Monitoring equipment for substation power operation and maintenance

Abstract

The present invention belongs to the technical field of substation equipment, and discloses monitoring equipment for substation power operation and maintenance, including an inspection robot body, a first liquid storage tank is provided at the front end of the inspection robot body, a second liquid storage tank is fixedly installed at the bottom end of the first liquid storage tank, and connecting frames are fixedly installed on the left and right sides of the back of the first liquid storage tank. The present invention converts the power of rotation into a left and right reciprocating motion, and quickly moves the left and right reciprocating motion to sweep away obstacles on the ground. Since the cleaning block is in a reciprocating motion state, the force generated during the motion can be used to bounce the obstacles away, and the contact area with the ground is small, avoiding the problem of excessive contact area with the ground caused by the use of obstacle clearing plates in traditional devices, resulting in large travel resistance and the problem of pushing obstacles to move. It can realize a fast active obstacle clearing process, avoid obstacles in the route from interfering with the inspection process, and has strong adaptability.

Description

Technical Field

[0001] The present invention belongs to the technical field of substation equipment, and in particular relates to monitoring equipment used for power operation and maintenance of a substation. Background Art

[0002] A substation is a place in the power system that transforms voltage and current, receives and distributes electric energy. The substation in a power plant is a step-up substation, which boosts the electric energy generated by the generator and feeds it into the high-voltage power grid. The substation needs to perform power operation and maintenance every day. Generally speaking, the power operation and maintenance of the substation mainly monitors and inspects various substation equipment and lines. In some small substations, manual rotation is generally used to perform operation and maintenance monitoring 24 hours a day. This monitoring method requires personnel to take turns on duty, while in some large substations, inspection robots are often used to replace manpower to monitor power operation and maintenance.

[0003] Common inspection robots mainly rely on predetermined planned paths to inspect substation equipment. They generally have built-in optical cameras and infrared cameras to monitor the environment and temperature around the substation equipment, and transmit the information back to the control room via the Internet. At the same time, they can use their own algorithms to promptly issue alarms when abnormalities are detected. However, in actual use, when there are foreign objects on the predetermined path, the inspection robot cannot handle the obstacles in a timely manner, which can easily lead to obstruction of the inspection robot's movement. Even though some devices will install an obstacle clearance plate on the front of the inspection robot, this device will increase the friction between the robot and the ground, causing the robot to be obstructed in movement. At the same time, it can only block obstacles and always push the obstacles to move together, and cannot achieve the purpose of obstacle clearance.

[0004] During the inspection process, the inspection robot generally relies on the driving wheels around it to drive the inspection robot to move. However, there are many uncertain factors on the inspection road. When there are gullies on the inspection road, the driving wheels of the inspection robot are very likely to fall into the gullies, causing the driving wheels to be blocked. At this time, the robot cannot escape by itself due to the falling of the driving wheels and needs manual assistance. The degree of automation is low and the burden on users is increased, which urgently needs improvement. Summary of the invention

[0005] The purpose of the present invention is to provide a monitoring device for substation power operation and maintenance to solve the problems raised in the above background technology.

[0006] In order to achieve the above-mentioned purpose, the present invention provides the following technical solutions: a monitoring device for power operation and maintenance of a substation, comprising an inspection robot body, a first liquid storage tank is provided at the front end of the inspection robot body, a second liquid storage tank is fixedly installed at the bottom end of the first liquid storage tank, connecting frames are fixedly installed on the left and right sides of the back of the first liquid storage tank, the connecting frames are fixedly connected to the front of the inspection robot body, obstacle removal components are provided on the left and right sides of the first liquid storage tank, a cross-shaped installation groove is provided at the bottom end of the inspection robot body, a rescue component is fixedly installed inside the installation groove, the left end of the rescue component is fixedly connected to the bottom end of the second liquid storage tank, a water injection port is fixedly connected in the middle of the top of the first liquid storage tank, a reflux pipe is fixedly connected in the middle of the back of the first liquid storage tank, the other end of the reflux pipe is fixedly connected to the middle of the back of the second liquid storage tank, a circulating water pump is fixedly installed inside the reflux pipe, a one-way valve is installed inside the reflux pipe, and the direction of the valve is to conduct in the direction of the first liquid storage tank and to cut off in the direction of the second liquid storage tank.

[0007] As a further technical solution of the present invention, a binocular camera is movably installed on the top of the inspection robot body, and drive components are movably installed on the left and right sides of the inspection robot body near the four corners, and a drive motor for driving the drive component to rotate is installed inside the drive component.

[0008] Before using the device, you must first ensure that the interior of the first liquid storage tank is filled with water and the built-in battery inside the inspection robot body is fully filled. When conducting inspections, you can turn on the drive motor to drive the drive assembly to rotate, thereby driving the entire inspection robot body to move, so that it can travel along a predetermined route. During the driving process, the bottom of the escape assembly does not contact the ground, and the binocular camera can be used to perform optical and infrared detection of the substation equipment, and remotely transmit the information through the Internet to complete the monitoring process.

[0009] As a further technical solution of the present invention, the obstacle removal component includes a water inlet pipe, which is fixedly connected to the left end or the right end of the first liquid storage tank. The obstacle removal component also includes a power tank, the left end of the power tank is connected to the output end of the water inlet pipe, one end of the power tank is fixedly connected to a drain pipe, and the other end of the drain pipe is connected to the left end or the right end of the second liquid storage tank. One-way valves are installed inside the water inlet pipe and the drain pipe, and the directions of the valves are respectively inward conduction and outward blockage and outward conduction and inward blockage.

[0010] As a further technical solution of the present invention, a main shaft is movably installed inside the power tank, an impeller located inside the power tank is fixedly installed on the outer side of the main shaft, and the bottom end of the main shaft passes through the bottom end of the power tank and a turntable is fixedly installed.

[0011] As a further technical solution of the present invention, a connecting rod is movably connected to the bottom end of the turntable near the outer side surface through a rotating shaft, the other end of the connecting rod is movably connected to a movable seat, a transmission rod is fixedly installed at one end of the movable seat away from the inspection robot body, and a slider is fixedly connected to the front side of the transmission rod.

[0012] As a further technical solution of the present invention, the obstacle removal component also includes a guide rail, which is fixedly connected to the second liquid storage tank through a connecting rod, and the slider is movably connected to the guide rail. A cleaning block located on the front side of the guide rail is fixedly installed on the front side of the slider, and the bottom end of the cleaning block is in contact with the ground.

[0013] During the movement of the inspection robot body, the water source located inside the first liquid storage tank will rely on gravity to enter the water inlet pipe, and enter the power tank while driving the impeller to rotate, thereby driving the rotation of the main shaft, and is discharged into the second liquid storage tank through the drain pipe. The water source entering the second liquid storage tank can be drawn into the reflux pipe under the action of the circulating water pump and flow back to the first liquid storage tank to complete the circulation. When the main shaft rotates, it will drive the turntable to rotate and then drive one end of the connecting rod below to rotate circumferentially. At this time, the other end of the connecting rod swings accordingly. Since the movable seat can only move left and right under the guidance of the slider, the movable seat reciprocates left and right under the action of the connecting rod, thereby driving the slider to move back and forth relative to the guide rail, and finally driving the cleaning block to move back and forth left and right. Finally, the cleaning block is used to clear obstacles on the ground back and forth to avoid interference with the movement of the inspection robot body.

[0014] By utilizing the flow of water to convert it into rotational power, the rotational power is converted into left and right reciprocating movement through the conversion of the turntable and the connecting rod, and the obstacles on the ground are cleared by the rapid left and right reciprocating movement. Since the cleaning block is in a reciprocating motion state, the obstacle can be bounced away by the force generated during the movement, and the contact area with the ground is small, avoiding the problem of excessive contact area with the ground caused by the use of obstacle clearing plates in traditional devices, resulting in large travel resistance and the problem of pushing obstacles to move. It can realize a fast active obstacle clearing process, avoid obstacles in the travel route from interfering with the inspection process, and has strong adaptability.

[0015] As a further technical solution of the present invention, the escape component includes an infusion tube, the left end of the infusion tube is fixedly connected to the bottom end of the second liquid storage tank, a one-way valve is installed inside the infusion tube and the direction of the valve is inward conduction and outward shutoff, the escape component also includes a temporary storage box, the temporary storage box is fixedly connected to the middle part of the installation groove, and the output end of the infusion tube is fixedly connected to the bottom end of the temporary storage box.

[0016] As a further technical solution of the present invention, the left and right sides of the bottom end of the temporary storage box are fixedly connected to temporary storage tanks, the interior of the temporary storage tank is movably sleeved with a movable plate, the bottom end of the movable plate is fixedly connected to an extension shaft located inside the temporary storage tank, the bottom end of the extension shaft passes through the bottom end of the temporary storage tank and is fixedly installed with a suction cup, and the side of the temporary storage tank is fixedly connected to a drain valve.

[0017] When the inspection robot body encounters a gully during its movement, causing the driving assembly to fall into the gully, the one-way valve inside the infusion tube can be opened. At this time, the water inside the second liquid storage tank can enter the interior of the temporary storage box through the infusion tube, and enter the interior of the two temporary storage tanks at the bottom. At the same time, pressure is given to the movable plate inside the temporary storage tank, forcing the movable plate to move downward until the extension shaft moves downward relative to the temporary storage tank, and at the same time drives the suction cup to move downward. At this time, the suction cup can come into contact with the ground and lift the driving assembly at the same time. At this time, the device is in a vertical relationship with the ground, and the drain valve is opened to discharge the water source inside the temporary storage tank. The distance between the temporary storage tank and the movable plate is reduced accordingly. At this time, the driving assembly will again make vertical contact with the ground, regain friction, and use the drive of the driving assembly to complete the escape process.

[0018] By utilizing the flow of water again, the water can be directed into the temporary storage tank when needed, and the suction cup is driven downward so that the suction cup comes into contact with the ground, completing the lifting process and making the device vertical to the ground. At this time, three of the four driving components of the device are vertical to the ground, and water is released at the same time to make the three driving components come into contact with the ground, completing the escape process. The problem that traditional devices fall into gullies and cannot escape autonomously and require manual assistance is avoided, and the autonomous escape process is realized, which significantly improves the adaptability of the device, making it adaptable to the inspection requirements of non-paved roads and suitable for popularization and use.

[0019] As a further technical solution of the present invention, an air storage pipe is fixedly installed on the front side of the guide rail, and the upper and lower ends of the air storage pipe near the right end are respectively fixedly connected with an air inlet and an exhaust port, and the inside of the air inlet and the exhaust port are both installed with a one-way valve, and the directions of the valves are respectively inward conduction and outward blockage and outward conduction and inward blockage, and the internal movability of the air storage pipe is connected with a piston plate, and the left end of the piston plate is fixedly installed with a piston rod located inside the air storage pipe.

[0020] As a further technical solution of the present invention, the left end of the piston rod passes through the left end of the gas storage pipe and is fixedly installed with an extension rod, the extension rod is L-shaped, and the right end of the extension rod is fixedly connected to the side of the slider.

[0021] During the movement of the inspection robot body, since the slider is in a continuous left and right reciprocating motion, the slider can drive the extension rod to reciprocate left and right, and drive the piston rod and the piston plate to reciprocate left and right and make them move left and right relative to the air storage pipe. When the piston plate moves to the right, the air inside the air storage pipe can be discharged from the exhaust port due to the pressure from the piston plate and act on the ground to perform cleaning operations on the ground. When the piston plate moves to the left, that is, during the return stroke, negative pressure can be generated inside the air storage pipe, and the external air can be sucked into the air storage pipe through the air inlet to complete temporary storage and provide an air source for the next cleaning, thereby realizing a continuous cleaning process.

[0022] By utilizing the continuous reciprocating motion process during automatic obstacle clearing, it can complete the autonomous exhaust and intake process, and directly apply the exhausted air to the ground to blow away the dust on the ground, thereby reducing the dust in the main travel route of the inspection robot. This avoids the problem of data confusion caused by large dust raised during the travel process due to ground dust in traditional devices, which interferes with the lens part and causes data confusion. This allows the robot to autonomously complete the dust removal work, further improving the degree of automation of the device, making it suitable for inspection of large substations.

[0023] The beneficial effects of the present invention are as follows:

[0024] 1. The present invention utilizes the flow of water to convert it into a rotating power, and then converts the rotating power into a left and right reciprocating movement through the conversion of the turntable and the connecting rod, and quickly moves left and right to remove obstacles on the ground. Since the cleaning block is in a reciprocating motion state, the force generated during the movement can be used to bounce the obstacles away, and the contact area with the ground is small, avoiding the problem of excessive contact area with the ground caused by the use of an obstacle removal plate in traditional devices, resulting in a large travel resistance and the problem of pushing the obstacles to move. It can realize a fast active obstacle removal process, avoid obstacles in the travel route from interfering with the inspection process, and has strong adaptability.

[0025] 2. The present invention utilizes the flow of water again to direct the water flow into the temporary storage tank when needed, and drives the suction cup downward so that the suction cup comes into contact with the ground, completing the lifting process and making the device vertical to the ground. At this time, three of the four driving components of the device are vertical to the ground, and water is released at the same time to make the three driving components come into contact with the ground, completing the escape process, avoiding the problem that traditional devices cannot escape autonomously after falling into a gully and require manual assistance, realizing the autonomous escape process, and significantly improving the adaptability of the device, so that it can adapt to the inspection requirements of non-paved roads and is suitable for popularization and use.

[0026] 3. The present invention utilizes the continuous reciprocating motion process during automatic obstacle clearing to complete the autonomous exhaust and intake process, and directly applies the exhausted air to the ground to blow away the dust on the ground, thereby reducing the dust in the route of the inspection robot body. This avoids the problem of data confusion caused by large dust raised during the movement of the lens due to ground dust in traditional devices, so that the robot can autonomously complete the dust removal work, further improving the degree of automation of the device, and is suitable for inspection of large substations. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0028] Figure 2 is a schematic diagram of the bottom structure of the present invention;

[0029] Figure 3 It is a separate schematic diagram of the structure of the escape assembly of the present invention;

[0030] Figure 4 A schematic diagram of the internal structure of the escape assembly of the present invention;

[0031] Figure 5 A schematic diagram of the obstacle removal assembly and its front-end structure of the present invention;

[0032] Figure 6 A cross-sectional view of the internal structure of the gas storage pipe of the present invention;

[0033] Figure 7 A cross-sectional view of the internal structure of the first liquid storage tank and the second liquid storage tank of the present invention;

[0034] Figure 8 It is a cross-sectional view of the internal structure of the return pipe of the present invention;

[0035] Fig. 9 It is a separate cross-sectional view of the obstacle removal assembly structure of the present invention;

[0036] Fig.10 It is a separate exploded schematic diagram of the obstacle removal component structure of the present invention.

[0037] In the figure: 1. Inspection robot body; 2. Binocular camera; 3. Drive assembly; 4. Mounting slot; 5. Escape assembly; 501. Infusion tube; 502. Temporary storage box; 503. Temporary storage tank; 504. Activity board; 505. Extension shaft; 506. Suction cup; 507. Drain valve; 6. First liquid storage tank; 7. Second liquid storage tank; 8. Water inlet; 9. Connecting frame; 10. Reflux pipe; 11. Circulating water pump; 12 , obstacle removal assembly; 121, water inlet pipe; 122, power tank; 123, drain pipe; 124, impeller; 125, main shaft; 126, turntable; 127, connecting rod; 128, movable seat; 129, guide rail; 1210, slider; 1211, transmission rod; 1212, cleaning block; 13, air storage pipe; 14, air inlet; 15, exhaust port; 16, piston plate; 17, piston rod; 18, extension rod. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] like Figure 1 and Figure 2 as well as Figure 5 and Figure 7 as well as Figure 8 As shown, in the embodiment of the present invention, the monitoring equipment for power operation and maintenance of a substation includes an inspection robot body 1, a first liquid storage tank 6 is provided at the front end of the inspection robot body 1, a second liquid storage tank 7 is fixedly installed at the bottom end of the first liquid storage tank 6, connecting frames 9 are fixedly installed on the left and right sides of the back of the first liquid storage tank 6, the connecting frame 9 is fixedly connected to the front of the inspection robot body 1, and obstacle removal components 12 are provided on the left and right sides of the first liquid storage tank 6. A cross-shaped installation groove 4 is opened at the bottom end of the inspection robot body 1, and an escape component 5 is fixedly installed inside the installation groove 4. The left end of the escape component 5 is fixedly connected to the bottom end of the second liquid storage tank 7, and the first liquid storage tank A water inlet 8 is fixedly connected to the middle of the top of 6, a reflux pipe 10 is fixedly connected to the middle of the back of the first liquid storage tank 6, and the other end of the reflux pipe 10 is fixedly connected to the middle of the back of the second liquid storage tank 7. A circulating water pump 11 is fixedly installed inside the reflux pipe 10, and a one-way valve is installed inside the reflux pipe 10, and the direction of the valve is to conduct in the direction of the first liquid storage tank 6 and to cut off in the direction of the second liquid storage tank 7. A binocular camera 2 is movably installed on the top of the inspection robot body 1, and drive components 3 are movably installed on the left and right sides of the inspection robot body 1 near the four corners, and a drive motor for driving the drive component 3 to rotate is installed inside the drive component 3.

[0040] Before using the device, first ensure that the interior of the first liquid storage tank 6 is filled with water and the built-in battery of the inspection robot body 1 is fully filled. When inspecting, the drive motor can be turned on to drive the drive component 3 to rotate, thereby driving the inspection robot body 1 to move as a whole, so that it can travel along a predetermined route. During the driving process, the bottom end of the escape component 5 does not contact the ground, and the binocular camera 2 can be used to perform optical and infrared detection of the substation equipment, and remote transmission can be carried out through the Internet to complete the monitoring process.

[0041] like Figure 2 and Figure 5 as well as Fig. 9 and Fig.10 As shown, the obstacle removal component 12 includes a water inlet pipe 121, which is fixedly connected to the left end or the right end of the first liquid storage tank 6. The obstacle removal component 12 also includes a power tank 122, the left end of the power tank 122 is connected to the output end of the water inlet pipe 121, one end of the power tank 122 is fixedly connected to a drain pipe 123, and the other end of the drain pipe 123 is connected to the left end or the right end of the second liquid storage tank 7. A one-way valve is installed inside the water inlet pipe 121 and the drain pipe 123, and the directions of the valves are respectively inward conduction and outward cut-off and outward conduction and inward cut-off. A main shaft 125 is movably installed inside the power tank 122, and an impeller 124 located inside the power tank 122 is fixedly installed on the outer side of the main shaft 125. The bottom end passes through the bottom end of the power tank 122 and is fixedly installed with a turntable 126. The bottom end of the turntable 126 is movably connected to a connecting rod 127 through a rotating shaft at a position close to the outer side surface. The other end of the connecting rod 127 is movably connected to a movable seat 128. A transmission rod 1211 is fixedly installed at the end of the movable seat 128 away from the inspection robot body 1. A slider 1210 is fixedly connected to the front of the transmission rod 1211. The obstacle removal component 12 also includes a guide rail 129, which is fixedly connected to the second liquid storage tank 7 through a connecting rod. The slider 1210 is movably engaged with the guide rail 129. A cleaning block 1212 located in front of the guide rail 129 is fixedly installed on the front of the slider 1210, and the bottom end of the cleaning block 1212 is in contact with the ground.

[0042] First embodiment:

[0043] During the movement of the inspection robot body 1, the water source located inside the first liquid storage tank 6 will enter the inside of the water inlet pipe 121 by gravity, and enter the inside of the power tank 122 while driving the impeller 124 to rotate, thereby driving the rotation of the main shaft 125, and then leading it into the inside of the second liquid storage tank 7 through the drainage pipe 123. The water source entering the second liquid storage tank 7 can be drawn into the inside of the return pipe 10 by the action of the circulating water pump 11 and flow back to the inside of the first liquid storage tank 6 to complete the circulation, and the main shaft 125 will drive the turntable 126 when it rotates. The rotation drives one end of the connecting rod 127 below to rotate circumferentially, and the other end of the connecting rod 127 swings accordingly. Since the movable seat 128 can only be displaced left and right under the guidance of the slider 1210, the movable seat 128 reciprocates left and right under the action of the connecting rod 127, thereby driving the slider 1210 to move back and forth left and right relative to the guide rail 129, and finally driving the cleaning block 1212 to move back and forth left and right, and finally using the cleaning block 1212 to clear obstacles on the ground to prevent ground obstacles from interfering with the movement of the inspection robot body 1.

[0044] By utilizing the flow of water to convert it into rotational power, the rotational power is converted into left and right reciprocating movement through the conversion of the turntable 126 and the connecting rod 127, and the obstacles on the ground are cleared by the rapid left and right reciprocating movement. Since the cleaning block 1212 is in a reciprocating motion state, the obstacle can be bounced away by the force generated during the movement, and the contact area with the ground is small, avoiding the problem of excessive contact area with the ground caused by the use of obstacle clearing plates in traditional devices, resulting in large travel resistance and the problem of pushing obstacles to move. It can realize a fast and active obstacle clearing process, avoid obstacles in the travel route from interfering with the inspection process, and has strong adaptability.

[0045] like Figure 2 and Figure 3 as well as Figure 4 As shown, the escape component 5 includes an infusion tube 501, the left end of which is fixedly connected to the bottom end of the second liquid storage tank 7, a one-way valve is installed inside the infusion tube 501 and the direction of the valve is inward conduction and outward cutoff, the escape component 5 also includes a temporary storage box 502, the temporary storage box 502 is fixedly connected to the middle of the installation groove 4, the output end of the infusion tube 501 is fixedly connected to the bottom end of the temporary storage box 502, the left and right sides of the bottom end of the temporary storage box 502 are fixedly connected to the temporary storage tank 503, the interior of the temporary storage tank 503 is movably sleeved with a movable plate 504, the bottom end of the movable plate 504 is fixedly connected to an extension shaft 505 located inside the temporary storage tank 503, the bottom end of the extension shaft 505 passes through the bottom end of the temporary storage tank 503 and is fixedly installed with a suction cup 506, and the side of the temporary storage tank 503 is fixedly connected with a drain valve 507.

[0046] Second embodiment:

[0047] When the inspection robot body 1 encounters a gully during its movement, causing the driving component 3 to fall into the gully, the one-way valve located inside the infusion tube 501 can be opened. At this time, the water located inside the second liquid storage tank 7 can enter the interior of the temporary storage box 502 through the infusion tube 501, and enter the interior of the two temporary storage tanks 503 at the bottom. At the same time, pressure is applied to the movable plate 504 inside the temporary storage tank 503, forcing the movable plate 504 to move downward until the extension shaft 505 moves downward relative to the temporary storage tank 503, and at the same time drives the suction cup 506 to move downward. At this time, the suction cup 506 can contact the ground and lift the driving component 3 at the same time. At this time, the device and the ground are in a vertical relationship, and the drain valve 507 is opened to discharge the water source located inside the temporary storage tank 503. The distance between the temporary storage tank 503 and the movable plate 504 is reduced accordingly. At this time, the driving component 3 will re-contact vertically with the ground, regain friction, and use the drive of the driving component 3 to complete the escape process.

[0048] By utilizing the flow of water again, the water can be directed into the temporary storage tank 503 when needed, and the suction cup 506 is driven downward to make the suction cup 506 contact the ground, completing the lifting process and making the device vertical to the ground. At this time, three of the four driving components 3 of the device are vertical to the ground, and water is released at the same time to make the three driving components 3 contact the ground to complete the escape process, avoiding the problem that traditional devices fall into gullies and cannot escape independently and require manual assistance, realizing the process of autonomous escape, and significantly improving the adaptability of the device, so that it can adapt to the inspection requirements of non-paved roads and is suitable for promotion and use.

[0049] like Figure 1 and Figure 5 as well as Figure 6 As shown, an air storage pipe 13 is fixedly installed on the front side of the guide rail 129, and the upper and lower ends of the air storage pipe 13 near the right end are fixedly connected with an air inlet 14 and an exhaust port 15 respectively, and the inside of the air inlet 14 and the exhaust port 15 are installed with a one-way valve, and the directions of the valves are inward conduction and outward blockage and outward conduction and inward blockage respectively, and the inside of the air storage pipe 13 is movably sleeved with a piston plate 16, and the left end of the piston plate 16 is fixedly installed with a piston rod 17 located inside the air storage pipe 13, the left end of the piston rod 17 passes through the left end of the air storage pipe 13 and is fixedly installed with an extension rod 18, the extension rod 18 is L-shaped, and the right end of the extension rod 18 is fixedly connected to the side of the slider 1210.

[0050] Third embodiment:

[0051] During the movement of the inspection robot body 1, since the slider 1210 is in a continuous left-right reciprocating motion, the slider 1210 can drive the extension rod 18 to reciprocate left-right, and drive the piston rod 17 and the piston plate 16 to reciprocate left-right and make them move left-right relative to the air storage pipe 13. When the piston plate 16 moves to the right, the air inside the air storage pipe 13 can be discharged from the exhaust port 15 due to the pressure from the piston plate 16 and act on the ground to perform cleaning operations on the ground. When the piston plate 16 moves to the left, that is, during the return stroke, negative pressure can be generated inside the air storage pipe 13 to suck external air into the air storage pipe 13 through the air inlet 14 to complete temporary storage and provide an air source for the next cleaning, thereby realizing a continuous cleaning process.

[0052] By utilizing the continuous reciprocating motion process during automatic obstacle clearing, the robot can complete the autonomous exhaust and intake process, and the exhausted air is directly applied to the ground to blow away the dust on the ground, thereby reducing the dust in the travel route of the inspection robot body 1. This avoids the problem of data confusion caused by large dust raised during the travel process due to ground dust in traditional devices, which interferes with the lens part and causes data confusion. The robot can autonomously complete the dust removal work, further improving the degree of automation of the device, making it suitable for inspection of large substations.

[0053] Working principle and usage process:

[0054] Before using the device, first ensure that the first liquid storage tank 6 is filled with water and the built-in battery of the inspection robot body 1 is fully filled. When inspecting, the drive motor can be turned on to drive the drive component 3 to rotate, thereby driving the inspection robot body 1 to move as a whole, so that it can travel along a predetermined route. During the driving process, the bottom end of the escape component 5 does not contact the ground, and the binocular camera 2 can be used to perform optical and infrared detection of the substation equipment, and remote transmission can be carried out through the Internet to complete the monitoring process;

[0055] During the movement of the inspection robot body 1, the water source located inside the first liquid storage tank 6 will enter the inside of the water inlet pipe 121 by gravity, and enter the inside of the power tank 122 while driving the impeller 124 to rotate, thereby driving the rotation of the main shaft 125, and then leading it into the inside of the second liquid storage tank 7 through the drainage pipe 123. The water source entering the second liquid storage tank 7 can be drawn into the inside of the return pipe 10 by the action of the circulating water pump 11 and flow back to the inside of the first liquid storage tank 6 to complete the circulation, and the main shaft 125 will drive the turntable 126 when it rotates. The rotation drives one end of the connecting rod 127 below to rotate circumferentially, and the other end of the connecting rod 127 swings accordingly. Since the movable seat 128 can only move left and right under the guidance of the slider 1210, the movable seat 128 reciprocates left and right under the action of the connecting rod 127, thereby driving the slider 1210 to move back and forth relative to the guide rail 129, and finally driving the cleaning block 1212 to move back and forth left and right, and finally using the cleaning block 1212 to reciprocate and clear obstacles on the ground to prevent ground obstacles from interfering with the movement of the inspection robot body 1.

[0056] When the inspection robot body 1 encounters a gully during its movement, causing the driving component 3 to fall into the gully, the one-way valve inside the infusion tube 501 can be opened. At this time, the water inside the second liquid storage tank 7 can enter the interior of the temporary storage box 502 through the infusion tube 501, and enter the interior of the two temporary storage tanks 503 at the bottom. At the same time, pressure is applied to the movable plate 504 inside the temporary storage tank 503, forcing the movable plate 504 to move downward until the extension shaft 505 moves downward relative to the temporary storage tank 503, and at the same time drives the suction cup 506 to move downward. At this time, the suction cup 506 can contact the ground and lift the driving component 3 at the same time. At this time, the device and the ground are in a vertical relationship, and the drain valve 507 is opened to discharge the water source inside the temporary storage tank 503. The distance between the temporary storage tank 503 and the movable plate 504 is reduced accordingly. At this time, the driving component 3 will re-contact vertically with the ground, regain friction, and use the drive of the driving component 3 to complete the escape process;

[0057] During the movement of the inspection robot body 1, since the slider 1210 is in a continuous left-right reciprocating motion, the slider 1210 can drive the extension rod 18 to reciprocate left-right, and drive the piston rod 17 and the piston plate 16 to reciprocate left-right and make them move left-right relative to the air storage pipe 13. When the piston plate 16 moves to the right, the air inside the air storage pipe 13 can be discharged from the exhaust port 15 due to the pressure from the piston plate 16 and act on the ground to perform cleaning operations on the ground. When the piston plate 16 moves to the left, that is, during the return stroke, negative pressure can be generated inside the air storage pipe 13 to suck external air into the air storage pipe 13 through the air inlet 14 to complete temporary storage and provide an air source for the next cleaning, thereby realizing a continuous cleaning process.

[0058] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0059] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A monitoring device for substation power operation and maintenance, comprising a patrol robot body (1), characterized in that: The front end of the inspection robot body (1) is provided with a first liquid storage tank (6), the bottom end of the first liquid storage tank (6) is fixedly installed with a second liquid storage tank (7), the left and right sides of the back of the first liquid storage tank (6) are fixedly installed with connecting frames (9), the connecting frames (9) are fixedly connected to the front of the inspection robot body (1), the left and right sides of the first liquid storage tank (6) are provided with obstacle removal components (12), the bottom end of the inspection robot body (1) is provided with a cross-shaped installation groove (4), the interior of the installation groove (4) is fixedly installed with an escape component (5), and the escape component (12) is fixedly installed with a second liquid storage tank (7). The left end of the trapped component (5) is fixedly connected to the bottom end of the second liquid storage tank (7); the middle of the top of the first liquid storage tank (6) is fixedly connected to a water injection port (8); the middle of the back of the first liquid storage tank (6) is fixedly connected to a return pipe (10); the other end of the return pipe (10) is fixedly connected to the middle of the back of the second liquid storage tank (7); a circulating water pump (11) is fixedly installed inside the return pipe (10); a one-way valve is installed inside the return pipe (10) and the direction of the valve is to conduct toward the first liquid storage tank (6) and to cut off toward the second liquid storage tank (7); The obstacle removal component (12) comprises a water inlet pipe (121), the water inlet pipe (121) being fixedly connected to the left end or the right end of the first liquid storage tank (6); the obstacle removal component (12) further comprises a power tank (122), the left end of the power tank (122) being connected to the output end of the water inlet pipe (121); one end of the power tank (122) being fixedly connected to a drainage pipe (123), the other end of the drainage pipe (123) being connected to the left end or the right end of the second liquid storage tank (7); both the water inlet pipe (121) and the drainage pipe (123) being installed with a one-way valve inside, and the directions of the valves are respectively inward conduction and outward cut-off and outward conduction and inward cut-off; A main shaft (125) is movably mounted inside the power tank (122); an impeller (124) located inside the power tank (122) is fixedly mounted on the outer side surface of the main shaft (125); and a rotating disk (126) is fixedly mounted on the bottom end of the main shaft (125) which passes through the bottom end of the power tank (122); A connecting rod (127) is movably connected to the bottom end of the rotating disk (126) at a position close to the outer side surface via a rotating shaft, and the other end of the connecting rod (127) is movably connected to a movable seat (128), and a transmission rod (1211) is fixedly installed at one end of the movable seat (128) away from the inspection robot body (1), and a slider (1210) is fixedly connected to the front side of the transmission rod (1211); The obstacle removal assembly (12) further comprises a guide rail (129), the guide rail (129) being fixedly connected to the second liquid storage tank (7) via a connecting rod, the slider (1210) being movably engaged with the guide rail (129), a cleaning block (1212) located on the front side of the guide rail (129) being fixedly mounted on the front side of the slider (1210), the bottom end of the cleaning block (1212) being in contact with the ground; The escape assembly (5) comprises a liquid infusion tube (501), the left end of which is fixedly connected to the bottom end of the second liquid storage tank (7), a one-way valve is installed inside the liquid infusion tube (501), and the valve is oriented inwardly and outwardly, the escape assembly (5) further comprises a temporary storage box (502), the temporary storage box (502) is fixedly connected to the middle of the installation groove (4), and the output end of the liquid infusion tube (501) is fixedly connected to the bottom end of the temporary storage box (502); The left and right sides of the bottom end of the temporary storage box (502) are fixedly connected to a temporary storage tank (503); a movable plate (504) is movably sleeved inside the temporary storage tank (503); the bottom end of the movable plate (504) is fixedly connected to an extension shaft (505) located inside the temporary storage tank (503); the bottom end of the extension shaft (505) passes through the bottom end of the temporary storage tank (503) and is fixedly mounted with a suction cup (506); and a side of the temporary storage tank (503) is fixedly connected to a drain valve (507).

2. The monitoring device for substation power operation and maintenance according to claim 1, characterized in that: A binocular camera (2) is movably mounted on the top of the inspection robot body (1), and drive components (3) are movably mounted on the left and right sides of the inspection robot body (1) near the four corners, and a drive motor for driving the drive component (3) to rotate is mounted inside the drive component (3).

3. The monitoring device for substation power operation and maintenance according to claim 1 is characterized in that: An air storage pipe (13) is fixedly mounted on the front side of the guide rail (129); an air inlet (14) and an air outlet (15) are fixedly connected to the upper and lower ends of the air storage pipe (13) near the right end; one-way valves are installed inside the air inlet (14) and the air outlet (15); and the valves are oriented inwardly and outwardly, and outwardly and inwardly, respectively; a piston plate (16) is movably sleeved inside the air storage pipe (13); and a piston rod (17) located inside the air storage pipe (13) is fixedly mounted on the left end of the piston plate (16).

4. The monitoring device for substation power operation and maintenance according to claim 3 is characterized in that: The left end of the piston rod (17) passes through the left end of the gas storage pipe (13) and is fixedly mounted with an extension rod (18), the extension rod (18) being L-shaped, and the right end of the extension rod (18) being fixedly connected to the side of the slider (1210).

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