A substation inspection robot

Abstract

The present invention belongs to the field of substation inspection, and specifically is a substation inspection robot, comprising a vehicle body, a detection probe is arranged on the upper end of the vehicle body, wheels are arranged on both the front and rear sides and the left and right ends of the vehicle body, and an alternating collection type magnetic suction mechanism is arranged on the front side of the vehicle body to prevent metal parts on the ground from puncturing the wheels; the alternating collection type magnetic suction mechanism comprises mounting arms fixedly connected to the left and right sides of the front end of the vehicle body, and a rotating ring is arranged on the lower end of the front side of the mounting arm through the rotation of a gear shaft. The present invention realizes the use of the alternating collection type magnetic suction mechanism to adsorb and centrally collect metal parts appearing in front of the wheels, thereby avoiding the situation where the wheels are punctured by metal parts and ensuring the normal movement of the vehicle body, and multiple electromagnets perform adsorption work alternately, and perform the two actions of adsorption and putting down the metal parts in sequence, thereby avoiding the situation where a single electromagnet is attached to a large number of metal parts, resulting in poor subsequent adsorption effect.

Description

Technical Field

[0001] The invention belongs to the field of substation inspection, in particular to a substation inspection robot. Background Art

[0002] A substation is a place in the power system where voltage and current are transformed, electric energy is received and distributed. Since the substation is the hub of the power supply and transmission system, its safe and stable operation is related to the normal operation of national production and life. Therefore, in order to ensure the stable operation of equipment in the substation, inspection robots will be used to inspect the substation to understand the operating status of the equipment in the substation, and then timely discover the safety hazards in the substation, such as equipment overheating, insulation aging, loose wiring, etc., so as to take corresponding measures to rectify and prevent accidents.

[0003] The invention patent with announcement number CN109571406A discloses an intelligent inspection robot, including a chassis, a mobile control mechanism installed on the chassis, a column fixedly connected to the chassis, at least one turntable horizontally installed on the column, at least two cameras installed on each turntable, an adjustment mechanism coordinated with each of the turntables, and a controller and a battery installed in the chassis. The battery provides working voltage to the mobile control mechanism and the adjustment mechanism through the controller. The mobile control mechanism, the camera and the adjustment mechanism are all communicatively connected to the controller. The invention is used for an intelligent inspection robot for a substation. It adopts a multi-layer turntable, and each layer of the turntable is evenly distributed with at least two cameras to realize all-round monitoring and inspection in the vertical direction. Each layer of the turntable can be rotated by the adjustment mechanism to realize all-round inspection in space, providing a basis for accurate evaluation of the operation status of the substation.

[0004] However, the above technical solution still has the following deficiencies in practical application:

[0005] During the maintenance and overhaul of the equipment in the substation, some metal parts may be scattered on the ground. These metal parts may include nails, wires, and some sharp metal fragments. These metal parts will affect the normal movement of the robot. For example, during the inspection process, the inflatable tires of the inspection robot may be punctured by these metal parts, causing damage to the tires and affecting the normal inspection work of the inspection robot.

[0006] To this end, the present invention provides a substation inspection robot. Summary of the invention

[0007] In order to make up for the deficiencies of the prior art and solve at least one technical problem raised in the background technology, the present invention proposes a substation inspection robot.

[0008] The technical solution adopted by the present invention to solve the technical problem is: a substation inspection robot, comprising a body, a detection probe is arranged on the upper end of the body, wheels are arranged on both the front and rear sides and the left and right ends of the body, and an alternating collection type magnetic suction mechanism is arranged on the front side of the body to prevent metal parts on the ground from puncturing the wheels;

[0009] The alternating collection type magnetic suction mechanism includes mounting arms fixedly connected to the left and right sides of the front end of the vehicle body, a rotating ring is rotatably arranged at the lower end of the front side of the mounting arm through a gear shaft, a plurality of connecting blocks are rotatably arranged on the rotating ring, a mounting plate is fixedly connected to the lower end of the connecting block, an electromagnet is arranged on the lower end surface of the mounting plate, a connecting plate is fixedly connected to the middle part of the lower side of the front end of the vehicle body, a support plate is fixedly connected to the front end of the connecting plate, and collection boxes are fixedly connected to both left and right ends of the support plate.

[0010] Preferably, the lower end of the front side of the mounting arm is fixedly connected to a second motor, and the output end of the second motor is fixedly connected to one end of the gear shaft.

[0011] Preferably, a plurality of fixing rods are fixedly connected to the lower end of the front side of the mounting arm, and a gear three is fixedly connected to the end of the fixing rod away from the mounting arm, and the gear three is sleeved on the gear shaft and rotatably connected thereto, and a plurality of gears one and two are rotatably arranged on the rotating ring, and the gear two is meshed with the gear three, and the gear two is meshed with the gear one, and the gear one is fixedly connected to the connecting block.

[0012] Preferably, the left and right sides of the front end surface of the vehicle body are slidably connected with L-shaped rods, the lower end of the front side of the L-shaped rod is fixedly connected to a fixed plate, the front and rear sides of the fixed plate are slidably connected with sliding rods, the lower end of the sliding rods is fixedly connected to a rectangular plate, the middle parts of the front and rear sides of the upper end surface of the rectangular plate are slidably connected with sliding blocks 2, one side of the lower end of the sliding block 2 is fixedly connected with scraper 2, the middle parts of the left and right sides of the upper end surface of the rectangular plate are slidably connected with sliding blocks 1, and one side of the lower end of the sliding block is fixedly connected with scraper 1.

[0013] Preferably, the rear end of the L-shaped rod is threadedly connected to a bidirectional threaded rod 1, and the left and right ends of the bidirectional threaded rod 1 are rotatably arranged at the two ends of the front side of the vehicle body. A motor 1 is fixedly connected to the left side of the front end surface of the vehicle body, and the output end of the motor 1 is fixedly connected to the left end of the bidirectional threaded rod 1.

[0014] Preferably, an electric push rod is fixedly connected to the middle of the upper end surface of the fixed plate, and the piston end of the electric push rod is fixedly connected to one side of the upper end of the rectangular plate.

[0015] Preferably, two-way threaded rods three are rotatably arranged in the middle of both front and rear sides of the upper end of the rectangular plate, and the two-way threaded rods three are threadedly connected to the two sliders, and a motor three is fixedly connected to the middle of the front end of the rectangular plate, and the output end of the motor three is fixedly connected to the front end of the two-way threaded rod three.

[0016] Preferably, two bidirectional threaded rods are rotatably arranged in the middle of the left and right sides of the upper end of the rectangular plate, and the two bidirectional threaded rods are threadedly connected to a slider, and a motor four is fixedly connected to one side of the upper end of the rectangular plate, and the output end of the motor four is fixedly connected to one end of the two bidirectional threaded rod two.

[0017] Preferably, a photovoltaic panel is provided at the front end of the vehicle body.

[0018] Preferably, a brush plate is slidably provided on the upper end of the detection probe, bristles are provided on one side of the brush plate, the bristles are fitted with the lens of the detection probe, a reciprocating screw is threadedly connected to the upper rear end of the brush plate, both left and right ends of the reciprocating screw are rotatably provided on the detection probe, a motor five is provided on the upper end of the detection probe, and the output end of the motor five is fixedly connected to one end of the reciprocating screw.

[0019] The beneficial effects of the present invention are as follows:

[0020] 1. The substation inspection robot described in the present invention utilizes an alternating collection type magnetic suction mechanism to absorb and collect the metal parts appearing in front of the wheel, thereby avoiding the situation where the wheel is punctured by the metal parts and ensuring the normal movement of the vehicle body. In addition, multiple electromagnets perform the adsorption work alternately and perform the two actions of adsorption and putting down the metal parts in turn, thereby avoiding the situation where a single electromagnet is attached to a large number of metal parts, resulting in poor subsequent adsorption effect. In addition, the process of the electromagnet placing the metal parts into the collection box does not affect the normal adsorption of the metal parts. When the metal parts absorbed by the electromagnet fall into the collection box and before the next electromagnet moves to the top of the collection box, the upper edge of the collection box can be pushed to move the metal parts away from the edge of the collection box, thereby preventing the metal parts from falling from the edge of the collection box, and further reducing the risk of the metal parts puncturing the wheel.

[0021] 2. The substation inspection robot described in the present invention can convert solar energy into electrical energy using photovoltaic panels to provide power for the inspection robot, thereby saving power resources.

[0022] 3. The substation inspection robot described in the present invention can remove dust and impurities by starting motor 5 to rotate the reciprocating screw when the lens of the detection probe is affected by dust or impurities, so that the brush plate moves laterally and the bristles rub and clean the lens, thereby ensuring the cleanliness of the lens of the detection probe and making the captured image clearer. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be further described below in conjunction with the accompanying drawings.

[0024] Figure 1It is a schematic diagram of the three-dimensional structure of the present invention;

[0025] Figure 2 It is a schematic diagram of the local three-dimensional structure at the support plate;

[0026] Figure 3 yes Figure 2 A partial enlarged view of the middle part;

[0027] Figure 4 It is a schematic diagram of the local three-dimensional structure at the rectangular plate;

[0028] Figure 5 It is a schematic diagram of a local three-dimensional structure of a scraper;

[0029] Figure 6 It is a schematic diagram of the local three-dimensional structure of the collection box;

[0030] Figure 7 It is a schematic diagram of the local three-dimensional structure at the mounting plate;

[0031] Figure 8 This is a schematic diagram of the partial three-dimensional structure at another angle of view of the mounting plate;

[0032] Fig. 9 It is a schematic diagram of the local three-dimensional structure of the detection probe;

[0033] Fig.10 It is a schematic diagram of the local three-dimensional structure of the electromagnet.

[0034] In the figure: 1. vehicle body; 2. detection probe; 3. wheel; 4. mounting arm; 5. connecting plate; 6. supporting plate; 7. collecting box; 8. two-way threaded rod 1; 9. motor 1; 10. L-shaped rod; 11. fixing plate; 12. electric push rod; 13. sliding rod; 14. rectangular plate; 15. motor 2; 16. rotating ring; 17. gear 1; 18. gear 2; 19. gear 3; 20. mounting plate; 21. connecting block; 22. electromagnet; 23. photovoltaic panel; 24. brush; 25. slider 1; 26. scraper 1; 27. scraper 2; 28. two-way threaded rod 2; 29. ​​slider 2; 30. motor 3; 31. two-way threaded rod 3; 32. motor 4; 33. motor 5; 34. reciprocating screw; 35. brush plate; 36. fixing rod; 37. gear shaft. DETAILED DESCRIPTION

[0035] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. 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.

[0036] Please refer to Figure 1-Figure 10The present invention provides a technical solution: a substation inspection robot, comprising a body 1, a detection probe 2 is arranged on the upper end of the body 1, wheels 3 are arranged on both the front and rear sides and the left and right ends of the body 1, and an alternating collection type magnetic suction mechanism is arranged on the front side of the body 1 to prevent metal parts on the ground from puncturing the wheels 3;

[0037] The alternating collection type magnetic suction mechanism includes a mounting arm 4 fixedly connected to the left and right sides of the front end of the vehicle body 1, a rotating ring 16 is rotatably provided at the lower end of the front side of the mounting arm 4 through a gear shaft 37, a plurality of connecting blocks 21 are rotatably provided on the rotating ring 16, a mounting plate 20 is fixedly connected to the lower end of the connecting block 21, an electromagnet 22 is provided on the lower end surface of the mounting plate 20, a connecting plate 5 is fixedly connected to the middle part of the lower side of the front end of the vehicle body 1, a support plate 6 is fixedly connected to the front end of the connecting plate 5, and collection boxes 7 are fixedly connected to both the left and right ends of the support plate 6.

[0038] In this embodiment, Figure 1-Figure 8 , Fig.10 As shown, the lower front end of the mounting arm 4 is fixedly connected to the motor 2 15, and the output end of the motor 2 15 is fixedly connected to one end of the gear shaft 37;

[0039] A plurality of fixing rods 36 are fixedly connected to the lower end of the front side of the mounting arm 4, and a gear 3 19 is fixedly connected to one end of the fixing rod 36 away from the mounting arm 4, and the gear 3 19 is sleeved on the gear shaft 37 and is rotatably connected thereto, and a plurality of gears 1 17 and gear 2 18 are rotatably arranged on the rotating ring 16, and the gear 2 18 and the gear 3 19 are meshed with each other, and the gear 2 18 and the gear 1 17 are meshed with each other, and the gear 1 17 is fixedly connected to the connecting block 21;

[0040] The front end surface of the vehicle body 1 is slidably connected to the left and right sides of the L-shaped rod 10, the front lower end of the L-shaped rod 10 is fixedly connected to the fixed plate 11, the front and rear sides of the fixed plate 11 are slidably connected to the slide rod 13, the lower end of the slide rod 13 is fixedly connected to the rectangular plate 14, the middle of the front and rear sides of the upper end of the rectangular plate 14 are slidably connected to the slider 29, one side of the lower end of the slider 29 is fixedly connected to the scraper 27, the middle of the left and right sides of the upper end surface of the rectangular plate 14 are slidably connected to the slider 1 25, and one side of the lower end of the slider 1 25 is fixedly connected to the scraper 1 26;

[0041] The rear end of the L-shaped rod 10 is threadedly connected to a bidirectional threaded rod 8, and both left and right ends of the bidirectional threaded rod 8 are rotatably arranged at the two ends of the front side of the vehicle body 1. A motor 9 is fixedly connected to the left side of the front end of the vehicle body 1, and the output end of the motor 9 is fixedly connected to the left end of the bidirectional threaded rod 8;

[0042] An electric push rod 12 is fixedly connected to the middle of the upper end surface of the fixed plate 11, and the piston end of the electric push rod 12 is fixedly connected to one side of the upper end of the rectangular plate 14;

[0043] A bidirectional threaded rod 31 is rotatably provided at the middle of both front and rear sides of the upper end of the rectangular plate 14, and the bidirectional threaded rod 31 is threadedly connected to the slider 29, and a motor 30 is fixedly connected to the middle of the front end of the rectangular plate 14, and the output end of the motor 30 is fixedly connected to the front end of the bidirectional threaded rod 31;

[0044] A bidirectional threaded rod 28 is rotatably provided in the middle of the left and right sides of the upper end of the rectangular plate 14, and the bidirectional threaded rod 28 is threadedly connected to the slider 1 25. A motor 4 32 is fixedly connected to one side of the upper end of the rectangular plate 14, and the output end of the motor 4 32 is fixedly connected to one end of the bidirectional threaded rod 28;

[0045] Specifically, a substation refers to a place in the power system where voltage and current are transformed, electric energy is received and distributed. Since the substation is the hub of the power supply and transmission system, its safe and stable operation is related to whether national production and life can operate normally. Therefore, in order to ensure the stable operation of the equipment in the substation, inspection robots will be used to inspect the substation to learn the operating status of the equipment in the substation, so as to timely discover the safety hazards in the substation, such as equipment overheating, insulation aging, loose wiring, etc., so as to take corresponding measures to rectify and prevent accidents. When the existing inspection robot is in use, it will use rollers to move. However, when the equipment in the substation is under maintenance and repair, some metal parts may be scattered on the ground. These metal parts may include iron nails and iron wires, as well as some sharp metal fragments. During the inspection process, the inflatable tires of the inspection robot may be punctured by these metal parts, causing damage to the tires and affecting the normal inspection work of the inspection robot.

[0046] Therefore, when this embodiment is used, it is used for metal parts that can be magnetically adsorbed; when the vehicle body 1 is moving with the wheels 3, the operating status of the equipment in the substation can be photographed through the detection probe 2, and the collected data can be sent to the remote end, and the remote end is used to monitor the equipment in the substation, and when the vehicle body 1 is moving, the motor 2 15 on both sides is started, and the motor 2 15 drives the gear shaft 37 and the rotating ring 16 to rotate. When the rotating ring 16 rotates, the gear 2 18 and the gear 1 17 make a circular motion, and under the action of the gear 3 19, the gear 2 18 and the gear 1 17 rotate at the same time, so that the mounting plate 20 rotates while rotating, so that the mounting plate 20 always remains straight and parallel to the ground, and the electromagnet 22 is energized to generate magnetic force. When the electromagnet 22 drops to the lowest point, it can adsorb the metal parts in front of the wheel 3, so that the metal The metal pieces are attached to the surface of the electromagnet 22, and because the electromagnet 22 is continuously moving, the electromagnet 22 with the metal pieces adsorbed will move to the top of the collection box 7. When the electromagnet 22 is above the collection box 7, the electromagnet 22 is powered off. At this time, the electromagnet 22 on the collection box 7 loses its magnetic force, and the metal pieces will fall into the collection box 7. Then, after the electromagnet 22 is removed from the top of the collection box 7, the power is restored. In this way, the metal pieces appearing in front of the wheel 3 can be adsorbed and collected in a centralized manner, thereby avoiding the situation where the wheel 3 is punctured by the metal pieces. In addition, multiple electromagnets 22 perform the adsorption work alternately, and perform the two actions of adsorption and putting down the metal pieces in turn, thereby avoiding the situation where a single electromagnet 22 is attached with a large number of metal pieces, resulting in poor subsequent adsorption effect. In addition, the process of the electromagnet 22 putting the metal pieces into the collection box 7 does not affect the normal adsorption of the metal pieces.

[0047] When the metal pieces are about to fall into the collection box 7, the metal pieces may bounce up and may be at the edge of the collection box 7. Or, when multiple metal pieces are accumulated, some of the metal pieces may lean against the edge of the collection box 7. During the movement of the vehicle body 1, these metal pieces at the edge of the collection box 7 may fall out of the collection box 7 due to bumps, and the fallen metal pieces may be between the front wheel 3 and the rear wheel 3, which may cause the rear wheel 3 to be punctured. Therefore, when the metal pieces attracted by the electromagnet 22 fall into the collection box 7 and before the next electromagnet 22 moves above the collection box 7, the motor 19 is started and drives the bidirectional threaded rod 18 to rotate, so that the L-shaped rods 10 on both sides slide simultaneously and move away from each other, so that the rectangular plate 14 moves to the top of the collection box 7, and then the electric push rod 12 drives the rectangular plate 14 to descend, so that the scraper 27 and the scraper 1 The lower surfaces of the two motors 26 are flush with the upper surfaces of the collection box 7, and then the motors 4 32 and the motors 3 30 are started in turn. When the motor 4 32 is started, the two-way threaded rod 28 rotates, and the two sliders 1 25 approach each other at the same time, until the two scrapers 1 26 pass the edges on the left and right sides of the upper end surface of the collection box 7, and then the metal parts leaning against or placed on the left and right edges of the upper end of the collection box 7 can be pushed to move the metal parts away from the left and right edges of the collection box 7, and then the scrapers 1 26 are reset. Similarly, under the action of the motor 3 30, the scrapers 2 27 on the front and rear sides are approached to each other, and the metal parts on the front and rear edges of the upper end of the collection box 7 are pushed. At this point, the pushing action of the upper end of the collection box 7 in four directions can be realized to prevent the metal parts from falling from the edge of the collection box 7, further reducing the risk of the metal parts puncturing the wheel 3, and the personnel can regularly clean the metal parts inside the collection box 7;

[0048] Therefore, the alternating collection type magnetic suction mechanism can be used to absorb and collect the metal parts appearing in front of the wheel 3, thereby preventing the wheel 3 from being punctured by the metal parts and ensuring the normal movement of the vehicle body 1. In addition, multiple electromagnets 22 perform the adsorption work alternately, and perform the two actions of adsorption and putting down the metal parts in turn, thereby preventing a single electromagnet 22 from being attached to a large number of metal parts, resulting in poor subsequent adsorption effect. In addition, the process of the electromagnet 22 placing the metal parts into the collection box 7 does not affect the normal adsorption of the metal parts. When the metal parts absorbed by the electromagnet 22 fall into the collection box 7 and before the next electromagnet 22 moves to the top of the collection box 7, the upper edge of the collection box 7 can be pushed to move the metal parts away from the edge of the collection box 7, thereby preventing the metal parts from falling from the edge of the collection box 7, and further reducing the risk of metal parts puncturing the wheel 3.

[0049] In this embodiment, Figure 1 As shown, a photovoltaic panel 23 is provided at the front end of the vehicle body 1;

[0050] Specifically, the photovoltaic panel 23 can be used to convert solar energy into electrical energy to provide power to the inspection robot, thereby saving power resources.

[0051] In this embodiment, Figure 1 and Fig.10 As shown, a brush plate 35 is slidably provided at the upper end of the detection probe 2, and bristles 24 are provided on one side of the brush plate 35, and the bristles 24 are fitted with the lens of the detection probe 2. A reciprocating screw rod 34 is threadedly connected to the rear end of the upper side of the brush plate 35, and both left and right ends of the reciprocating screw rod 34 are rotatably provided on the detection probe 2. A motor 5 33 is provided at the upper end of the detection probe 2, and the output end of the motor 5 33 is fixedly connected to one end of the reciprocating screw rod 34.

[0052] Specifically, when the lens of the detection probe 2 is affected by dust or impurities that affect the clarity of the shooting, the motor 33 can be started to drive the reciprocating screw 34 to rotate, so that the brush plate 35 moves laterally, and the bristles 24 rub and clean the lens to remove the dust and impurities, thereby ensuring the cleanliness of the lens of the detection probe 2 and making the captured picture clearer.

[0053] Working principle: When the vehicle body 1 moves with the wheels 3, the operating status of the equipment in the substation can be photographed through the detection probe 2, and the collected data can be sent to the remote end, and the equipment in the substation can be monitored by the remote end. In addition, when the vehicle body 1 moves, the motors 15 on both sides are started, and the motors 15 drive the gear shaft 37 and the rotating ring 16 to rotate. When the rotating ring 16 rotates, the gear 2 18 and the gear 1 17 make circular motions, and under the action of the gear 3 19, the gear 2 18 and the gear 1 17 rotate at the same time, so that the mounting plate 20 rotates while revolving, so that the mounting plate 20 always remains straight and parallel to the ground, and the electromagnet 22 is energized to generate magnetic force. When the electromagnet 22 drops to the lowest point, it can adsorb the metal parts in front of the wheel 3, so that the metal parts adhere to the surface of the electromagnet 22. , and since the electromagnet 22 is continuously moving, the electromagnet 22 with the metal piece adsorbed will move to the top of the collection box 7. When the electromagnet 22 is above the collection box 7, the electromagnet 22 is stopped from being energized. At this time, the electromagnet 22 on the collection box 7 loses its magnetic force, and the metal piece will fall into the collection box 7. Then, after the electromagnet 22 is removed from the top of the collection box 7, the power is restored. In this way, the metal pieces appearing in front of the wheel 3 can be adsorbed and collected in a centralized manner, thereby avoiding the situation where the wheel 3 is punctured by the metal piece. In addition, multiple electromagnets 22 perform the adsorption work alternately, and perform the two actions of adsorption and putting down the metal piece in turn, thereby avoiding the situation where a single electromagnet 22 is attached with a large number of metal pieces, resulting in a poor subsequent adsorption effect. In addition, the process of the electromagnet 22 putting the metal piece into the collection box 7 does not affect the normal adsorption of the metal piece.When the metal pieces are about to fall into the collection box 7, the metal pieces may bounce up and may be at the edge of the collection box 7. Or, when multiple metal pieces are accumulated, some of the metal pieces may lean against the edge of the collection box 7. During the movement of the vehicle body 1, these metal pieces at the edge of the collection box 7 may fall out of the collection box 7 due to bumps, and the fallen metal pieces may be between the front wheel 3 and the rear wheel 3, which may cause the rear wheel 3 to be punctured. Therefore, when the metal pieces attracted by the electromagnet 22 fall into the collection box 7 and before the next electromagnet 22 moves above the collection box 7, the motor 19 is started and drives the bidirectional threaded rod 18 to rotate, so that the L-shaped rods 10 on both sides slide simultaneously and move away from each other, so that the rectangular plate 14 moves to the top of the collection box 7, and then the electric push rod 12 drives the rectangular plate 14 to descend, so that the scraper 27 and the scraper 1 The lower surfaces of the two motors 26 are flush with the upper surfaces of the collection box 7, and then the motors 4 32 and the motors 3 30 are started in turn. When the motor 4 32 is started, the two-way threaded rod 28 rotates, and the two sliders 1 25 approach each other at the same time, until the two scrapers 1 26 pass the edges on the left and right sides of the upper end surface of the collection box 7, and then the metal parts leaning against or placed on the left and right edges of the upper end of the collection box 7 can be pushed to move the metal parts away from the left and right edges of the collection box 7, and then the scrapers 1 26 are reset. Similarly, under the action of the motor 3 30, the scrapers 2 27 on the front and rear sides are approached to each other, and the metal parts on the front and rear edges of the upper end of the collection box 7 are pushed. At this point, the pushing action of the upper end of the collection box 7 in four directions can be realized to prevent the metal parts from falling from the edge of the collection box 7, further reducing the risk of the metal parts puncturing the wheel 3, and the personnel can regularly clean the metal parts inside the collection box 7;Therefore, the alternating collection magnetic suction mechanism can be used to absorb and collect the metal pieces in front of the wheel 3, thereby avoiding the situation where the wheel 3 is punctured by the metal pieces and ensuring the normal movement of the vehicle body 1. In addition, multiple electromagnets 22 perform the absorption work alternately, and perform the two actions of absorption and putting down the metal pieces in turn, thereby avoiding the situation where a single electromagnet 22 is attached to a large number of metal pieces, resulting in poor subsequent absorption effect. In addition, the process of the electromagnet 22 placing the metal pieces into the collection box 7 does not affect the normal absorption work of the metal pieces. When the metal pieces absorbed by the electromagnet 22 fall into the collection box 7 and before the next electromagnet 22 moves to the top of the collection box 7, the collection box 7 can be The upper edge is pushed to move the metal piece away from the edge of the collection box 7, preventing the metal piece from falling from the edge of the collection box 7, further reducing the risk of the metal piece puncturing the wheel 3. The photovoltaic panel 23 can convert solar energy into electrical energy to provide power to the inspection robot, thereby saving power resources. When the lens of the detection probe 2 is attached with dust or impurities, which affects the clarity of the shooting, the reciprocating screw 34 can be driven by starting the motor 5 33 to rotate, so that the brush plate 35 moves horizontally, and the bristles 24 rub and clean the lens to remove dust and impurities, thereby ensuring the cleanliness of the lens of the detection probe 2 and making the shot clearer. ;

[0054] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A substation inspection robot, comprising a vehicle body (1), characterized in that: A detection probe (2) is provided at the upper end of the vehicle body (1), wheels (3) are provided at both the front and rear sides and the left and right ends of the vehicle body (1), and an alternating collection type magnetic attraction mechanism is provided at the front side of the vehicle body (1) to prevent metal parts on the ground from puncturing the wheels (3); The alternating collection type magnetic attraction mechanism comprises a mounting arm (4) fixedly connected to the left and right sides of the front end of the vehicle body (1); a rotating ring (16) is rotatably provided at the lower end of the front side of the mounting arm (4) via a gear shaft (37); a plurality of connecting blocks (21) are rotatably provided on the rotating ring (16); a mounting plate (20) is fixedly connected to the lower end of the connecting block (21); an electromagnet (22) is provided on the lower end surface of the mounting plate (20); a connecting plate (5) is fixedly connected to the middle part of the lower side of the front end of the vehicle body (1); a support plate (6) is fixedly connected to the front end of the connecting plate (5); a collection box (7) is fixedly connected to the left and right ends of the support plate (6); a second motor (15) is fixedly connected to the lower end of the front side of the mounting arm (4); the second motor (21) The output end 15 is fixedly connected to one end of the gear shaft (37); the lower end of the front side of the mounting arm (4) is fixedly connected to a plurality of fixed rods (36); the end of the fixed rod (36) away from the mounting arm (4) is fixedly connected to a gear three (19); the gear three (19) is sleeved on the gear shaft (37) and is rotatably connected thereto; a plurality of gears one (17) and gear two (18) are rotatably arranged on the rotating ring (16); the gear two (18) and gear three (19) are meshed with each other; the gear two (18) and gear one (17) are meshed with each other; the gear one (17) is fixedly connected to the connecting block (21); the left and right sides of the front end surface of the vehicle body (1) are slidably connected to L-shaped rods (10); the front side of the L-shaped rod (10) The lower end is fixedly connected to a fixed plate (11), and the front and rear sides of the fixed plate (11) are slidably connected to a slide bar (13), and the lower end of the slide bar (13) is fixedly connected to a rectangular plate (14), and the middle parts of the front and rear sides of the upper end of the rectangular plate (14) are slidably connected to a second slide block (29), and one side of the lower end of the second slide block (29) is fixedly connected to a second scraper (27), and the middle parts of the left and right sides of the upper end of the rectangular plate (14) are slidably connected to a first slide block (25), and one side of the lower end of the first slide block (25) is fixedly connected to a first scraper (26), and the rear end of the L-shaped rod (10) is threadedly connected to a first bidirectional threaded rod (8), and the left and right ends of the first bidirectional threaded rod (8) are rotatably arranged at the two ends of the front side of the vehicle body (1), and the front end surface of the vehicle body (1) A motor 1 (9) is fixedly connected to the left side, the output end of the motor 1 (9) is fixedly connected to the left end of the bidirectional threaded rod 1 (8), an electric push rod (12) is fixedly connected to the middle of the upper end surface of the fixed plate (11), the piston end of the electric push rod (12) is fixedly connected to one side of the upper end of the rectangular plate (14), a bidirectional threaded rod 3 (31) is rotatably provided in the middle of both front and rear sides of the upper end of the rectangular plate (14), the bidirectional threaded rod 3 (31) is threadedly connected to the slider 2 (29), a motor 3 (30) is fixedly connected to the middle of the front end of the rectangular plate (14), the output end of the motor 3 (30) is fixedly connected to the front end of the bidirectional threaded rod 3 (31), and a bidirectional threaded rod 2 (28) is rotatably provided in the middle of both left and right sides of the upper end of the rectangular plate (14),The bidirectional threaded rod 2 (28) is threadedly connected to the slider 1 (25); a motor 4 (32) is fixedly connected to one side of the upper end of the rectangular plate (14); an output end of the motor 4 (32) is fixedly connected to one end of the bidirectional threaded rod 2 (28); a photovoltaic panel (23) is arranged at the front end of the vehicle body (1); a brush plate (35) is slidably arranged at the upper end of the detection probe (2); bristles (24) are arranged on one side of the brush plate (35); the bristles (24) are fitted with the lens of the detection probe (2); a reciprocating screw rod (34) is threadedly connected to the rear end of the upper side of the brush plate (35); both left and right ends of the reciprocating screw rod (34) are rotatably arranged on the detection probe (2); a motor 5 (33) is arranged at the upper end of the detection probe (2); an output end of the motor 5 (33) is fixedly connected to one end of the reciprocating screw rod (34).

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