Electric power inspection robot

Abstract

The invention discloses an electric power inspection robot, and belongs to the technical field of inspection robots, the electric power inspection robot comprises an equipment shell, the upper part of the equipment shell is provided with visual sensing equipment, the lower part of the equipment shell is provided with a walking mechanism, the lower end of the equipment shell is fixedly provided with a robot chassis, and the lower part of the robot chassis is provided with a reciprocating swing obstacle removing mechanism; according to the invention, through the arrangement of the blowing cooling mechanism, reciprocating swing operation of a reciprocating swing arm can drive a butt joint sliding column to do linear reciprocating motion, so that an extrusion plate in reciprocating motion can intermittently extrude a blowing air bag, and after the blowing air bag is extruded, low-temperature airflow is sprayed out through a blowing calandria to carry out air cooling treatment on the power supply mechanism; through the arranged blowing cooling mechanism, reciprocating swing operation of a reciprocating swing arm can drive a butt joint sliding column to do linear reciprocating motion, in this way, an extrusion plate in reciprocating operation can intermittently extrude a blowing air bag, and after the blowing air bag is extruded, low-temperature airflow is sprayed out through a blowing calandria to conduct air cooling treatment on the power supply mechanism.

Description

Technical Field

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

[0002] Substations are the core part of the power grid. Routine inspections of equipment in the substation are the key technology to ensure the safe and stable operation of the entire power grid. With the rapid development of the economy, the scale of the power system continues to expand, and the stability requirements of the power system are also constantly increasing. Traditional power equipment inspections are carried out manually. Since manual inspections are labor-intensive, a new method of automatic inspections is developed by combining inspection platforms, inspection robots and intelligent analysis service platforms. Points are created through the inspection platform and the point information is synchronized to the inspection robot and the intelligent analysis service platform. The inspection robot captures the point information scene, and the intelligent analysis service platform detects the captured images of the inspection robot to obtain the inspection results.

[0003] At present, power inspection robots are equipped with obstacle avoidance radars to prevent them from colliding with obstacles in the direction of travel. However, it is difficult to identify smaller debris on the ground. The inspection robot's walking wheels crushing debris will cause it to be unstable and affect the quality of the captured image. There is also a risk of sideways tilt when the wheels abnormally crush debris. In addition, the robot's internal equipment such as power supply will generate high heat during long-term inspection work. Due to the compact internal space of the robot shell, the high temperature heat is not easy to dissipate. The heat dissipation holes on the shell alone cannot meet the ventilation and heat dissipation needs. In particular, dust is easily accumulated in the heat dissipation holes on the shell, which will cause blockage and seriously affect the heat dissipation. Summary of the invention

[0004] The purpose of the present invention is to provide a power inspection robot to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an electric power inspection robot, comprising an equipment housing, a visual sensing device is arranged on the upper part of the equipment housing, a walking mechanism is arranged on the lower part of the equipment housing, a robot chassis is fixed to the lower end of the equipment housing, a reciprocating swing obstacle clearing mechanism is arranged below the robot chassis, the reciprocating swing obstacle clearing mechanism comprises an eccentric wheel disc, a reciprocating swing arm and an obstacle clearing frame, the eccentric wheel disc is arranged below the robot chassis, the reciprocating swing arm is arranged below the eccentric wheel disc, and the obstacle clearing frame is fixed to one end of the reciprocating swing arm;

[0006] One end of the reciprocating swing arm is provided with a spray cooling mechanism, and the spray cooling mechanism includes a fan-shaped tooth plate, a linear reciprocating gear rod, a docking slide column, an extrusion support arm, an extrusion plate and a spray airbag, the fan-shaped tooth plate is fixed to the end of the reciprocating swing arm away from the obstacle clearing frame, the linear reciprocating gear rod is arranged on one side of the fan-shaped tooth plate, two groups of the docking slide columns are respectively fixed to the two ends of the linear reciprocating gear rod, the extrusion support arm is fixed to the end of the docking slide column away from the linear reciprocating gear rod, the extrusion plate is fixed to the other end of the extrusion support arm, and the spray airbag is arranged in the inner cavity of the equipment housing;

[0007] An automatic dust cleaning mechanism is arranged on one side surface of the equipment shell, and the automatic dust cleaning mechanism includes a cleaning brush handle, a cleaning brush seat and cleaning bristles. The cleaning brush handle is fixed to one end of the docking slide column, and the cleaning brush seat is fixed to the end of the cleaning brush handle away from the docking slide column, and the cleaning bristles are arranged on the surface of the cleaning brush seat.

[0008] It should be noted in the scheme that an eccentric sliding shaft is fixed to the lower end surface of the eccentric wheel away from the center of the circle, a guide sliding groove is penetrated through the upper end surface of the reciprocating swing arm, and the eccentric sliding shaft is slidably connected in the guide sliding groove of the reciprocating swing arm.

[0009] It is further worth explaining that the surface of the reciprocating swing arm is rotatably connected with a rotating shaft, one end of the rotating shaft is fixed to the lower end surface of the robot chassis, a fixed-point rotating shaft is fixed at the center of the upper end surface of the eccentric wheel disc, a driving motor is fixed to the inner bottom wall of the equipment housing, and the upper end of the fixed-point rotating shaft passes through the robot chassis and is fixed to the output shaft of the driving motor.

[0010] It should be further explained that the fan-shaped tooth plate is meshingly connected with the linear reciprocating gear rod, an inlet and outlet are opened on one end face of the equipment shell, a positioning frame is fixed to the inner wall of the equipment shell, the blowing airbag is arranged in the range between the positioning frame and the equipment shell, and the extrusion plate is arranged in the direction of the blowing airbag.

[0011] As a preferred embodiment, a power supply mechanism is fixed inside the device shell, a spray exhaust pipe is fixed on one side surface of the spray airbag, the spray exhaust pipe is connected to the spray airbag, and the spray exhaust pipe is arranged to align with the power supply mechanism.

[0012] As a preferred embodiment, an installation opening is opened on an inner wall of one side of the device housing, the dustproof frame is fixed at the installation opening, and the dustproof shielding net is fixed in the inner wall of the dustproof frame.

[0013] As a preferred embodiment, the cleaning bristles are attached to the outer surface of the dustproof screen, and the two cleaning brush seats are symmetrically arranged in front of the dustproof screen.

[0014] As a preferred embodiment, the inner bottom wall of the device housing is provided with a clearance opening, and the upper end surface of the robot chassis is provided with walking wheel grooves near the four corners.

[0015] As a preferred implementation, a distance sensor is provided at the bottom of the robot chassis, and the distance sensor is arranged facing the ground.

[0016] Compared with the prior art, the power inspection robot provided by the present invention has at least the following beneficial effects:

[0017] By setting up a reciprocating swing obstacle clearing mechanism, the reciprocating swing arm and the obstacle clearing frame can automatically clear obstacles on the ground. Removing debris on the inspection robot's path can ensure the stability of the inspection operation and reduce the risk of the robot rolling over foreign objects.

[0018] Through the set spray cooling mechanism, the reciprocating swinging operation of the reciprocating swing arm will drive the docking slide column to reciprocate linearly, so that the reciprocating extrusion plate can intermittently squeeze the spray airbag. After the spray airbag is squeezed, a low-temperature airflow will be sprayed through the spray exhaust pipe to cool the power supply mechanism.

[0019] Through the automatic cleaning mechanism set up, the cleaning brush handle runs synchronously with the docking slide column, so that the cleaning bristles on the cleaning brush seat can brush back and forth along the dust shield net to realize automatic cleaning operation, which can alleviate the blockage of the ventilation holes of the dust shield net to promote the dissipation of heat inside the equipment casing.

[0020] In summary, the electric power inspection robot proposed in the invention scheme can automatically clear obstacles during the inspection process. During the clearing operation, the extrusion plate intermittently squeezes and blows the airbag to generate low-temperature airflow to disturb the air inside the equipment casing to promote heat dissipation. While improving the airflow conditions inside the equipment casing, the dust-proof shielding net parts of the heat inlet and outlet are cleaned and unblocked to further improve the ventilation effect. By clearing external obstacles and improving internal high temperature conditions during the movement of the electric power inspection robot, the normal implementation of the inspection work can be guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0022] Figure 1 This is a three-dimensional diagram of the overall structure of an electric power inspection robot according to the present invention;

[0023] Figure 2 A three-dimensional diagram of the dustproof screen structure of an electric power inspection robot according to the present invention;

[0024] Figure 3 A three-dimensional diagram of the cross-sectional structure of an equipment shell of an electric power inspection robot according to the present invention;

[0025] Figure 4 This is a three-dimensional diagram of the reciprocating swing arm structure of an electric power inspection robot of the present invention;

[0026] Figure 5 This is a three-dimensional diagram of the eccentric wheel structure of an electric power inspection robot of the present invention;

[0027] Figure 6 The present invention is a power inspection robot Figure 5 Enlarged view of point A in the middle;

[0028] Figure 7 This is a three-dimensional diagram of the eccentric sliding shaft structure of an electric power inspection robot of the present invention;

[0029] Figure 8 The present invention is a three-dimensional diagram of the power supply mechanism structure of an electric power inspection robot.

[0030] In the figure: 1. Equipment shell; 2. Visual sensing device; 3. Walking mechanism; 4. Robot chassis; 5. Eccentric wheel disc; 6. Eccentric sliding shaft; 7. Reciprocating swing arm; 8. Guide slide; 9. Rotating shaft; 10. Obstacle clearing frame; 11. Fixed-point rotating shaft; 12. Fan-shaped gear plate; 13. Linear reciprocating gear rod; 14. Docking slide column; 15. Cleaning brush handle; 16. Cleaning brush seat; 17. Cleaning brush bristles; 18. Extrusion support arm; 19. Extrusion plate; 20. Positioning frame; 21. Blowing airbag; 22. Blowing exhaust pipe; 23. Inlet and outlet; 24. Power supply mechanism; 25. Driving motor; 26. Installation port; 27. Dustproof frame; 28. Dustproof screen; 29. ​​Make way port; 30. Walking wheel slot. DETAILED DESCRIPTION

[0031] The present invention will be further described below in conjunction with the embodiments.

[0032] See also Figure 1-8 The present invention provides an electric power inspection robot, comprising a device housing 1, a visual sensor device 2 is arranged on the upper part of the device housing 1, a walking mechanism 3 is arranged on the lower part of the device housing 1, and a robot chassis 4 is fixed at the lower end of the device housing 1;

[0033] A reciprocating swing obstacle clearing mechanism is arranged below the robot chassis 4, and the reciprocating swing obstacle clearing mechanism includes an eccentric wheel disc 5, a reciprocating swing arm 7 and an obstacle clearing frame 10. The eccentric wheel disc 5 is arranged below the robot chassis 4, and the reciprocating swing arm 7 is arranged below the eccentric wheel disc 5. The obstacle clearing frame 10 is fixed to one end of the reciprocating swing arm 7. The reciprocating swinging reciprocating swing arm 7 and the obstacle clearing frame 10 can automatically clear obstacles on the ground, and removing debris on the way of the inspection robot can ensure the stability of the inspection operation and reduce the risk of the robot rolling over foreign objects;

[0034] One end of the reciprocating swing arm 7 is provided with a spray cooling mechanism, which includes a fan-shaped tooth plate 12, a linear reciprocating gear rod 13, a docking slide column 14, an extrusion support arm 18, an extrusion plate 19 and a spray airbag 21. The fan-shaped tooth plate 12 is fixed to the end of the reciprocating swing arm 7 away from the obstacle clearing frame 10, the linear reciprocating gear rod 13 is arranged on one side of the fan-shaped tooth plate 12, two sets of docking slide columns 14 are respectively fixed to the two ends of the linear reciprocating gear rod 13, and the extrusion support arm 18 is fixed to the opposite side. The connecting slide post 14 is away from one end of the linear reciprocating gear rod 13, and the extrusion plate 19 is fixed to the other end of the extrusion support arm 18. The spray airbag 21 is arranged in the inner cavity of the equipment housing 1. The reciprocating swing operation of the reciprocating swing arm 7 drives the connecting slide post 14 to reciprocate linearly, so that the reciprocating extrusion plate 19 can intermittently squeeze the spray airbag 21. After being squeezed, the spray airbag 21 will spray a low-temperature airflow through the spray exhaust pipe 22 to cool the power supply mechanism 24;

[0035] An automatic dust cleaning mechanism is provided on one side surface of the equipment housing 1, and the automatic dust cleaning mechanism includes a cleaning brush handle 15, a cleaning brush seat 16 and cleaning bristles 17. The cleaning brush handle 15 is fixed to one end of the docking slide post 14, and the cleaning brush seat 16 is fixed to the end of the cleaning brush handle 15 away from the docking slide post 14. The cleaning bristles 17 are arranged on the surface of the cleaning brush seat 16, and the cleaning brush handle 15 runs synchronously with the docking slide post 14, so that the cleaning bristles 17 on the cleaning brush seat 16 can realize automatic dust cleaning operation by brushing back and forth along the dust shield net 28, which can alleviate the blockage of the ventilation opening of the dust shield net 28 so as to promote the heat dissipation inside the equipment housing 1.

[0036] Further Figure 4 , Figure 5 and Figure 7 As shown, it is worth explaining in detail that an eccentric sliding shaft 6 is fixed to the lower end surface of the eccentric wheel disc 5 away from the center of the circle, a guide sliding groove 8 is penetrated through the upper end surface of the reciprocating swing arm 7, and the eccentric sliding shaft 6 is slidably connected in the guide sliding groove 8 of the reciprocating swing arm 7.

[0037] Further Figure 7As shown, it is worth explaining in detail that the surface of the reciprocating swing arm 7 is rotatably connected to a rotating shaft 9, one end of the rotating shaft 9 is fixed to the lower end surface of the robot chassis 4, a fixed-point rotating shaft 11 is fixed at the center of the upper end surface of the eccentric wheel disc 5, a driving motor 25 is fixed to the inner bottom wall of the equipment housing 1, and the upper end of the fixed-point rotating shaft 11 passes through the robot chassis 4 and is fixed to the output shaft of the driving motor 25.

[0038] Further as Figure 3 and Figure 8 As shown, it is worth explaining in detail that the fan-shaped tooth plate 12 is meshedly connected with the linear reciprocating gear rod 13, an inlet and outlet 23 is opened on one end face of the equipment housing 1, a positioning frame 20 is fixed on the inner side wall of the equipment housing 1, and the blowing airbag 21 is arranged in the range between the positioning frame 20 and the equipment housing 1, and the extrusion plate 19 is arranged in the direction of the blowing airbag 21.

[0039] Further as Figure 3 As shown, it is worth explaining in detail that a power supply mechanism 24 is fixed inside the equipment shell 1, a spray exhaust pipe 22 is fixed on one side surface of the spray airbag 21, the spray exhaust pipe 22 is connected to the spray airbag 21, and the spray exhaust pipe 22 is arranged to align with the power supply mechanism 24.

[0040] Further as Figure 8 As shown, it is worth explaining in detail that a mounting opening 26 is opened on the inner wall of one side of the device housing 1 , a dustproof frame 27 is fixed at the mounting opening 26 , and a dustproof screen 28 is fixed in the inner wall of the dustproof frame 27 .

[0041] Further as Figure 8 As shown, it is worth explaining in detail that the cleaning bristles 17 are attached to the outer surface of the dustproof screen 28, and the two cleaning brush seats 16 are symmetrically arranged in front of the dustproof screen 28.

[0042] Further as Figure 4 As shown, it is worth to explain in detail that the inner bottom wall of the equipment housing 1 is provided with a clearance opening 29, and the upper end surface of the robot chassis 4 is provided with walking wheel slots 30 near the four corners.

[0043] Further as Figure 1 As shown, it is worth explaining in detail that a distance sensor is arranged at the bottom of the robot chassis 4, and the distance sensor is arranged to face the ground.

[0044] This solution has the following working process: when in use, the equipment housing 1 moves forward on the ground of the power inspection site through the walking mechanism 3, and the distance sensor on the robot chassis 4 monitors the ground distance. When the obstacle removal is in progress, the driving motor 25 drives the eccentric wheel disc 5 to rotate at the lower part of the robot chassis 4, and the eccentric sliding shaft 6 eccentrically arranged on the eccentric wheel disc 5 drives the reciprocating swing arm 7 to swing, so that the reciprocating swinging reciprocating swing arm 7 and the obstacle removal frame 10 can automatically clear obstacles on the ground, and removing debris on the inspection robot's path can ensure the stability of the inspection operation and reduce the risk of the robot rolling over foreign objects. When the distance sensor detects that the distance between the robot chassis 4 and the ground is lower than the set standard, the driving motor 25 will increase the speed and increase the power of the reciprocating swing arm 7 and the obstacle removal frame 10 to achieve a good obstacle removal effect;

[0045] During the reciprocating swing of the reciprocating swing arm 7, the fan-shaped tooth plate 12 is meshed with the linear reciprocating tooth rod 13, so that the reciprocating swing of the reciprocating swing arm 7 drives the docking slide column 14 to reciprocate linearly, so that the reciprocating extrusion plate 19 can intermittently squeeze the spray airbag 21, and the spray airbag 21 will spray low-temperature airflow through the spray exhaust pipe 22 to cool the power supply mechanism 24 after being squeezed;

[0046] During the reciprocating extrusion operation of the extrusion plate 19, the cleaning brush handle 15 runs synchronously with the docking slide column 14, so that the cleaning bristles 17 on the cleaning brush seat 16 can brush back and forth along the dust shield net 28 to achieve automatic cleaning operation, which can alleviate the blockage of the ventilation holes of the dust shield net 28 to promote the dissipation of heat inside the equipment housing 1.

[0047] In summary: the reciprocating swinging reciprocating arm 7 and the obstacle clearing frame 10 can automatically clear obstacles on the ground, and removing debris on the inspection robot's path can ensure the stability of the inspection operation and reduce the risk of the robot rolling over foreign objects; the reciprocating swinging operation of the reciprocating swing arm 7 will drive the docking slide 14 to reciprocate in a straight line, so that the reciprocating extrusion plate 19 can intermittently squeeze the blowing airbag 21, and after being squeezed, the blowing airbag 21 will spray low-temperature airflow through the blowing exhaust pipe 22 to cool the power supply mechanism 24; the cleaning brush handle 15 runs synchronously with the docking slide 14, so that the cleaning bristles 17 on the cleaning brush seat 16 can brush back and forth along the dustproof net 28 to realize the automatic dust cleaning operation, which can alleviate the blockage of the vents of the dustproof net 28 to promote the dissipation of heat inside the equipment housing 1.

[0048] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An electric power inspection robot, comprising a device housing (1), a visual sensor device (2) being arranged on the upper part of the device housing (1), and a walking mechanism (3) being arranged on the lower part of the device housing (1), characterized in that: A robot chassis (4) is fixed to the lower end of the device housing (1); a reciprocating swing obstacle clearing mechanism is arranged below the robot chassis (4); the reciprocating swing obstacle clearing mechanism comprises an eccentric wheel disc (5), a reciprocating swing arm (7) and an obstacle clearing frame (10); the eccentric wheel disc (5) is arranged below the robot chassis (4); the reciprocating swing arm (7) is arranged below the eccentric wheel disc (5); and the obstacle clearing frame (10) is fixed to one end of the reciprocating swing arm (7); A spray cooling mechanism is arranged at one end of the reciprocating swing arm (7), and the spray cooling mechanism comprises a sector tooth plate (12), a linear reciprocating gear rod (13), a docking slide column (14), an extrusion support arm (18), an extrusion plate (19) and a spray air bag (21). The sector tooth plate (12) is fixed to one end of the reciprocating swing arm (7) away from the obstacle clearing frame (10), the linear reciprocating gear rod (13) is arranged on one side of the sector tooth plate (12), two groups of the docking slide columns (14) are respectively fixed to two ends of the linear reciprocating gear rod (13), the extrusion support arm (18) is fixed to one end of the docking slide column (14) away from the linear reciprocating gear rod (13), the extrusion plate (19) is fixed to the other end of the extrusion support arm (18), and the spray air bag (21) is arranged in the inner cavity of the device housing (1); An automatic dust cleaning mechanism is arranged on a side surface of the device housing (1), and the automatic dust cleaning mechanism comprises a cleaning brush handle (15), a cleaning brush seat (16) and cleaning bristles (17). The cleaning brush handle (15) is fixed to one end of the docking slide column (14), the cleaning brush seat (16) is fixed to one end of the cleaning brush handle (15) away from the docking slide column (14), and the cleaning bristles (17) are arranged on the surface of the cleaning brush seat (16).

2. The power inspection robot according to claim 1, characterized in that: An eccentric sliding shaft (6) is fixed to the lower end surface of the eccentric wheel disc (5) away from the center of the circle, and a guide sliding groove (8) is penetrated through the upper end surface of the reciprocating swing arm (7), and the eccentric sliding shaft (6) is slidably connected in the guide sliding groove (8) of the reciprocating swing arm (7).

3. The power inspection robot according to claim 2, characterized in that: The surface of the reciprocating swing arm (7) is rotatably connected to a rotating shaft (9), one end of which is fixed to the lower end surface of the robot chassis (4), a fixed-point rotating shaft (11) is fixed at the center of the upper end surface of the eccentric wheel disc (5), a driving motor (25) is fixed to the inner bottom wall of the device housing (1), and the upper end of the fixed-point rotating shaft (11) passes through the robot chassis (4) and is fixed to the output shaft of the driving motor (25).

4. The power inspection robot according to claim 3, characterized in that: The sector tooth plate (12) is meshedly connected with the linear reciprocating tooth rod (13); an inlet and outlet (23) is provided on one end surface of the device housing (1); a positioning frame (20) is fixed to the inner side wall of the device housing (1); the blowing airbag (21) is arranged in the range between the positioning frame (20) and the device housing (1); and the extrusion plate (19) is arranged in the direction of the blowing airbag (21).

5. The power inspection robot according to claim 4, characterized in that: A power supply mechanism (24) is fixed inside the device housing (1), a blowing exhaust pipe (22) is fixed on one side surface of the blowing airbag (21), the blowing exhaust pipe (22) is connected to the blowing airbag (21), and the blowing exhaust pipe (22) is arranged to align with the power supply mechanism (24).

6. The power inspection robot according to claim 5, characterized in that: An installation opening (26) is provided on an inner wall of one side of the device housing (1), the dustproof frame (27) is fixed at the installation opening (26), and the dustproof screen (28) is fixed in the inner wall of the dustproof frame (27).

7. The power inspection robot according to claim 6, characterized in that: The cleaning bristles (17) are attached to the outer surface of the dustproof screen (28), and the two cleaning brush seats (16) are symmetrically arranged in front of the dustproof screen (28).

8. The power inspection robot according to claim 7, characterized in that: The inner bottom wall of the equipment housing (1) is provided with a clearance opening (29), and the upper end surface of the robot chassis (4) is provided with walking wheel notches (30) near the four corners.

9. The power inspection robot according to claim 8, characterized in that: A distance sensor is arranged at the bottom of the robot chassis (4), and the distance sensor is arranged in the direction of the ground.

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