A robot for detecting the status of power equipment in dangerous power scenarios

Abstract

The present invention discloses a robot for detecting the status of electric power equipment in dangerous power scenarios, comprising an insulating shell and a plurality of thermistors thereon for detecting the temperature of the electric power equipment, a power module electrically connected to the thermistors is provided on the insulating shell, a crawling structure for detecting an insulator string is provided on the insulating shell, the crawling structure comprises a guide column fixedly connected to the insulating shell, two groups of bases are slidingly sleeved on the guide column, a group of pressing components are respectively provided on the two groups of bases, a thermoelectric component using thermistors to detect heating phenomena of the insulator string is provided on the insulating shell, and the present invention can sense the temperature change of the surface of the insulator through the thermistors by arranging the thermoelectric component, and transmit the processed temperature data to a remote terminal, so that the staff can monitor the status of the insulator string in real time to measure the performance of the insulator string during operation, and at the same time avoid the inconvenience and danger caused by the staff's high-voltage high-altitude operation.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power detection, and in particular to a robot for detecting the status of electric power equipment in dangerous electric power scenarios. Background Art

[0002] Detecting the status of power equipment in hazardous power scenarios has always been an important task in the field of power operation and maintenance. Traditional inspection methods require personnel to enter dangerous environments, which poses safety risks. Insulators are a special type of insulating control in power equipment, which play an important role in overhead transmission lines. Insulators are devices installed between conductors at different potentials or between conductors and grounded components, and can withstand voltage and mechanical stress. Therefore, online detection of insulators is one of the key steps to ensure the safe and reliable operation of power equipment.

[0003] The existing Chinese patent number CN116922418B discloses a robot for detecting the status of electric equipment in dangerous power scenarios, including: a vehicle body; a mechanical arm, one end of which is installed above the vehicle body, and the vehicle body drives the mechanical arm to move; a detection device, which is installed on the other end of the mechanical arm, and the detection device includes a mounting seat; an ultra-high frequency sensor, which is detachably installed on the mounting seat, and when the vehicle body drives the detection device to approach the electric equipment in the dangerous power scenario, the mechanical arm drives the ultra-high frequency sensor to contact the discharge device, and then detects the discharge data of the electric equipment; the ultra-high frequency sensor includes a groove; the buckle includes: a fixed pressure block and an adjustment seat, which are respectively arranged on the mounting seat; a dynamic pressure block, which is arranged between the fixed pressure block and the adjustment seat, and the dynamic pressure block and the fixed pressure block are formed with relatively arranged protrusions, and the ultra-high frequency sensor is installed on the mounting seat by matching the protrusion and the groove; an adjustment rod, which is connected to the adjustment seat, and the ultra-high frequency sensor is fixed or removed by rotating the adjustment rod.

[0004] Existing detection robots find it difficult to effectively measure the performance of insulators in high-voltage lines. At the same time, since insulators are usually installed on high-voltage wires, it is dangerous for workers to perform high-voltage operations when testing their performance. Therefore, a power equipment status detection robot in dangerous power scenarios is proposed. Summary of the invention

[0005] The purpose of the present invention is to provide a robot for detecting the status of electric power equipment in dangerous power scenarios, which has the advantages of detecting the performance of insulators and avoiding the inconvenience and danger caused by high-voltage high-altitude operations of workers. It solves the problem that it is difficult to effectively measure the performance of insulators and that high-voltage high-altitude operations have certain risks.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solutions: a robot for detecting the state of electric equipment in dangerous power scenarios, comprising an insulating shell and a plurality of thermistors thereon for detecting the temperature of the electric equipment, a power module electrically connected to the thermistors being provided on the insulating shell, and a crawling structure for detecting an insulator string being provided on the insulating shell;

[0007] The climbing structure comprises a guide column fixedly connected to the insulating housing, the guide column is slidably sleeved with two groups of bases, the two groups of bases are respectively provided with a group of pressing assemblies, and the two groups of pressing assemblies respectively include a group of front pressing plates and a group of rear pressing plates;

[0008] The front abutment plates and the rear abutment plates in the two groups of the abutment and pressing assemblies jointly abut the insulator string in the initial state, and the abutment and pressing assemblies include an annular square frame fixedly connected to the base, and the annular square frame is provided with two groups of positioning assemblies driving the front abutment plates and the rear abutment plates to move forward alternately, and the front abutment plates and the rear abutment plates are respectively arranged on one group of positioning assemblies;

[0009] A plurality of groups of thermistors are respectively embedded in the front support plate and the rear support plate, and a thermoelectric component using thermistors to detect heating of the insulator string is provided on the insulating shell;

[0010] The base is also provided with an uneven spraying component for spraying water to clean the outer surface of the insulator string.

[0011] Preferably, the front abutment plates or the rear abutment plates in the two groups of the pressing assemblies are in synchronous pressing contact with the outer surface of the insulator string, and the front abutment plates and the rear abutment plates in the pressing assemblies drive the insulating shell to move along the laying direction of the insulator string and the two move forward alternately.

[0012] Preferably, the positioning assembly comprises an inner stop seat arranged on the annular square frame, the inner stop seat is provided with a vertical shaft freely rotating in the horizontal direction, the vertical shaft is fixedly rotated on the inner stop seat, and a short swing rod is coaxially fixed on the vertical shaft;

[0013] The inner stopper has a fixed axis rotation limit block, a long swing rod is provided on the limit block and a rectangular through slot is provided for the long swing rod to slide through, and one end of the short swing rod away from the vertical axis is fixedly rotated on the long swing rod;

[0014] The annular square frame is provided with a positioning block and a positioning slot for the positioning block to slide horizontally, the positioning block is provided with a transverse extension rod, the transverse extension rod is fixedly rotated on the end of the long swing rod away from the short swing rod, and the positioning block is provided with a slot body 1 for the transverse extension rod to slide through;

[0015] The transverse extension rods in the two groups of positioning components are fixedly connected to the front support plate and the rear support plate respectively.

[0016] Preferably, the side surfaces of the front abutment plate and the rear abutment plate facing the insulator string are arc-shaped structures adapted to the insulator string.

[0017] Preferably, the uneven spraying assembly comprises two groups of incomplete gear rings respectively arranged on two groups of bases, and the two groups of incomplete gear rings are fixedly connected to arc-shaped pipes on one side facing the insulator string, and the arc-shaped pipes are fixedly penetrated with multiple groups of water outlet nozzles;

[0018] The insulating shell is fixedly connected to a water tank, and the base is provided with a water supply component for driving the water source in the water tank to flow to the arc-shaped pipeline;

[0019] A positioning arc plate is fixedly connected to the side of the base facing the incomplete gear ring, and a positioning arc groove for the positioning arc plate to slide is provided on the incomplete gear ring;

[0020] The base is provided with an annular moving component which drives the incomplete gear ring to reciprocate in a fan-shaped track in the vertical direction.

[0021] Preferably, the arrangement intervals of the multiple groups of water outlets on the arc-shaped pipe are different, and the intervals between adjacent water outlets gradually decrease from top to bottom in the vertical direction.

[0022] Preferably, the annular moving assembly comprises a side bracket arranged on the annular square frame, the side bracket is fixed to the annular square frame with bolts, a horizontal slide seat for reciprocating motion in the horizontal direction is arranged on the side bracket, a positioning block is fixedly connected to one end of the side bracket facing the incomplete gear ring, and an internal threaded cylinder is arranged on the positioning block for fixed axis rotation;

[0023] The transverse slide is fixedly connected to the side of the internal threaded barrel with an external threaded rod, the external threaded rod penetrates the internal threaded barrel and is threadedly matched with the internal threaded barrel, and a side gear is fixedly sleeved on the outer ring of the internal threaded barrel, and the side gear is meshedly connected with the incomplete gear ring;

[0024] The side bracket is provided with a groove body 2 for the horizontal sliding seat to slide horizontally.

[0025] Preferably, the annular moving assembly further comprises a central gear fixedly sleeved on the vertical shaft, the central gear meshes with a sector gear, the sector gear is fixedly rotated on the side bracket, a main connecting rod is coaxially fixed on the sector gear, a slave connecting rod is provided on the main connecting rod, the slave connecting rod is fixedly rotated on one end of the main connecting rod away from the sector gear, and one end of the slave connecting rod away from the main connecting rod is fixedly rotated on the transverse slide seat;

[0026] A positioning plate is fixedly connected to the upper surface of the central gear, the positioning plate includes an integrally formed outer arc portion, and a positioning ring is fixedly connected to the sector gear corresponding to the position of the positioning plate, and the outer peripheral surface of the positioning ring is in sliding contact with the outer arc portion.

[0027] Preferably, the water supply assembly comprises a side support plate fixedly connected to the base, a piston cylinder is bolted to the side support plate, a piston plate reciprocating in the horizontal direction is arranged in the piston cylinder, the piston plate is in sliding contact with the inner wall of the piston cylinder and is sealed;

[0028] The piston plate is provided with a push column, and the two ends of the push column are respectively fixedly connected to the piston plate and the transverse slide seat;

[0029] The piston cylinder is in liquid communication with the water tank and the arc-shaped pipeline, and two groups of one-way valves with opposite valve ports are fixedly connected to the piston cylinder.

[0030] Preferably, the thermoelectric assembly comprises a fixed resistor electrically connected to a thermistor to form a voltage divider circuit, and the thermistor is electrically connected to a microcontroller that receives and processes its temperature signal;

[0031] The microcontroller reads the analog voltage signal of the thermistor and converts it into a digital signal, and the microprocessor is electrically connected to the terminal module;

[0032] The thermoelectric assembly further includes a wireless communication module for transmitting processed temperature data to a terminal module, and a data storage module for storing temperature data, and both the wireless communication module and the data storage module are electrically connected to the microcontroller.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] 1. The present invention can sense the temperature change on the surface of the insulator through thermistors by setting up thermoelectric components, and transmit the processed temperature data to a remote terminal, so that the staff can monitor the status of the insulator string in real time to measure the performance of the insulator string during operation, while avoiding the inconvenience and danger caused by high-voltage high-altitude operations of the staff.

[0035] 2. The present invention can perform different degrees of cleaning according to the position of the insulator string by setting an uneven spraying component, thereby effectively removing dirt, dust and other pollutants on the surface of the insulator and preventing the occurrence of pollution flashover, and can eliminate the uneven distribution of pollutants on the upper and lower surfaces of the insulator string, thereby improving the overall insulation performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the present invention;

[0037] Figure 2 It is a schematic diagram of the components where the base of the present invention is located;

[0038] Figure 3 This is a schematic diagram of the components where the annular frame of the present invention is located;

[0039] Figure 4 This is a schematic diagram of the components where the horizontal extension rod of the present invention is located;

[0040] Figure 5 This is a schematic diagram of the components where the transverse slide seat of the present invention is located;

[0041] Figure 6 This is a schematic diagram of the components where the positioning arc plate of the present invention is located;

[0042] Figure 7 This is a schematic diagram of the components where the piston plate of the present invention is located;

[0043] Figure 8 For the present invention Figure 3 Enlarged view of point A in the middle;

[0044] Fig. 9 It is a schematic diagram of the motion state of the main connecting rod and the slave connecting rod of the present invention;

[0045] Fig.10 It is a schematic diagram of the circuit connection of the thermoelectric component of the present invention.

[0046] In the figure: 1. insulator string; 2. base; 3. annular frame; 4. inner abutment; 5. vertical axis; 6. short swing arm; 7. long swing arm; 8. limit block; 9. horizontal extension rod; 10. same position block; 11. same position slide groove; 12. front abutment plate; 13. rear abutment plate; 14. central gear; 15. sector gear; 16. positioning plate; 161. outer arc; 17. positioning ring; 18. main connecting rod; 19. slave connecting rod; 20. horizontal slide; 21. side bracket; 22. external threaded rod; 23. internal threaded cylinder; 24. positioning block; 25. side gear; 26. incomplete gear ring; 27. positioning arc plate; 28. positioning arc groove; 29. ​​arc pipe; 30. water outlet; 31. push column; 32. piston plate; 33. piston cylinder; 34. side support plate; 35. guide column. DETAILED DESCRIPTION

[0047] 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.

[0048] See also Figures 1 to 10 , the present invention provides a technical solution: a robot for detecting the state of electric equipment in dangerous power scenarios, comprising an insulating shell and a plurality of thermistors thereon for detecting the temperature of the electric equipment, a power module electrically connected to the thermistors is provided on the insulating shell, and a crawling structure for detecting an insulator string 1 is provided on the insulating shell;

[0049] The climbing structure includes a guide column 35 fixedly connected to the insulating housing, and two groups of bases 2 are slidably sleeved on the guide column 35. The two groups of bases 2 are respectively provided with a group of pressing components, and the two groups of pressing components respectively include a group of front pressing plates 12 and a rear pressing plate 13;

[0050] The front abutment plates 12 and the rear abutment plates 13 in the two groups of the abutment and pressing components jointly abut the insulator string 1 in the initial state, and the abutment and pressing components include an annular square frame 3 fixedly connected to the base 2, and the annular square frame 3 is provided with two groups of positioning components that drive the front abutment plates 12 and the rear abutment plates 13 to move forward alternately, and the front abutment plates 12 and the rear abutment plates 13 are respectively arranged on one group of positioning components;

[0051] A plurality of groups of thermistors are embedded in the front support plate 12 and the rear support plate 13 respectively, and a thermoelectric component for detecting heating of the insulator string 1 by using thermistors is provided on the insulating shell.

[0052] like Figure 1-Figure 3 As shown, when testing the performance of insulators on high-voltage lines, an insulating shell is suspended by a drone to place the robot at the insulator position, and the horizontal spacing between the two groups of bases 2 is changed to drive the front abutment plates 12 and the rear abutment plates 13 in the two groups of pressing assemblies to abut against the connection between adjacent umbrella-shaped insulators, wherein the front abutment plates 12 and the rear abutment plates 13 are embedded with multiple groups of thermistors. When a crack appears in an umbrella-shaped insulator, the insulation performance at that location will decrease, and therefore, local arc discharge may be triggered to generate high temperature. The temperature change is sensed by the front abutment plates 12 and the rear abutment plates 13 in contact with the insulator string 1 and the thermistors arranged on the two abutment plates 13, and then the performance of a certain umbrella-shaped insulator in the insulator string 1 is measured to determine whether it needs to be repaired or replaced.

[0053] At the same time, when measuring the performance of the insulator, the creeping structure drives the insulating housing and its components to move along the laying direction of the insulator string 1. Figure 1 and Figure 2 Taking the insulator string 1 in a horizontal state as an example, but not limited to being used in the insulator string 1 in a horizontal state, in which, in the initial state, the two groups of front support plates 12 and the two groups of rear support plates 13 are both tightly attached to the insulator string 1, and the front support plates 12 and the rear support plates 13 are driven to be alternately lifted and moved along the laying direction of the insulator string 1 by the two groups of positioning components. During this process, the two groups of front support plates 12 and the two groups of rear support plates 13 alternately support the insulating shell and the components thereon.

[0054] At the same time, during the movement of the robot, the front support plate 12 and the rear support plate 13 contact the insulating shell alternately, so that during the movement, the thermistors arranged therein can be used to measure the multiple groups of umbrella-shaped insulators in the insulator string 1, and the temperature of the umbrella-shaped insulators can be determined by the thermoelectric components to find out whether cracks or breakage occur.

[0055] It should be noted that the main purpose of the insulating shell in this article is to support and protect the components inside it. Considering that the design and structure of the insulating shell are conventional technologies in this field, and its specific shape and size will vary according to actual application requirements, it is not shown in the figure.

[0056] Among them, when the insulating shell and the base 2 thereon are driven to move along the laying direction of the insulator string 1 by the creeping component, the umbrella-shaped insulators passed by the travel route can be flushed by the uneven spraying component, thereby effectively removing dirt, dust and other pollutants on the surface of the insulator, preventing the occurrence of pollution flashover, removing corrosive substances (such as salt spray) attached to the surface of the insulator, preventing chemical corrosion of the material, and thus extending the service life of the insulator.

[0057] Moreover, during the actual use of the insulator string 1, the upper and lower parts of the insulator string 1 are affected differently by the environment. Especially on rainy days, the upper part of the insulator string 1 is easily washed clean by rainwater, while the lower part is less susceptible to rainwater washing and is prone to accumulate more dirt and pollutants. Therefore, by increasing the cleaning time of different positions through an uneven spraying component, the flushing of the lower part of the insulator string 1 is strengthened, which can balance the cleaning effect and eliminate the uneven distribution of pollutants on the upper and lower surfaces of the insulator string 1, thereby improving the overall insulation performance.

[0058] It is still necessary to explain that it is proposed in this article that when using the robot, by adjusting the distance between the two groups of bases 2, the front support plate 12 and the rear support plate 13 can both support the insulator string 1 in the initial state. In actual use, a bidirectional screw rod threadedly connected to the two groups of bases 2 can be provided on the two groups of bases 2, and the two groups of bidirectional threads in the bidirectional screw rod can be threadedly connected respectively. The distance between the two groups of bases 2 can also be achieved by components such as electric push rods or cylinders. Before using the robot, by increasing the distance between the two groups of bases 2, it can be more convenient to place it on the insulator string 1 when it is suspended by a drone, and by subsequently reducing the distance between the two groups of bases 2, the robot can crawl on bases 2 of different sizes.

[0059] Among them, during use, since insulators are usually used on high-voltage lines, their height is relatively high and it is not convenient for maintenance personnel to inspect them. At the same time, if a fault occurs in the high-voltage line, it is dangerous to manually identify the fault factor of the insulator. Therefore, the robot in this article replaces manual inspection of the insulator performance to avoid the risks brought by high-altitude and high-voltage operations.

[0060] In order to better maintain the stability of the insulating shell and the components thereon, the side faces of the front support plate 12 and the rear support plate 13 facing the insulator string 1 are arc-shaped structures adapted to the insulator string 1. In actual use, by changing the arc radius of the front support plate 12 or the rear support plate 13, it can be more fully in contact with the insulator string 1, thereby improving the stability of the robot during movement.

[0061] In one of the more preferred embodiments, the front abutment plates 12 or the rear abutment plates 13 in the two groups of the pressing assemblies are in synchronous pressing contact with the outer surface of the insulator string 1, and the front abutment plates 12 and the rear abutment plates 13 in the pressing assemblies drive the insulating shell to move along the laying direction of the insulator string 1 and the two move forward alternately.

[0062] The positioning assembly includes an inner stop 4 arranged on an annular square frame 3, a vertical shaft 5 freely rotating in the horizontal direction is arranged on the inner stop 4, the vertical shaft 5 is fixedly rotated on the inner stop 4, and a short swing rod 6 is coaxially fixed on the vertical shaft 5;

[0063] The inner stopper 4 is provided with a fixed axis rotation limit block 8, a long swing rod 7 is provided on the limit block 8 and a rectangular through slot is provided for the long swing rod 7 to slide through, and one end of the short swing rod 6 away from the vertical axis 5 is fixedly rotated on the long swing rod 7;

[0064] The annular square frame 3 is provided with a homolocating block 10 and a homolocating slot 11 for horizontal sliding of the homolocating block 10, and a transverse extension rod 9 is provided on the homolocating block 10. The transverse extension rod 9 is fixedly rotated on the end of the long swing rod 7 away from the short swing rod 6, and a slot body 1 is provided on the homolocating block 10 for the transverse extension rod 9 to slide through;

[0065] The transverse extension rods 9 in the two groups of positioning assemblies are fixedly connected to the front abutment plate 12 and the rear abutment plate 13 respectively.

[0066] like Figure 1-Figure 4 As shown, two ends of the vertical shaft 5 are respectively fixedly connected with two groups of short rocker arms 6 of the positioning assemblies, and the short rocker arms 6 of the two groups of the positioning assemblies face opposite directions. When the vertical shaft 5 rotates freely in the horizontal direction, it can drive the two groups of short rocker arms 6 to rotate synchronously. When the short rocker arms 6 rotate, the long rocker arms 7 can be driven to swing back and forth in the vertical direction, thereby driving the horizontal extension rod 9 set at the end of the long rocker arm 7 to move in the horizontal lateral direction, and at the same time, the front support plate 12 set at its end can be driven to move in the horizontal longitudinal direction.

[0067] It should be noted that, in the initial state, the front support plate 12 and the rear support plate 13 are both in close contact with the outer surface of the insulator string 1. With the horizontal rotation of the vertical axis 5, the rear support plate 13 or the front support plate 12 at the rear of the movement direction of the front support plate 12 will move away from the insulator string 1. This article takes the rear support plate 13 as an example. When the rear support plate 13 is at the rear of the movement direction, the rear support plate 13 is away from the insulator string 1 and moves horizontally. At this time, since the front support plate 12 still supports the insulator string 1, the movement of the rear support plate 13 will drive the annular frame 3, the base 2 and the insulating shell to move along the laying direction of the insulator string 1 until the rear support plate 13 moves forward and is in close contact with the surface of the insulator string 1 again.

[0068] At the same time, with the subsequent rotation of the latter vertical axis 5, the front support plate 12 moves away from the insulator string 1 and repeats the movement process of the rear support plate 13, thereby realizing the alternating advancement of the front support plate 12 and the rear support plate 13. During this alternating advancement process, the front support plate 12 and the rear support plate 13 will be tightly attached to the insulator string 1 at the same time. Therefore, no matter at which moment of the movement, at least one group of the front support plate 12 and the rear support plate 13 will be tightly attached to the insulator string 1.

[0069] At the same time, it should be noted that both groups of bases 2 in the crawling structure are provided with a pressing assembly, and one group of pressing assemblies is provided with a group of front pressing plates 12 and a rear pressing plate 13. Therefore, at least two groups of front pressing plates 12 or two groups of rear pressing plates 13 are in close contact with the surface of the insulator string 1, thereby ensuring the stability of the insulating shell and its components during movement. Since the insulator string 1 in a vertical or inclined state is being inspected, the stability of the robot during movement can be ensured to prevent it from falling under gravity, thereby ensuring the smooth progress of the inspection process.

[0070] Based on the positioning assembly embodiment, the uneven spraying assembly includes two groups of incomplete gear rings 26 respectively arranged on two groups of bases 2, and the two groups of incomplete gear rings 26 are fixedly connected to the side of the insulator string 1 with an arc pipe 29, and the arc pipe 29 is fixedly penetrated with multiple groups of water outlet nozzles 30;

[0071] The insulating housing is fixedly connected with a water tank, and the base 2 is provided with a water supply component for driving the water source in the water tank to flow to the arc-shaped pipe 29;

[0072] The base 2 is fixedly connected to a positioning arc plate 27 on one side facing the incomplete gear ring 26, and the incomplete gear ring 26 is provided with a positioning arc groove 28 for the positioning arc plate 27 to slide.

[0073] The base 2 is provided with an annular component for driving the incomplete gear ring 26 to reciprocate in a sector-shaped trajectory in the vertical direction.

[0074] like Figure 1 , Figure 2 , Figure 3 and Figure 5 As shown, when the robot moves along the laying direction of the insulator string 1 driven by the crawling structure, water is provided to the arc pipe 29 through the water supply component. At the same time, the incomplete gear ring 26 and the arc pipe 29 thereon and the water outlet 30 are driven to rotate in the vertical direction through the annular component, thereby flushing and cleaning the insulator strings 1 at different heights.

[0075] Among them, in order to improve the cleaning effect on the bottom of the insulator string 1, the arrangement spacing of the multiple groups of water nozzles 30 on the arc pipe 29 is different, and the spacing between adjacent water nozzles 30 gradually decreases from top to bottom in the vertical direction. The density of the arrangement of the multiple groups of water nozzles 30 on the arc pipe 29 is different. Among them, the arrangement of the water nozzles 30 at one end of the arc pipe 29 close to the bottom of the insulator string 1 is denser than that at the end close to the top of the insulator string 1. Therefore, when the arc pipe 29 is filled with water, the water output near the bottom of the insulator string 1 is larger, thereby achieving different degrees of flushing effects, so as to eliminate the uneven distribution of pollutants on the upper and lower surfaces of the insulator string 1, thereby improving the overall insulation performance.

[0076] Furthermore, the annular moving assembly includes a side bracket 21 arranged on the annular square frame 3, the side bracket 21 is fixed to the annular square frame 3 with bolts, a horizontal slide 20 reciprocating in the horizontal direction is arranged on the side bracket 21, a positioning block 24 is fixedly connected to one end of the side bracket 21 facing the incomplete gear ring 26, and an internal threaded cylinder 23 is arranged on the positioning block 24 for fixed axis rotation;

[0077] The side of the transverse slide 20 facing the internal threaded barrel 23 is fixedly connected with an external threaded rod 22, the external threaded rod 22 penetrates the internal threaded barrel 23 and is threadedly matched with the internal threaded barrel 23, and the outer ring of the internal threaded barrel 23 is fixedly sleeved with a side gear 25, which is meshedly connected with the incomplete gear ring 26;

[0078] The side bracket 21 is provided with a second groove for the horizontal sliding seat 20 to slide horizontally.

[0079] The annular motion assembly also includes a central gear 14 fixedly sleeved on the vertical shaft 5, the central gear 14 is meshed with a sector gear 15, the sector gear 15 is fixedly rotated on the side bracket 21, a main connecting rod 18 is coaxially fixed on the sector gear 15, a slave connecting rod 19 is provided on the main connecting rod 18, the slave connecting rod 19 is fixedly rotated on the end of the main connecting rod 18 away from the sector gear 15, and the end of the slave connecting rod 19 away from the main connecting rod 18 is fixedly rotated on the transverse slide 20;

[0080] A positioning plate 16 is fixedly connected to the upper surface of the central gear 14 . The positioning plate 16 includes an integrally formed outer arc portion 161 . A positioning ring 17 is fixedly connected to the sector gear 15 corresponding to the positioning plate 16 . The outer peripheral surface of the positioning ring 17 is in sliding contact with the outer arc portion 161 .

[0081] like Figure 1 , Figure 3 , Figure 5 , Figure 6 , Figure 8 and Fig. 9 As shown, the fan gear 15 is driven by a motor arranged on the base 2 to rotate freely in the horizontal direction. When the fan gear 15 is engaged with the center gear 14, the vertical shaft 5 can be driven to rotate in the horizontal direction by driving the center gear 14 to rotate, thereby achieving the purpose of driving the two sets of positioning components to operate to change the relative positions of the insulating shell and the insulator string 1.

[0082] At the same time, as the sector gear 15 continues to rotate, the sector gear 15 is no longer engaged with the center gear 14. At this time, the positioning ring 17 provided on the sector gear 15 corresponds to the positioning plate 16 provided on the center gear 14, and the positioning ring 17 and the outer arc portion 161 are in sliding contact. Therefore, the positioning ring 17 is provided to limit the rotation of the positioning plate 16, thereby achieving the purpose of limiting the rotation of the center gear 14, so as to prevent the center gear 14 from continuing to rotate under the inertia state, thereby achieving the purpose of accurately controlling the rotation angle of the center gear 14.

[0083] At the same time, the main connecting rod 18 is coaxially fixed with the sector gear 15, and the main connecting rod 18 can rotate horizontally synchronously with the sector gear 15, wherein a slave connecting rod 19 is provided between the main connecting rod 18 and the transverse slide 20, so that when the main connecting rod 18 rotates horizontally, the transverse slide 20 and the externally threaded rod 22 fixed thereon can be driven to reciprocate in the horizontal direction by driving the slave connecting rod 19 to swing, as shown in FIG. Fig. 9 As shown, it reciprocates in the direction of arrow MN.

[0084] Among them, the external threaded rod 22 is threadedly connected with the internal threaded tube 23, and the internal threaded tube 23 and the side gear 25 are coaxially fixed. Therefore, when the external threaded rod 22 moves in the direction of the arrow MN, the side gear 25 can be driven to rotate synchronously in the vertical direction through the internal threaded tube 23, and the side gear 25 and the incomplete gear ring 26 are meshed and connected, and then through the movement of the internal threaded tube 23 in the direction of the arrow MN, the purpose of driving the incomplete gear ring 26 and the arc pipe 29 and the water outlet 30 thereon to rotate in the vertical direction is achieved.

[0085] It should be noted that if Fig. 9As shown, the rotation speed of the sector gear 15 and the main connecting rod 18 in the horizontal direction remains unchanged. When the main connecting rod 18 rotates to drive the arc-shaped pipe 29 to rotate toward the lower position of the insulator string 1, since the rotation speed of the main connecting rod 18 remains unchanged, when the main connecting rod 18 rotates a unit angle Q in a unit time, the movement distance of the end of the slave connecting rod 19 close to the main connecting rod 18 in the direction of the arrow MN is D, wherein, as the main connecting rod 18 continues to swing, the value of D changes accordingly, and a crank connecting rod mechanism is formed between the main connecting rod 18, the slave connecting rod 19 and the transverse slide 20, and then, when the main connecting rod 18 continues to be in a horizontal state and the rotation speed remains unchanged, the movement speed of the transverse slide 20 in the direction of the arrow MN is different, which leads to a difference in the rotation speed of the incomplete gear ring 26 in the vertical direction, that is, when the incomplete gear ring 26 drives the arc-shaped pipe 29 thereon to rotate toward the lower part of the insulator string 1, its rotation speed gradually slows down, thereby increasing the flushing time for the lower part of the insulator string 1.

[0086] Based on the embodiment of the ring-moving assembly, the water supply assembly includes a side support plate 34 fixedly connected to the base 2, a piston cylinder 33 is bolted to the side support plate 34, a piston plate 32 reciprocating in the horizontal direction is arranged in the piston cylinder 33, and the piston plate 32 is in sliding contact with the inner wall of the piston cylinder 33 and is sealed;

[0087] The piston plate 32 is provided with a push column 31, and the two ends of the push column 31 are fixedly connected to the piston plate 32 and the transverse slide seat 20 respectively;

[0088] The piston cylinder 33 is in liquid communication with the water tank and the arc-shaped pipe 29 , and two sets of one-way valves with opposite valve ports are fixedly connected to the piston cylinder 33 .

[0089] like Figure 5 and Figure 7 As shown, when the transverse slide 20 reciprocates in the horizontal transverse direction, it can drive the piston plate 32 to move synchronously in the horizontal transverse direction through the push column 31, wherein, when the horizontal movement of the transverse slide 20 drives the incomplete gear ring 26 to rotate to the lower position of the insulator string 1, the piston plate 32 moves toward the piston cylinder 33 at this time, and pushes the water source in the piston cylinder 33 to flow to the arc pipe 29, and sprays onto the insulator string 1 through the water outlet 30 provided on the arc pipe 29.

[0090] At the same time, the horizontal movement of the transverse slide 20 is driven by the horizontal rotation of the sector gear 15. When the sector gear 15 is meshed with the center gear 14, the horizontal rotation of the sector gear 15 drives the incomplete gear ring 26 and the arc pipe 29 thereon to move upward from the insulator string 1, and at the same time drives the piston plate 32 to move horizontally away from the piston cylinder 33. Then, through the horizontal movement of the piston plate 32 in the piston cylinder 33, the water source in the water tank can flow into the piston cylinder 33 under the action of negative pressure, so as to achieve the purpose of replenishing water source in the piston cylinder 33.

[0091] Among them, since two sets of one-way valves with opposite valve ports are provided on the piston cylinder 33, the flow direction of the water source is restricted by the setting of the two sets of one-way valves, so that the water source can only flow into the piston cylinder 33 through the water tank, and flow to the arc pipe 29 through the piston cylinder 33, and finally spray to the insulator string 1 through the multiple sets of water outlet nozzles 30 provided on the arc pipe 29.

[0092] It should be noted that the horizontal movement speed of the transverse slide 20 is different. As mentioned above, when the horizontal movement speed of the external threaded rod 22 slows down, the movement speed of the arc pipe 29 toward the lower position of the insulator string 1 slows down. At this time, the movement speed of the piston plate 32 in the piston cylinder 33 will also slow down. Although the water output of the water outlet 30 will be slightly reduced, the flushing time of the water outlet 30 on the lower position of the insulator string 1 will be continued, and the water outlet 30 is more densely distributed in the lower position of the arc pipe 29, so it can still achieve a more sufficient flushing effect on the lower position of the insulator string 1.

[0093] Further, the thermoelectric assembly includes a fixed resistor electrically connected to the thermistor to form a voltage divider circuit, and the thermistor is electrically connected to a microcontroller that receives and processes its temperature signal;

[0094] The microcontroller reads the analog voltage signal of the thermistor and converts it into a digital signal, and the microprocessor is electrically connected to the terminal module;

[0095] The thermoelectric assembly further includes a wireless communication module for transmitting processed temperature data to a terminal module, and a data storage module for storing temperature data, and both the wireless communication module and the data storage module are electrically connected to the microcontroller.

[0096] like Figure 1 and Fig.10As shown, one end of the thermistor is connected to the ADC input pin of the microcontroller, and the other end is connected to the negative electrode (GND) of the power module. The ADC (analog-to-digital converter) of the microcontroller reads the voltage signal of the thermistor and converts it into a digital signal for processing. The power module provides power for the entire system, including the thermistor, the microcontroller, the wireless communication module and the data storage module, wherein Vcc means the positive electrode, and the Vcc in the wireless communication module and the data storage module are electrically connected to the power module to provide the necessary working voltage.

[0097] The microcontroller is also connected to a wireless communication module and a data storage module. The wireless communication module is used to transmit the processed temperature data to a remote terminal to ensure that the staff can monitor the status of the insulator string 1 in real time. The data storage module is used to store the temperature data and processing results for subsequent analysis and recording.

[0098] Specifically, the microcontroller is connected to the wireless communication module and the data storage module through interfaces. The wireless communication module can use Wi-Fi, LoRa or other communication technologies suitable for remote data transmission, and the data storage module can use EEPROM, SD card or other storage devices suitable for storing large amounts of data.

[0099] The specific operation process is as follows:

[0100] Power supply: The battery provides power to the entire system, ensuring the normal operation of the thermistor, microcontroller, wireless communication module and data storage module.

[0101] Temperature sensing: Thermistors sense temperature changes on the surface of insulators, and their resistance value changes with temperature.

[0102] Data Acquisition: The microcontroller reads the voltage signal of the thermistor through ADC and converts it into a digital signal.

[0103] Data processing: The microcontroller processes the collected temperature data to determine whether it exceeds the preset temperature threshold.

[0104] Data transmission and storage: If the temperature exceeds the threshold, the microcontroller sends an early warning signal to the remote terminal through the wireless communication module, and stores the data in the data storage module for subsequent analysis.

[0105] Remote monitoring: The staff monitors the status of insulator string 1 in real time through the remote terminal, and conducts inspection and maintenance in a timely manner after receiving the early warning signal.

[0106] 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 robot for detecting the status of electric equipment in dangerous power scenarios, comprising an insulating housing and a plurality of thermistors thereon for detecting the temperature of electric equipment, wherein a power module electrically connected to the thermistors is provided on the insulating housing, and characterized in that: The insulating housing is provided with a creeping structure for detecting the insulator string (1); The climbing structure comprises a guide column (35) fixedly connected to the insulating housing, the guide column (35) being slidably sleeved with two groups of bases (2), the two groups of bases (2) being respectively provided with a group of pressing assemblies, the two groups of pressing assemblies respectively comprising a group of front pressing plates (12) and a group of rear pressing plates (13); The front abutment plates (12) and the rear abutment plates (13) in the two groups of the abutment assemblies jointly abut the insulator string (1) in an initial state, and the abutment assemblies include an annular square frame (3) fixedly connected to the base (2), and the annular square frame (3) is provided with two groups of positioning assemblies for driving the front abutment plates (12) and the rear abutment plates (13) to move forward alternately, and the front abutment plates (12) and the rear abutment plates (13) are respectively arranged on one group of the positioning assemblies; A plurality of groups of thermistors are respectively embedded in the front abutment plate (12) and the rear abutment plate (13), and a thermoelectric component for detecting heating of the insulator string (1) using thermistors is provided on the insulating housing; The base (2) is also provided with an uneven spraying component for spraying water to clean the outer surface of the insulator string (1); The positioning assembly comprises an inner stop seat (4) arranged on the annular square frame (3); a vertical shaft (5) which is freely rotatable in the horizontal direction is arranged on the inner stop seat (4); the vertical shaft (5) is fixedly rotated on the inner stop seat (4); and a short swing rod (6) is coaxially fixed on the vertical shaft (5); The inner stop seat (4) is provided with a fixed axis rotation limit block (8), the limit block (8) is provided with a long swing rod (7) and a rectangular through slot for the long swing rod (7) to slide through, and one end of the short swing rod (6) away from the vertical axis (5) is fixedly rotated on the long swing rod (7); The annular square frame (3) is provided with a positioning block (10) and a positioning groove (11) for the positioning block (10) to slide horizontally; the positioning block (10) is provided with a transverse rod (9), the transverse rod (9) is fixedly rotated on an end of the long swing rod (7) away from the short swing rod (6); the positioning block (10) is provided with a groove body for the transverse rod (9) to slide through; The transverse extension rods (9) in the two groups of positioning assemblies are respectively fixedly connected to the front support plate (12) and the rear support plate (13); The uneven spraying assembly comprises two groups of incomplete gear rings (26) respectively arranged on two groups of bases (2), the two groups of incomplete gear rings (26) are fixedly connected to an arc-shaped pipe (29) on one side facing the insulator string (1), and a plurality of groups of water outlet nozzles (30) are fixedly passed through the arc-shaped pipe (29); The insulating shell is fixedly connected to a water tank, and the base (2) is provided with a water supply component for driving water in the water tank to flow to the arc-shaped pipe (29); A positioning arc plate (27) is fixedly connected to the side of the base (2) facing the incomplete gear ring (26), and a positioning arc groove (28) for the positioning arc plate (27) to slide is provided on the incomplete gear ring (26); The base (2) is provided with a ring-moving assembly for driving the incomplete gear ring (26) to reciprocate in a vertical direction along a fan-shaped trajectory; The annular moving assembly comprises a side frame (21) arranged on the annular square frame (3), the side frame (21) and the annular square frame (3) being fixed by bolts, a transverse slide seat (20) which reciprocates in the horizontal direction is provided on the side frame (21), a positioning block (24) is fixedly connected to one end of the side frame (21) facing the incomplete gear ring (26), and an internal threaded cylinder (23) is provided on the positioning block (24) for fixed axis rotation; The side of the transverse slide (20) facing the internal threaded cylinder (23) is fixedly connected with an external threaded rod (22), the external threaded rod (22) penetrates the internal threaded cylinder (23) and is threadedly matched with the internal threaded cylinder (23), and the outer ring of the internal threaded cylinder (23) is fixedly sleeved with a side gear (25), and the side gear (25) is meshingly connected with the incomplete gear ring (26); The side bracket (21) is provided with a second groove body for the horizontal sliding seat (20) to slide horizontally; The annular moving assembly further comprises a central gear (14) fixedly sleeved on the vertical shaft (5), the central gear (14) meshing with a sector gear (15), the sector gear (15) rotating on a fixed axis on a side frame (21), a main connecting rod (18) coaxially fixed on the sector gear (15), a slave connecting rod (19) being provided on the main connecting rod (18), the slave connecting rod (19) rotating on a fixed axis on an end of the main connecting rod (18) away from the sector gear (15), and the end of the slave connecting rod (19) rotating on a fixed axis on a transverse slide seat (20) away from the main connecting rod (18); A positioning plate (16) is fixedly connected to the upper surface of the central gear (14), the positioning plate (16) comprising an integrally formed outer arc portion (161), a positioning ring (17) is fixedly connected to the sector gear (15) at a position corresponding to the positioning plate (16), and an outer peripheral surface of the positioning ring (17) is in sliding contact with the outer arc portion (161); The water supply assembly comprises a side support plate (34) fixedly connected to the base (2), a piston cylinder (33) being bolted to the side support plate (34), a piston plate (32) being arranged inside the piston cylinder (33) and being capable of reciprocating in a horizontal direction, the piston plate (32) being in sliding contact with the inner wall of the piston cylinder (33) and being sealed; The piston plate (32) is provided with a push column (31), and two ends of the push column (31) are respectively fixedly connected to the piston plate (32) and the transverse slide seat (20); The piston cylinder (33) is in liquid communication with the water tank and the arc-shaped pipeline (29), and two sets of one-way valves with opposite valve ports are fixedly connected to the piston cylinder (33).

2. According to claim 1, a robot for detecting the status of electric equipment in dangerous power scenarios is characterized by: The front abutment plates (12) or the rear abutment plates (13) in the two groups of the abutment assemblies are synchronously in abutment contact with the outer surface of the insulator string (1), and the front abutment plates (12) and the rear abutment plates (13) in the abutment assemblies drive the insulating shell to move along the laying direction of the insulator string (1), and the two move forward alternately.

3. The robot for detecting the status of electric equipment in dangerous power scenarios according to claim 1 is characterized in that: The side surfaces of the front abutment plate (12) and the rear abutment plate (13) facing the insulator string (1) are arc-shaped structures that are compatible with the insulator string (1).

4. The robot for detecting the status of electric equipment in dangerous power scenarios according to claim 1 is characterized in that: The multiple groups of water outlet nozzles (30) are arranged at different intervals on the arc-shaped pipe (29), and the intervals between adjacent water outlet nozzles (30) gradually decrease from top to bottom in the vertical direction.

5. The robot for detecting the status of electric equipment in dangerous power scenarios according to claim 1 is characterized in that: The thermoelectric assembly includes a fixed resistor electrically connected to a thermistor to form a voltage divider circuit, and the thermistor is electrically connected to a microcontroller that receives and processes its temperature signal; The microcontroller reads the analog voltage signal of the thermistor and converts it into a digital signal, and the microprocessor is electrically connected to the terminal module; The thermoelectric assembly further includes a wireless communication module for transmitting processed temperature data to a terminal module, and a data storage module for storing temperature data, and both the wireless communication module and the data storage module are electrically connected to the microcontroller.

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