A 5G intelligent inspection and control robot for power equipment

Abstract

The present invention relates to a 5G intelligent inspection and control robot for power equipment. The robot includes a moving component, a climbing component movably connected to the upper end of the moving component, and a robotic arm control component and a data acquisition mechanism connected to the upper end of the climbing component. A 5G communication transmission system for transmitting data, a mobile power supply system for supplying electric energy, and a control system for controlling the moving component, the climbing component, the robotic arm control component, and the data acquisition mechanism are provided inside the moving component. This 5G intelligent inspection and control robot for power equipment can be manually remotely controlled to move along the road surface along a custom path, and move spatially along the gaps between power equipment or between the wall, such as moving up and down, moving horizontally at a certain height, etc., and can be adaptively adjusted according to the gap size, with a wide range of applications, without the need to move along a fixed path, increasing the detection range and having higher efficiency.

Description

Technical Field

[0001] The present invention belongs to the field of power equipment inspection devices, and particularly relates to a 5G intelligent inspection control robot for power equipment. Background Art

[0002] As is well known, in order to obtain the technical status and operating status of equipment in a substation, corresponding results must be obtained through circuit inspections of the equipment. To improve the utilization rate of equipment, the reliability of equipment operation, reduce maintenance costs, and strengthen equipment inspection and defect management are important measures to improve the operation management level of equipment. It can effectively provide reliable and detailed data for evaluating equipment status, determining reasonable operation modes, and arranging maintenance in a timely manner, and helps to make scientific analyses.

[0003] Usually, it is the substation duty officers who conduct manual inspections. When conducting manual inspections, handheld detection equipment is used for multi-point tests at non-fixed points, which not only takes a long time, but also requires a large amount of human resources, with low efficiency and high costs. Currently, there are also mobile robots carrying various detection instruments for inspections along specified routes. Such mobile robots mostly use mobile vehicle bodies or vehicle bodies with fixed tracks. However, most of these mobile robots can only move along fixed routes, and the detection height is fixed, and they cannot move freely up and down along the gaps between power equipment or between power equipment and walls, resulting in a small detection range. Summary of the Invention

[0004] The purpose of the present invention is to provide a 5G intelligent inspection control robot for power equipment with a simple structure and reasonable design to solve the above problems.

[0005] The present invention achieves the above purpose through the following technical solutions:

[0006] A 5G intelligent inspection control robot for power equipment includes a moving component, a climbing component movably connected to the upper end of the moving component, a robotic arm control component connected to the upper end of the climbing component, and a data acquisition mechanism. A 5G communication transmission system for transmitting data, a mobile power supply system for supplying electric energy, and a control system for controlling the moving component, climbing component, robotic arm control component, and data acquisition mechanism are provided inside the moving component;

[0007] The moving component is used to carry the climbing component, robotic arm control component, and data acquisition mechanism to move along the ground path;

[0008] The climbing component is used to carry the moving component, robotic arm control component, and data acquisition mechanism to move along the spatial path;

[0009] The robotic arm control component is used for unmanned operation of power equipment;

[0010] The data acquisition mechanism is used to collect the operating electrical data, image data, temperature data, humidity data and partial discharge data of power equipment.

[0011] As a further optimized solution of the present invention, the mobile component includes a first vehicle body, a first cover plate detachably connected to the upper opening of the first vehicle body, first Mecanum wheel bodies symmetrically connected to the four corners of the first vehicle body, and a hollow support rod fixedly connected to the middle position of the upper end of the first cover plate. The 5G communication transmission system, the mobile power supply system and the control system are all arranged in the first vehicle body. And there are several drive motors and a steering motor in the first vehicle body that cooperate with the first Mecanum wheel bodies. The output shaft end of the steering motor is connected to a rotating shaft. One end of the rotating shaft sequentially passes through the first cover plate and the hollow support rod and is fixedly connected to the lower end of the climbing component. The upper end of the hollow support rod is movably connected to the lower end of the climbing component.

[0012] As a further optimized solution of the present invention, the climbing component includes a central control mechanism and spatial movement mechanisms symmetrically connected to both sides of the central control mechanism;

[0013] The central control mechanism includes a central control box body, a second cover plate connected to the upper opening of the central control box body, a second motor, a third motor and a fourth motor connected to the bottom end of the central control box body, a first bevel gear connected to the output shaft end of the second motor, screw rods symmetrically connected to the inner walls of both sides of the central control box body, a second bevel gear connected to one end of the screw rod, a moving plate threadedly connected to the screw rod, and hollow moving rods symmetrically connected to the moving plate. Both of the second bevel gears are meshed with the first bevel gear. One end of the hollow moving rod penetrates through the central control box body and is fixedly connected to the corresponding spatial movement mechanism. The output shaft end of the third motor passes through the second cover plate and is connected to the robotic arm control component. The output shaft end of the fourth motor passes through the second cover plate and is connected to the data acquisition mechanism.

[0014] As a further optimized solution of the present invention, a damping ring sleeve is arranged inside the wall of the moving plate, and a multi-stage damping ring is arranged in the damping ring sleeve in a matching manner. The middle of the multi-stage damping ring is fixedly connected with a ring body, and a screw hole matching with the screw rod is arranged in the middle of the ring body.

[0015] As a further optimized solution of the present invention, the spatial movement mechanism includes a second vehicle body, a third cover plate detachably connected to the upper opening of the second vehicle body, a laser rangefinder connected to the upper end of the third cover plate, and second Mecanum wheel bodies symmetrically connected to both sides of the second vehicle body. The second vehicle body is fixedly connected to the hollow moving rod, and there is a first motor in the second vehicle body that cooperates with the second Mecanum wheel bodies.

[0016] As a further optimized solution of the present invention, an electric push rod is connected to the inner wall of the second vehicle body, and the output end of the electric push rod penetrates through the second vehicle body and is connected to a positioning component;

[0017] The positioning component includes a push plate fixedly connected to the output end of the electric push rod, a plurality of elastic connectors connected to the push plate, and a damping plate connected to one end of the elastic connectors.

[0018] As a further optimized solution of the present invention, the robotic arm control component includes a bottom plate, a fixed frame connected to the upper end of the bottom plate, a fifth motor fixedly connected to the fixed frame, a first arm body movably connected to the fixed frame, a second arm body movably connected to one end of the first arm body, a sixth motor fixedly connected to the second arm body, a third arm body movably connected to one end of the second arm body, a seventh motor fixedly connected to one end of the second arm body, two irregular gear members and a hinge frame movably connected to the third arm body, a clamping member movably connected to one end of the irregular gear member, and an eighth motor connected to the third arm body. The hinge frame and the clamping member are hinged, the two irregular gear members are meshed with each other, the output shaft end of the eighth motor is connected to one of the irregular gear members, the output shaft end of the fifth motor is connected to the first arm body, the output shaft end of the sixth motor is connected to the first arm body, and the output shaft end of the seventh motor is connected to the third arm body.

[0019] As a further optimized solution of the present invention, the data acquisition mechanism includes a bottom frame, a first rotating bracket movably connected to the bottom frame, a ninth motor connected to the bottom frame, a second rotating bracket movably connected to one end of the first rotating bracket, a tenth motor connected to the second rotating bracket, and a housing movably connected to the second rotating bracket. The output shaft of the ninth motor is connected to the first rotating bracket, the output shaft end of the tenth motor is connected with an alignment gear, the housing is connected with a driven gear matched with the alignment gear, and the housing is provided with an operating electrical acquisition module, an image acquisition module, a temperature sensor, a humidity sensor and a partial discharge sensor.

[0020] As a further optimized solution of the present invention, a first sprocket is connected to the output shaft of the ninth motor, a second sprocket is connected to the second rotating bracket, and a chain belt is connected between the first sprocket and the second sprocket.

[0021] The beneficial effects of the present invention are as follows: The present invention can remotely control the robot manually to move along the road surface in a custom path, and move in space along the gap between power equipment or the gap between the wall, such as moving up and down, moving horizontally at a certain height, etc., and can be adjusted adaptively according to the gap size, with a wide range of applications, without moving along a fixed path, increasing the detection range and higher efficiency. Description of the Drawings

[0022] Figure 1 is the overall structural schematic diagram of the present invention;

[0023] Figure 2It is a matching view of the central control box body and the second vehicle body of the present invention;

[0024] Figure 3 It is a matching view of the moving component and the climbing component of the present invention;

[0025] Figure 4 It is a matching view of the moving plate and the hollow moving rod of the present invention;

[0026] Figure 5 It is a sectional view of the moving plate of the present invention;

[0027] Figure 6 It is a structural schematic diagram of the multi-stage damping ring of the present invention;

[0028] Figure 7 It is a structural schematic diagram of the robotic arm control component of the present invention;

[0029] Figure 8 It is a structural schematic diagram of the data acquisition mechanism of the present invention;

[0030] Figure 9 It is the present invention Figure 2 The enlarged view at position A in.

[0031] In the figure: 1. Moving component; 101. First vehicle body; 102. First cover plate; 103. Hollow support rod; 104. First Mecanum wheel body; 105. Rotating shaft; 2. Climbing component; 201. Central control box body; 202. Second cover plate; 203. Second vehicle body; 204. Third cover plate; 205. Second Mecanum wheel; 206. Laser rangefinder; 207. First motor; 208. Electric push rod; 209. Positioning component; 2090. Push plate; 2091. Elastic connecting piece; 2092. Damping plate; 210. Second motor; 211. First bevel gear; 212. Second bevel gear; 213. Screw rod; 214. Moving plate; 215. Hollow moving rod; 216. Damping ring sleeve; 217. Multi-stage damping ring; 218. Ring body; 219. Screw hole; 220. Third motor; 221. Fourth motor; 3. Robotic arm control component; 301. Bottom plate; 302. Fixed frame; 303. Fifth motor; 304. First arm body; 305. Second arm body; 306. Sixth motor; 307. Third arm body; 308. Seventh motor; 309. Irregular gear part; 310. Hinge frame; 311. Clamping part; 312. Eighth motor; 4. Data acquisition mechanism; 401. Underframe; 402. Ninth motor; 403. First rotating bracket; 404. Chain belt; 405. Second rotating bracket; 406. Tenth motor; 407. Direction adjusting gear; 408. Driven gear; 409. Shell. Detailed implementation manners

[0032] The present application will be further described in detail below with reference to the accompanying drawings. It is necessary to point out here that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the protection scope of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0033] Embodiment 1

[0034] As Figure 1 shown, a 5G intelligent inspection and control robot for power equipment includes a mobile component 1, a climbing component 2 movably connected to the upper end of the mobile component 1, a robotic arm control component 3 connected to the upper end of the climbing component 2, and a data acquisition mechanism 4. A 5G communication transmission system for transmitting data, a mobile power supply system for supplying electric energy, and a control system for controlling the mobile component 1, the climbing component 2, the robotic arm control component 3, and the data acquisition mechanism 4 are provided inside the mobile component 1;

[0035] The mobile component 1 is used to carry the climbing component 2, the robotic arm control component 3, and the data acquisition mechanism 4 to move along a ground path;

[0036] The climbing component 2 is used to carry the mobile component 1, the robotic arm control component 3, and the data acquisition mechanism 4 to move along a spatial path;

[0037] The robotic arm control component 3 is used for unmanned operation of power equipment;

[0038] The data acquisition mechanism 4 is used to collect the operating electrical data, image data, temperature data, humidity data, and partial discharge data of power equipment.

[0039] It should be noted that the robot can be manually and remotely controlled to move along the road surface in a custom path. When moving, the moving component 1 carries the climbing component 2, the robotic arm control component 3, and the data acquisition mechanism 4 to move along the ground path, which can be manually controlled and changed, and is applicable to road surfaces with many obstacles and complex positions, as well as moving in the space along the gaps between power equipment or between the wall, such as moving up and down, moving horizontally at a certain height, etc. In this process, the climbing component 2 carries the moving component 1, the robotic arm control component 3, and the data acquisition mechanism 4 to move along the space path, and can be adjusted adaptively according to the gap size, with a wide range of applications, without the need to move along a fixed path. During the movement, data of power equipment can be collected at a fixed point, such as partial discharge, operating electrical data, temperature, humidity, and image data collection, or a larger range of data collection can be carried out during the movement, such as temperature, humidity, and image data collection, increasing the detection range and higher efficiency. Its operation is simple, the detection is reliable, and the power equipment can be operated to a certain extent through the robotic arm control component 3, such as circuit breaker operation, pressing buttons, pushing gate valves, disassembling or replacing easily detachable parts.

[0040] Among them, as Figure 1 and Figure 3 shown, the moving component 1 includes a first vehicle body 101, a first cover plate 102 detachably connected to the upper opening of the first vehicle body 101, first Mecanum wheel bodies 104 symmetrically connected to the four corners of the first vehicle body 101, and a hollow support rod 103 fixedly connected to the middle position of the upper end of the first cover plate 102. The 5G communication transmission system, the mobile power supply system, and the control system are all arranged in the first vehicle body 101, and there are several drive motors and a steering motor in the first vehicle body 101 that cooperate with the first Mecanum wheel bodies 104. The output shaft end of the steering motor is connected to a rotating shaft 105. One end of the rotating shaft 105 sequentially passes through the first cover plate 102 and the hollow support rod 103 and is fixedly connected to the lower end of the climbing component 2. The upper end of the hollow support rod 103 is movably connected to the lower end of the climbing component 2.

[0041] It should be noted that, as described above, when manually controlling the robot through the 5G communication control system and driving the robot to move along the road surface, the control system in the first vehicle body 101 controls the corresponding driving motors to work through data transmission. When different driving motors work, they can control the corresponding first Mecanum wheel bodies 104 to rotate, so as to control the first vehicle body 101 to move in different directions or along any curve, and drive the climbing assembly 2, the robotic arm control assembly 3 and the data acquisition mechanism 4 connected thereto to move together. During the movement, the robotic arm control assembly 3 can be controlled to remotely operate the power equipment according to actual needs and collect the above-mentioned various data in real time. The collected data can be transmitted to the operation and maintenance personnel in real time. When it is necessary to move up and down at some gaps between power equipment, the rotation angle of the climbing assembly 2 can be adjusted according to the support surface between the power equipment. When adjusting, the steering motor drives the climbing assembly 2 to rotate by a specified angle.

[0042] Among them, as Figure 1 , Figure 2 shown, the climbing assembly 2 includes a central control mechanism and spatial movement mechanisms symmetrically connected to both sides of the central control mechanism;

[0043] The central control mechanism includes a central control box body 201, a second cover plate 202 connected to the upper opening of the central control box body 201, a second motor 210, a third motor 220 and a fourth motor 221 connected to the bottom end of the central control box body 201, a first bevel gear 211 connected to the output shaft end of the second motor 210, screw rods 213 symmetrically connected to the inner walls on both sides of the central control box body 201, second bevel gears 212 connected to one end of the screw rods 213, moving plates 214 threadedly connected to the screw rods 213, and hollow moving rods 215 symmetrically connected to the moving plates 214. Both second bevel gears 212 are engaged with the first bevel gear 211. One end of the hollow moving rod 215 penetrates through the central control box body 201 and is fixedly connected to the corresponding spatial movement mechanism. The output shaft end of the third motor 220 passes through the second cover plate 202 and is connected to the robotic arm control assembly 3, and the output shaft end of the fourth motor 221 passes through the second cover plate 202 and is connected to the data acquisition mechanism 4.

[0044] It should be noted that, as described above, when it is necessary to move upward along the gap between power equipment or the gap with the wall, the second motor 210 in the central control box 201 can work. The second motor 210 drives the first bevel gear 211 connected to the output shaft end to rotate. After the first bevel gear 211 rotates, it can drive the two second bevel gears 212 meshing with it to rotate. After the second bevel gears 212 rotate, they can drive the connected screw rod 213 to rotate. After the screw rod 213 rotates, it can drive the corresponding moving plate 214 to move along the length direction of the screw rod 213. When the moving plate 214 moves, it can drive the hollow moving rod 215 to move in the same direction and at the same distance, and drive the corresponding space moving mechanism away from the central control box 201 until the space moving mechanism contacts the corresponding power equipment or wall and generates a certain pressure to provide enough rolling friction force for the space moving mechanism so that the space moving mechanism can move up and down along the height direction of the power equipment.

[0045] Among them, as Figure 2 、 Figure 4 、 Figure 5 and Figure 6 shown, a damping ring sleeve 216 is provided inside the wall of the moving plate 214. A multi-stage damping ring 217 is provided inside the damping ring sleeve 216. A ring body 218 is fixedly connected to the middle of the multi-stage damping ring 217. A screw hole 219 matching the screw rod 213 is provided in the middle of the ring body 218.

[0046] It should be noted that, as described above, due to the influence of road conditions or the structure of power equipment, when controlling the contact between the space moving mechanism and the corresponding power equipment or wall, the moving distances of the two space moving mechanisms may be different. For example, when one space moving mechanism has already contacted the corresponding power equipment or wall, while the other space moving mechanism has not yet contacted the corresponding wall or power equipment. At this time, the second motor 210 still needs to drive the first bevel gear 211 to rotate, and the space moving mechanism that has contacted the power equipment or wall cannot move anymore, which will generate a reverse torque on the corresponding screw rod 213. While the screw rod 213 is still rotating, at this time, the torque generated between the thread on the screw rod 213 and the thread in the corresponding screw hole 219 is greater than the friction torque between the multi-stage damping ring 217 and the damping ring sleeve 216. At this time, the screw rod 213 can drive the ring body 218 and the multi-stage damping ring 217 to rotate to achieve idle protection and prevent damage between the screw rod 213 and the screw hole 219 until the other space moving mechanism contacts the corresponding wall or power equipment. When the second motor 210 drives the first bevel gear 211 to reverse, the space moving mechanism can be retracted. Similarly, an idle protection process as described above will also occur during retraction.

[0047] Among them, as Figure 1 、 Figure 2 and Figure 3As shown in the figure, the spatial movement mechanism includes a second vehicle body 203, a third cover plate 204 detachably connected to the upper opening of the second vehicle body 203, a laser rangefinder 206 connected to the upper end of the third cover plate 204, and second Mecanum wheel bodies 205 symmetrically connected to both sides of the second vehicle body 203. The second vehicle body 203 is fixedly connected to a hollow moving rod 215, and a first motor 207 that cooperates with the second Mecanum wheel bodies 205 is provided inside the second vehicle body 203.

[0048] It should be noted that as described above, when the second Mecanum wheel bodies 205 on the spatial movement mechanism come into contact with the corresponding power equipment or the wall surface and generate a certain pressure, at this time, by driving the corresponding second Mecanum wheel bodies 205 to rotate through the first motor 207, the second vehicle body 203 can move up and down or obliquely or along any curved path in the height direction of the power equipment, can be adaptively adjusted according to the obstacles on the surface of the power equipment, and the data as described above can be collected during the movement.

[0049] Among them, as Figure 2 and Figure 9 shown in the figure, an electric push rod 208 is connected to the inner wall of the second vehicle body 203, and the output end of the electric push rod 208 penetrates the second vehicle body 203 and is connected to a positioning component 209;

[0050] The positioning component 209 includes a push plate 2090 fixedly connected to the output end of the electric push rod 208, several elastic connecting pieces 2091 connected to the push plate 2090, and a damping plate 2092 connected to one end of the elastic connecting pieces 2091.

[0051] It should be noted that when operating the power equipment, in order to improve the stability of the entire climbing component 2 in maintaining the height, the push plate 2090 can be pushed by the electric push rod 208. After the push plate 2090 moves, it drives the elastic connecting pieces 2091 and the damping plate 2092 to move in the same direction and at the same distance until the damping plate 2092 contacts the power equipment or the wall surface, and the deformation amount of the elastic connecting pieces 2091 can be adjusted according to the different pushing distances to adjust the pressure applied to the damping plate 2092, so as to adjust the friction between the damping plate 2092 and the power equipment and the wall surface, so as to achieve the effect of limiting and fixing. After retracting, the effect of limiting and fixing can be removed.

[0052] Among them, as Figure 1 and Figure 7As shown in the figure, the robotic arm control component 3 includes a bottom plate 301, a fixing frame 302 connected to the upper end of the bottom plate 301, a fifth motor 303 fixedly connected to the fixing frame 302, a first arm body 304 movably connected to the fixing frame 302, a second arm body 305 movably connected to one end of the first arm body 304, a sixth motor 306 fixedly connected to the second arm body 305, a third arm body 307 movably connected to one end of the second arm body 305, a seventh motor 308 fixedly connected to one end of the second arm body 305, two irregular gear members 309 and a hinge frame 310 movably connected to the third arm body 307, a clamping member 311 movably connected to one end of the irregular gear member 309, and an eighth motor 312 connected to the third arm body 307. The hinge frame 310 and the clamping member 311 are hinged, the two irregular gear members 309 mesh with each other, the output shaft end of the eighth motor 312 is connected to one of the irregular gear members 309, the output shaft end of the fifth motor 303 is connected to the first arm body 304, the output shaft end of the sixth motor 306 is connected to the first arm body 304, and the output shaft end of the seventh motor 308 is connected to the third arm body 307.

[0053] It should be noted that, as described above, when remotely operating the power equipment, the bottom plate 301 in the robotic arm control component 3 can be rotated by a certain angle by driving the third motor 220, and at the same time, the fifth motor 303 can be controlled to drive the first arm body 304 to rotate, the sixth motor 306 can drive the second arm body 305 to rotate by a certain angle around the rotation joint with the first arm body 304, and the seventh motor 308 can drive the third arm body 307 to rotate by a certain angle around the rotation joint with the second arm body 305, so as to adapt to the components at different positions of the power equipment. At the same time, according to the operation requirements, the eighth motor 312 can also be used to drive one of the irregular gear members 309 to rotate around the connection with the third arm body 307. When the irregular gear member 309 rotates, it can drive the corresponding clamping member 311 to rotate and drive the other group of irregular gear members 309 to rotate. Similarly, the two clamping members 311 can perform the clamping function, and can also perform functions such as pressing the button on the power equipment or pushing the gate valve.

[0054] Among them, as Figure 1 and Figure 8As shown in the figure, the data acquisition mechanism 4 includes a chassis 401, a first rotating bracket 403 movably connected to the chassis 401, a ninth motor 402 connected to the chassis 401, a second rotating bracket 405 movably connected to one end of the first rotating bracket 403, a tenth motor 406 connected to the second rotating bracket 405, and a housing 409 movably connected to the second rotating bracket 405. The output shaft of the ninth motor 402 is connected to the first rotating bracket 403. A steering gear 407 is connected to the output shaft end of the tenth motor 406. A driven gear 408 that mates with the steering gear 407 is connected to the housing 409. An operating electrical acquisition module, an image acquisition module, a temperature sensor, a humidity sensor, and a partial discharge sensor are provided on the housing 409. It should be noted that the above data acquisition modules are all prior arts and their detailed positions are not specifically indicated in the figure and can be adaptively changed according to the actual usage and structural design.

[0055] A first sprocket is connected to the output shaft of the ninth motor 402. A second sprocket is connected to the second rotating bracket 405. A chain belt 404 is connected between the first sprocket and the second sprocket.

[0056] It should be noted that as described above, when performing data acquisition such as the above, the chassis 401 in the data acquisition mechanism 4 can be driven by the fourth motor 221 to rotate a specified angle. At the same time, the ninth motor 402 can also work. The ninth motor 402 can drive the first rotating bracket 403 to rotate a specified angle and drive the first sprocket connected to its shaft body to rotate during this process. After the first sprocket rotates, it can drive the second sprocket on the second rotating bracket 405 to rotate. When the second sprocket rotates, it drives the second rotating bracket 405 to rotate in the same direction and at the same angle, so that the position of the housing 409 can be moved to a specified position to acquire the above data. When adjusting the angle of the image acquired by the image acquisition module, the steering gear 407 can be driven to rotate by the tenth motor 406. After the steering gear 407 rotates, it drives the driven gear 408 to rotate. After the driven gear 408 rotates, it drives the housing 409 to rotate a specified angle around the connection with the second rotating bracket 405 to achieve the adjustment of the camera angle.

[0057] In the description of the present invention, it should be understood that the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more unless otherwise specifically defined.

[0058] In the present invention, unless otherwise clearly defined and limited, terms such as "installed", "connected", "coupled", "fixed", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0059] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0060] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

[0061] The above-described embodiments merely represent several implementation manners of the present invention. The description is relatively specific and detailed, but should not be construed as limiting the scope of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several variations and improvements can still be made, and these all belong to the protection scope of the present invention.

Claims

1. A 5G intelligent inspection and control robot for power equipment, characterized in that: It includes a mobile component (1), a climbing component (2) movably connected to the upper end of the mobile component (1), a robotic arm control component (3) and a data acquisition mechanism (4) connected to the upper end of the climbing component (2). A 5G communication transmission system for data transmission, a mobile power supply system for supplying electric energy, and a control system for controlling the mobile component (1), the climbing component (2), the robotic arm control component (3) and the data acquisition mechanism (4) are provided inside the mobile component (1). The mobile component (1) is used to carry the climbing component (2), the robotic arm control component (3) and the data acquisition mechanism (4) to move along the ground path. The climbing component (2) is used to carry the mobile component (1), the robotic arm control component (3) and the data acquisition mechanism (4) to move along the spatial path. The robotic arm control component (3) is used for unmanned operation of power equipment. The data acquisition mechanism (4) is used to collect the operating electrical data, image data, temperature data, humidity data and partial discharge data of the power equipment. The mobile component (1) includes a first vehicle body (101), a first cover plate (102) detachably connected to the upper opening of the first vehicle body (101), first Mecanum wheel bodies (104) symmetrically connected to the four corners of the first vehicle body (101), and a hollow support rod (103) fixedly connected to the middle position of the upper end of the first cover plate (102). The 5G communication transmission system, the mobile power supply system and the control system are all provided inside the first vehicle body (101). A number of drive motors cooperating with the first Mecanum wheel bodies (104) and a steering motor are provided inside the first vehicle body (101). The output shaft end of the steering motor is connected to a rotating shaft (105). One end of the rotating shaft (105) sequentially passes through the first cover plate (102) and the hollow support rod (103) and is fixedly connected to the lower end of the climbing component (2). The upper end of the hollow support rod (103) is movably connected to the lower end of the climbing component (2). The climbing component (2) includes a central control mechanism and spatial movement mechanisms symmetrically connected to both sides of the central control mechanism. The central control mechanism includes a central control box body (201), a second cover plate (202) connected to the upper opening of the central control box body (201), a second motor (210), a third motor (220), and a fourth motor (221) connected to the bottom end of the central control box body (201), a first bevel gear (211) connected to the output shaft end of the second motor (210), screw rods (213) symmetrically connected to the inner walls on both sides of the central control box body (201), a second bevel gear (212) connected to one end of the screw rod (213), a moving plate (214) threadedly connected to the screw rod (213), and hollow moving rods (215) symmetrically connected to the moving plate (214). Both of the second bevel gears (212) are meshed with the first bevel gear (211). One end of the hollow moving rod (215) penetrates through the central control box body (201) and is fixedly connected to the corresponding space moving mechanism. The output shaft end of the third motor (220) passes through the second cover plate (202) and is connected to the robotic arm control component (3). The output shaft end of the fourth motor (221) passes through the second cover plate (202) and is connected to the data acquisition mechanism (4). A damping ring sleeve (216) is provided inside the wall of the moving plate (214), and a multi-stage damping ring (217) that mates with it is provided inside the damping ring sleeve (216). A ring body (218) is fixedly connected to the middle of the multi-stage damping ring (217), and a screw hole (219) that mates with the screw rod (213) is provided in the middle of the ring body (218). The space moving mechanism includes a second vehicle body (203), a third cover plate (204) detachably connected to the upper opening of the second vehicle body (203), a laser rangefinder (206) connected to the upper end of the third cover plate (204), and second Mecanum wheel bodies (205) symmetrically connected to both sides of the second vehicle body (203). The second vehicle body (203) is fixedly connected to the hollow moving rod (215), and a first motor (207) that mates with the second Mecanum wheel body (205) is provided inside the second vehicle body (203). An electric push rod (208) is connected to the inner wall of the second vehicle body (203), and the output end of the electric push rod (208) penetrates through the second vehicle body (203) and is connected to a positioning component (209). The positioning component (209) includes a push plate (2090) fixedly connected to the output end of the electric push rod (208), a plurality of elastic connecting pieces (2091) connected to the push plate (2090), and a damping plate (2092) connected to one end of the elastic connecting piece (2091).

2. The intelligent inspection control robot for 5G power equipment according to claim 1, characterized in that: The robotic arm control component (3) includes a bottom plate (301), a fixing frame (302) connected to the upper end of the bottom plate (301), a fifth motor (303) fixedly connected to the fixing frame (302), a first arm body (304) movably connected to the fixing frame (302), a second arm body (305) movably connected to one end of the first arm body (304), a sixth motor (306) fixedly connected to the second arm body (305), a third arm body (307) movably connected to one end of the second arm body (305), a seventh motor (308) fixedly connected to one end of the second arm body (305), two irregular gear members (309) and a hinge frame (310) movably connected to the third arm body (307), a clamping member (311) movably connected to one end of the irregular gear member (309), and an eighth motor (312) connected to the third arm body (307). The hinge frame (310) and the clamping member (311) are hinged, the two irregular gear members (309) are meshed with each other, the output shaft end of the eighth motor (312) is connected to one of the irregular gear members (309), the output shaft end of the fifth motor (303) is connected to the first arm body (304), the output shaft end of the sixth motor (306) is connected to the first arm body (304), and the output shaft end of the seventh motor (308) is connected to the third arm body (307).

3. The intelligent inspection and control robot for 5G power equipment according to claim 1, characterized in that: The data acquisition mechanism (4) includes a base frame (401), a first rotating bracket (403) movably connected to the base frame (401), a ninth motor (402) connected to the base frame (401), a second rotating bracket (405) movably connected to one end of the first rotating bracket (403), a tenth motor (406) connected to the second rotating bracket (405), and a housing (409) movably connected to the second rotating bracket (405). The output shaft of the ninth motor (402) is connected to the first rotating bracket (403), a steering gear (407) is connected to the output shaft end of the tenth motor (406), a driven gear (408) matched with the steering gear (407) is connected to the housing (409), and an operating electrical acquisition module, an image acquisition module, a temperature sensor, a humidity sensor, and a partial discharge sensor are provided on the housing (409).

4. The intelligent inspection and control robot for 5G power equipment according to claim 3, characterized in that: A first sprocket is connected to the output shaft of the ninth motor (402), a second sprocket is connected to the second rotating bracket (405), and a chain belt (404) is connected between the first sprocket and the second sprocket.

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