Combined track for a valve hall inspection robot of a converter station

Abstract

The application relates to a combined track for a valve hall inspection robot of a converter station, and belongs to the technical field of tracks for inspection robots. The combined track for the valve hall inspection robot of the converter station comprises a track body and a robot body slidably connected to the surface of the track body, the lateral surface of the track body is provided with a slide wire, the surfaces of two fixing plates are both provided with slide rails, the interiors of the two slide rails are both movably connected with rollers, the first rotating shaft is rotatably connected between the two rollers, and the surface of the first rotating shaft is fixedly provided with a power taking roller. Compared with the prior art, the power taking roller rolls in close contact with the surface of the slide wire, the friction between the power taking roller and the slide wire is reduced, the heat generated by the friction between the power taking roller and the slide wire is reduced, the power taking roller always rolls in close contact with the surface of the slide wire, the power taking component is always in close contact with the slide wire, and the normal work of the robot body is ensured.

Description

Technical Field

[0001] This invention relates to the field of power maintenance, and in particular to a combined track used by a converter station valve hall inspection robot. Background Technology

[0002] Inspection robots not only possess the flexibility and intelligence of manual inspection, but also compensate for some of the shortcomings and deficiencies of manual inspection, making the inspection method simpler and expanding the inspection range, greatly improving the accuracy and timeliness of inspection work. By being installed on a fixed track, inspection robots can automatically carry out inspections along a set path.

[0003] Existing inspection robots typically use a track structure with a power supply sliding contact line installed on the side. The contact line has a U-shaped groove design, and the robot's power-taking component fits into this groove. As the inspection robot slides, the power-taking component slides within the U-shaped groove. Due to the fitting of the power-taking component into the groove, significant friction is generated between the power-taking component and the track sliding contact line. Since the inspection robot needs to perform back-and-forth inspections, the prolonged back-and-forth friction between the power-taking component and the track sliding contact line can cause the gap between them to widen. This can lead to slight shaking during the inspection robot's movement, potentially causing the power-taking component to lose contact with the track sliding contact line. The friction between the power-taking component and the track sliding contact line when they lose contact can also generate heat, which in turn can affect the normal operation of the inspection robot. Summary of the Invention

[0004] The purpose of this invention is to provide a combined track for use in a converter station valve hall inspection robot. By setting a structure that combines a first rotating shaft with rollers, and based on the slide rails on the fixed plates on both sides of the sliding contact line, rolling contact between the power collection roller and the sliding contact line can be achieved, reducing the friction between the power collection roller and the sliding contact line, thereby reducing the heat generated by the friction between the power collection roller and the sliding contact line, and the shaking that may occur when the robot body moves.

[0005] The objective of this invention can be achieved through the following technical solutions: A combined track for a converter station valve hall inspection robot includes a track body and a robot fixing structure mounted on and sliding along the track body. The track body is an I-shaped profile, and at least one side is provided with a sliding contact line and two fixing plates. The two fixing plates are located on both sides of the sliding contact line and are perpendicular to the side of the track body where the sliding contact line is located. The fixing plates are provided with slide rails on the side facing the sliding contact line. The robot fixing structure includes a robot connecting bracket, a first rotating shaft, and a power-collecting roller. The power-collecting roller is fixedly sleeved on the first rotating shaft and contacts the sliding contact line. Rollers are fixed at both ends of the first rotating shaft. The two rollers are respectively located in the two slide rails and roll along the slide rails. One end of the connecting bracket is rotatably connected to the first rotating shaft, and the other end is connected to the robot body.

[0006] The track body is provided with sliding contact lines on both sides. The robot fixing structure includes two connecting brackets, two first rotating shafts and two power-collecting rollers, which correspond to the two sliding contact lines respectively.

[0007] The robot connection bracket includes a bracket, a connecting frame, a second rotating shaft, a movable plate, a spring shaft, and a connecting plate. One end of the bracket is rotatably connected to the first rotating shaft, and the other end is fixedly connected to the connecting frame. The movable plate is rotatably connected to the connecting frame via the second rotating shaft, and the connecting plate is rotatably connected to the movable plate via the spring shaft.

[0008] The movable plate has a first groove, and a matching slider is connected in the first groove. A first spring is provided between the slider and the connecting frame, and the two ends of the first spring are fixedly connected to the slider and the connecting frame, respectively.

[0009] The track body has a slot arranged along the track body direction. The track body has at least one maintenance position. The track body has an electrical contact release mechanism at the maintenance position. The top of the slot at the maintenance position has a first through hole, and the two sides have second through holes. The sliding contact line has a notch with the same shape as the second through hole at the corresponding position. A vertical plate is provided in the second through hole. The electrical contact release mechanism includes a sloped slider, a sloped slider driving unit, and a guide rod. The guide rod passes through the vertical plate and is set perpendicular to the plane of the sliding contact line. The end of the guide rod near the inside of the slot has a ball head, and the end away from the inside of the slot has a top block for ejecting the power collection roller. The fixed plate at the maintenance position has a switch door for opening the slide rail. The sloped slider passes through the first through hole and moves in a direction perpendicular to the guide rod under the drive of the sloped slider driving unit.

[0010] A second spring is fitted onto the guide rod, and the two ends of the second spring are supported by a vertical plate and a ball head, respectively.

[0011] The slope-shaped slider drive unit includes an electric telescopic rod, which is mounted on the track body via a column.

[0012] The switch door is rotatably connected to the fixed plate via a shaft.

[0013] The combined track also includes a cleaning mechanism, which includes a roller brush, a third rotating shaft, two connecting rods and two support plates. One end of each of the two connecting rods is fixed to a connecting frame, and the other end is fixedly connected to the two support plates respectively. The two ends of the third rotating shaft are respectively connected to the two support plates, and the roller brush is sleeved on the third rotating shaft.

[0014] The roller brush is rotatably connected to the third rotating shaft, and the third rotating shaft is fixedly connected to the support plate.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. By setting up a structure that combines the first rotating shaft with the roller, and based on the slide rails on the fixed plates on both sides of the sliding contact line, rolling contact between the power-collecting roller and the sliding contact line can be achieved, reducing the friction between the power-collecting roller and the sliding contact line, thereby reducing the heat generated by the friction between the power-collecting roller and the sliding contact line, and the possible shaking that may occur when the robot body moves.

[0016] 2. The system employs a structure consisting of a support frame, a connecting frame, a second rotating shaft, a movable plate, a spring shaft, and a connecting plate. The movement of the robot body drives the connecting plate, spring shaft, movable plate, and connecting frame. The movement of the connecting frame drives the support frame to push the rollers within the slide rail. The slide rail movement causes the first rotating shaft and the power-collecting roller to roll. The swaying force acts on the connecting plate, and the movement of the connecting plate compresses the movable plate on the surface of the second rotating shaft and spring shaft. Combined with the design of the slider and the first spring, the movement of the movable plate causes the slider to move within the first groove, compressing the first spring. At this time, the rollers always move within the slide rail, ensuring that the power-collecting roller always rolls in close contact with the sliding contact line, thus guaranteeing the normal operation of the robot body.

[0017] 3. By setting slots, maintenance positions can be easily set up at any location, improving flexibility. In addition, the design of guide rods, top blocks and sloped sliders can change vertical movement to horizontal movement, thereby saving horizontal space and improving the flexibility of layout. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the slide rail structure of the present invention; Figure 3 for Figure 2 A magnified view of part A in the image; Figure 4 This is a schematic diagram of the slide rail structure of the present invention; Figure 5 for Figure 4 A magnified view of part B in the image; Figure 6 This is a structural diagram of the slope-shaped slider of the present invention; Figure 7 This is a schematic diagram of the top block structure of the present invention; Figure 8 for Figure 7 A magnified view of part C.

[0019] The following are the labeling details in the diagram: 1. Track body; 2. Sliding contact line; 3. Fixing plate; 4. Slide rail; 5. Roller; 6. First rotating shaft; 7. Power-collecting roller; 8. Bracket; 9. Second rotating shaft; 10. Movable plate; 11. First spring; 12. Slider; 13. Spring shaft; 14. Connecting plate; 15. Robot body; 16. Column; 17. Slot; 18. Sloping slider; 19. Top block slot; 20. Vertical plate; 21. Guide rod; 22. Second spring; 23. Top block; 24. Ball head; 25. Electric telescopic rod; 26. Mounting plate; 27. Slot; 28. Opening / closing door; 29. ​​Connecting frame; 30. Connecting rod; 31. Support plate; 32. Third rotating shaft; 33. Roller brush; 34. Second through hole. Detailed Implementation

[0020] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. These embodiments are based on the technical solution of the present invention and provide detailed implementation methods and specific operating procedures. However, the scope of protection of the present invention is not limited to the following embodiments.

[0021] Implementation Method 1 A modular track used by a converter station valve hall inspection robot, such as Figure 1 As shown, the system includes a track body 1 and a robot fixing structure mounted on and sliding along the track body 1 for connecting the robot. The track body 1 is an I-shaped profile, and at least one side is provided with a sliding contact line 2 and two fixing plates, as shown. Figure 2 and Figure 3 As shown, two fixing plates 3 are located on both sides of the sliding contact line 2 and are perpendicular to the side of the sliding contact line 2 on the track body 1. A slide rail 4 is provided on the side of the fixing plate 3 facing the sliding contact line 2. The robot fixing structure includes a robot connecting bracket, a first rotating shaft 6, and a power-collecting roller 7. The power-collecting roller 7 is fixedly sleeved on the first rotating shaft 6 and contacts the sliding contact line 2. Rollers 5 are fixed at both ends of the first rotating shaft 6. The two rollers 5 are respectively located in the two slide rails 4 and roll along the slide rails 4. One end of the connecting bracket is rotatably connected to the first rotating shaft 6, and the other end is connected to the robot body 15. The rolling of the power-collecting roller 7 against the surface of the sliding contact line 2 reduces friction between the power-collecting roller 7 and the sliding contact line 2, thereby reducing the heat generated by friction between the power-collecting roller 7 and the sliding contact line 2. The fact that the power-collecting roller 7 always rolls against the surface of the sliding contact line 2 ensures that the power-collecting component is always in close contact with the sliding contact line 2, thus ensuring the normal operation of the robot body 15.

[0022] By setting the structure of the first rotating shaft 6 combined with the roller 5, and based on the slide rails 4 on the fixed plates 3 on both sides of the sliding contact line 2, the rolling contact between the power taking roller 7 and the sliding contact line 2 can be realized, which reduces the friction between the power taking roller 7 and the sliding contact line 2, thereby reducing the heat generated by the friction between the power taking roller 7 and the sliding contact line 2 and the possible shaking when the robot body 15 moves.

[0023] In most embodiments, sliding contact lines 2 are provided on both sides of the track body 1. The robot fixing structure includes two connecting brackets, two first rotating shafts 6, and two power-collecting rollers 7, which correspond to the two sliding contact lines 2 respectively. Figure 1 As shown, the robot body 15 can be mounted on the connecting brackets on both sides. Of course, in some embodiments, a single-side mounting method can also be used, which results in slightly lower stability.

[0024] The robot connection bracket includes a bracket 8, a connecting frame 29, a second rotating shaft 9, a movable plate 10, a spring shaft 13, and a connecting plate 14. One end of the bracket 8 is rotatably connected to the first rotating shaft 6, and the other end is fixedly connected to the connecting frame 29. The movable plate 10 is rotatably connected to the connecting frame 29 through the second rotating shaft 9, and the connecting plate 14 is rotatably connected to the movable plate 10 through the spring shaft 13.

[0025] The movable plate 10 is rotatably connected to the connecting plate 14 via the spring shaft 13. The spring shaft 13 is a conventional elastic shaft in the prior art. The movable plate 10 is rotatably connected to the connecting frame 29 via the second rotating shaft 9. The movable plate 10 is reset under the action of the spring shaft 13.

[0026] The movable plate 10 has a first groove, and a matching slider 12 is connected in the first groove. A first spring 11 is provided between the slider 12 and the connecting frame 29. The two ends of the first spring 11 are fixedly connected to the slider 12 and the connecting frame 29 respectively. The function of the first spring 11 is to reset the movable plate 10.

[0027] The system employs a structure consisting of a bracket 8, a connecting frame 29, a second rotating shaft 9, a movable plate 10, a spring shaft 13, and a connecting plate 14. The movement of the robot body 15 drives the connecting plate 14, spring shaft 13, movable plate 10, and connecting frame 29. The movement of the connecting frame 29 drives the bracket 8 to push the roller 5 within the slide rail 4. The movement of the slide rail 4 causes the first rotating shaft 6 and the power-collecting roller 7 to roll. This swaying force acts on the connecting plate 14, causing the connecting plate 14 to press and rotate the movable plate 10 on the surfaces of the second rotating shaft 9 and spring shaft 13. Combined with the design of the slider 12 and the first spring 11, the movement of the movable plate 10 causes the slider 12 to move within the first groove, pressing against the first spring 11. At this time, the roller 5 always moves within the slide rail 4, ensuring that the power-collecting roller 7 always rolls in contact with the sliding contact line 2, thus guaranteeing the normal operation of the robot body 15.

[0028] The usage steps of this embodiment are as follows: When the combined track used by the converter station valve hall inspection robot is in use, the drive motor drives the robot body 15 to move back and forth for inspection. The movement of the robot body 15 will drive the connecting plate 14, spring shaft 13, movable plate 10, and connecting frame 29 to move. The movement of the connecting frame 29 will drive the bracket 8 to push the roller 5 to move in the slide rail 4. The movement of the slide rail 4 will drive the first rotating shaft 6 and the power taking roller 7 to roll. The power taking roller 7 rolls in close contact with the surface of the sliding contact line 2, which reduces the friction between the power taking roller 7 and the sliding contact line 2, and thus reduces the heat generated by the friction between the power taking roller 7 and the sliding contact line 2. When the robot body 15 moves, there may be shaking. The shaking force acts on the connecting plate 14. The movement of the connecting plate 14 will squeeze the movable plate 10 to rotate on the surface of the second rotating shaft 9 and spring shaft 13. The movement of the movable plate 10 will cause the slider 12 to move in the groove and squeeze the first spring 11. At this time, the roller 5 always moves in the slide rail 4, so that the power taking roller 7 always moves in close contact with the sliding contact line 2. The surface-fitting rolling mechanism involves the robot body 15 moving, which in turn drives the connecting plate 14, spring shaft 13, movable plate 10, and connecting frame 29. The movement of the connecting frame 29 drives the bracket 8 to push the roller 5 within the slide rail 4. The movement of the slide rail 4 drives the first rotating shaft 6 and the power-collecting roller 7 to roll. The power-collecting roller 7 rolls in close contact with the surface of the sliding contact line 2, reducing friction between the power-collecting roller 7 and the sliding contact line 2. This reduces the heat generated by friction between the power-collecting roller 7 and the sliding contact line 2, as well as the potential shaking that may occur when the robot body 15 moves. The shaking force acts on the connecting plate 14, and the movement of the connecting plate 14 compresses the movable plate 10 to rotate on the surface of the second rotating shaft 9 and spring shaft 13. The movement of the movable plate 10 then causes the slider 12 to move within the groove and compress the first spring 11. At this time, the roller 5 always moves within the slide rail 4, ensuring that the power-collecting roller 7 always rolls in close contact with the surface of the sliding contact line 2. This ensures that the power-collecting components and the sliding contact line 2 are always in close contact, thus ensuring the normal operation of the robot body 15.

[0029] Implementation Method 2 The parts that are the same as those in Embodiment 1 will not be repeated here; only the differences will be described.

[0030] Based on implementation method 1, such as Figures 6 to 8As shown, the track body 1 has a slot 17 arranged along the direction of the track body 1. The track body 1 has at least one maintenance position. The track body 1 has an electrical contact release mechanism at the maintenance position. The top of the slot 17 at the maintenance position has a first through hole, and the two sides have second through holes 34. The sliding contact line 2 has a notch with the same shape as the second through hole 34 at the corresponding position of the second through hole 34. The second through hole 34 has a vertical plate 20. The electrical contact release mechanism includes a slope slider 18, a slope slider driving unit and a guide rod 21. The guide rod 21 passes through the vertical plate 20 and is set perpendicular to the plane of the sliding contact line 2. The end of the guide rod 21 near the inside of the slot 17 has a ball head 24, and the end away from the inside of the slot 17 has a top block 23 for ejecting the power take-up roller 7. The fixed plate 3 at the maintenance position has a switch door 28 for opening the slide rail 4. The slope slider 18 passes through the first through hole and moves in a direction perpendicular to the guide rod 21 under the drive of the slope slider driving unit. Through the above-mentioned technical means, the robot body 15 can be inspected without removing it from the surface of the track body 1, making the inspection process of the robot body 15 convenient and quick.

[0031] By setting the slot 17, maintenance positions can be conveniently set at any location, improving flexibility. In addition, the design of the guide rod 21, top block 23 and slope slider 18 can change the vertical movement to the horizontal movement, thereby saving horizontal space and improving the flexibility of the layout.

[0032] In some embodiments, a second spring 22 is sleeved on the guide rod 21. The two ends of the second spring 22 are supported by the upright plate 20 and the ball head 24, respectively, so as to achieve automatic reset.

[0033] The ramp-type slider drive unit includes an electric telescopic rod 25, which is mounted on the track body 1 via a column 16. The opening / closing door 28 is rotatably connected to the fixed plate 3 via a shaft. Specifically, the surface of the fixed plate 3 has a slot 27 that communicates with the slide rail 4. This technical solution allows for convenient and quick maintenance of the robot body 15 without removing it from the surface of the track body 1.

[0034] A column 16 is fixedly connected to the upper surface of the track body 1, and a mounting plate 26 is fixedly connected to the side surface of the column 16. An electric telescopic rod 25 is fixedly installed on the bottom surface of the mounting plate 26. The electric telescopic rod 25 is a conventional electric control push rod in the prior art. The telescopic end of the electric telescopic rod 25 is fixedly connected to the slope slider 18. The column 16 is used to install the track body 1 onto the ceiling.

[0035] One end of the second spring 22 is fixedly connected to the ball head 24, and the other end of the second spring 22 is fixedly connected to the vertical plate 20. Under the action of the second spring 22, the top block 23 is reset.

[0036] A shaft is rotatably connected to the inner wall of the slot 27, and a switch door 28 is provided on the surface of the shaft. The switch door 28 is rotatably connected to the slot 27 via the shaft. Opening the switch door 28 is used to eject the roller 5 from the slot 27, and closing the switch door 28 is used to limit the movement of the roller 5.

[0037] The operating steps are as follows: When using the combined track of this converter station valve hall inspection robot, when the robot body 15 is being inspected, it is usually necessary to remove the robot body 15 from the surface of the track body 1. First, the power taking component needs to be separated from the sliding contact line 2. Open the switch door 28, and the electric telescopic rod 25 extends to squeeze the slope slider 18 into the slot 17. The movement of the slope slider 18 squeezes the ball head 24, causing the guide rod 21 to move and squeeze the second spring 22, thereby pushing out the top block 23. When the top block 23 moves and protrudes from the surface of the sliding contact line 2, stop the electric telescopic rod 25. The drive motor drives the robot body 15. When the power taking roller 7 contacts the top block 23, the top block 23 squeezes the power taking roller 7, causing the bracket 8 and the connecting frame 29 to move. When the connecting frame 29 moves, it compresses the first spring 11. At this time, the roller 5 pops out from the slot 27 and disengages from the slide rail 4. At this time, the power take-up roller 7 disengages from the sliding contact line 2. After the maintenance is completed, the electric telescopic rod 25 retracts, driving the slope slider 18 to move upward. The ball head 24, guide rod 21, and top block 23 are reset under the action of the second spring 22. The drive motor drives the robot body 15 to move. When the roller 5 moves to the slot 27, the first spring 11 resets the roller 5 into the slide rail 4. At this time, the power take-up roller 7 contacts and adheres to the sliding contact line 2, closing the switch door 28. When maintaining the robot body 15, it is not necessary to remove the robot body 15 from the surface of the track body 1 for maintenance. The maintenance process of the robot body 15 is convenient and quick.

[0038] Implementation Method 3 The same parts as in Embodiment 1 or 2 will not be repeated here; only the differences will be described.

[0039] Based on implementation method 1 / 2, such as Figure 4 and Figure 5 As shown, the combined track also includes a cleaning mechanism, which includes a roller brush 33, a third rotating shaft 32, two connecting rods 30 and two support plates 31. One end of each of the two connecting rods 30 is fixed to the connecting frame 29, and the other end is fixedly connected to the two support plates 31 respectively. The two ends of the third rotating shaft 32 are respectively connected to the two support plates 31, and the roller brush 33 is sleeved on the third rotating shaft 32.

[0040] In most embodiments, the roller brush 33 is rotatably connected to the third rotating shaft 32, and the third rotating shaft 32 is fixedly connected to the support plate 31, which improves stability.

[0041] The connecting rod 30 is located on the side of the connecting frame 29 away from the power-collecting roller 7. Through the above technical solution, the roller brush 33 moves to clean the dust off the surface of the sliding contact line 2, so that the sliding contact line 2 is always clean. This prevents the power-collecting roller 7 and the sliding contact line 2 from being disconnected due to dust, ensuring that the power-collecting roller 7 and the sliding contact line 2 are in close contact, thereby ensuring the normal operation of the robot body 15.

[0042] The surface of the roller brush 33 is in contact with the surface of the sliding contact line 2, and the roller brush 33 is used to clean the dust on the surface of the sliding contact line 2.

[0043] The operating steps are as follows: When using the combined track of this converter station valve hall inspection robot, the sliding contact line 2 is exposed to the outside environment for a long time. Dust from the outside environment will fall onto the surface of the sliding contact line 2. The drive motor drives the robot body 15 to move, which in turn drives the power collection roller 7 to roll on the surface of the sliding contact line 2. At the same time as the robot body 15 moves, the connecting frame 29 moves along with it. The movement of the connecting frame 29 drives the roller brush 33 to roll on the surface of the sliding contact line 2. The movement of the roller brush 33 cleans the dust off the surface of the sliding contact line 2, keeping the sliding contact line 2 clean at all times. This prevents the power collection roller 7 from losing contact with the sliding contact line 2 due to dust, ensuring close contact between the power collection roller 7 and the sliding contact line 2, and thus ensuring the normal operation of the robot body 15.

[0044] Overall, when the drive motor drives the robot body 15 to move back and forth for inspection, the movement of the robot body 15 will drive the connecting plate 14, spring shaft 13, movable plate 10, and connecting frame 29 to move. The movement of the connecting frame 29 will drive the bracket 8 to push the roller 5 to move within the slide rail 4. The movement of the slide rail 4 will drive the first rotating shaft 6 and the power-collecting roller 7 to roll. The power-collecting roller 7 rolls in contact with the surface of the sliding contact line 2, which reduces the friction between the power-collecting roller 7 and the sliding contact line 2, and thus reduces the heat generated by the friction between the power-collecting roller 7 and the sliding contact line 2. When the robot body 15 moves, the shaking may occur. The shaking force acts on the connecting plate 14. The movement of the connecting plate 14 will squeeze the movable plate 10 to rotate on the surface of the second rotating shaft 9 and spring shaft 13. The movement of the movable plate 10 will cause the slider 12 to move in the groove and squeeze the first spring 11. At this time, the roller 5 always moves within the slide rail 4, so that the power-collecting roller 7 always rolls in contact with the surface of the sliding contact line 2. When inspecting the robot body 15, it is usually necessary to remove the robot body 15 from the surface of the track body 1. First, the power taking component needs to be separated from the sliding contact line 2. Open the switch door 28, and the electric telescopic rod 25 extends to squeeze the sloped slider 18 into the slot 17. The movement of the sloped slider 18 squeezes the ball head 24, causing the guide rod 21 to move and squeeze the second spring 22, which in turn pushes out the top block 23. When the top block 23 moves and protrudes from the surface of the sliding contact line 2, the electric telescopic rod 25 stops working, and the drive motor drives the robot body 15. When the power taking roller 7 contacts the top block 23, the top block 23 squeezes the power taking roller 7 to move forward. This causes the bracket 8 and the connecting frame 29 to move. The moving connecting frame 29 compresses the first spring 11. At this time, the roller 5 pops out from the slot 27 and disengages from the slide rail 4. At this time, the power take-up roller 7 disengages from the sliding contact line 2. After the maintenance is completed, the electric telescopic rod 25 retracts and drives the slope slider 18 to move upward. The ball head 24, guide rod 21, and top block 23 are reset under the action of the second spring 22. The drive motor drives the robot body 15 to move. When the roller 5 moves to the slot 27, the first spring 11 resets and causes the roller 5 to enter the slide rail 4. At this time, the power take-up roller 7 contacts and adheres to the sliding contact line 2, closing the switch door 28. Since the sliding contact line 2 is exposed to the outside environment for a long time, dust will fall onto its surface. The drive motor drives the robot body 15 to move, which in turn drives the power-collecting roller 7 to roll on the surface of the sliding contact line 2. At the same time as the robot body 15 moves, the connecting frame 29 moves along with it. The movement of the connecting frame 29 drives the roller brush 33 to roll on the surface of the sliding contact line 2. The movement of the roller brush 33 cleans away the dust on the surface of the sliding contact line 2, keeping the sliding contact line 2 clean at all times. This prevents the power-collecting roller 7 from losing contact with the sliding contact line 2 due to dust, ensuring close contact between the power-collecting roller 7 and the sliding contact line 2, and thus ensuring the normal operation of the robot body 15.

[0045] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A combined track for a converter station valve hall inspection robot, comprising a track body (1) and a robot fixing structure disposed on the track body (1) and sliding along the track body (1), characterized in that, The track body (1) is an I-shaped profile, and at least one side is provided with a sliding contact line (2) and two fixing plates. The two fixing plates (3) are located on both sides of the sliding contact line (2) and are perpendicular to the side of the track body (1) where the sliding contact line (2) is provided. The fixing plate (3) is provided with a slide rail (4) on the side facing the sliding contact line (2). The robot fixing structure includes a robot connecting bracket, a first rotating shaft (6) and a power-collecting roller (7). The power-collecting roller (7) is fixedly sleeved on the first rotating shaft (6) and contacts the sliding contact line (2). Rollers (5) are fixed at both ends of the first rotating shaft (6). The two rollers (5) are respectively located in the two slide rails (4) and roll along the slide rails (4). One end of the connecting bracket is rotatably connected to the first rotating shaft (6), and the other end is connected to the robot body (15). The robot connection bracket includes a bracket (8), a connecting frame (29), a second rotating shaft (9), a movable plate (10), a spring shaft (13), and a connecting plate (14). One end of the bracket (8) is rotatably connected to the first rotating shaft (6), and the other end is fixedly connected to the connecting frame (29). The movable plate (10) is rotatably connected to the connecting frame (29) through the second rotating shaft (9), and the connecting plate (14) is rotatably connected to the movable plate (10) through the spring shaft (13).

2. The combined track used by the converter station valve hall inspection robot according to claim 1, characterized in that, The track body (1) is provided with sliding contact lines (2) on both sides. The robot fixing structure includes two connecting brackets, two first rotating shafts (6) and two power-collecting rollers (7), which correspond to the two sliding contact lines (2) respectively.

3. The combined track used by the converter station valve hall inspection robot according to claim 1, characterized in that, The movable plate (10) has a first groove, and a matching slider (12) is connected in the first groove. A first spring (11) is provided between the slider (12) and the connecting frame (29). The two ends of the first spring (11) are fixedly connected to the slider (12) and the connecting frame (29) respectively.

4. The combined track used by the converter station valve hall inspection robot according to claim 1, characterized in that, The track body (1) has a slot (17) arranged along the direction of the track body (1). The track body (1) has at least one maintenance position. The track body (1) has an electrical contact release mechanism located at the maintenance position. The top of the slot (17) at the maintenance position has a first through hole, and the two sides have second through holes (34). The sliding contact line (2) has a notch with the same shape as the second through hole (34) at the position corresponding to the second through hole (34). The second through hole (34) has a vertical plate (20). The electrical contact release mechanism includes a sloped slider (18). The slope slider drive unit and the guide rod (21) are provided. The guide rod (21) passes through the vertical plate (20) and is set perpendicular to the plane where the sliding contact line (2) is located. The guide rod (21) has a ball head (24) on one end near the inside of the slot (17) and a top block (23) for ejecting the power take-up roller (7) on the other end away from the inside of the slot (17). The fixed plate (3) is provided with a switch door (28) for opening the slide rail (4) at the maintenance position. The slope slider (18) passes through the first through hole and moves in a direction perpendicular to the guide rod (21) under the drive of the slope slider drive unit.

5. The combined track used by the converter station valve hall inspection robot according to claim 4, characterized in that, A second spring (22) is sleeved on the guide rod (21), and the two ends of the second spring (22) are supported by the upright plate (20) and the ball head (24) respectively.

6. The combined track used by the converter station valve hall inspection robot according to claim 4, characterized in that, The slope slider drive unit includes an electric telescopic rod (25), which is mounted on the track body (1) via a column (16).

7. The combined track used by the converter station valve hall inspection robot according to claim 4, characterized in that, The switch door (28) is rotatably connected to the fixed plate (3) via a shaft.

8. The combined track used by the converter station valve hall inspection robot according to claim 1, characterized in that, The combined track also includes a cleaning mechanism, which includes a roller brush (33), a third rotating shaft (32), two connecting rods (30) and two support plates (31). One end of each of the two connecting rods (30) is fixed to the connecting frame (29), and the other end is fixedly connected to the two support plates (31). The two ends of the third rotating shaft (32) are respectively connected to the two support plates (31), and the roller brush (33) is sleeved on the third rotating shaft (32).

9. The combined track used by the converter station valve hall inspection robot according to claim 8, characterized in that, The roller brush (33) is rotatably connected to the third rotating shaft (32), and the third rotating shaft (32) is fixedly connected to the support plate (31).

Images