杭州南江机器人股份有限公司 | Leg formula robot shank structure |
| US20200216127A1 (en) * | 2019-01-04 | 2020-07-09 | Hyundai Motor Company | Vehicles and systems and components thereof |
| CN109501881A (en) * | 2019-01-14 | 2019-03-22 | 浙江大学 | A kind of quadruped robot walking mechanism |
| CN110065552A (en) * | 2019-05-22 | 2019-07-30 | 贵州大学 | A kind of voice control quadruped robot |
| CN110253620A (en) * | 2019-07-25 | 2019-09-20 | 长安大学 | A kind of integrated joint of fast demountable can variant multi-foot robot |
| CN110667726A (en) * | 2019-09-30 | 2020-01-10 | 中铁第四勘察设计院集团有限公司 | Four-foot walking inspection robot applied to subway train inspection warehouse |
| CN111360868A (en) * | 2020-03-24 | 2020-07-03 | 北京理工大学 | Bionic robot and limb structure of parallel driving joint of bionic robot |
| CN111332382A (en) * | 2020-04-01 | 2020-06-26 | 安徽工业大学 | Horizontal joint quadruped robot |
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| CN114683297B (en) | 2023-10-27 |
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