An electric power equipment inspection robot

Abstract

This invention relates to the field of robotics, specifically to a power equipment inspection robot. The robot includes a robot body mounted on a track and a visible light camera mounted on the robot body. The robot body also has a sensing radar and an adjustable lifting device for moving the visible light camera up and down. The robot body also includes an anti-collision device comprising a first protective mechanism located outside the adjustable lifting device, a second protective mechanism located at the lower end of the adjustable lifting device, and a third protective mechanism located on the robot body. This application, through the protective functions of the first, second, and third protective mechanisms, avoids collisions with foreign objects that could cause malfunctions to the robot body and its equipment, thereby improving the inspection efficiency of the robot body and enhancing the protective performance of the robot body and its equipment.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a power equipment inspection robot. Background Technology

[0002] There are numerous and widely distributed power distribution switch rooms, and the limited number of maintenance personnel makes it impossible to conduct regular inspections of each one. Furthermore, the large number of meters in these switch rooms results in a heavy workload for manual maintenance, and increasingly stringent testing standards place ever higher demands on maintenance personnel. The operational data of some equipment relies on instrument measurements, and manual inspections are typically conducted every three months. This long interval makes it difficult to detect problems promptly and prevent accidents. Many switch rooms are equipped with integrated monitoring systems, but these systems only monitor the external environment of the cabinets and cannot provide real-time monitoring of the internal conditions. Some switch rooms are located underground with poor network signals, hindering data communication. Therefore, using an intelligent inspection robot suitable for power distribution switch rooms can alleviate maintenance pressure, improve inspection efficiency, save on labor costs, and truly achieve unattended, automated inspections.

[0003] The currently published Chinese patent application CN202010868464.X discloses a special inspection robot for power distribution cabinets, including a main control box. Anti-collision plates are connected to all four sides of the main control box. The bottom of the main control box has casters, and a robotic arm is mounted on the top. A device for inspecting the distribution cabinet is installed at the end of the robotic arm. Connecting plates are fixed to all four sides of the main control box, and each connecting plate has a sliding hole. A sliding rod adapted to the sliding hole is fixedly connected to the top of the anti-collision plate. The insertion end of the sliding rod passes through the sliding hole, and the insertion end of the sliding rod has a threaded hole. A limiting piece is threaded into the threaded hole for limiting movement. First mounting protrusions are fixed to all four sides of the main control box, and a second mounting protrusion is fixed to the side of the anti-collision plate near the sliding rod. A telescopic spring is fixedly connected between the first and second mounting protrusions.

[0004] According to the aforementioned patent, the inspection robot moves by means of wheels and inspects the power distribution cabinet using equipment on its robotic arm. When the inspection robot collides during inspection, the anti-collision plate slides relative to the sliding hole on the connecting plate via a sliding rod, thereby compressing the telescopic spring between the first mounting protrusion and the second mounting protrusion. The elasticity of the telescopic spring can buffer the collision. However, the inspection robot in this patent moves on the ground, and people walking indoors may easily step on the inspection robot, rendering the anti-collision plate ineffective. Therefore, there is a need for an inspection robot that moves on a track and has anti-collision functionality. Summary of the Invention

[0005] Based on this, it is necessary to provide a power equipment inspection robot to address the problems of the existing technology. This application, through the protective functions of the first protective mechanism, the second protective mechanism, and the third protective mechanism, avoids the situation where the robot body and the equipment on it are damaged by the impact of foreign objects, thereby improving the inspection effect of the robot body and enhancing the protective performance of the robot body and the equipment on it.

[0006] To solve the problems of the prior art, the technical solution adopted by the present invention is as follows:

[0007] This invention provides a power equipment inspection robot, including a robot body mounted on a track and a visible light camera mounted on the robot body for observing the situation inside the power distribution switch room. The robot body is also equipped with a sensing radar for detecting foreign objects in front. The robot body is provided with an adjustable lifting device for driving the visible light camera to move up and down. The robot body also includes an anti-collision device to prevent the robot body, the visible light camera, and the adjustable lifting device from colliding with foreign objects and being damaged. The anti-collision device includes a first protective mechanism located outside the adjustable lifting device, a second protective mechanism located at the lower end of the adjustable lifting device, and a third protective mechanism located on the robot body.

[0008] Preferably, the adjustable lifting device includes a mounting frame fixedly mounted on the bottom of the robot body, a screw rotatably mounted on the mounting frame, and a lifting sleeve threaded onto the screw. The mounting frame is provided with a rotary driver for driving the screw to rotate. The movement direction of the lifting sleeve is perpendicular to the movement direction of the robot body on the track. A fixed sleeve is also fixedly mounted on the mounting frame and is fitted onto the lifting sleeve. The edge of the lifting sleeve is a straight edge, and the lower end of the fixed sleeve matches the surface shape of the lifting sleeve. A visible light camera is fixedly mounted on the end of the lifting sleeve.

[0009] Preferably, a cavity for ventilation is left between the lifting sleeve and the fixed sleeve. A vent is provided around the upper half of the fixed sleeve. A piston head is fixedly fitted at the upper end of the lifting sleeve. The diameter of the piston head is equal to the inner diameter of the fixed sleeve. A corrugated pipe fitted on the screw for protection is also provided between the piston head and the mounting bracket.

[0010] Preferably, the first protective mechanism includes a collar fixedly fitted on a fixed sleeve, the collar having an opening communicating with each vent, a base fixedly mounted on the mounting bracket, a rotating column on the base that can rotate along the axis of the collar, a driving component on the base for driving the rotating column to rotate, a mating interface that can communicate with each vent on all four sides of the rotating column, an inflation port larger than the mating interface between every two adjacent mating interfaces, and an inflation component at each inflation port.

[0011] Preferably, the inflatable component is an airbag. Each inflation port of the rotating column is provided with a frame for installing the airbag. One end of the frame is fixed to the surface of the inflation port, and the other end of the frame extends vertically downward. The lower end of the fixing sleeve is also fixed with a retainer. The lower end of the frame can be rotatably engaged with the retainer, and the frame can rotate together with the rotating column. The edge of the airbag is fastened to the frame, and a space for gas to be filled is formed between the airbag and the frame.

[0012] Preferably, a strip-shaped track opening is provided on the side wall of the base, and the end of the rotating column has a retaining ring that can be rotatably engaged with the base. An extension rod extending into the track opening is also provided on the outer wall of the retaining ring. An inductive switch triggered by the extension rod is also provided on both ends of the base and located at the track opening.

[0013] Preferably, the second protective mechanism includes a chassis fixedly installed at the bottom of the card holder and a pouch installed at the bottom of the chassis. The pouch is hollow and annular, with a space provided in the hollow part of the pouch for a visible light camera to enter, and the inside of the pouch is filled with cotton.

[0014] Preferably, the third protective mechanism includes two anti-collision bars symmetrically arranged at both ends of the robot body along the direction of movement of the robot body. The plane of symmetry of the two anti-collision bars is the middle section of the robot body. The anti-collision bars are U-shaped bars. The ends of the anti-collision bars are fixed to the robot body by a fixing post. Each anti-collision bar is also fitted with a soft sleeve.

[0015] Preferably, a number of mounting holes are equally spaced along the length of the track, and a fixed-point sensor is installed in each mounting hole corresponding to a designated position of the power distribution cabinet. A slot is also provided along the length of the track, and the fixed-point sensor has an elastic buckle. The fixed-point sensor is engaged with the slot by its elastic buckle. The robot body is also provided with a photoelectric sensor that can sense the fixed-point sensor.

[0016] Preferably, the robot body is equipped with a dust suction pipe on both sides of the track to remove dust from the track, with the nozzle of the dust suction pipe facing the side wall of the track. The robot body is also equipped with an alarm to sound an alarm when the robot body is not operating properly and an infrared thermal imager to collect data.

[0017] The beneficial effects of this invention compared to the prior art are:

[0018] 1. This application achieves protection for the robot body, visible light camera, and adjustable lifting device through the protective functions of the first, second, and third protective mechanisms, avoiding the malfunction caused by the impact of foreign objects and improving the inspection effect of the robot body.

[0019] 2. By setting the piston head on the lifting sleeve, this application enables the gas in the cavity to be pushed into the first protective mechanism and triggered, thus protecting the fixed sleeve from collision with foreign objects.

[0020] 3. This application achieves the protection of the fixed sleeve by the inflatable component through the rotation of the rotating column to connect the interface or inflation port and the air vent, and also avoids the situation where the inflatable component blocks the air vent when air enters the cavity under normal circumstances.

[0021] 4. This application limits the rotation range of the rotating column by setting the extension rod on the rotating column within the track opening, thereby achieving accurate docking of the interface on the rotating column with the inflation port and the ventilation port, ensuring smooth gas flow.

[0022] 5. This application protects the visible light camera by using a cotton-filled pouch, preventing foreign objects from hitting the camera.

[0023] 6. This application achieves protection for the robot body by setting up anti-collision bars, thus preventing foreign objects from hitting the robot body.

[0024] 7. This application achieves fixed-point inspection of the robot body by cooperating with the fixed-point sensing plate and the photoelectric sensor, without affecting the inspection work of the robot body. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the three-dimensional structure of the embodiment. Figure 1 ;

[0026] Figure 2 This is a schematic diagram of the three-dimensional structure of the embodiment. Figure 2 ;

[0027] Figure 3 This is the front view of the embodiment;

[0028] Figure 4 This is the left view of the embodiment;

[0029] Figure 5 yes Figure 4 Sectional view at point AA;

[0030] Figure 6 yes Figure 5 Enlarged view of point B;

[0031] Figure 7 It is a three-dimensional structural diagram of the robot body, track, and third protective mechanism;

[0032] Figure 8 yes Figure 7 The left view;

[0033] Figure 9 This is a three-dimensional structural diagram of the robot body, the adjustable lifting device, and the anti-collision device.

[0034] Figure 10 This is a three-dimensional structural diagram of the adjustable lifting device and the anti-collision device;

[0035] Figure 11 yes Figure 10 A three-dimensional structural breakdown diagram;

[0036] Figure 12 yes Figure 11 The main view;

[0037] Figure 13 yes Figure 10 Top view;

[0038] Figure 14 yes Figure 13 A partial sectional view at point CC;

[0039] Figure 15 yes Figure 14 Enlarged diagram of point D.

[0040] The numbers on the map are:

[0041] 1- Track; 1a- Mounting port; 1b- Fixed-point sensing element; 1b1- Elastic buckle; 1c- Slot;

[0042] 2-Robot body; 2a-Perception radar; 2b-Photoelectric sensor; 2c-Vacuum suction tube; 2d-Alarm; 2e-Infrared thermal imager;

[0043] 3- Visible light camera;

[0044] 4-Adjustable lifting device; 4a-Mounting bracket; 4a1-Rotary actuator; 4b-Screw; 4c-Lifting sleeve; 4c1-Piston head; 4c2-Bellowette; 4d-Fixed sleeve; 4d1-Cavity; 4d2-Ventilation port;

[0045] 5-Anti-collision device; 5a-First protective mechanism; 5a1-Loop; 5a2-Base; 5a21-Trajectory port; 5a22-Inductive switch; 5a3-Rotating column; 5a31-Matching interface; 5a32-Inflation port; 5a33-Clamping ring; 5a34-Extension rod; 5a4-Drive component; 5a5-Inflation component; 5a51-Airbag; 5a52-Frame; 5a53-Card holder; 5b-Second protective mechanism; 5b1-Chassis; 5b2-Bag; 5c-Third protective mechanism; 5c1-Anti-collision bar; 5c11-Soft sleeve; 5c2-Fixing column. Detailed Implementation

[0046] To further understand the features, technical means, and specific objectives and functions achieved by the present invention, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

[0047] like Figures 1-15 As shown, this application provides:

[0048] A power equipment inspection robot includes a robot body 2 mounted on a track 1 and a visible light camera 3 mounted on the robot body 2 for observing the situation inside the power distribution switch room. The robot body 2 is also equipped with a sensing radar 2a for detecting foreign objects in front. The robot body 2 is provided with an adjustable lifting device 4 for driving the visible light camera 3 to move up and down. The robot body 2 also includes an anti-collision device 5 to prevent the robot body 2, the visible light camera 3 and the adjustable lifting device 4 from colliding with foreign objects and being damaged. The anti-collision device 5 includes a first protective mechanism 5a located outside the adjustable lifting device 4, a second protective mechanism 5b located at the lower end of the adjustable lifting device 4 and a third protective mechanism 5c located on the robot body 2.

[0049] Based on the above embodiments, existing inspection robots lack anti-collision functions. When they encounter obstacles while moving, they are prone to malfunction. Furthermore, some inspection robots walking on the ground are easily trampled by workers. Therefore, to address the technical problem of how to prevent the robot body 2 from colliding with foreign objects and causing damage during inspection, when the robot body 2 performs a comprehensive inspection of the power distribution room, it moves along track 1. During this movement, a visible light camera 3 observes the interior. With the adjustment of the adjustable lifting device 4, the observation range of the visible light camera 3 is increased, allowing observation of the entire power distribution cabinet interior. During the observation process of the visible light camera 3, the sensing radar 2a detects a foreign object ahead. The signal is transmitted to the robot body 2, the robot body 2 stops moving, and the adjustable lifting device 4 moves the visible light camera 3 upward to a high position until it is inside the second protective mechanism 5b. During the process of the adjustable lifting device 4 moving the visible light camera 3 upward, the first protective mechanism 5a is triggered to protect the adjustable lifting device 4. If a foreign object hits the stopped robot body 2, the visible light camera 3 and the adjustable lifting device 4 will not be affected due to the action of the first protective mechanism 5a and the second protective mechanism 5b. If the robot body 2 touches a foreign object while moving on the track 1, the foreign object will not affect the robot body 2 due to the protection of the third protective mechanism 5c. Finally, the inspection work of the robot body 2 can be carried out normally.

[0050] Further:

[0051] The adjustable lifting device 4 includes a mounting frame 4a fixedly mounted on the bottom of the robot body 2, a screw 4b rotatably mounted on the mounting frame 4a, and a lifting sleeve 4c threaded onto the screw 4b. The mounting frame 4a is provided with a rotary driver 4a1 for driving the screw 4b to rotate. The moving direction of the lifting sleeve 4c is perpendicular to the moving direction of the robot body 2 on the track 1. A fixing sleeve 4d is also fixedly mounted on the mounting frame 4a and is fitted onto the lifting sleeve 4c. The edge of the lifting sleeve 4c is a straight edge, and the lower end of the fixing sleeve 4d matches the surface shape of the lifting sleeve 4c. The visible light camera 3 is fixedly mounted on the end of the lifting sleeve 4c.

[0052] Based on the above embodiments, during the process of the adjustable lifting device 4 driving the visible light camera 3 to move up and down, the rotary driver 4a1 drives the screw 4b to rotate, and the lifting sleeve 4c moves on the screw 4b accordingly. Since the opening of the fixed sleeve 4d matches the surface shape of the lifting sleeve 4c, the rotation of the lifting sleeve 4c is restricted, so that the lifting sleeve 4c can only move up and down. As the lifting sleeve 4c moves, the visible light camera 3 moves together, and finally, a comprehensive observation of the power distribution cabinet room is made.

[0053] Further:

[0054] A cavity 4d1 for ventilation is left between the lifting sleeve 4c and the fixed sleeve 4d. A vent 4d2 is opened around the upper half of the fixed sleeve 4d. A piston head 4c1 is fixedly fitted on the upper end of the lifting sleeve 4c. The diameter of the piston head 4c1 is equal to the inner diameter of the fixed sleeve 4d. A corrugated pipe 4c2 fitted on the screw 4b for protection is also provided between the piston head 4c1 and the mounting bracket 4a.

[0055] Based on the above embodiments, in order to solve the technical problem of how the first protective mechanism 5a is triggered by the movement of the lifting sleeve 4c, as the lifting sleeve 4c moves within the fixed sleeve 4d, due to the setting of the piston head 4c1 at the end of the lifting sleeve 4c, external air will enter the cavity 4d1 through the vent 4d2. When the lifting sleeve 4c moves downward, gas is drawn into the cavity 4d1. Conversely, the piston pushes the gas into the first protective mechanism 5a, thereby triggering the first protective mechanism 5a to protect the fixed sleeve 4d. Since air enters the cavity 4d1 for a long time, the screw 4b will rust. Therefore, the setting of the bellows 4c2 avoids contact with air, ensuring the durability of the screw 4b, and the lifting sleeve 4c can also move normally.

[0056] Further:

[0057] The first protective mechanism 5a includes a collar 5a1 fixedly sleeved on the fixed sleeve 4d. The collar 5a1 has a port communicating with each vent 4d2. A base 5a2 is fixedly mounted on the mounting bracket 4a. A rotating column 5a3 is mounted on the base 5a2 and can rotate along the axis of the collar 5a1. A driving component 5a4 is also mounted on the base 5a2 to drive the rotating column 5a3 to rotate. A connecting interface 5a31 that can communicate with each vent 4d2 is opened around the rotating column 5a3. An inflation port 5a32 with a size larger than the connecting interface 5a31 is also opened between every two adjacent connecting interfaces 5a31. An inflation component 5a5 is also provided at each inflation port 5a32.

[0058] Based on the above embodiments, in order to solve the technical problem of how the first protective mechanism 5a plays a protective role, when the visible light camera 3 moves with the lifting sleeve 4c, the driving component 5a4 reaches the rotating column 5a3 and rotates, so that the interface 5a31 on the rotating column 5a3 is connected to the vent 4d2 on the fixed sleeve 4d. Air will be pushed into or out of the cavity 4d1 with the movement of the piston. When the sensing radar 2a senses a foreign object, the driving component 5a4 rotates the rotating column 5a3 again, so that the air inlet 5a32 of the rotating column 5a3 is connected to the vent 4d2 of the fixed sleeve 4d. As the lifting sleeve 4c moves upward, the air in the cavity 4d1 is pushed into each inflatable component 5a5, triggering the protective function of the inflatable component 5a5.

[0059] Further:

[0060] The inflatable component 5a5 is specifically an airbag 5a51. Each inflation port 5a32 of the rotating column 5a3 is provided with a frame 5a52 for mounting the airbag 5a51. One end of the frame 5a52 is fixed to the surface of the inflation port 5a32, and the other end of the frame 5a52 extends vertically downward. The lower end of the fixing sleeve 4d is also fixed with a retainer 5a53. The lower end of the frame 5a52 can be rotatably engaged with the retainer 5a53, and the frame 5a52 can rotate together with the rotating column 5a3. The edge of the airbag 5a51 is fastened to the frame 5a52, and a space for gas to be injected is formed between the airbag 5a51 and the frame 5a52.

[0061] Based on the above embodiments, under normal circumstances, the inflation port 5a32 on the rotating column 5a3 is not connected to the vent port 4d2 on the fixed sleeve 4d. This avoids the situation where air is sucked into the cavity 4d1 when the lifting sleeve 4c moves downward, causing the airbag 5a51 to block the vent port 4d2 under the action of suction. This ensures both the integrity of the airbag 5a51 and the normal movement of the lifting sleeve 4c. When the sensing radar 2a detects a foreign object and the inflation port 5a32 is connected to the vent port 4d2, the lifting sleeve 4c moves upward. The air in the cavity 4d1 is pushed into the space between the airbag 5a51 and the frame 5a52 under the compression of the piston. The airbag 5a51 inflates after being filled with air. Even when a foreign object collides, the elasticity of the airbag 5a51 ensures the integrity of the adjustable lifting device 4, achieving a shock absorption effect and avoiding damage.

[0062] Further:

[0063] A strip-shaped track opening 5a21 is provided on the side wall of the base 5a2. The end of the rotating column 5a3 has a retaining ring 5a33 that can be rotatably engaged with the base 5a2. An extension rod 5a34 extending into the track opening 5a21 is also provided on the outer wall of the retaining ring 5a33. An inductive switch 5a22 triggered by the extension rod 5a34 is also provided on both ends of the base 5a2 and located at the track opening 5a21.

[0064] Based on the above embodiments, in order to solve the technical problem of how to accurately connect the interface 5a31 and the inflation port 5a32 on the rotating column 5a3 with the ventilation port 4d2, as the rotating column 5a3 rotates, the extension rod 5a34 on the rotating column 5a3 moves along the track port 5a21 of the base 5a2. When the extension rod 5a34 touches the induction switch 5a22 on one side, the driving component 5a4 stops driving, and the interface 5a31 and the inflation port 5a32 on the rotating column 5a3 are connected to the ventilation port 4d2.

[0065] Further:

[0066] The second protective mechanism 5b includes a chassis 5b1 fixedly installed at the bottom of the card holder 5a53 and a pouch 5b2 installed at the bottom of the chassis 5b1. The pouch 5b2 is hollow and annular, with space provided for the visible light camera 3 to enter, and the interior of the pouch 5b2 is filled with cotton.

[0067] Based on the above embodiments, in order to solve the technical problem of how the second protective mechanism 5b can protect the visible light camera 3, as the lifting sleeve 4c moves upward, the visible light camera 3 also moves upward. After the visible light camera 3 moves to the end of the fixed sleeve 4d, the visible light camera 3 is wrapped inside the cotton-filled bag 5b2. The bag 5b2 is elastic after being filled with cotton. Under the protection of the bag 5b2, the visible light camera 3 will not be damaged even if it is hit by a foreign object.

[0068] Further:

[0069] The third protective mechanism 5c includes two anti-collision bars 5c1 symmetrically arranged at both ends of the robot body 2 along the direction of movement of the robot body 2. The plane of symmetry of the two anti-collision bars 5c1 is the middle section of the robot body 2. The anti-collision bars 5c1 have a U-shaped bar structure. The ends of the anti-collision bars 5c1 are fixed to the robot body 2 by a fixing post 5c2. Each anti-collision bar 5c1 is also fitted with a soft sleeve 5c11.

[0070] Based on the above embodiments, in order to solve the technical problem of how the third protective mechanism 5c protects the robot body 2, as the robot body 2 moves on the track 1, if a foreign object collides with the robot body 2, due to the anti-collision bars 5c1 at both ends of the robot body 2, the foreign object will not come into contact with the robot body 2 and will be intercepted by the anti-collision bars 5c1. Furthermore, the soft sleeve 5c11 on the anti-collision bars 5c1 will cause the foreign object to bounce off after the impact, thus avoiding damage to the anti-collision bars 5c1 and also protecting the robot body 2. The robot body 2 will eventually move normally along the track 1 and continue to inspect the situation inside the power distribution cabinet.

[0071] Further:

[0072] The track 1 has several mounting ports 1a at equal intervals along its length. Each mounting port 1a, corresponding to a designated position in the power distribution cabinet, is equipped with a fixed-point sensor 1b. The track 1 also has a slot 1c along its length. The fixed-point sensor 1b has an elastic buckle 1b1. The fixed-point sensor 1b is engaged with the slot 1c by the elastic buckle 1b1. The robot body 2 is also equipped with a photoelectric sensor 2b that can sense the fixed-point sensor 1b.

[0073] Based on the above embodiments, in order to solve the technical problem of how to enable the robot body 2 to continue to complete the inspection work when it is disturbed and cannot move according to the instructions, when the robot body 2 is disturbed, the robot body 2 moves autonomously on the track 1 until the photoelectric sensor 2b on the robot body 2 senses the fixed point sensor 1b on the track 1. The robot body 2 stays at that position for a period of time to observe the situation at that position. Then, the robot body 2 continues to move until it encounters the next fixed point sensor 1b, so that the robot body 2 can observe at each designated position without affecting the inspection work. Furthermore, since the fixed point sensor 1b is provided with an elastic buckle 1b1, the operator can position the fixed point sensor 1b in the installation port 1a where it is to be placed, so that the robot body 2 can still be in that position to perform the inspection when disturbed.

[0074] Further:

[0075] The robot body 2 is equipped with a dust suction pipe 2c on both sides of the track 1 to remove dust from the track 1. The nozzle of the dust suction pipe 2c faces the side wall of the track 1. The robot body 2 is also equipped with an alarm 2d to sound an alarm when the robot body 2 is not running properly and an infrared thermal imager 2e to collect data.

[0076] Based on the above embodiments, when the robot body 2 walks along the track 1, the vacuum pipe 2c moves with it to suck up the dust on the track 1, so as to avoid the situation where foreign objects are in the track 1 and affect the walking of the robot body 2. The robot body 2 performs inspection through the visible light camera 3 and collects data through the infrared thermal imager 2e. When the robot body 2 has an internal malfunction or abnormal walking, the alarm 2d will immediately sound an alarm to remind the staff to repair the robot body 2 in time.

[0077] This application achieves protection for the robot body 2, the visible light camera 3, and the adjustable lifting device 4 through the protective functions of the first protective mechanism 5a, the second protective mechanism 5b, and the third protective mechanism 5c. This avoids the robot body 2 and its equipment from malfunctioning due to the impact of foreign objects, improves the inspection effect of the robot body 2, and enhances the protective performance of the robot body 2 and its equipment.

[0078] The above embodiments only illustrate one or more implementations of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this patent should be determined by the appended claims.

Claims

1. A power equipment inspection robot, comprising a robot body (2) mounted on a track (1) and a visible light camera (3) mounted on the robot body (2) for observing the situation inside a power distribution switch room, and a sensing radar (2a) for sensing foreign objects in front of the robot body (2), characterized in that, The robot body (2) is provided with an adjustable lifting device (4) for driving the visible light camera (3) to move up and down. The robot body (2) also includes an anti-collision device (5) to prevent the robot body (2), the visible light camera (3) and the adjustable lifting device (4) from colliding with foreign objects and being damaged. The anti-collision device (5) includes a first protective mechanism (5a) set on the outside of the adjustable lifting device (4), a second protective mechanism (5b) set on the lower end of the adjustable lifting device (4) and a third protective mechanism (5c) set on the robot body (2). The adjustable lifting device (4) includes a mounting frame (4a) fixedly mounted on the bottom of the robot body (2), a screw (4b) rotatably mounted on the mounting frame (4a), and a lifting sleeve (4c) threaded onto the screw (4b). The mounting frame (4a) is provided with a rotary driver (4a1) for driving the screw (4b) to rotate. The moving direction of the lifting sleeve (4c) is perpendicular to the moving direction of the robot body (2) on the track (1). A fixed sleeve (4d) is also fixedly mounted on the mounting frame (4a) and the fixed sleeve (4d) is mounted on the lifting sleeve (4c). The edge of the lifting sleeve (4c) is a straight edge, and the lower end of the fixed sleeve (4d) matches the surface shape of the lifting sleeve (4c). The visible light camera (3) is fixedly mounted on the end of the lifting sleeve (4c). A cavity (4d1) for ventilation is left between the lifting sleeve (4c) and the fixed sleeve (4d). A vent (4d2) is opened around the upper half of the fixed sleeve (4d). A piston head (4c1) is fixedly fitted on the upper end of the lifting sleeve (4c). The diameter of the piston head (4c1) is equal to the inner diameter of the fixed sleeve (4d). A bellows (4c2) fitted on the screw (4b) between the piston head (4c1) and the mounting bracket (4a) is provided for protection. The first protective mechanism (5a) includes a collar (5a1) fixedly sleeved on a fixed sleeve (4d). The collar (5a1) has a port communicating with each vent (4d2). A base (5a2) is fixedly mounted on the mounting bracket (4a). A rotating column (5a3) is mounted on the base (5a2) and the rotating column (5a3) can rotate along the axis of the collar (5a1). A driving component (5a4) is also mounted on the base (5a2) to drive the rotating column (5a3) to rotate. A connecting interface (5a31) communicating with each vent (4d2) is opened around the rotating column (5a3). An inflation port (5a32) larger than the connecting interface (5a31) is also opened between every two adjacent connecting interfaces (5a31). An inflation component (5a5) is also provided at each inflation port (5a32).

2. The power equipment inspection robot according to claim 1, characterized in that, The inflatable component (5a5) is specifically an airbag (5a51). Each inflation port (5a32) of the rotating column (5a3) is provided with a frame (5a52) for mounting the airbag (5a51). One end of the frame (5a52) is fixed to the surface of the inflation port (5a32), and the other end of the frame (5a52) extends vertically downward. The lower end of the fixing sleeve (4d) is also fixed with a retainer (5a53). The lower end of the frame (5a52) can be rotatably engaged with the retainer (5a53), and the frame (5a52) can rotate together with the rotating column (5a3). The edge of the airbag (5a51) is fastened to the frame (5a52), and a space for gas to be filled is formed between the airbag (5a51) and the frame (5a52).

3. The power equipment inspection robot according to claim 1, characterized in that, A strip-shaped track opening (5a21) is provided on the side wall of the base (5a2). The end of the rotating column (5a3) has a retaining ring (5a33) that can be rotatably engaged with the base (5a2). An extension rod (5a34) extending into the track opening (5a21) is also provided on the outer wall of the retaining ring (5a33). An inductive switch (5a22) triggered by the extension rod (5a34) is also provided on both ends of the base (5a2) and located at the track opening (5a21).

4. The power equipment inspection robot of claim 1, wherein, The second protective mechanism (5b) includes a chassis (5b1) fixedly installed at the bottom of the card holder (5a53) and a pouch (5b2) installed at the bottom of the chassis (5b1). The pouch (5b2) is hollow and annular. The hollow part of the pouch (5b2) has space for the visible light camera (3) to enter, and the inside of the pouch (5b2) is filled with cotton.

5. The power equipment inspection robot of claim 1, wherein, The third protective mechanism (5c) includes two anti-collision bars (5c1) symmetrically arranged at both ends of the robot body (2) along the direction of movement of the robot body (2). The plane of symmetry of the two anti-collision bars (5c1) is the middle section of the robot body (2). The anti-collision bars (5c1) are U-shaped bars. The ends of the anti-collision bars (5c1) are fixed to the robot body (2) by a fixing post (5c2). Each anti-collision bar (5c1) is also fitted with a soft sleeve (5c11).

6. The power equipment inspection robot of claim 1, wherein, The track (1) has several mounting ports (1a) evenly spaced along its length. Each mounting port (1a) corresponding to a designated position of the power distribution cabinet has a fixed-point sensor (1b) installed in it. The track (1) also has a slot (1c) along its length. The fixed-point sensor (1b) has an elastic buckle (1b1). The fixed-point sensor (1b) is engaged with the slot (1c) by the elastic buckle (1b1). The robot body (2) is also equipped with a photoelectric sensor (2b) that can sense the fixed-point sensor (1b).

7. The power equipment inspection robot of claim 1, wherein, The robot body (2) is provided with a suction pipe (2c) on both sides of the track (1) to remove dust from the track (1). The nozzle of the suction pipe (2c) faces the side wall of the track (1). The robot body (2) is also equipped with an alarm (2d) to sound an alarm when the robot body (2) is not running properly and an infrared thermal imager (2e) to collect data.

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