A patrol and operation robot for electric power

Abstract

The present invention discloses an inspection and operation robot for electric power, and specifically relates to the technical field of electric power inspection, comprising a wheel-driven robot, wherein a pan-tilt platform is fixedly installed on one side of the top of the wheel-driven robot, and an L-shaped frame is fixedly installed on one side of the top of the wheel-driven robot close to the pan-tilt platform. The present invention, by setting an end operating mechanism and using a multi-axis mechanical arm in cooperation, automatically controls any direction and any angle of the end operating mechanism, facilitates automatic replacement of different unlocking keys, automatically matches the unlocking of electrical cabinets of different models, improves the use effect of the entire robot for electrical inspection of different electrical cabinets, thereby facilitates automatic electrical inspection of multiple electrical cabinets, and eliminates the need for manual and time-consuming electrical inspection of electrical cabinets one by one, thereby improving the overall electrical inspection efficiency of the electrical cabinets, and greatly improves the overall inspection efficiency of multiple electrical cabinets, thereby improving the safety of the entire electrical system.

Description

Technical Field

[0001] The invention relates to the technical field of electric power inspection, and in particular to an electric power inspection operation robot. Background Art

[0002] Power inspection refers to the timely and accurate inspection of the operating status of power lines and auxiliary equipment, as well as the surrounding environment of power line corridors, to find fault points and potential hidden dangers that endanger power safety through investigation and effectively eliminate them, so as to ensure the safe and reliable operation of transmission lines;

[0003] The traditional electrical inspection method of electrical cabinets is mostly manual inspection of electrical cabinets one by one, opening, inspecting and closing the doors of electrical cabinets of different models one by one. This is time-consuming and has certain safety issues. The overall electrical inspection efficiency is low. For this reason, we propose an electrical inspection operation robot to solve the above problems. Summary of the invention

[0004] The object of the present invention is to provide an electric power inspection and operation robot to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a patrol and operation robot for electric power, comprising a wheel-driven robot, a pan-tilt platform is fixedly installed on one side of the top of the wheel-driven robot, an L-shaped frame is fixedly installed on the side of the top of the wheel-driven robot close to the pan-tilt platform, a ground knife opening and closing operating mechanism is fixedly installed between the wheel-driven robot and the bottom of the L-shaped frame, a multi-axis robotic arm is fixedly installed on the top of the L-shaped frame, an end operating mechanism is provided at the end of the multi-axis robotic arm, protective beams are fixedly installed on the bottom of the front and rear ends of the wheel-driven robot, and a GPS positioning module and a laser radar are fixedly installed on the front end of the wheel-driven robot.

[0006] Preferably, the terminal operating mechanism comprises a mechanism frame, one end of the mechanism frame is provided with a mechanism outer frame, a cover is fixedly installed on a side of the mechanism outer frame close to the mechanism frame by screws, the top of the cover is fixedly installed on one end of the mechanism frame on a side away from the mechanism outer frame, a key changing assembly is provided on the top rotating card of the mechanism outer frame, an information collection part is provided on the bottom fixed card of the mechanism outer frame, a connecting auxiliary frame is fixedly installed on the middle part of the bottom end of the mechanism frame, and a magnetic suction cup is fixedly installed on the end of the connecting auxiliary frame.

[0007] Preferably, the key-changing assembly comprises a key-changing outer frame and a driving protrusion, the key-changing outer frame is rotatably connected to the top of the mechanism outer frame, the key-changing outer frame is provided with a card sliding cavity, the card sliding cavity is provided with a plurality of card sliding cavities, and the plurality of card sliding cavities are distributed in a ring array about the axis of the key-changing outer frame, a T-shaped frame is slidably connected in the card sliding cavity, the head of the T-shaped frame extends out of the side end of the key-changing outer frame, the T-shaped frame is provided with an unlocking key, the head of the unlocking key extends out of the corresponding T-shaped frame, a first spring is fixedly installed between the tail of the T-shaped frame and the inner wall of the corresponding card sliding cavity, a driven protrusion is fixedly installed at the middle part of the tail end of the T-shaped frame, the driven protrusion and the driving protrusion cooperate with each other, the driven protrusion is slidably connected to the key-changing outer frame, the side of the driven protrusion away from the T-shaped frame extends out of the outside of the key-changing outer frame, the position of the driven protrusion located at the bottom of the key-changing outer frame corresponds to the position of the driving protrusion, and the outer side of the driven protrusion is rollingly connected with a plurality of evenly distributed balls.

[0008] Preferably, a protective ring is fixedly mounted on a side of the key-changing outer frame close to the unlocking key, and the unlocking key is located inside the protective ring.

[0009] Preferably, a mounting block is fixedly mounted on the inner middle portion of the cover, and the mounting block and the driving protrusion are fixedly mounted.

[0010] Preferably, the position of the driven protrusion located at the bottom of the key-changing outer frame and the position of the axial end of the mechanism outer frame correspond to each other.

[0011] Preferably, a driving motor is fixedly mounted on the inner top of the cover, a driving gear is fixedly mounted on the driving end of the driving motor, a driven crown gear is coaxially fixedly mounted on the side of the key-changing outer frame away from the protective ring, and the driving gear and the driven crown gear are meshingly connected.

[0012] Preferably, a mounting groove corresponding to an unlocking key is provided on one side of the T-shaped frame close to the head, and the unlocking key is slidably engaged in the corresponding mounting groove, a second spring is provided between the unlocking key and the inner wall of the mounting groove, the second spring is fixedly mounted on the inner wall of the mounting groove, the end of the second spring resists the unlocking key, and a fixing screw is threadedly mounted on the upper surface of the T-shaped frame close to the head, and the end of the fixing screw is threadedly mounted in the unlocking key.

[0013] Preferably, a positioning camera is fixedly installed on the top of the information collection component, a collection camera is fixedly installed on the bottom of the information collection component, and an LED lamp head and an ambient sound pickup are fixedly installed in the middle of the information collection component.

[0014] Preferably, a mounting seat is coaxially fixedly installed on the driving end of the multi-axis robotic arm, a mounting frame is coaxially fixedly installed on the side of the mounting seat away from the multi-axis robotic arm, a clamping seat is fixedly installed on the side of the mechanism frame away from the mechanism outer frame, the clamping seat is movably clamped in the mounting frame, a fixing bolt is threadedly installed on the top of the mounting frame, and the end of the fixing bolt is in contact with the upper surface of the clamping seat.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. By setting up the end operating mechanism and using a multi-axis robotic arm, the end operating mechanism can be automatically controlled in any direction and angle, which is convenient for automatically replacing different unlocking keys and automatically matching the unlocking of electrical cabinets of different models. The use effect of the entire robot for electrical inspection of different electrical cabinets is improved, thereby facilitating automatic electrical inspection of multiple electrical cabinets. There is no need for manual and time-consuming electrical inspection of electrical cabinets one by one, thereby improving the overall electrical inspection efficiency of the electrical cabinets, and greatly improving the overall inspection efficiency of multiple electrical cabinets, thereby improving the safety of the entire electrical system.

[0017] 2. By setting a card seat, the card seat is movably connected to the installation frame, so as to perform coaxial card connection and fixation between the end operation mechanism and the driving end of the multi-axis robot arm, and facilitate the subsequent disassembly and maintenance of the end operation mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a schematic diagram of the structure of the present invention.

[0020] Figure 2 This is a schematic diagram of the structural connection after the present invention is split.

[0021] Figure 3 For the present invention Figure 2 The enlarged view of point A in the middle.

[0022] Figure 4 It is a schematic diagram of the structural connection of the terminal operating mechanism in the present invention,

[0023] Figure 5 This is a schematic diagram of the structural connection of the key changing assembly in the present invention.

[0024] Figure 6 FIG. 1 is another structural connection diagram of the key changing assembly in the present invention.

[0025] Figure 7 FIG. 1 is another structural connection diagram of the terminal operation mechanism in the present invention.

[0026] Figure 8 This is a schematic diagram of the structural connection of the T-shaped frame and the unlocking key in the present invention.

[0027] Fig. 9 It is a schematic diagram of the structural connection of the information collection component in the present invention.

[0028] In the figure: 1. Wheel-driven robot; 2. PTZ; 3. L-shaped frame; 4. Ground knife opening and closing operating mechanism; 5. Multi-axis robotic arm; 6. End operation mechanism; 7. Protection beam; 8. GPS positioning module; 9. LiDAR; 61. Mechanism frame; 62. Mechanism outer frame; 621. Cover; 63. Key changing assembly; 64. Information collection component; 65. Connection auxiliary frame; 66. Magnetic suction cup; 67. Mounting block; 68. Driving motor; 69. Driving gear; 610. Driven crown gear; 631. Key changing outer frame Frame; 6311, card slide cavity; 632, T-shaped frame; 633, unlocking key; 634, first spring; 635, driven protrusion; 636, driving protrusion; 637, ball bearing; 638, protective ring; 6321, mounting slide groove; 6322, second spring; 6323, fixing screw; 641, positioning camera; 642, acquisition camera; 643, LED lamp head; 644, ambient sound pickup; 51, mounting base; 52, mounting frame; 53, card base; 54, fixing bolt. DETAILED DESCRIPTION

[0029] 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.

[0030] Example: Figure 1-9As shown, the present invention provides an inspection and operation robot for electric power, including a wheel-driven robot 1, which is specifically a four-wheel drive type, so that the entire inspection and operation robot can be moved easily. A pan head 2 is fixedly installed on one side of the top of the wheel-driven robot 1, and an L-shaped frame 3 is fixedly installed on the side of the top of the wheel-driven robot 1 close to the pan head 2. A ground knife opening and closing operation mechanism 4 is fixedly installed between the bottom ends of the wheel-driven robot 1 and the L-shaped frame 3. By arranging the ground knife opening and closing operation mechanism 4 between the wheel-driven robot 1 and the bottom ends of the L-shaped frame 3, when in use, the ground knife opening and closing operation mechanism 4 can be rotated, and the end portion can be retracted and extended to enter the electrical cabinet to automatically drive and control the ground knife to open and close. A multi-axis mechanical arm 5 is fixedly installed on the top of the L-shaped frame 3, and an end operating mechanism 6 is provided at the end of the multi-axis mechanical arm 5. By arranging the multi-axis mechanical arm 5, any direction and any angle of the end operating mechanism 6 can be automatically controlled The front and rear ends of the wheel-driven robot 1 are fixedly installed with protective beams 7 at the bottom. By arranging the protective beams 7 at the bottom of the front and rear ends of the wheel-driven robot 1, the front and rear ends of the wheel-driven robot 1 are prevented from being damaged by collision when the entire inspection operation robot moves. The front end of the wheel-driven robot 1 is fixedly installed with a GPS positioning module 8 and a laser radar 9. By arranging the GPS positioning module 8 and the laser radar 9 at the front end of the wheel-driven robot 1, the GPS positioning module 8 and the laser radar 9 locate the position of the wheel-driven robot 1, and transmit the positioning information to the wheel-driven robot 1, control the wheel-driven robot 1 to walk, and make the entire inspection operation robot accurately move to the appropriate position next to the electrical cabinet, so as to facilitate the subsequent terminal operation mechanism 6 to perform automated intelligent power inspection on the electrical cabinet, without the need for manual and time-consuming electrical inspection of the electrical cabinet one by one, thereby improving the overall electrical inspection efficiency of the electrical cabinet.

[0031] The end operation mechanism 6 includes a mechanism frame 61, one end of the mechanism frame 61 is provided with a mechanism outer frame 62, a side of the mechanism outer frame 62 close to the mechanism frame 61 is fixedly installed with a cover 621 by screws, and the top of the side of the cover 621 away from the mechanism outer frame 62 is fixedly installed at one end of the mechanism frame 61. By fixing the cover 621 with screws, the disassembly between the mechanism outer frame 62 and the cover 621 is facilitated, thereby facilitating the subsequent maintenance of the components in the mechanism outer frame 62;

[0032] The driving end of the multi-axis robot 5 is coaxially fixedly installed with a mounting seat 51, and a mounting frame 52 is coaxially fixedly installed on the side of the mounting seat 51 away from the multi-axis robot 5. When the multi-axis robot 5 is turned on, the end mounting seat 51 and the mounting frame 52 can rotate coaxially, and a clamping seat 53 is fixedly installed on the side of the mechanism frame 61 away from the mechanism outer frame 62, and the clamping seat 53 is movably connected to the mounting frame 52. By setting the clamping seat 53, the clamping seat 53 is movably connected to the mounting frame 52, and the end operation mechanism 6 and the multi-axis robot 5 are driven. The movable ends are coaxially connected, and a fixing bolt 54 is threadedly installed on the top of the installation frame 52. The end of the fixing bolt 54 contacts the upper surface of the clamping seat 53. The fixing bolt 54 is threadedly installed, and the end of the fixing bolt 54 contacts the upper surface of the clamping seat 53 to fix the clamping seat 53, thereby coaxially fixing the end operation mechanism 6, which is convenient for subsequent rotation of the fixing bolt 54, and the end of the fixing bolt 54 is separated from the upper surface of the clamping seat 53, so that the clamping seat 53 is disassembled, thereby disassembling and repairing the end operation mechanism 6;

[0033] The top rotating card of the mechanism outer frame 62 is provided with a key changing assembly 63, the bottom fixed card of the mechanism outer frame 62 is provided with an information collecting component 64, a connecting auxiliary frame 65 is fixedly installed in the middle of the bottom end of the mechanism frame 61, and a magnetic suction cup 66 is fixedly installed at the end of the connecting auxiliary frame 65. By setting the magnetic suction cup 66, after the lock on the electrical cabinet is opened, the multi-axis robot arm 5 is opened to control the position and angle of the terminal operating mechanism 6, so that the magnetic suction cup 66 and the cabinet door of the electrical cabinet are magnetically fixed, and the terminal operating mechanism 6 is pulled by the multi-axis robot arm 5 to automatically open the cabinet door of the electrical cabinet, so as to facilitate the subsequent automatic electrical inspection of the electrical cabinet.

[0034] The key-changing assembly 63 includes a key-changing outer frame 631 and a driving protrusion 636. The key-changing outer frame 631 is rotatably connected to the top of the mechanism outer frame 62, so that the key-changing outer frame 631 can stably rotate on the top of the mechanism outer frame 62. A card-sliding cavity 6311 is provided in the key-changing outer frame 631. There are multiple card-sliding cavities 6311, and the multiple card-sliding cavities 6311 are distributed in a ring array about the axis of the key-changing outer frame 631. A T-shaped frame 632 is slidably provided in each of the card-sliding cavities 6311. The T-shaped frame 632 can stably slide in the corresponding card-sliding cavity 6311. The head of the T-shaped frame 632 extends out of the side end of the key-changing outer frame 631. An unlocking key 633 is provided in the T-shaped frame 632. The head of the unlocking key 633 extends out of the corresponding T-shaped frame 632. A first spring 634 is fixedly installed between the tail of the T-shaped frame 632 and the inner wall of the corresponding card-sliding cavity 6311.

[0035] A driven protrusion 635 is fixedly installed in the middle of the tail end of the T-shaped frame 632, and the driven protrusion 635 is slidably engaged in the key-changing outer frame 631. The driven protrusion 635 extends out of the outer key-changing outer frame 631 on a side away from the T-shaped frame 632. A mounting block 67 is fixedly installed in the middle of the inner side of the cover 621, and the mounting block 67 and the driving protrusion 636 are fixedly installed. The driven protrusion 635 and the driving protrusion 636 cooperate with each other, and the position of the driven protrusion 635 located at the bottom of the key-changing outer frame 631 corresponds to the position of the driving protrusion 636.

[0036] The outer rolling card of the driven protrusion 635 is provided with a plurality of evenly distributed balls 637 .

[0037] A protective ring 638 is fixedly installed on one side of the key changing outer frame 631 close to the unlocking key 633, and the unlocking key 633 is located in the protective ring 638. By setting the protective ring 638 on one side of the key changing outer frame 631 close to the unlocking key 633, multiple unlocking keys 633 are located in the protective ring 638, and the protective ring 638 protects the multiple unlocking keys 633.

[0038] When the key-changing outer frame 631 is driven to rotate stably at the top of the mechanism outer frame 62, the multiple T-frames 632, the unlocking key 633 and the driven protrusion 635 are driven to rotate with the axis of the key-changing outer frame 631 as the center of the circle. When one of the T-frames 632 drives the driven protrusion 635 to move to the bottom, at this time, the multiple balls 637 on the outer side of the driven protrusion 635 contact the outer side of the driving protrusion 636, and the balls 637 roll on the outer side of the driving protrusion 636. The driving protrusion 636 drives the driven protrusion 635 and the T-frame 632 to move to the side close to the unlocking key 633, squeezing the first spring 634, and the first spring 634 contracts. At this time, the head of the T-frame 632 gradually extends out of the side of the key-changing outer frame 631. The end drives the group of unlocking keys 633 to gradually move to the outside of the protective ring 638 until the head of the driving protrusion 636 contacts the head of the driven protrusion 635, and the group of unlocking keys 633 is completely moved to the outside of the protective ring 638, which is convenient for the use of the group of unlocking keys 633. At the same time, since the position of the driven protrusion 635 located at the bottom of the key-changing outer frame 631 and the axial end position of the mechanism outer frame 62 correspond to each other, the axial end position of the group of unlocking keys 633 and the axial end position of the mechanism outer frame 62 and the axial end position of the driving end of the multi-axis mechanical arm 5 correspond to each other, the driving end of the multi-axis mechanical arm 5 is turned to rotate, driving the unlocking key 633 to rotate coaxially, which is convenient for the unlocking key 633 to rotate the lock on the electrical cabinet to open or close;

[0039] When the set of unlocking keys 633 is used up and the next unlocking key 633 needs to be replaced to unlock and close another set of electrical cabinets, the key changing outer frame 631 is driven again to rotate stably on the top of the mechanism outer frame 62, and the driven protrusion 635 at the position of the corresponding unlocking key 633 is moved to the bottom, and the corresponding unlocking key 633 is completely translated to the outside of the protective ring 638, which is convenient for the use of the set of unlocking keys 633. At the same time, the previous driven protrusion 635 is disengaged from the support of the head of the driving protrusion 636, and the first spring 634 is reset, automatically driving the T-frame 632 and the unlocking key 633 to reset, and the unlocking key 633 is stored in the protective ring 638 for protection, thereby realizing the automatic replacement of multiple unlocking keys 633, facilitating the automatic opening and closing of electrical cabinets of different groups, thereby improving the use effect of the entire robot for electrical inspection of different electrical cabinets.

[0040] A driving motor 68 is fixedly installed on the inner top of the cover 621, and a driving gear 69 is fixedly installed on the driving end of the driving motor 68. A driven crown gear 610 is coaxially fixedly installed on the side of the key-changing outer frame 631 away from the protective ring 638. The driving gear 69 and the driven crown gear 610 are meshingly connected. When in use, the driving motor 68 is controlled and turned on to drive the driving gear 69 to rotate, thereby driving the driven crown gear 610 to rotate stably, thereby driving the key-changing outer frame 631 to rotate stably on the top of the mechanism outer frame 62.

[0041] The T-shaped frame 632 is provided with an installation slot 6321 corresponding to the unlocking key 633 on one side close to the head. The unlocking key 633 is slidably engaged in the corresponding installation slot 6321 to engage the unlocking key 633. A second spring 6322 is provided between the unlocking key 633 and the inner wall of the installation slot 6321. The second spring 6322 is fixedly mounted on the inner wall of the installation slot 6321. The end of the second spring 6322 is against the unlocking key 633. In the initial state, the second spring 6322 is in a compressed state, and the reaction force always acts on the unlocking key 633. A fixing screw 6323 is threadedly installed on the upper surface of the T-shaped frame 632 close to the head. The end of the fixing screw 6323 is threadedly mounted on the unlocking key In the lock key 633, the unlocking key 633 and the T-frame 632 are fixed by the fixing screw 6323. When the unlocking key 633 needs to be replaced, the fixing screw 6323 is exposed on the outside of the T-frame 632 when the unlocking key 633 is in use. The fixing screw 6323 is removed by a tool, and the second spring 6322 is quickly reset to pop the unlocking key 633 out of the installation slot 6321. Then, the new unlocking key 633 is slid and clamped in the corresponding installation slot 6321, and the second spring 6322 is squeezed. Then, the fixing screw 6323 is used to fix the unlocking key 633 and the T-frame 632, thereby facilitating the replacement of the unlocking key 633 and further improving the use effect of the entire robot.

[0042] A positioning camera 641 is fixedly installed on the top of the information collection piece 64, a collection camera 642 is fixedly installed on the bottom of the information collection piece 64, and an LED lamp head 643 and an environmental sound pickup 644 are fixedly installed in the middle of the information collection piece 64. By arranging the positioning camera 641 on the information collection piece 64, the positioning camera 641 positions the unlocking key 633, so that the unlocking key 633 is accurately inserted into the electrical cabinet lock for unlocking. After the electrical cabinet is unlocked, the multi-axis robot arm 5 is turned on to control the position and angle of the end operating mechanism 6, so that the information collection piece 64 enters the electrical cabinet, and the LED lamp head 643 is used for auxiliary lighting, and the collection camera 642 is used for the information collection piece 64. Video and image data are collected, and the sound characteristics of equipment operation are monitored in real time through the environmental sound pickup 644. The fault and abnormal sound of related equipment in the distribution room are analyzed through feature model comparison. When an abnormality is found, the operation and inspection robots will promptly alarm, and a sample library will be established through on-site audio signal collection and data analysis. When the equipment in the distribution room fails and produces abnormal sound, the intelligent recognition system will perform sound spectrum analysis and comparison to determine whether the audio is fault audio. When it is identified as fault audio, the robot will actively sound an alarm and remind the background control system, thereby realizing automatic inspection of electrical cabinets, greatly improving the overall inspection efficiency of multiple electrical cabinets, and thus improving the safety of the entire electrical system.

[0043] Working principle: Before use, the end operating mechanism 6 is movably connected to the installation frame 52 through the clamping seat 53, and the clamping seat 53 is fixed with the fixing bolt 54, so as to coaxially fix the end operating mechanism 6. At this time, the position of the driven protrusion 635 at the bottom of the key-changing outer frame 631 and the axial end position of the mechanism outer frame 62 correspond to each other;

[0044] The GPS positioning module 8 and the laser radar 9 locate the position of the wheeled drive robot 1, and transmit the positioning information to the wheeled drive robot 1, and control the wheeled drive robot 1 to walk, so that the entire inspection operation robot is accurately moved to a suitable position next to the electrical cabinet;

[0045] Subsequently, the driving motor 68 is controlled and turned on to drive the driving gear 69 to rotate, thereby driving the driven crown gear 610 to rotate stably, thereby driving the key-changing outer frame 631 to rotate stably on the top of the mechanism outer frame 62, driving multiple T-frames 632, the unlocking key 633 and the driven protrusion 635 to rotate with the axis of the key-changing outer frame 631 as the center of the circle, so that the T-frame 632 at the position corresponding to the unlocking key 633 drives the driven protrusion 635 to move to the bottom, and multiple balls 637 on the outside of the driven protrusion 635 contact with the outside of the driving protrusion 636, and the balls 637 are The driving protrusion 636 rolls on the outside, and the driving protrusion 636 drives the driven protrusion 635 and the T-shaped frame 632 to move to the side close to the unlocking key 633, squeezing the first spring 634, and the first spring 634 contracts. At this time, the head of the T-shaped frame 632 gradually extends out of the side end of the key-changing outer frame 631, driving the group of unlocking keys 633 to gradually move to the outside of the protective ring 638, until the head of the driving protrusion 636 and the head of the driven protrusion 635 contact, and the group of unlocking keys 633 are completely moved to the outside of the protective ring 638, which is convenient for the use of the group of unlocking keys 633;

[0046] Then, the multi-axis robot arm 5 is turned on to control the position and angle of the end operating mechanism 6. At the same time, the positioning camera 641 is used to locate the unlocking key 633, so that the unlocking key 633 can be accurately inserted into the electrical cabinet lock for unlocking;

[0047] Subsequently, the multi-axis mechanical arm 5 is opened and the driving end portion is rotated. Since the position of the driven protrusion 635 located at the bottom of the key-changing outer frame 631 corresponds to the position of the axis end of the mechanism outer frame 62, the axis end position of the set of unlocking keys 633, the mechanism outer frame 62, and the axis end position of the driving end portion of the multi-axis mechanical arm 5 correspond to each other, the unlocking key 633 can be driven to rotate coaxially, and the unlocking key 633 rotates to open the lock on the electrical cabinet;

[0048] After the lock on the electrical cabinet is opened, the multi-axis robot arm 5 is turned on to control the position and angle of the end operating mechanism 6, so that the magnetic suction cup 66 and the cabinet door of the electrical cabinet are magnetically fixed, and the multi-axis robot arm 5 pulls the end operating mechanism 6 to automatically open the cabinet door of the electrical cabinet;

[0049] After the electrical cabinet is unlocked, the multi-axis robot arm 5 is turned on to control the position and angle of the terminal operating mechanism 6, so that the information collection component 64 enters the electrical cabinet, and the LED lamp head 643 is used for auxiliary lighting. The video and image data are collected through the collection camera 642. The sound characteristics of the equipment operation are monitored in real time through the environmental sound pickup 644. The fault and abnormal sound of the relevant equipment in the distribution room are analyzed through feature model comparison; when an abnormality is found, the operation and inspection robot will alarm in time, and a sample library will be established through on-site audio signal collection and data analysis. When the equipment in the distribution room fails and produces abnormal sound, the intelligent recognition system will perform sound spectrum analysis and comparison to determine whether the audio is fault audio. When it is identified as fault audio, the robot will actively alarm and remind the background control system, thereby realizing the automatic inspection operation of the electrical cabinet, greatly improving the overall inspection efficiency of multiple electrical cabinets, thereby improving the safety of the entire electrical system;

[0050] When the set of unlocking keys 633 is used up and the next unlocking key 633 needs to be replaced to unlock and close another set of electrical cabinets, the key changing outer frame 631 is driven again to rotate stably on the top of the mechanism outer frame 62, and the driven protrusion 635 at the position of the corresponding unlocking key 633 is moved to the bottom, and the corresponding unlocking key 633 is completely translated to the outside of the protective ring 638, which is convenient for the use of the set of unlocking keys 633. At the same time, the previous driven protrusion 635 is disengaged from the support of the head of the driving protrusion 636, and the first spring 634 is reset, automatically driving the T-frame 632 and the unlocking key 633 to reset, and the unlocking key 633 is stored in the protective ring 638 for protection, thereby realizing the automatic replacement of multiple unlocking keys 633, facilitating the automatic opening and closing of electrical cabinets of different groups, thereby improving the use effect of the entire robot for electrical inspection of different electrical cabinets.

[0051] 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 power inspection and operation robot, comprising a wheeled drive robot (1), characterized in that: A pan-tilt platform (2) is fixedly mounted on one side of the top of the wheel-driven robot (1); an L-shaped frame (3) is fixedly mounted on one side of the top of the wheel-driven robot (1) close to the pan-tilt platform (2); a ground knife opening and closing operating mechanism (4) is fixedly mounted between the bottom ends of the wheel-driven robot (1) and the L-shaped frame (3); a multi-axis mechanical arm (5) is fixedly mounted on the top of the L-shaped frame (3); an end operating mechanism (6) is provided at the end of the multi-axis mechanical arm (5); protective beams (7) are fixedly mounted on the bottoms of the front and rear ends of the wheel-driven robot (1); and a GPS positioning module (8) and a laser radar (9) are fixedly mounted on the front end of the wheel-driven robot (1); The end operation mechanism (6) comprises a mechanism frame (61), one end of the mechanism frame (61) is provided with a mechanism outer frame (62), a side of the mechanism outer frame (62) close to the mechanism frame (61) is fixedly mounted with a cover (621) by screws, the top of the side of the cover (621) away from the mechanism outer frame (62) is fixedly mounted on one end of the mechanism frame (61), the top rotating card of the mechanism outer frame (62) is provided with a key changing component (63), the bottom fixed card of the mechanism outer frame (62) is provided with an information collecting component (64), a connecting auxiliary frame (65) is fixedly mounted in the middle of the bottom end of the mechanism frame (61), and a magnetic suction cup (66) is fixedly mounted at the end of the connecting auxiliary frame (65); The key changing assembly (63) comprises a key changing outer frame (631) and a driving protrusion (636). The key changing outer frame (631) is rotatably connected to the top of the mechanism outer frame (62). A card sliding cavity (6311) is provided in the key changing outer frame (631). The card sliding cavity (6311) is provided with a plurality of card sliding cavities (6311). The plurality of card sliding cavities (6311) are distributed in a ring array about the axis of the key changing outer frame (631). A T-shaped frame (632) is slidably provided in each of the card sliding cavities (6311). The head of the T-shaped frame (632) extends out of the side end of the key changing outer frame (631). An unlocking key (633) is provided in the T-shaped frame (632). The head of the unlocking key (633) extends out of the corresponding T-shaped frame (632). A first spring (634) is fixedly installed between the tail of the T-shaped frame (632) and the inner wall of the corresponding card sliding cavity (6311), and a driven protrusion (635) is fixedly installed in the middle of the tail end of the T-shaped frame (632). The driven protrusion (635) and the driving protrusion (636) are used in conjunction with each other. The driven protrusion (635) is slidably connected to the key-changing outer frame (631). The driven protrusion (635) extends out of the key-changing outer frame (631) from the side away from the T-shaped frame (632). The position of the driven protrusion (635) at the bottom of the key-changing outer frame (631) corresponds to the position of the driving protrusion (636). The outer rolling card of the driven protrusion (635) is provided with a plurality of evenly distributed balls (637).

2. The power inspection robot according to claim 1, characterized in that: A protective ring (638) is fixedly mounted on one side of the key-changing outer frame (631) close to the unlocking key (633), and the unlocking key (633) is located inside the protective ring (638).

3. The power inspection robot according to claim 1, characterized in that: A mounting block (67) is fixedly mounted on the inner middle portion of the sealing cover (621), and the mounting block (67) and the driving protrusion (636) are fixedly mounted.

4. The power inspection and operation robot according to claim 1, characterized in that: The position of the driven protrusion (635) located at the bottom of the key-changing outer frame (631) and the position of the axial end of the mechanism outer frame (62) correspond to each other.

5. The power inspection robot according to claim 2, characterized in that: A driving motor (68) is fixedly mounted on the inner top of the sealing cover (621), a driving gear (69) is fixedly mounted on the driving end of the driving motor (68), a driven crown gear (610) is coaxially fixedly mounted on the side of the key-changing outer frame (631) away from the protective ring (638), and the driving gear (69) and the driven crown gear (610) are meshingly connected.

6. The power inspection and operation robot according to claim 1, characterized in that: The T-shaped frame (632) is provided with an installation groove (6321) corresponding to the unlocking key (633) on one side close to the head, and the unlocking key (633) is slidably engaged in the corresponding installation groove (6321). A second spring (6322) is provided between the unlocking key (633) and the inner wall of the installation groove (6321). The second spring (6322) is fixedly installed on the inner wall of the installation groove (6321), and the end of the second spring (6322) is against the unlocking key (633). A fixing screw (6323) is threadedly installed on the upper surface of the T-shaped frame (632) close to the head, and the end of the fixing screw (6323) is threadedly installed in the unlocking key (633).

7. The power inspection robot according to claim 1, characterized in that: A positioning camera (641) is fixedly mounted on the top of the information collection component (64), a collection camera (642) is fixedly mounted on the bottom of the information collection component (64), and an LED lamp head (643) and an ambient sound pickup (644) are fixedly mounted in the middle of the information collection component (64).

8. The power inspection robot according to claim 1, characterized in that: A mounting seat (51) is coaxially fixedly mounted on the driving end of the multi-axis robot arm (5); a mounting frame (52) is coaxially fixedly mounted on the side of the mounting seat (51) away from the multi-axis robot arm (5); a clamping seat (53) is fixedly mounted on the side of the mechanism frame (61) away from the mechanism outer frame (62); the clamping seat (53) is movably clamped in the mounting frame (52); a fixing bolt (54) is threadedly mounted on the top of the mounting frame (52); and the end of the fixing bolt (54) is in contact with the upper surface of the clamping seat (53).

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