CN115723874B - Stable cat ladder's intelligent electric wire netting quadruped robot - Google Patents
Stable cat ladder's intelligent electric wire netting quadruped robot Download PDFInfo
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- CN115723874B CN115723874B CN202211501357.9A CN202211501357A CN115723874B CN 115723874 B CN115723874 B CN 115723874B CN 202211501357 A CN202211501357 A CN 202211501357A CN 115723874 B CN115723874 B CN 115723874B
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- 241000282326 Felis catus Species 0.000 title claims abstract description 16
- 238000007689 inspection Methods 0.000 claims abstract description 21
- 239000007921 spray Substances 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 4
- 230000000087 stabilizing effect Effects 0.000 abstract description 7
- 210000001364 upper extremity Anatomy 0.000 description 12
- 238000000034 method Methods 0.000 description 5
- 230000008602 contraction Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000005192 partition Methods 0.000 description 3
- 230000009194 climbing Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000009193 crawling Effects 0.000 description 2
- 239000000843 powder Substances 0.000 description 2
- 238000004904 shortening Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003578 releasing effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
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Abstract
The invention discloses a smart grid quadruped robot for stabilizing a cat ladder, which belongs to the technical field of inspection robots and comprises a chassis, an inspection device, cat ladder legs, a driving piece and a control host; the ladder stand leg comprises a first rotating rod and a second rotating rod hinged to one end of the first rotating rod; the number of the ladder legs is at least three; the driving piece is used for driving the first rotating rod and the second rotating rod to rotate; the inspection device, the driving piece and the roller are electrically connected with the control host. This application drives first dwang and second dwang through control host computer and driving piece and rotates, makes the electric power inspection robot accomplish under the cooperation of first dwang and second dwang and lifts the leg and put the leg when meetting the stair to realize the cat ladder, solved the technical problem that electric power inspection robot can't climb the ladder among the prior art, effectively enlarged the application scope of electric power inspection robot.
Description
Technical Field
The invention relates to the field of inspection robots, in particular to a smart grid quadruped robot capable of stabilizing a ladder.
Background
The intelligent power grid is based on an integrated high-speed two-way communication network, and the aims of reliability, safety, economy, high efficiency, environmental friendliness and use safety of the power grid are achieved through application of an advanced sensing and measuring technology, an advanced equipment technology, an advanced control method and an advanced decision support system technology.
In the application process of the intelligent power grid at present, the power equipment is inspected by the wheeled robot, and compared with the traditional manual power equipment inspection, the inspection efficiency can be remarkably improved.
With respect to the above-described related art, the inventors consider that there are drawbacks in that: traditional wheeled robot can only go on the plane, but can't climb the ladder, patrol and examine the electrical equipment and brought inconvenience for the robot when including more stairways in the scene of patrolling and examining.
Disclosure of Invention
The invention aims to provide a smart grid quadruped robot capable of stabilizing a ladder so that the robot can climb the ladder in the power inspection process.
In order to achieve the above purpose, the following technical scheme is adopted:
a smart grid quadruped robot for stabilizing a ladder, comprising: the device comprises a chassis, a patrol device arranged on the chassis, a ladder leg for supporting the chassis, a driving piece for driving the ladder leg, and a control host arranged on the chassis;
the number of the ladder legs is at least three, and the number of the driving parts is matched with the number of the ladder legs;
the ladder stand leg comprises a first rotating rod and a second rotating rod hinged to one end of the first rotating rod;
the driving piece comprises a first driving motor, a first output shaft, a first hinge block, a leg telescopic push rod and a second hinge block, wherein the first driving motor is arranged on the chassis, the first output shaft is arranged at the output end of the first driving motor, the first hinge block is arranged on the chassis, the leg telescopic push rod is hinged to the first hinge block, and the second hinge block is arranged on the second rotating rod;
one end of the first rotating rod, which is far away from the second rotating rod, is connected with the first output shaft, and one end of the leg telescopic push rod, which is far away from the first hinging block, is hinged to the second hinging block;
the first output shaft is parallel to the chassis, and the rotating tracks of the first rotating rod and the leg telescopic push rod are perpendicular to the chassis;
the chassis is provided with a movable opening for the first rotating rod and the leg telescopic push rod to rotate;
the first driving motor and the leg telescopic push rod are electrically connected with the control host.
Preferably, a motor casing is arranged at one end of the second rotating rod, which is far away from the first rotating rod, a second driving motor is arranged in the motor casing, a second output shaft is arranged at the output end of the second driving motor, and the second output shaft penetrates through the outer wall of the motor casing;
the second output shaft is perpendicular to the second rotating rod, and a roller is arranged at one end of the second output shaft, which is far away from the second driving motor;
the second driving motor is a self-locking motor and is electrically connected with the control host.
Preferably, the inspection device comprises a flame detection device and a bottom shell covered on the chassis;
the flame detection device comprises a first shell arranged on the bottom shell, a camera arranged on the first shell, a flame sensor, a base and a spray head arranged on the base;
the fire extinguisher is arranged in the first casing, the output end of the fire extinguisher is provided with an electromagnetic valve, the output end of the electromagnetic valve is provided with a connecting pipe, and one end of the connecting pipe, which is far away from the electromagnetic valve, penetrates through the first casing and the base and is communicated with the spray head.
Preferably, the inspection device comprises a voltage measuring device, the voltage measuring device comprises a voltmeter module arranged on the chassis, the bottom shell is provided with a second shell, two third driving motors are arranged in the second shell, a third output shaft is arranged at the output end of each third driving motor, a driving gear is arranged on the third output shaft sleeve, two rotating shafts are rotatably connected in the second shell, and driven gears are sleeved on the rotating shafts;
the driving gears are respectively meshed with the driven gears;
one end of each rotating shaft penetrates through the same outer wall of the second casing, a lifting telescopic pushing plate is arranged at one end of each rotating shaft protruding out of the outer wall of the second casing, and a translational telescopic pushing rod is arranged at one side of the telescopic end of each lifting telescopic pushing plate;
the telescopic ends of the two translational telescopic push rods are respectively provided with an anode meter pen and a cathode meter pen;
the positive electrode meter pen and the negative electrode meter pen are electrically connected with the voltmeter module.
Preferably, the two rotating shafts are parallel to each other, and the lengths of the two rotating shafts are different.
Preferably, the inspection device comprises a switch control device, the switch control device comprises a third casing arranged on the bottom casing, a first connecting block is arranged on one inner side wall of the third casing, the first connecting block is rotationally connected with a deflector rod, a reserved opening for the deflector rod to move is formed in one side, far away from the first connecting block, of the third casing, and one end, far away from the first connecting block, of the deflector rod extends out of the reserved opening;
the deflector rod is provided with a sliding block, the inner side wall of the third casing adjacent to the first connecting block is provided with a sliding groove matched with the sliding block, and the sliding groove extends along the rotating track of the sliding block;
the third casing is provided with a poking piece for driving the poking rod.
Preferably, the toggle piece comprises a second connecting block arranged on the inner bottom wall of the third casing and a switch telescopic push rod rotatably connected with the second connecting block;
and one end of the switch telescopic push rod, which is far away from the second connecting block, is hinged with the deflector rod.
Preferably, the chassis is provided with a battery for supplying power to the inspection device, the driving member, and the control host.
By combining the scheme and the embodiment, the intelligent power grid quadruped robot for stabilizing the ladder can control the driving piece through the control host, so that the first rotating rod and the second rotating rod of the ladder leg can complete preset rotating action under the action of the driving piece.
When the robot is cruising on the flat land, the control host sends a signal to the driving piece, so that the first driving motor drives the first rotating rod to rotate, and the leg telescopic push rod rotates around the end part of the first rotating rod by extending or shortening the second rotating rod, so that a plurality of ladder legs of the robot alternately lift and put legs on the flat land, and the robot moves on the flat land;
when the robot encounters stairs, the control host sends signals to the driving piece, the first driving motor drives the first rotating rod close to one side of the stairs and the leg telescopic push rod drives the second rotating rod to rotate around the end part of the first rotating rod through extension or shortening, so that the stair climbing legs can be lifted and put through the preset rotating actions of the first rotating rod and the second rotating rod, and the stair climbing legs close to one side of the stairs are supported on the top surface of the stairs. Because the quantity of cat ladder leg is three at least, consequently electric power inspection robot has two cat ladder legs all the time when the cat ladder can support the chassis to avoid the robot to turn on one's side at cat ladder in-process.
And then the robot continuously moves towards one side of the step in a flat ground advancing mode, so that the rest ladder legs continuously climb the ladder according to the steps until all the ladder legs of the robot are supported on the top surface of the step to finish the ladder. Therefore, the robot can not only patrol on the flat ground, but also climb the ladder, and the application range of the robot is effectively enlarged.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained from these drawings without inventive faculty for a person skilled in the art.
Fig. 1 is a schematic overall structure of an embodiment of the present invention.
Fig. 2 is a schematic structural view of a chassis in an embodiment of the present invention.
Fig. 3 is a schematic structural view of a ladder leg according to an embodiment of the invention.
Fig. 4 is a schematic view showing an internal structure of an electrode case in an embodiment of the present invention.
Fig. 5 is a schematic view illustrating an internal structure of the first housing according to an embodiment of the invention.
Fig. 6 is a schematic diagram illustrating an internal structure of a second housing according to an embodiment of the present invention.
Fig. 7 is an enlarged view of a in fig. 1.
Fig. 8 is a schematic view illustrating an internal structure of a third casing according to an embodiment of the present invention.
Reference numerals illustrate: 100. a substrate; 110. a connecting plate; 111. an opening; 200. a first driving motor; 210. a first output shaft; 220. a first rotating lever; 230. a second rotating lever; 240. a second hinge block; 250. a second connecting shaft; 300. a first hinge block; 310. a first connecting shaft; 320. a leg telescoping push rod; 400. a motor housing; 410. a second driving motor; 420. a second output shaft; 430. a roller; 500. a storage battery; 510. a control host; 520. a voltmeter module; 600. a bottom case; 610. a second housing; 620. a partition plate; 630. a rotating shaft; 640. a driven gear; 650. a third driving motor; 660. a drive gear; 700. lifting the telescopic push plate; 710. translational telescopic push rod; 720. a positive electrode meter pen; 730. a negative electrode meter pen; 800. a first housing; 810. a camera; 820. a flame sensor; 830. fire extinguishers; 840. an electromagnetic valve; 850. a connecting pipe; 860. a base; 870. a spray head; 900. a third casing; 901. reserving a port; 910. a first connection block; 920. a deflector rod; 930. a chute; 940. a slide block; 950. a second connection block; 960. the switch stretches out and draws back the push rod.
Detailed Description
The embodiment of the invention discloses a smart grid quadruped robot capable of stabilizing a cat ladder. The invention is described in further detail below with reference to fig. 1-8.
In order to make the objects, features and advantages of the present invention more comprehensible, the technical solutions in the embodiments of the present invention are described in detail below with reference to the accompanying drawings, and it is apparent that the embodiments described below are only some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "center", "upper", "lower", "front", "rear", "top", "bottom", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meanings of the above terms in the present invention can be understood in specific situations by those of ordinary skill in the art.
In the description of the present specification, a particular feature, structure, material, or characteristic may be combined in any suitable manner in one or more embodiments or examples.
Referring to fig. 1 and 2, a smart grid quadruped robot for stabilizing a ladder includes a chassis, ladder legs for supporting the chassis, a patrol device fixed on the chassis, a driving member for driving the ladder legs, and a control host 510 fixed on the chassis.
In this embodiment, the four ladder legs are provided, the chassis includes a rectangular base plate 100 and connection plates 110 integrally formed on two sidewalls of the base plate 100, the length direction of the connection plates 110 is parallel to the two sidewalls of the base plate 100, the length of the connection plates 110 is smaller than the length of the two sidewalls of the base plate 100, and meanwhile, the connection plates 110 are centered in comparison with the two sidewalls of the base plate 100 in the length direction of the connection plates 110, so that movable openings are formed at four corners of the chassis.
Referring to fig. 2 and 3, the driving member includes a first driving motor 200 and a first hinge block 300 fixed to the connection plate 110, and the number of the first driving motor 200 and the first hinge block 300 is four so as to correspond to the ladder legs one by one. Specifically, a first driving motor 200 is respectively fixed to both sides of the single connection plate 110, and a first hinge block 300 is respectively fixed to four corners of the base plate 100.
A first output shaft 210 is installed at the output end of the first driving motor 200, the first output shaft 210 is parallel to the length direction of the connecting plate 110, and two first output shafts 210 located on the same connecting plate 110 face the movable ports on two sides of the connecting plate 110 respectively.
The inner wall of the first hinge block 300 is rotatably connected with a first connecting shaft 310, the outer wall of the first connecting shaft 310 is fixed with a leg telescopic push rod 320, and the rotation track of the leg telescopic push rod 320 is perpendicular to the chassis. Meanwhile, an opening 111 for the leg extension/retraction plunger 320 to rotate is formed in the base plate 100.
Referring to fig. 3 and 4, the ladder leg includes a first rotating rod 220 having one end vertically installed at the first output shaft 210, so that the first rotating rod 220 can be rotated through the movable opening, and the rotating track of the first rotating rod 220 is vertical to the chassis. The second rotating rod 230 is hinged to one end of the first rotating rod 220 far away from the first output shaft 210, the motor casing 400 is fixed to one end of the second rotating rod 230 far away from the first rotating rod 220, the second driving motor 410 is fixed to the inner wall of the motor casing 400, the second output shaft 420 is installed at the output end of the second driving motor 410, the second output shaft 420 is perpendicular to the second rotating rod 230, the second output shaft 420 penetrates through the outer wall of the motor casing 400, and the idler wheel 430 is fixed to one end of the second output shaft 420 far away from the second driving motor 410.
In addition, the second driving motor 410 is a self-locking motor, thereby preventing the crawling ladder leg from slipping while crawling the ladder.
A second hinge block 240 adapted to the hinge direction of the first hinge block 300 is fixed on one side of the second rotating rod 230, a second connecting shaft 250 is rotatably connected to the inner wall of the second hinge block 240, one end of the leg telescopic push rod 320 far away from the first hinge block 300 is fixed with the second connecting shaft 250, and the first driving motor 200, the second driving motor 410, and the leg telescopic push rod 320 are electrically connected with the control host 510. In this embodiment, a WIFI module and a bluetooth module are built in the control host 510, so as to facilitate remote control of the control host 510.
To supply power to the robot, a battery 500 is fixed to the base plate 100, and the first driving motor 200, the second driving motor 410, the leg extension-retraction plunger 320, and the control main unit 510 are electrically connected to the battery 500.
When the robot is cruising on the flat land, the four ladder legs support the chassis at the same time, and the control host 510 sends a signal to the second driving motor 410, so that the second output shaft 420 of the second driving motor 410 drives the roller 430 to rotate, and the robot is enabled to travel towards the target position, and the traveling direction of the robot can be changed by controlling the rotating direction of the second output shaft 420.
When the robot needs to climb the stairs, the robot is made to face the stairs, at the moment, two ladder legs close to one side of the stairs are front legs, and two ladder legs far away from one side of the stairs are rear legs. The control host 510 sends signals to the first driving motor 200 and the leg telescopic push rod 320 of any front leg, so that the first driving motor 200 drives the first rotating rod 220 to rotate upwards, the leg telescopic push rod 320 retracts to drive the second rotating rod 230 to rotate in a direction away from the step, and the front leg is enabled to perform a leg lifting action, and at the moment, the two rear legs and the other front leg support the chassis together to maintain the overall stability of the robot. After the front leg is lifted to a proper height, the control host 510 sends signals to the first driving motor 200 and the leg telescopic push rod 320 of the front leg, so that the first driving motor 200 drives the first rotating rod 220 to rotate downwards, and the leg telescopic push rod 320 pushes the second rotating rod 230 to extend forwards until the front leg roller 430 abuts against the top surface of the step, and the front leg is made to perform a leg-releasing action. Then the other front leg repeats the above actions, so that both front legs of the robot are put on the top surface of the step. Then, the control host 510 drives the rollers 430 of the front legs and the rear legs to enable the two rear legs to approach the step, and the two rear legs repeat the actions of the two front legs in sequence, so that the robot is integrally positioned on the top surface of the step, and the ladder stand is completed.
Therefore, by matching the control host 510 with the driving member and the ladder leg, the robot can patrol the power equipment on the flat ground, and can patrol the power equipment field with stairs, thereby effectively expanding the application range of the robot.
Further, referring to fig. 1, the inspection apparatus includes a bottom chassis 600 covered on the chassis, and a first chassis 800, a second chassis 610, and a third chassis 900 are fixed to the bottom chassis 600.
A voltmeter module 520 is fixed on the chassis, and in this embodiment, the storage battery 500, the control host 510, and the voltmeter module 520 are sequentially distributed at intervals between the two connection plates 110.
A camera 810, a flame sensor 820, a base 860, and a nozzle 870 fixed to the base 860 are fixed to the first housing 800. In this embodiment, the direction of the output end of the nozzle 870 is parallel to the chassis.
Referring to fig. 5, a fire extinguisher 830 is fixed to an inner wall of the first housing 800, a solenoid valve 840 is installed at an output end of the fire extinguisher 830, a connection pipe 850 is installed at an output end of the solenoid valve 840, and one end of the connection pipe 850 remote from the solenoid valve 840 penetrates the first housing 800 and the base 860 and communicates with the spray head 870. In this embodiment, the fire extinguisher 830 is a dry powder fire extinguisher 830.
Meanwhile, the camera 810, the flame sensor 820, and the solenoid valve 840 are electrically connected to the control main unit 510 and the battery 500.
When the flame sensor 820 detects a fire condition near the robot, the flame sensor 820 sends a signal to the control host 510, then the control host 510 controls the robot to move near the open fire and align the spray nozzle 870 to the fire point through the camera 810, and then the control host 510 controls the electromagnetic valve 840 to open, so that high-pressure dry powder in the fire extinguisher 830 is sprayed out from the spray nozzle 870 through the connecting pipe 850, thereby extinguishing the fire condition and effectively protecting the electric power equipment.
Referring to fig. 1 and 6, two third driving motors 650 are fixed to the inner wall of the second casing 610. In the present embodiment, two third driving motors 650 are separated by a partition 620 fixed to an inner wall of the second casing 610. A third output shaft is mounted at the output end of the third driving motor 650, and a driving gear 660 is sleeved on the third output shaft.
Meanwhile, two rotating shafts 630 are rotatably connected to the inner walls of the two sides of the partition 620 of the second casing 610, the two rotating shafts 630 are parallel to each other, and the lengths of the two rotating shafts 630 are different. The driven gears 640 are sleeved on the rotating shaft 630, and the two driving gears 660 are respectively meshed with the two driven gears 640. One end of each of the two rotating shafts 630 penetrates through the outer wall of the same side of the second casing 610, the lifting telescopic pushing plate 700 is fixed at one end of each of the two rotating shafts 630 protruding out of the outer wall of the second casing 610, the translational telescopic pushing rod 710 is fixed at one side of the telescopic end of the lifting telescopic pushing plate 700, the telescopic direction of the translational telescopic pushing rod 710 is parallel to the rotating shafts 630, the telescopic ends of the two translational telescopic pushing rods 710 are respectively connected with the positive electrode meter pen 720 and the negative electrode meter pen 730, and the positive electrode meter pen 720 and the negative electrode meter pen 730 are electrically connected with the voltmeter module 520.
Meanwhile, the third driving motor 650, the lifting telescopic push plate 700 and the translational telescopic push rod 710 are electrically connected with the control host 510 and the storage battery 500.
When the voltage of the power equipment needs to be measured by the robot, the robot is moved to the vicinity of the power equipment to be measured, and then the control host 510 controls the third output shaft of the third driving motor 650 to rotate, so that the third output shaft drives the two rotating shafts 630 to rotate through the driving gear 660 and the driven gear 640, and the positive electrode stylus 720 and the negative electrode stylus 730 are rotated, and the longitudinal positions of the positive electrode stylus 720 and the negative electrode stylus 730 are adjusted; the control host 510 controls the expansion and contraction of the lifting and contraction push plate 700, so that the heights of the positive electrode meter pen 720 and the negative electrode meter pen 730 are adjusted; the control host 510 controls the expansion and contraction of the translational expansion push rod 710, so that the transverse positions of the positive electrode stylus 720 and the negative electrode stylus 730 are adjusted. Through the adjustment to the space position of the positive electrode meter pen 720 and the negative electrode meter pen 730, the positive electrode meter pen 720 and the negative electrode meter pen 730 can effectively contact the circuits to be tested of different power equipment to be tested, and meanwhile, due to the fact that the lengths of the two rotating shafts 630 are different, the two lifting telescopic pushing plates 700 are staggered with each other when rotating along with the rotating shafts 630, and collision is avoided.
Referring to fig. 1 and 8, a first connection block 910 is fixed on an inner sidewall of the third housing 900, a shift lever 920 is rotatably connected to the first connection block 910, a reserved opening 901 for moving the shift lever 920 is provided on a side of the third housing 900 away from the first connection block 910, and one end of the shift lever 920 extends out of the reserved opening 901.
Meanwhile, a sliding block 940 is fixed at one side of the shift lever 920, a sliding groove 930 adapted to the sliding block 940 is fixed at the inner side wall of the third housing 900 adjacent to the first connection block 910, and the sliding groove 930 extends along the rotation track of the sliding block 940.
In addition, a second connection block 950 is fixed to the inner bottom wall of the third casing 900, and a switch telescopic push rod 960 is rotatably connected to the second connection block 950, and one end of the switch telescopic push rod 960, which is far away from the first connection block 910, is hinged to the shift lever 920.
The switch telescopic push rod 960 is electrically connected with the control host 510 and the storage battery 500.
When the robot needs to toggle the power equipment switch, the robot moves to the vicinity of the power equipment switch, and makes the deflector rod 920 abut against the power equipment switch, and then the control host 510 controls the switch telescopic push rod 960 to stretch and retract, so that the deflector rod 920 rotates along the sliding groove 930 through the sliding block 940, and the deflector rod 920 is driven to toggle the power equipment switch, so that the robot can control the toggle switch of the power equipment in the power inspection process.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. Stable cat ladder's smart power grids quadruped robot, its characterized in that includes: the device comprises a chassis, a patrol device arranged on the chassis, a ladder leg for supporting the chassis, a driving piece for driving the ladder leg, and a control host (510) arranged on the chassis;
the number of the ladder legs is at least three, and the number of the driving parts is matched with the number of the ladder legs;
the ladder stand leg comprises a first rotating rod (220) and a second rotating rod (230) hinged to one end of the first rotating rod (220);
the driving piece comprises a first driving motor (200) arranged on the chassis, a first output shaft (210) arranged at the output end of the first driving motor (200), a first hinging block (300) arranged on the chassis, a leg telescopic push rod (320) hinged to the first hinging block (300), and a second hinging block (240) arranged on the second rotating rod (230);
one end of the first rotating rod (220) far away from the second rotating rod (230) is connected with the first output shaft (210), and one end of the leg telescopic push rod (320) far away from the first hinging block (300) is hinged to the second hinging block (240);
the first output shaft (210) is parallel to the chassis, and the rotation tracks of the first rotating rod (220) and the leg telescopic push rod (320) are perpendicular to the chassis;
the chassis is provided with a movable opening for the first rotating rod (220) and the leg telescopic push rod (320) to rotate;
the first driving motor (200) and the leg telescopic push rod (320) are electrically connected with the control host (510);
one end, far away from the first rotating rod (220), of the second rotating rod (230) is provided with a motor shell (400), a second driving motor (410) is arranged in the motor shell (400), the output end of the second driving motor (410) is provided with a second output shaft (420), and the second output shaft (420) penetrates through the outer wall of the motor shell (400);
the second output shaft (420) is perpendicular to the second rotating rod (230), and a roller (430) is arranged at one end of the second output shaft (420) away from the second driving motor (410);
the second driving motor (410) is a self-locking motor, and the second driving motor (410) is electrically connected with the control host (510);
the inspection device comprises a flame detection device and a bottom shell (600) covered on the chassis;
the flame detection device comprises a first shell (800) arranged on the bottom shell (600), a camera (810) arranged on the first shell (800), a flame sensor (820), a base (860) and a spray head (870) arranged on the base (860);
be provided with fire extinguisher (830) in first casing (800), fire extinguisher (830) output is provided with solenoid valve (840), solenoid valve (840) output is provided with connecting pipe (850), connecting pipe (850) are kept away from the one end of solenoid valve (840) runs through first casing (800) with base (860) and with shower nozzle (870) are linked together.
2. The stabilized cat ladder smart grid quadruped robot of claim 1 wherein:
the inspection device comprises a voltage measuring device, the voltage measuring device comprises a voltmeter module (520) arranged on the chassis, a second casing (610) is arranged on the bottom casing (600), two third driving motors (650) are arranged in the second casing (610), a third output shaft is arranged at the output end of each third driving motor (650), a driving gear (660) is arranged on the third output shaft sleeve, two rotating shafts (630) are connected in the second casing (610) in a rotating mode, and driven gears (640) are sleeved on the rotating shafts (630);
the two driving gears (660) are respectively meshed with the two driven gears (640);
one end of each rotating shaft (630) penetrates through the same outer wall of the second casing (610), a lifting telescopic push plate (700) is arranged at one end of each rotating shaft (630) protruding out of the outer wall of the second casing (610), and a translational telescopic push rod (710) is arranged at one side of a telescopic end of each lifting telescopic push plate (700);
the telescopic ends of the two translational telescopic push rods (710) are respectively provided with an anode meter pen (720) and a cathode meter pen (730);
the positive stylus (720) and the negative stylus (730) are both electrically connected with the voltmeter module (520).
3. The stabilized cat ladder smart grid quadruped robot of claim 2 wherein: the two rotating shafts (630) are parallel to each other, and the lengths of the two rotating shafts (630) are different.
4. The stabilized cat ladder smart grid quadruped robot of claim 1 wherein:
the inspection device comprises a switch control device, the switch control device comprises a third shell (900) arranged on the bottom shell (600), a first connecting block (910) is arranged on one inner side wall of the third shell (900), a deflector rod (920) is rotatably connected to the first connecting block (910), a reserved opening (901) for the deflector rod (920) to move is formed in one side, far away from the first connecting block (910), of the third shell (900), and one end, far away from the first connecting block (910), of the deflector rod (920) stretches out of the reserved opening (901);
the deflector rod (920) is provided with a sliding block (940), the inner side wall of the third casing (900) adjacent to the first connecting block (910) is provided with a sliding groove (930) matched with the sliding block (940), and the sliding groove (930) extends along the rotating track of the sliding block (940);
the third casing (900) is provided with a toggle piece for driving the toggle lever (920).
5. The stabilized cat ladder smart grid quadruped robot of claim 4 wherein: the toggle piece comprises a second connecting block (950) arranged on the inner bottom wall of the third casing (900), and a switch telescopic push rod (960) rotatably connected with the second connecting block (950);
one end of the switch telescopic push rod (960) far away from the second connecting block (950) is hinged with the deflector rod (920).
6. The stabilized cat ladder smart grid quadruped robot of claim 1 wherein: the chassis is provided with a storage battery (500), and the storage battery (500) is used for supplying power to the inspection device, the driving piece and the control host machine (510).
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| CN101574983A (en) * | 2009-06-12 | 2009-11-11 | 中国电力科学研究院 | Lead obstacle-crossing robot walking device |
| CN101863025A (en) * | 2010-04-15 | 2010-10-20 | 上海应用技术学院 | Wall-climbing robot |
| CN102113945A (en) * | 2009-12-30 | 2011-07-06 | 中国科学院沈阳自动化研究所 | Wheel chair robot based on transformable crawler belt mechanism |
| CN103273985A (en) * | 2013-06-18 | 2013-09-04 | 辰星（天津）自动化设备有限公司 | Quadruped stair climbing robot mechanism |
| CN103963866A (en) * | 2014-04-24 | 2014-08-06 | 北京航空航天大学 | All-terrain telescopic-leg-type fix-foot rotating advancing robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006064597A1 (en) * | 2004-12-14 | 2006-06-22 | Honda Motor Co., Ltd. | Legged mobile robot and control program |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101574983A (en) * | 2009-06-12 | 2009-11-11 | 中国电力科学研究院 | Lead obstacle-crossing robot walking device |
| CN102113945A (en) * | 2009-12-30 | 2011-07-06 | 中国科学院沈阳自动化研究所 | Wheel chair robot based on transformable crawler belt mechanism |
| CN101863025A (en) * | 2010-04-15 | 2010-10-20 | 上海应用技术学院 | Wall-climbing robot |
| CN103273985A (en) * | 2013-06-18 | 2013-09-04 | 辰星（天津）自动化设备有限公司 | Quadruped stair climbing robot mechanism |
| CN103963866A (en) * | 2014-04-24 | 2014-08-06 | 北京航空航天大学 | All-terrain telescopic-leg-type fix-foot rotating advancing robot |
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