A patrol device for underground passages of power grids

Abstract

The present invention relates to the field of artificial intelligence technology, and specifically to an inspection device for an underground passage of a power grid, comprising a base plate, a shell, a steering drive mechanism, a travel drive mechanism, a monitoring mechanism, a sensing mechanism and two sets of direction-changing mechanisms, wherein the shell is fixedly arranged at the top outer edge of the base plate, and the outer two sides of the shell are arranged in the form of diversion slopes, the monitoring mechanism comprises a controller, an adjustment component and two sets of swing components, the adjustment component is fixedly arranged at the middle of the top end of the shell, and the sensing mechanism is fixedly arranged at the front end of the shell. The present invention drives the robot forward as a whole through a dual-axis motor, controls the operation of the second motor through the arrangement of two laser sensors and a controller, and further controls the steering of the robot to bypass obstacles, and performs real-time image detection by adding two adjustable industrial cameras, thereby realizing inspection of power grid lines in the trench, which is safe, efficient, precise and controllable.

Description

Technical Field

[0001] The present invention relates to the field of artificial intelligence technology, and in particular to an inspection device for an underground passage of a power grid. Background Art

[0002] The whole composed of substations of various voltages and transmission and distribution lines in the power system is called the power grid, which includes three units: substation, transmission and distribution. The task of the power grid is to transmit and distribute electric energy and change the voltage.

[0003] The distribution of the power grid starts from the distribution station. One way is to transport through an elevated structure, and the other is to transport through an underground passage, that is, a pipe trench. The pipe trench is also called an underground pipeline common trench. It refers to an intensive and integrated municipal public infrastructure that can accommodate two or more municipal public utility pipelines. When there is a problem with the power grid transmission line inside the pipe trench, some of the trenches are not spacious and have low visibility. The internal conditions are relatively complicated, making it inconvenient for staff to enter and observe. Therefore, inspection robots are needed to replace manual inspections to determine the location of the problem with the wires, thereby facilitating subsequent maintenance work.

[0004] However, most of the existing inspection robots inspect along straight tracks. When encountering obstacles in the trench, they cannot bypass them in time. At the same time, the visual monitoring system on them has a limited visual range, which makes it easy for blind spots to appear during the robot inspection. There is a lack of multi-angle round-trip monitoring. Therefore, it is necessary to design a new type of inspection robot for underground power grid passages. Summary of the invention

[0005] The object of the present invention is to provide an inspection device for an underground passage of a power grid.

[0006] To achieve this purpose, the present invention adopts the following technical solutions: Provide an inspection device for an underground passage of a power grid, comprising a bottom plate, a shell, a steering drive mechanism, a travel drive mechanism, a monitoring mechanism, a sensing mechanism and two sets of direction-changing mechanisms, wherein the shell is fixedly arranged at the outer edge of the top of the bottom plate, and the outer sides of the shell are arranged in a diversion slope, the monitoring mechanism comprises a controller, an adjustment component and two sets of swing components, the adjustment component is fixedly arranged at the middle of the top of the shell, the two sets of swing components are symmetrical and fixedly arranged at both sides of the adjustment component, the controller is arranged at the top of the shell, the sensing mechanism is fixedly arranged at the front end of the shell, the steering drive mechanism is to ensure the steering obstacle avoidance of the robot, and the travel drive mechanism is to ensure the forward movement of the robot;

[0007] The steering drive mechanism is located inside the shell, and the steering drive mechanism includes a built-in plate, a rotating assembly and two groups of sliding assemblies. The built-in plate is fixedly arranged in the middle of the top of the bottom plate, and a U-shaped plate is fixedly arranged on the top of the built-in plate. The two groups of sliding assemblies are symmetrically and fixedly arranged on both sides of the top of the built-in plate. The rotating assembly is fixedly arranged on the top between the two groups of sliding assemblies, and the rotating assembly is fixedly connected to the U-shaped plate. The two groups of changing mechanisms are symmetrically arranged at both ends of the built-in plate. Each group of changing mechanisms includes two tires, two fixed plates, two groups of pull rod assemblies and two groups of buffer assemblies. One end of the two groups of pull rod assemblies is symmetrically and rotatably arranged at the two ends of the corresponding group of sliding assemblies. The two groups of buffer assemblies are limitedly slidably arranged at the other end of the corresponding two groups of pull rod assemblies. The two fixed plates are symmetrically and fixedly arranged on one side of the two groups of buffer assemblies. The two tires are symmetrically arranged on both sides of one end of the bottom plate, and the two tires are limitedly and rotatably connected to the corresponding two fixed plates.

[0008] The travel drive mechanism is located inside the shell, and the travel drive mechanism includes a drive assembly, two groups of rotating assemblies and two groups of linkage assemblies. The drive assembly is fixedly arranged in the middle of the top of the built-in plate, the two groups of rotating assemblies are symmetrically and fixedly arranged on both sides of the top of the bottom plate, and the middle parts of the two groups of rotating assemblies are fixedly connected to the drive assembly, the two groups of linkage assemblies are symmetrically arranged at the two ends of the two groups of rotating assemblies, and the two groups of linkage assemblies are fixedly connected to the two ends of the corresponding two groups of rotating assemblies, the two ends of each group of linkage assemblies are rotatably connected to the corresponding two fixed plates, and each group of linkage assemblies is fixedly connected to the corresponding two tires.

[0009] Furthermore, the adjustment assembly includes an installation box, a top shell, a first motor, a rotating rod, a first bevel gear, a bushing, two second bevel gears and two short shafts. The installation box is fixedly arranged in the middle of the top of the shell, and ventilation nets are fixedly arranged on both sides of the installation box. One end of the bushing is fixedly arranged in the middle of the top of the installation box, and the top shell is fixedly arranged on the top of the bushing. The first motor is fixedly arranged inside the installation box in a horizontal state, and the output shaft of the first motor is fixedly connected to one end of the rotating rod through a coupling, the other end of the rotating rod extends through the bushing to the top shell and is fixedly connected to the first bevel gear, the rotating rod is rotatably connected to the bushing, the two second bevel gears are symmetrically and meshingly arranged on both sides of the first bevel gear, one end of the two short shafts is fixedly connected to the corresponding two second bevel gears, and the other ends of the two short shafts pass through the top shell and are rotatably connected to the top shell.

[0010] Furthermore, each group of the swinging components includes an auxiliary rotation shell, a mounting frame, a toothless bevel gear, a third bevel gear, a fourth bevel gear, a first rotating shaft, a rocker arm, an industrial camera and a push rod. The auxiliary rotation shell is fixedly arranged on the top of the mounting box, the mounting frame is fixedly arranged on one side of the top shell, the toothless bevel gear is rotatably arranged at the other end of the corresponding short shaft, the third bevel gear and the fourth bevel gear are symmetrically and meshingly arranged at the upper and lower ends of one side of the toothless bevel gear, one end of the first rotating shaft is rotatably arranged on the auxiliary rotation shell, and the other end of the first rotating shaft passes through the mounting frame and is fixedly connected to the third bevel gear and the fourth bevel gear, the rocker arm is L-shaped, and one end of the rocker arm is fixedly arranged on the top of the first rotating shaft, the symmetrical sides of the industrial camera are hinged to the other end of the rocker arm, the bottom of the push rod is fixedly arranged on one side of the bottom of the rocker arm, and the output shaft of the push rod is hinged to the bottom of the industrial camera.

[0011] Furthermore, the sensing mechanism includes a protective cover, an information processing module and two laser sensors. The protective cover is fixedly arranged on the top of the shell and is located next to the controller. The information processing module is fixedly arranged in the protective cover, and the information processing module is electrically connected to the controller. The two laser sensors are symmetrically and fixedly arranged on the bottom side of one end of the shell.

[0012] Furthermore, each group of the sliding components includes a strip plate, a slide rail, a slide seat, a rack, a first gear, a first shaft seat and a second rotating shaft. The strip plate is fixedly arranged on one side of the top of the built-in plate, the slide rail is fixedly arranged on the strip plate, the slide seat is limited and slidably arranged on the slide rail, one side of the rack is fixedly connected to the top of the slide seat, the first shaft seat is fixedly arranged on the built-in plate, one end of the second rotating shaft is rotatably arranged on the first shaft seat, the first gear is fixedly arranged on the second rotating shaft, and the first gear is meshed with the rack.

[0013] Furthermore, the rotating assembly includes a first machine base, a second motor, a toothed belt, and two flywheels. The first machine base is fixedly arranged on one side of the top of the U-shaped plate, the second motor is fixedly arranged on the first machine base in a horizontal state, and the output shaft sleeve coupling of the second motor is fixedly connected to the other end of the corresponding second rotating shaft, the two flywheels are respectively fixedly arranged on the other ends of the two second rotating shafts, and the toothed belt is meshingly arranged on the two flywheels.

[0014] Furthermore, each group of the pull rod assembly includes a first connecting rod and a second connecting rod, one end of the first connecting rod is hinged to one side of the top of the corresponding rack, and the other end of the first connecting rod is hinged to one end of the second connecting rod, and the second connecting rod is L-shaped, and each group of the buffer mechanism includes a buffer shell, two limit plates and four return springs, one side of the buffer shell is fixedly set on the top of one side of the corresponding fixed disk, and a sliding groove is provided in the buffer shell, the other end of the second connecting rod is limited and slidably set in the sliding groove, the two limit plates are symmetrically and fixedly set at both ends of the sliding groove, and the four return springs are symmetrically welded in pairs between the second connecting rod and the two limit plates.

[0015] Furthermore, the driving assembly includes a base, a second base, a dual-axis motor and two sets of fifth bevel gear groups. The base is fixedly arranged in the middle of the top of the built-in plate, the second base is fixedly arranged in the middle of the top of the base, the dual-axis motor is fixedly arranged on the second base, and the single gears in the two sets of the fifth bevel gear groups are fixedly connected to both ends of the dual-axis motor.

[0016] Furthermore, both ends of the two groups of rotating components are fixed with cross seats, and the two cross seats are fixedly connected to the bottom plate. Each group of rotating components includes a third rotating shaft, two first bevel gears, two second bevel gears and two second shaft seats. The two second shaft seats are symmetrically and fixedly arranged on the corresponding two cross seats. The third rotating shaft is rotatably arranged between the two second shaft seats, and the middle part of the third rotating shaft is fixedly connected to the other bevel gear of the corresponding fifth bevel gear group. The two first bevel gears are symmetrically and fixedly arranged at both ends of the third rotating shaft. The two second bevel gears are symmetrically arranged at the bottom of the corresponding two first bevel gears, and the two second bevel gears are meshed with the corresponding two first bevel gears.

[0017] Furthermore, each group of the linkage components includes an axle box, a fourth rotating shaft, a fifth rotating shaft, two second gears, two third gears, two third shaft seats, two bearings and two ball cage universal joints. The axle box is fixedly arranged on one side of the top of the base plate, and an axle groove is provided in the middle of the top of the axle box, two gear grooves are symmetrically provided in the middle of the axle groove, and two embedding grooves are symmetrically provided at both ends of the axle groove, the fifth rotating shaft is rotatably arranged in the axle groove, the two bearings are symmetrically and fixedly arranged at the two ends of the fifth rotating shaft, and the two bearings are located in the corresponding two embedding grooves, the two third gears are symmetrically and fixedly arranged in the middle of the fifth rotating shaft, and the two third gears are located at the corresponding two A gear groove, a box cover is fixedly provided on the top of the axle box, one corner of the two third gears passes through the box cover and extends to the outside of the box cover, the two third axle seats are symmetrically and fixedly arranged on both sides of the top of the box cover, the fourth rotating shaft is rotatably arranged between the two third axle seats, and the fourth rotating shaft is fixedly connected to the corresponding two second bevel gears, the two second gears are symmetrically and fixedly arranged on the fourth rotating shaft and are located beside the corresponding two second bevel gears, one end of the two ball cage universal joints is fixedly connected to the fifth rotating shaft, and the other end of the two ball cage universal joints is fixedly connected to the tire through the corresponding fixed plate, and the fixed plate is connected to the corresponding ball cage universal joint in a limited rotation connection.

[0018] Beneficial effects of the present invention:

[0019] 1. First, place the robot at the entrance of the trench, and turn on the dual-axis motor switch of the controller. The output shafts at both ends of the dual-axis motor drive the two groups of fifth bevel gears to rotate in opposite directions. The two groups of fifth bevel gear groups respectively drive the two third shafts to rotate, and the two third shafts drive the four first bevel gears to rotate. The four first bevel gears respectively drive the four second bevel gears corresponding to the bottom to rotate. The first bevel gears and the second bevel gears meshing on both sides are symmetrically arranged, so that the four second bevel gears drive the corresponding two fourth shafts to rotate in the same direction, and the two fourth shafts respectively drive the four second gears to rotate in the same direction, and the four second gears respectively drive the four third gears at the bottom to rotate in the same direction, so that the four third gears drive the two fifth shafts to rotate, and the two ends of the two fifth shafts respectively drive the four ball cage universal joints to rotate, and then the four ball cage universal joints drive the four tires to rotate in the same direction, so as to achieve the purpose of driving the robot forward. Through the dual-axis motor drive, the four tires are directly driven to rotate in the same direction, which improves the passability of the robot and reduces the cost of multi-motor drive.

[0020] 2. After entering the trench, when the two laser sensors emit lasers and feedback that there are obstacles ahead, the two laser sensors transmit electrical signals to the controller, and the controller turns on the second motor switch. The output shaft of the second motor drives the corresponding second shaft to rotate, and the second shaft drives the corresponding flywheel to rotate. The flywheel drives another flywheel to rotate through a toothed belt, so that the two flywheels drive the two second shafts to rotate in the same direction, and the second shaft drives the two first gears to rotate in the same direction, so that the two first gears drive the corresponding two racks to move in the same direction, and the two racks slide on the two slide rails through the corresponding two slide seats. At this time, the front rack pushes and pulls one end of the corresponding two first connecting rods, so that the two first connecting rods drive the two second connecting rods The other end of the second motor deflects in the same direction, so that the two second connecting rods drive the corresponding two fixed plates to deflect in the same direction through the two buffer shells, and then the two fixed plates drive the two tires to deflect in the same direction. When the rack at the rear end drives one end of the corresponding two first connecting rods to push and pull respectively, since the two sets of tie rod assemblies are symmetrically arranged, the rear two tires turn in the opposite direction to the front two tires to avoid rollover. When bypassing an obstacle, the output shaft of the second motor is reversed to realize the four tires returning to the center and continuing to move forward. The two sets of tie rod assemblies are symmetrically arranged. When the front two wheels turn in the same direction, the rear two wheels turn in the opposite direction to the corresponding front wheels, thereby avoiding the effect of tire steering being stuck. This steering is achieved by transmitting an electrical signal to the controller through a laser sensor and controlling the second motor.

[0021] 3. When encountering a bumpy road section in the trench, the four tires drive the corresponding fixed plates to vibrate up and down, and the fixed plates drive the buffer shell to compress the four return springs inside, thereby buffering the second connecting rod. When the four tires roll on the road, it is inevitable that they will bump, which will cause the four tires to drive the fixed plates to vibrate and bump, and the four fixed plates will drive the second connecting rod to vibrate and bump, which will cause damage to the second connecting rod and the first connecting rod and reduce their service life. However, a buffer shell is provided between the fixed plate and the second connecting rod, and the buffer shell can slide up and down at one end of the second connecting rod. At the same time, the four return springs inside also play a good anti-vibration role.

[0022] 4. When the robot just enters the trench, the controller turns on the first motor switch, and the output shaft of the first motor drives the rotating rod to rotate through the coupling, and the rotating rod drives the first bevel gear in the top shell to rotate, and the first bevel gear drives the second bevel gears on both sides to rotate in opposite directions, and the two second bevel gears drive the two short shafts to rotate in the opposite direction, so that the two short shafts drive the two toothless bevel gears to rotate. When each toothless bevel gear is engaged with the third bevel gear on its top, the third bevel gear drives the first rotating shaft to rotate clockwise, and the first rotating shaft drives the corresponding swing rod to rotate clockwise, so that the swing rod drives the industrial camera to rotate clockwise. When the wheel is meshed with the fourth bevel gear, the fourth bevel gear drives the first shaft to rotate counterclockwise, and the first shaft drives the corresponding swing arm to rotate counterclockwise, so that the swing arm drives the industrial camera to rotate counterclockwise, and drives the push rod. The output shaft of the push rod drives the industrial camera to adjust its position to ensure that the line to be detected is within the swing range of the industrial camera, and converts the image information into an electrical signal and transmits it to the information processing module, so as to detect the lines on both sides. When encountering the position where the line problem is located, the information processing module transmits the electrical signal to the controller, and the controller turns off the dual-axis motor switch to stop moving forward, thereby realizing remote judgment of the fault location.

[0023] The present invention drives the robot forward as a whole through a dual-axis motor, and controls the operation of the second motor by setting two laser sensors and a controller, thereby controlling the robot's steering to bypass obstacles. Two adjustable industrial cameras are added to perform real-time image detection, thereby realizing inspection of power grid lines in the trench in a safe, efficient, precise and controllable manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings in the embodiment of the present invention are briefly introduced below.

[0025] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0026] Figure 2 It is a schematic diagram of the internal three-dimensional structure of the present invention;

[0027] Figure 3 It is a schematic diagram of the three-dimensional structure of the steering drive mechanism and the direction-changing mechanism of the present invention;

[0028] Figure 4 It is a schematic diagram of the three-dimensional structure of the rotating assembly and two sets of sliding assemblies of the present invention;

[0029] Figure 5 for Figure 4 The enlarged schematic diagram of point A in the middle;

[0030] Figure 6 It is a schematic diagram of a single-side splitting of the direction-changing mechanism of the present invention;

[0031] Figure 7 for Figure 6 The enlarged schematic diagram of point B in the middle;

[0032] Figure 8 It is a schematic diagram of the three-dimensional structure of the travel drive mechanism of the present invention;

[0033] Fig. 9 It is a partial disassembled schematic diagram of the travel drive mechanism of the present invention;

[0034] Fig.10 for Fig. 9 The enlarged schematic diagram of the center C;

[0035] Fig.11 for Fig. 9 The enlarged schematic diagram of point D in the middle;

[0036] Fig.12 It is a schematic diagram of partial disassembly of the linkage assembly of the present invention;

[0037] Fig.13 for Fig.12 The enlarged schematic diagram of point E in the middle;

[0038] Fig.14 It is a schematic diagram of a partial three-dimensional structure of the monitoring mechanism of the present invention;

[0039] Fig.15 It is a schematic diagram of the disassembly of the regulating component of the present invention;

[0040] Fig.16 for Fig.15 The enlarged schematic diagram of F in the middle;

[0041] Fig.17 It is a partial disassembly schematic diagram of the swing assembly of the present invention;

[0042] Fig.18 It is a schematic diagram of the three-dimensional structure of the controller of the present invention;

[0043] Fig.19 It is a schematic diagram of the three-dimensional structure of the information processing module of the present invention;

[0044] Fig. 20 It is a schematic diagram of the three-dimensional structure of the laser sensor of the present invention;

[0045] In the figure: bottom plate 1; housing 2; steering drive mechanism 3, built-in plate 30, U-shaped plate 300, rotating assembly 31, first base 310, second motor 311, toothed belt 312, flywheel 313, sliding assembly 32, strip plate 320, slide rail 321, slide seat 322, rack 323, first gear 324, first shaft seat 325, second rotating shaft 326; travel drive mechanism 4, drive assembly 40, base 400, first Second machine base 401, dual-axis motor 402, fifth bevel gear set 403, rotating assembly 41, horizontal seat 410, third rotating shaft 411, first helical gear 412, second helical gear 413, second shaft seat 414, linkage assembly 42, shaft box 420, shaft groove 4200, gear groove 4201, embedded groove 4202, box cover 4203, fourth rotating shaft 421, fifth rotating shaft 422, second gear 423, third gear 424 , a third shaft seat 425, a bearing 426, a ball cage universal joint 427; a monitoring mechanism 5, a controller 50, an adjustment component 51, an installation box 510, a ventilation net 5100, a top shell 511, a first motor 512, a rotating rod 513, a first bevel gear 514, a sleeve 515, a second bevel gear 516, a short shaft 517, a swing component 52, an auxiliary rotation shell 520, a mounting frame 521, a toothless bevel gear 522, a third bevel gear 523, a fourth bevel gear 524, a first rotating shaft 525, a swing rod 526, an industrial camera 527, and a push rod 528; a sensing mechanism 6, a protective cover 60, an information processing module 61, and a laser sensor 62; a direction changing mechanism 7, a tire 70, a fixing plate 71, a pull rod assembly 72, a first connecting rod 720, a second connecting rod 721, a buffer assembly 73, a buffer shell 730, a sliding groove 7300, a limit plate 731, and a reset spring 732. DETAILED DESCRIPTION

[0046] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0047] Among them, the drawings are only used for illustrative purposes and represent only schematic diagrams rather than actual pictures, and should not be understood as limitations on this patent; in order to better illustrate the embodiments of the present invention, some parts of the drawings will be omitted, enlarged or reduced, and do not represent the size of the actual product.

[0048] The present invention provides a technical solution: referring to Figure 1 to Figure 2The inspection equipment for the underground passage of the power grid shown in the figure includes a bottom plate 1, a shell 2, a steering drive mechanism 3, a travel drive mechanism 4, a monitoring mechanism 5, a sensing mechanism 6 and two sets of direction-changing mechanisms 7. The shell 2 is used to protect the operation of the internal mechanism and also provides a fixed installation carrier for the sensing mechanism 6 and the monitoring mechanism 5. The shell 2 is fixedly arranged on the top outer edge of the bottom plate 1, and the two sides of the outer side of the shell 2 are arranged as diversion slopes. The monitoring mechanism 5 includes a controller 50, an adjustment component 51 and two sets of swing components 52. The two sets of swing components 52 are driven by the adjustment component 51 to realize multi-angle image recognition monitoring of the industrial camera 527. The adjustment component 51 is fixedly arranged in the middle of the top of the shell 2, and the two sets of swing components 52 are symmetrically and fixedly arranged on both sides of the adjustment component 51. The controller 50 is arranged on the top of the shell 2, and the sensing mechanism 6 is fixedly arranged at the front end of the shell 2. The steering drive mechanism 3 is used to ensure the steering and obstacle avoidance of the robot, and the travel drive mechanism 4 is used to ensure the forward movement of the robot.

[0049] The steering drive mechanism 3 located inside the housing 2 includes a built-in plate 30, a rotating assembly 31 and two sets of sliding assemblies 32. The built-in plate 30 provides a fixed mounting carrier for the two sets of sliding assemblies 32. The built-in plate 30 is fixedly arranged in the middle of the top of the bottom plate 1. A U-shaped plate 300 is fixedly arranged on the top of the built-in plate 30. The two sets of sliding assemblies 32 are symmetrically and fixedly arranged on both sides of the top of the built-in plate 30. The rotating assembly 31 is fixedly arranged at the top between the two sets of sliding assemblies 32. The rotating assembly 31 is fixedly connected to the U-shaped plate 300. The two sets of change-of-direction mechanisms 7 are symmetrically arranged at both ends of the built-in plate 30. Each set of change-of-direction mechanisms 7 includes two tires. 70, two fixed plates 71, two groups of tie rod assemblies 72 and two groups of buffer assemblies 73, the buffer assemblies 73 play a buffering role for the corresponding tie rod assemblies 72, and extend the service life of the tie rod assemblies 72, one end of the two groups of tie rod assemblies 72 are symmetrically and rotatably arranged at the two ends of the corresponding one group of sliding assemblies 32, the two groups of buffer assemblies 73 are limitedly slidably arranged at the other end of the corresponding two groups of tie rod assemblies 72, the two fixed plates 71 are symmetrically and fixedly arranged on one side of the two groups of buffer assemblies 73, the two tires 70 are symmetrically arranged on both sides of one end of the bottom plate 1, and the two tires 70 are limitedly rotatably connected with the corresponding two fixed plates 71;

[0050] The travel drive mechanism 4 includes a drive component 40, two groups of rotating components 41 and two groups of linkage components 42. The two groups of rotating components 41 are used to connect the drive component 40 and the two groups of linkage components 42. The drive component 40 is fixedly arranged in the middle of the top of the built-in plate 30. The two groups of rotating components 41 are symmetrically and fixedly arranged on both sides of the top of the bottom plate 1. The middle parts of the two groups of rotating components 41 are fixedly connected to the drive component 40. The two groups of linkage components 42 are symmetrically arranged at both ends of the two groups of rotating components 41. The two groups of linkage components 42 are fixedly connected to the two ends of the corresponding two groups of rotating components 41. The two ends of each group of linkage components 42 are rotatably connected to the corresponding two fixed plates 71, and each group of linkage components 42 is fixedly connected to the corresponding two tires 70.

[0051] In the present invention, reference is made to Figures 3 to 5 The rotating assembly 31 shown includes a first machine base 310, a second motor 311, a toothed belt 312 and two flywheels 313. The first machine base 310 is fixedly arranged on one side of the top of the U-shaped plate 300. The second motor 311 is fixedly arranged on the first machine base 310 in a horizontal state. The output shaft sleeve coupling of the second motor 311 is fixedly connected to the other end of the corresponding second rotating shaft 326. The two flywheels 313 are respectively fixedly arranged on the other ends of the two second rotating shafts 326. 12 meshingly arranged on the two flywheels 313, the sliding assembly 32 includes a strip plate 320, a slide rail 321, a slide seat 322, a rack 323, a first gear 324, a first shaft seat 325 and a second rotating shaft 326, the strip plate 320 is a fixed installation carrier for the slide rail 321, the slide rail 321 is a limited sliding carrier for the slide seat 322 and the rack 323, the first shaft seat 325 is a mounting rotating carrier for the second rotating shaft 326, and the strip plate 320 is fixedly arranged on On one side of the top of the built-in plate 30, the slide rail 321 is fixedly set on the strip plate 320, the slide seat 322 is limitedly slidably set on the slide rail 321, one side of the rack 323 is fixedly connected to the top of the slide seat 322, the first shaft seat 325 is fixedly set on the built-in plate 30, one end of the second shaft 326 is rotatably set on the first shaft seat 325, the first gear 324 is fixedly set on the second shaft 326, and the first gear 324 is meshed with the rack 323. When the second shaft 326 is rotated, the first gear 324 is fixedly set on the second shaft 326. When rotating, the second rotating shaft 326 drives the corresponding flywheel 313 to rotate, and the flywheel 313 drives another flywheel 313 to rotate through the toothed belt 312, so that the two flywheels 313 drive the two second rotating shafts 326 to rotate in the same direction, and the second rotating shafts 326 drive the two first gears 324 to rotate in the same direction, so that the two first gears 324 drive the corresponding two racks 323 to move in the same direction, and the two racks 323 slide on the two slide rails 321 through the corresponding two slide seats 322.

[0052] Reference Figure 6 to Figure 7Each group of pull rod assemblies 72 shown includes a first connecting rod 720 and a second connecting rod 721, one end of the first connecting rod 720 is hinged to the top side of the corresponding rack 323, the other end of the first connecting rod 720 is hinged to one end of the second connecting rod 721, and the second connecting rod 721 is L-shaped. Each group of buffer assemblies 73 includes a buffer shell 730, two limit plates 731 and four return springs 732. One side of the buffer shell 730 is fixedly set on the top of one side of the corresponding fixed disk 71, and a sliding groove 7300 is provided in the buffer shell 730. The other end of the second connecting rod 721 is limitedly slidably set in the sliding groove 7300. The sliding groove 7300 provides a limited sliding carrier for the second connecting rod 721. The two limit plates 731 are symmetrically and fixedly set at both ends of the sliding groove 7300. The limiting plate 731 serves as a limiting role for the second connecting rod 721, and also serves as a welding carrier for the four return springs 732. The four return springs 732 are symmetrically welded in pairs between the second connecting rod 721 and the two limiting plates 731. When the four tires 70 roll on the road, bumps will occur, which will cause the four tires 70 to drive the fixed plate 71 to vibrate and bump, and the four fixed plates 71 will drive the second connecting rod 721 to vibrate and bump, thereby causing damage to the second connecting rod 721 and the first connecting rod 720, reducing their service life. However, a buffer shell 730 is provided between the fixed plate 71 and the second connecting rod 721, and the buffer shell 730 can slide up and down at one end of the second connecting rod 721. At the same time, the four return springs 732 provided inside also play a good anti-vibration role.

[0053] In the present invention, reference is made to Figures 14 to 16The adjustment assembly 51 shown includes an installation box 510, a top shell 511, a first motor 512, a rotating rod 513, a first bevel gear 514, a sleeve 515, two second bevel gears 516 and two short shafts 517. The installation box 510 provides a fixed installation space for the first motor 512, and the top shell 511 provides a fixed installation carrier for the first bevel gear 514 and the two second bevel gears 516, and also plays a protective role. The installation box 510 is fixedly arranged in the middle of the top of the shell 2, and ventilation nets 5100 are fixedly arranged on both sides of the installation box 510. The two ventilation nets 5100 are used to ventilate and cool the first motor 512 in the installation box 510. One end of the sleeve 515 is fixedly arranged in the middle of the top of the installation box 510, and the sleeve 515 provides a rotation space for the rotating rod 513. The top shell 511 is fixedly arranged on the top of the sleeve 515. The first motor 512 is fixedly arranged in the installation box 510 in a horizontal state. The output shaft of 2 is fixedly connected to one end of the rotating rod 513 through a coupling, and the other end of the rotating rod 513 extends to the top shell 511 through a shaft sleeve 515 and is fixedly connected to the first bevel gear 514. The rotating rod 513 is rotatably connected to the shaft sleeve 515, and the two second bevel gears 516 are symmetrically and meshingly arranged on both sides of the first bevel gear 514. One end of the two short shafts 517 is fixedly connected to the corresponding two second bevel gears 516, and the other ends of the two short shafts 517 pass through the top shell 511 and are rotatably connected to the top shell 511. When the switch of the first motor 512 is turned on, the output shaft of the first motor 512 drives the rotating rod 513 to rotate through the coupling, and the rotating rod 513 drives the first bevel gear 514 in the top shell 511 to rotate, and the first bevel gear 514 drives the second bevel gears 516 on both sides thereof to rotate in opposite directions, and the two second bevel gears 516 drive the two short shafts 517 to rotate in the opposite direction, so that the two short shafts 517 drive the two toothless bevel gears 522 to rotate.

[0054] Reference Fig.17The swing assembly 52 shown includes an auxiliary rotation shell 520, a mounting frame 521, a toothless bevel gear 522, a third bevel gear 523, a fourth bevel gear 524, a first rotating shaft 525, a swing rod 526, an industrial camera 527 and a push rod 528. The auxiliary rotation shell 520 provides a mounting and rotating carrier for the first rotating shaft 525, and the mounting frame 521 provides a fixed mounting carrier for the third gear 424 and the fourth gear. The auxiliary rotation shell 520 is fixedly arranged on the top of the installation box 510, and the mounting frame 521 is fixedly arranged on the top shell 510. 1, the toothless bevel gear 522 is rotatably arranged at the other end of the corresponding short shaft 517, the third bevel gear 523 and the fourth bevel gear 524 are symmetrically and meshedly arranged at the upper and lower ends of one side of the toothless bevel gear 522, one end of the first rotating shaft 525 is rotatably arranged on the auxiliary rotating shell 520, the other end of the first rotating shaft 525 passes through the mounting frame 521 and is fixedly connected to the third bevel gear 523 and the fourth bevel gear 524, the swing rod 526 is L-shaped, and one end of the swing rod 526 is fixedly arranged at the top of the first rotating shaft 525 The symmetrical two sides of the industrial camera 527 are hinged to the other end of the swing rod 526, the bottom of the push rod 528 is fixedly set on one side of the bottom of the swing rod 526, and the output shaft of the push rod 528 is hinged to the bottom of the industrial camera 527. When the short shaft 517 drives the two toothless bevel gears 522 to rotate, each toothless bevel gear 522 is meshed with the third bevel gear 523 at its top, the third bevel gear 523 drives the first rotating shaft 525 to rotate clockwise, and the first rotating shaft 525 drives the corresponding swing rod 526 to rotate clockwise. , so that the swing rod 526 drives the industrial camera 527 to rotate clockwise. When the toothless bevel gear 522 is engaged with the fourth bevel gear 524, the fourth bevel gear 524 drives the first rotating shaft 525 to rotate counterclockwise. The first rotating shaft 525 drives the corresponding swing rod 526 to rotate counterclockwise, so that the swing rod 526 drives the industrial camera 527 to rotate counterclockwise. By driving the push rod 528, the output shaft of the push rod 528 drives the industrial camera 527 to adjust its position to ensure that the circuit to be detected is within the swing range of the industrial camera 527.

[0055] Reference Figures 18 to 20 The sensing mechanism 6 shown includes a protective cover 60, an information processing module 61 and two laser sensors 62. The protective cover 60 protects the information processing module 61. The protective cover 60 is fixedly arranged on the top of the shell 2 and is located next to the controller 50. The information processing module 61 is fixedly arranged in the protective cover 60. The information processing module 61 is electrically connected to the controller 50. The two laser sensors 62 are symmetrically and fixedly arranged on the bottom side of one end of the shell 2. The two laser sensors 62 are symmetrically arranged at the front end of the shell 2 to ensure that obstacles that may be encountered when moving forward can be monitored. When the two laser sensors 62 emit lasers and feedback that there are obstacles ahead, the two laser sensors 62 transmit electrical signals to the controller 50, and the controller 50 turns on the switch of the second motor 311.

[0056] In one embodiment of the present invention, referring to Figures 8 to 11 The driving assembly 40 shown includes a base 400, a second base 401, a dual-axis motor 402 and two sets of fifth bevel gear sets 403. The base 400 provides a fixed mounting carrier for the second base 401, and the second base 401 provides a fixed mounting carrier for the dual-axis motor 402. The base 400 is fixedly arranged in the middle of the top of the built-in plate 30, the second base 401 is fixedly arranged in the middle of the top of the base 400, the dual-axis motor 402 is fixedly arranged on the second base 401, and the single gears in the two sets of fifth bevel gear sets 403 are fixedly arranged in the middle of the top of the built-in plate 30. The wheels are fixedly connected to both ends of the dual-axis motor 402. When the controller 50 turns on the dual-axis motor 402, the output shafts at both ends of the dual-axis motor 402 drive the two sets of fifth bevel gears to rotate in opposite directions, and then the two sets of fifth bevel gear sets 403 respectively drive the two third rotating shafts 411 to rotate. Both ends of the two sets of rotating components 41 are fixedly provided with cross seats 410. The two cross seats 410 provide fixed installation carriers for the two second shaft seats 414. The two cross seats 410 are fixedly connected to the bottom plate 1. Each set of rotating components 41 includes The third rotating shaft 411, the two first bevel gears 412, the two second bevel gears 413 and the two second shaft seats 414, the meshing of the bevel gears is more stable and linear, the two second shaft seats 414 are symmetrically and fixedly arranged on the corresponding two cross seats 410, the third rotating shaft 411 is rotatably arranged between the two second shaft seats 414, the middle part of the third rotating shaft 411 is fixedly connected to another bevel gear corresponding to the fifth bevel gear set 403, the two first bevel gears 412 are symmetrically and fixedly arranged at both ends of the third rotating shaft 411, and the two second The bevel gears 413 are symmetrically arranged at the bottom of the corresponding two first bevel gears 412, and the two second bevel gears 413 are meshed with the corresponding two first bevel gears 412. When the two third rotating shafts 411 drive the four first bevel gears 412 to rotate, the four first bevel gears 412 respectively drive the four second bevel gears 413 corresponding to the bottom thereof to rotate, and the meshed first bevel gears 412 and second bevel gears 413 on both sides are symmetrically arranged, so that the four second bevel gears 413 drive the corresponding two fourth rotating shafts 421 to rotate in the same direction.

[0057] Reference Figure 12 to Figure 13The linkage assembly 42 shown includes an axle box 420, a fourth rotating shaft 421, a fifth rotating shaft 422, two second gears 423, two third gears 424, two third shaft seats 425, two bearings 426 and two ball cage universal joints 427. The axial direction is to provide a rotating mounting carrier for the fifth rotating shaft 422. The two bearings 426 are to reduce the friction of the fifth rotating shaft 422. The axle box 420 is fixedly arranged on one side of the top of the base plate 1. An axle groove 4200 is provided in the middle of the top of the axle box 420. Two gear grooves 4201 are symmetrically provided in the middle of the axle groove 4200. The two gear grooves 4201 provide installation space for the two third gears 424. The two second gears 423 are driven to rotate by the fourth rotating shaft 421. The two third gears 424 are driven to rotate by the fourth rotating shaft 421. The second gear 423 drives the two third gears 424 to rotate, and the two third gears 424 drive the fifth shaft 422 to rotate, so that the two fifth shafts 422 drive the two ball cage universal joints 427 at both ends to rotate, and two embedded grooves 4202 are symmetrically provided at both ends of the shaft groove 4200, and the two embedded grooves 4202 provide installation limit spaces for two bearings 426, and the fifth shaft 422 is rotatably set in the shaft groove 4200, and the two bearings 426 are symmetrically and fixedly set at both ends of the fifth shaft 422, and the two bearings 426 are located in the corresponding two embedded grooves 4202, and the two third gears 424 are symmetrically and fixedly set in the middle of the fifth shaft 422, and the two third gears 424 are located in the corresponding two gear grooves 4201. A box cover 4203 is fixedly provided on the top of the axle box 420, one corner of the two third gears 424 passes through the box cover 4203 and extends to the outside of the box cover 4203, two third shaft seats 425 are symmetrically and fixedly arranged on both sides of the top of the box cover 4203, the fourth rotating shaft 421 is rotatably arranged between the two third shaft seats 425, the fourth rotating shaft 421 is fixedly connected to the corresponding two second bevel gears 413, the two second gears 423 are symmetrically and fixedly arranged on the fourth rotating shaft 421 and are located beside the corresponding two second bevel gears 413, one end of the two ball cage universal joints 427 is fixedly connected to the fifth rotating shaft 422, the other end of the two ball cage universal joints 427 passes through the corresponding fixed plate 71 and is fixedly connected to the tire 70, and the fixed plate 71 is fixedly connected to the corresponding The ball cage universal joint 427 is limitedly rotated and connected. When the four second bevel gears 413 drive the corresponding two fourth rotating shafts 421 to rotate in the same direction, the two fourth rotating shafts 421 respectively drive the four second gears 423 to rotate in the same direction. The four second gears 423 respectively drive the four third gears 424 at the bottom to rotate in the same direction, so that the four third gears 424 drive the two fifth rotating shafts 422 to rotate. The two ends of the two fifth rotating shafts 422 respectively drive the four ball cage universal joints 427 to rotate, and then the four ball cage universal joints 427 drive the four tires 70 to rotate in the same direction, thereby achieving the purpose of driving the robot forward. The ball cage universal joint 427 can be used when the tire 70 rotates straight to any direction without affecting the steering of the second connecting rod 721.

[0058] Working principle:

[0059] 1. Place the robot at the entrance of the trench, and the controller 50 turns on the switch of the dual-axis motor 402. The output shafts at both ends of the dual-axis motor 402 drive the two groups of fifth bevel gears to rotate in opposite directions. The two groups of fifth bevel gear sets 403 respectively drive the two third rotating shafts 411 to rotate. The two third rotating shafts 411 drive the four first bevel gears 412 to rotate. The four first bevel gears 412 respectively drive the four second bevel gears 413 corresponding to the bottom thereof to rotate. The first bevel gears 412 and the second bevel gears 413 meshing on both sides are symmetrically arranged, so that the four second bevel gears 413 drive the corresponding two fourth rotating shafts 421 to rotate in the same direction. The two fourth rotating shafts 421 respectively drive the four second gears 423 to rotate in the same direction. The four second gears 423 respectively drive the four third gears 424 at the bottom thereof to rotate in the same direction, so that the four third gears 424 drive the two fifth rotating shafts 422 to rotate. The two ends of the two fifth rotating shafts 422 respectively drive the four ball cage universal joints 427 to rotate, and then the four ball cage universal joints 427 drive the four tires 70 to rotate in the same direction.

[0060] 2. Entering the pipe trench, when the two laser sensors 62 emit lasers and feedback that there is an obstacle ahead, the two laser sensors 62 transmit electrical signals to the controller 50, and the controller 50 turns on the switch of the second motor 311. The output shaft of the second motor 311 drives the corresponding second rotating shaft 326 to rotate, and the second rotating shaft 326 drives the corresponding flywheel 313 to rotate. The flywheel 313 drives another flywheel 313 to rotate through the toothed belt 312, so that the two flywheels 313 drive the two second rotating shafts 326 to rotate in the same direction, and the two second rotating shafts 326 drive the two first gears 324 to rotate in the same direction, so that the two first gears 324 drive the corresponding two racks 323 to move in the same direction, and the two racks 323 slide on the two slide rails 321 through the corresponding two slide seats 322.

[0061] 3. At this time, the rack 323 at the front end pushes and pulls one end of the corresponding two first connecting rods 720 respectively, so that the two first connecting rods 720 drive the other ends of the two second connecting rods 721 to deflect in the same direction, so that the two second connecting rods 721 drive the corresponding two fixed plates 71 to deflect in the same direction through the two buffer shells 730, and then the two fixed plates 71 drive the two tires 70 to deflect in the same direction. When the rack 323 at the rear end drives one end of the corresponding two first connecting rods 720 to push and pull respectively, since the two groups of pull rod assemblies 72 are symmetrically arranged, the rear two tires 70 turn in the opposite direction to the front two tires 70 to avoid rollover.

[0062] 4. When bypassing an obstacle, the output shaft of the second motor 311 is reversed so that the four tires 70 return to the normal position and continue to move forward. When encountering a bumpy section in the trench, the four tires 70 drive the corresponding fixed plates 71 to vibrate up and down, and the fixed plate 71 drives the buffer shell 730 to compress the four return springs 732 therein, thereby buffering the second connecting rod 721.

[0063] 5. Prior to this, when the robot enters the trench, the controller 50 turns on the switch of the first motor 512, and the output shaft of the first motor 512 drives the rotating rod 513 to rotate through the coupling, and the rotating rod 513 drives the first bevel gear 514 in the top shell 511 to rotate, and the first bevel gear 514 drives the second bevel gears 516 on both sides thereof to rotate in opposite directions, and the two second bevel gears 516 drive the two short shafts 517 to rotate in the opposite direction, so that the two short shafts 517 drive the two toothless bevel gears 522 to rotate, and when each toothless bevel gear 522 is meshed with the third bevel gear 523 on its top, the third bevel gear 523 drives the first rotating shaft 525 to rotate clockwise, and the first rotating shaft 525 drives the corresponding swing rod 526 to rotate clockwise, so that the swing rod 526 drives the industrial camera 527 to rotate clockwise.

[0064] When the toothless bevel gear 522 is meshed with the fourth bevel gear 524, the fourth bevel gear 524 drives the first rotating shaft 525 to rotate counterclockwise, and the first rotating shaft 525 drives the corresponding rocker arm 526 to rotate counterclockwise, so that the rocker arm 526 drives the industrial camera 527 to rotate counterclockwise, and drives the push rod 528. The output shaft of the push rod 528 drives the industrial camera 527 to adjust its position. The industrial camera 527 converts the image information into an electrical signal and transmits it to the information processing module 61, so as to detect the lines on both sides. When encountering the location of the line problem, the information processing module 61 transmits this electrical signal to the controller 50, and the controller 50 turns off the switch of the dual-axis motor 402 to stop moving forward.

Claims

1. An inspection device for an underground passage of a power grid, comprising a base plate (1), a shell (2), a steering drive mechanism (3), a travel drive mechanism (4), a monitoring mechanism (5), a sensing mechanism (6) and two sets of direction-changing mechanisms (7), wherein the shell (2) is fixedly arranged at the top outer edge of the base plate (1), and the outer sides of the shell (2) are arranged in the form of guide slopes, the monitoring mechanism (5) comprises a controller (50), an adjustment component (51) and two sets of swing components (52), the adjustment component (51) is fixedly arranged at the middle of the top of the shell (2), and the two sets of swing components (52) are symmetrically and fixedly arranged at both sides of the adjustment component (51), the controller (50) is arranged at the top of the shell (2), the sensing mechanism (6) is fixedly arranged at the front end of the shell (2), the steering drive mechanism (3) is used to ensure the robot's steering and obstacle avoidance, and the travel drive mechanism (4) is used to ensure the robot's forward movement, characterized in that: The steering drive mechanism (3) is located inside the housing (2). The steering drive mechanism (3) comprises a built-in plate (30), a rotating assembly (31) and two sets of sliding assemblies (32). The built-in plate (30) is fixedly arranged in the middle of the top of the bottom plate (1), and a U-shaped plate (300) is fixedly arranged on the top of the built-in plate (30). The two sets of sliding assemblies (32) are symmetrically and fixedly arranged on both sides of the top of the built-in plate (30). The rotating assembly (31) is fixedly arranged at the top between the two sets of sliding assemblies (32), and the rotating assembly (31) is fixedly connected to the U-shaped plate (300). The two sets of direction-changing mechanisms (7) are symmetrically arranged at both ends of the built-in plate (30). Each set of the direction-changing mechanism (7) comprises two tires (70), two fixed plates (71), two sets of tie rod assemblies (72) and two sets of buffer assemblies (73); one end of the two sets of tie rod assemblies (72) are symmetrically and rotatably arranged at the two ends of a corresponding set of sliding assemblies (32); the two sets of buffer assemblies (73) are limitedly slidably arranged at the other ends of the corresponding two sets of tie rod assemblies (72); the two fixed plates (71) are symmetrically and fixedly arranged on one side of the two sets of buffer assemblies (73); the two tires (70) are symmetrically arranged on both sides of one end of the bottom plate (1); and the two tires (70) are limitedly and rotatably connected to the corresponding two fixed plates (71).

2. The inspection device for underground passages of power grids according to claim 1, characterized in that: The travel drive mechanism (4) is located inside the housing (2), and comprises a drive assembly (40), two groups of rotating assemblies (41) and two groups of linkage assemblies (42), wherein the drive assembly (40) is fixedly arranged in the middle of the top of the built-in plate (30), the two groups of rotating assemblies (41) are symmetrically and fixedly arranged on both sides of the top of the bottom plate (1), and the middle parts of the two groups of rotating assemblies (41) are fixedly connected to the drive assembly (40), and the two groups of linkage assemblies (42) are symmetrically arranged on both sides of the two groups of rotating assemblies (41). The two linkage components (42) are fixedly connected to the two ends of the corresponding two rotation components (41); the two ends of each linkage component (42) are rotationally connected to the corresponding two fixed plates (71); and each linkage component (42) is fixedly connected to the corresponding two tires (70); the adjustment component (51) comprises a mounting box (510), a top shell (511), a first motor (512), a rotating rod (513), a first bevel gear (514), a shaft sleeve (515), two second bevel gears (516) and two short shafts. (517), the installation box (510) is fixedly arranged in the middle of the top of the shell (2), and ventilation nets (5100) are fixedly arranged on both sides of the installation box (510), one end of the shaft sleeve (515) is fixedly arranged in the middle of the top of the installation box (510), the top shell (511) is fixedly arranged on the top of the shaft sleeve (515), the first motor (512) is fixedly arranged in the installation box (510) in a horizontal state, and the output shaft of the first motor (512) is fixedly connected to one end of the rotating rod (513) through a coupling. The other end of the rotating rod (513) passes through the shaft sleeve (515) and extends to the top shell (511) and is fixedly connected to the first bevel gear (514). The rotating rod (513) is rotatably connected to the shaft sleeve (515). The two second bevel gears (516) are symmetrically and meshingly arranged on both sides of the first bevel gear (514). One end of the two short shafts (517) is fixedly connected to the corresponding two second bevel gears (516), and the other ends of the two short shafts (517) pass through the top shell (511) and are rotatably connected to the top shell (511).

3. The inspection device for underground passages of power grids according to claim 2, characterized in that: Each group of the swing components (52) comprises an auxiliary rotation shell (520), a mounting frame (521), a toothless bevel gear (522), a third bevel gear (523), a fourth bevel gear (524), a first rotating shaft (525), a swing rod (526), ​​an industrial camera (527) and a push rod (528); the auxiliary rotation shell (520) is fixedly arranged on the top of the installation box (510); the mounting frame (521) is fixedly arranged on one side of the top shell (511); the toothless bevel gear (522) is rotatably arranged on the other end of the corresponding short shaft (517); the third bevel gear (523) and the fourth bevel gear (524) are symmetrically arranged and meshingly arranged on the toothless bevel gear (511); 22) at the upper and lower ends of one side, one end of the first rotating shaft (525) is rotatably arranged on the auxiliary rotating shell (520), and the other end of the first rotating shaft (525) passes through the mounting frame (521) and is fixedly connected to the third bevel gear (523) and the fourth bevel gear (524), the swing rod (526) is arranged in an L shape, and one end of the swing rod (526) is fixedly arranged on the top of the first rotating shaft (525), the symmetrical two sides of the industrial camera (527) are hinged to the other end of the swing rod (526), ​​the bottom of the push rod (528) is fixedly arranged on one side of the bottom of the swing rod (526), ​​and the output shaft of the push rod (528) is hinged to the bottom of the industrial camera (527).

4. The inspection device for underground passages of power grids according to claim 3, characterized in that: The sensing mechanism (6) comprises a protective cover (60), an information processing module (61) and two laser sensors (62); the protective cover (60) is fixedly arranged on the top of the housing (2) and located beside the controller (50); the information processing module (61) is fixedly arranged in the protective cover (60), and the information processing module (61) is electrically connected to the controller (50); and the two laser sensors (62) are symmetrically and fixedly arranged on the bottom side of one end of the housing (2).

5. The inspection device for underground passages of power grids according to claim 4, characterized in that: Each group of the sliding components (32) comprises a strip plate (320), a slide rail (321), a slide seat (322), a rack (323), a first gear (324), a first shaft seat (325) and a second rotating shaft (326); the strip plate (320) is fixedly arranged on one side of the top of the built-in plate (30); the slide rail (321) is fixedly arranged on the strip plate (320); the slide seat (322) is limitedly slidably arranged on the slide rail (321); one side of the rack (323) is fixedly connected to the top of the slide seat (322); the first shaft seat (325) is fixedly arranged on the built-in plate (30); one end of the second rotating shaft (326) is rotatably arranged on the shaft seat; the first gear (324) is fixedly arranged on the second rotating shaft (326); and the first gear (324) is meshed with the rack (323).

6. The inspection equipment for underground passages of power grids according to claim 5, characterized in that: The rotating assembly (31) comprises a first machine base (310), a second motor (311), a toothed belt (312) and two flywheels (313); the first machine base (310) is fixedly arranged on one side of the top of the U-shaped plate (300); the second motor (311) is fixedly arranged on the first machine base (310) in a horizontal state; an output shaft sleeve coupling of the second motor (311) is fixedly connected to the other end of the corresponding second rotating shaft (326); the two flywheels (313) are respectively fixedly arranged on the other ends of the two second rotating shafts (326); and the toothed belt (312) is meshedly arranged on the two flywheels (313).

7. The inspection device for underground passages of power grids according to claim 6, characterized in that: Each group of the pull rod assembly (72) comprises a first connecting rod (720) and a second connecting rod (721), one end of the first connecting rod (720) is hinged to the top side of the corresponding rack (323), and the other end of the first connecting rod (720) is hinged to one end of the second connecting rod (721), and the second connecting rod (721) is L-shaped. Each group of the buffer assembly (73) comprises a buffer shell (730), two limit plates (731) and four return springs (732). One side of the buffer shell (730) is fixedly arranged on the top of one side of the corresponding fixed plate (71), and a sliding groove (7300) is provided in the buffer shell (730), the other end of the second connecting rod (721) is limitedly slidably arranged in the sliding groove (7300), the two limiting plates (731) are symmetrically and fixedly arranged at the two ends of the sliding groove (7300), and the four return springs (732) are symmetrically welded in pairs and arranged between the second connecting rod (721) and the two limiting plates (731).

8. The inspection device for underground passages of power grids according to claim 7, characterized in that: The driving assembly (40) comprises a base (400), a second machine base (401), a dual-axis motor (402) and two sets of fifth bevel gear sets (403); the base (400) is fixedly arranged in the middle of the top of the built-in plate (30); the second machine base (401) is fixedly arranged in the middle of the top of the base (400); the dual-axis motor (402) is fixedly arranged on the second machine base (401); and the single gears in the two sets of fifth bevel gear sets (403) are fixedly connected to both ends of the dual-axis motor (402).

9. The inspection device for underground passages of power grids according to claim 8, characterized in that: Both ends of the two groups of rotating components (41) are fixedly provided with a transverse seat (410), and the two transverse seats (410) are fixedly connected to the bottom plate (1). Each group of rotating components (41) comprises a third rotating shaft (411), two first bevel gears (412), two second bevel gears (413) and two second shaft seats (414). The two second shaft seats (414) are symmetrically and fixedly arranged on the corresponding two transverse seats (410). The third rotating shaft (411) is rotatably arranged between the two second shaft seats (414), and the middle part of the third rotating shaft (411) is fixedly connected to another bevel gear of the corresponding fifth bevel gear set (403). The two first bevel gears (412) are symmetrically and fixedly arranged at both ends of the third rotating shaft (411). The two second bevel gears (413) are symmetrically arranged at the bottom of the corresponding two first bevel gears (412), and the two second bevel gears (413) are meshed with the corresponding two first bevel gears (412).

10. The inspection device for underground passages of power grids according to claim 9, characterized in that: Each group of the linkage components (42) comprises an axle box (420), a fourth rotating shaft (421), a fifth rotating shaft (422), two second gears (423), two third gears (424), two third shaft seats (425), two bearings (426) and two ball cage universal joints (427); the axle box (420) is fixedly arranged on one side of the top of the bottom plate (1), and an axle groove (4200) is provided in the middle of the top of the axle box (420), and a symmetrical shaft groove (4200) is provided in the middle of the axle groove (4200). The second gear grooves (4201) are provided, and two embedded grooves (4202) are symmetrically arranged at both ends of the shaft groove (4200), the fifth shaft (422) is rotatably arranged in the shaft groove (4200), the two bearings (426) are symmetrically and fixedly arranged at both ends of the fifth shaft (422), and the two bearings (426) are located in the corresponding two embedded grooves (4202), the two third gears (424) are symmetrically and fixedly arranged in the middle of the fifth shaft (422), and the two third gears (4 24) are located in the corresponding two gear grooves (4201), a box cover (4203) is fixedly provided on the top of the axle box (420), one corner of the two third gears (424) passes through the box cover (4203) and extends to the outside of the box cover (4203), the two third shaft seats (425) are symmetrically and fixedly arranged on both sides of the top of the box cover (4203), the fourth rotating shaft (421) is rotatably arranged between the two third shaft seats (425), and the fourth rotating shaft (421) is rotatably arranged between the two third shaft seats (425), and the corresponding two third gears (424) are connected to the fourth rotating shaft (421). The two bevel gears (413) are fixedly connected, the two second gears (423) are symmetrically and fixedly arranged on the fourth rotating shaft (421) and are located beside the corresponding two second bevel gears (413), one end of the two ball cage universal joints (427) is fixedly connected to the fifth rotating shaft (422), and the other ends of the two ball cage universal joints (427) pass through the corresponding fixed plate (71) and are fixedly connected to the tire (70), and the fixed plate (71) is connected to the corresponding ball cage universal joint (427) in a limited rotation manner.

Images