Power grid patrol robot

Abstract

The invention discloses a power grid patrol robot which comprises a movable chassis, a turnover mechanism and a swing mechanism. The turnover mechanism comprises a fixed outer frame and a rotating block, the fixed outer frame is arranged in the movable chassis, the rotating block is arranged in the fixed outer frame in a turnover mode, and the turnover axis of the rotating block is perpendicular to the walking direction of the movable chassis; the rotating mechanism comprises a mounting block and a rotating seat, the mounting block is fixedly connected with the rotating block, the rotating block can drive the mounting block to turn over from a vertical state to a horizontal state, the rotating seat is arranged on the mounting block in a rotating mode, and the rotating axis of the rotating seat is perpendicular to the turning-over axis of the rotating block; and a monitoring module and a mechanical arm are arranged on the rotating seat. According to the robot, the turnover mechanism is arranged to form a foldable structure, and the mounting block, the monitoring module and the mechanical arm can be folded to the rear end of the robot after being turned over, so that the height of the whole structure is reduced, and the robot is suitable for being used in a narrow area.

Description

Technical Field

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

[0002] As the infrastructure of modern society, the safe and stable operation of the power system is of vital importance. Power inspection is a basic safeguard to ensure the healthy operation of the power grid. By regularly inspecting power equipment and lines, potential problems can be discovered and dealt with in a timely manner. Traditional power grid inspection is mainly carried out through manual inspection, that is, by looking, touching, listening, smelling and other methods to simply judge the operating conditions of power equipment and lines. Manual inspection has many shortcomings. With the continuous advancement of science and technology, it has gradually developed into using inspection robots to replace traditional manual inspection methods.

[0003] At present, power grid inspection robots mainly use 3D laser navigation, machine vision and image recognition technologies to complete inspections of electrical equipment in substations or power grid areas. In the inspection process, they mainly rely on manipulators and monitoring modules to complete the reading of equipment instruments and valve meters and other structures. For example, the inspection robot disclosed in Chinese patent number CN117681218A is a common outdoor inspection machine.

[0004] However, existing inspection robots are usually single-purpose. Due to their usually tall size, they cannot be used directly in narrow areas, especially for inspections of cable trenches and mezzanine power spaces. Their large size prevents them from entering the inside to complete inspections and periodic tests. They can only be used with other shorter equipment or manual monitoring, resulting in low frequency of use of inspection robots and their inability to be used in multiple areas. Summary of the invention

[0005] The purpose of the present invention is to provide a power grid inspection robot that can reduce the height of the overall structure by folding and storing components, thereby adapting to use in relatively narrow areas, in order to address the problem that existing inspection robots are too tall to be used directly in relatively narrow areas.

[0006] The present invention is achieved through the following technical solutions:

[0007] The present invention provides a power grid inspection robot, comprising a mobile chassis, a flipping mechanism and a slewing mechanism; the flipping mechanism comprises a fixed outer frame and a rotating block, the fixed outer frame is arranged in the mobile chassis, the rotating block is flippably arranged in the fixed outer frame, and the flipping axis of the rotating block is perpendicular to the walking direction of the mobile chassis; the slewing mechanism comprises a mounting block and a rotating seat, the mounting block is fixedly connected to the rotating block, the rotating block can drive the mounting block to flip from a vertical state to a horizontal state, the rotating seat is slewingly arranged on the mounting block, the slewing axis of the rotating seat is perpendicular to the flipping axis of the rotating block, and a monitoring module and a mechanical arm are arranged on the rotating seat.

[0008] As a preferred embodiment of the present invention, the mobile chassis includes a base and a top plate, walking wheels are arranged on both sides of the base, the top plate is arranged at the top of the base, the fixed outer frame is fixedly connected to the top plate, and the lower part of the fixed outer frame is located in the base.

[0009] As a preferred solution of the present invention, the mobile chassis also includes a protective groove slidably arranged in the base, the sliding direction of the protective groove is along the walking direction of the mobile chassis, and the protective groove is used to slide open when the mounting block is flipped horizontally to form a storage space.

[0010] As a preferred solution of the present invention, limiting grooves are provided on the two opposite inner walls of the base, and the limiting grooves are arranged along the sliding direction of the protective groove; limiting strips are provided on both side surfaces of the protective groove, and the limiting strips and the limiting grooves are correspondingly arranged.

[0011] As a preferred solution of the present invention, tooth grooves are provided on the two opposite inner walls of the base, and the tooth grooves are arranged along the sliding direction of the protective groove; gears are provided on both side surfaces of the protective groove, and the gears and the tooth grooves are meshingly connected.

[0012] As a preferred solution of the present invention, a perforated plate is provided at the inner bottom end of the protection groove, a gusset plate is provided at the tail end of the protection groove, and a cotton pad is provided on the inner wall of the gusset plate.

[0013] As a preferred solution of the present invention, extension bars are provided on both sides of the rear top end of the base, and an opening and closing door is provided between the two extension bars, and the opening and closing door can be passively opened downward when the mounting block is flipped horizontally.

[0014] As a preferred solution of the present invention, driving motors are provided on both side surfaces of the fixed outer frame, transmission mechanisms are provided on both inner side walls of the fixed outer frame, connecting rings are provided on both side surfaces of the rotating block, the connecting rings and the transmission mechanism are annular embedded connection, and the driving motor and the transmission mechanism are transmission connection.

[0015] As a preferred solution of the present invention, an upright pole is vertically fixedly provided on the rotating seat, a cross bar is horizontally installed on the top of the upright pole, and the two monitoring modules are respectively installed at both ends of the cross bar.

[0016] As a preferred embodiment of the present invention, the robotic arm includes a fixed support rod vertically fixed on the rotating seat, a first servo motor is arranged at the top end of the fixed support rod, a connecting rod is arranged on the first servo motor, a second servo motor is arranged at the end of the connecting rod, an extension rod is arranged on the second servo motor, and a robotic arm is installed at the end of the extension rod.

[0017] As a preferred solution of the present invention, a camera module is further provided on the mechanical arm, and the camera modules are respectively provided on both sides of the second servo motor.

[0018] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0019] 1. The present invention sets a flipping mechanism on the mobile chassis. Since the rotating block can drive the mounting block to flip from a vertical state to a horizontal state, and the monitoring module and the mechanical arm flip synchronously, the components on the mobile chassis of the robot form a foldable structure, and the monitoring module and the mechanical arm can be gathered to the rear end of the robot, thereby completing the reduction of the overall structure height, so that it can be used in a relatively narrow area without carrying other inspection equipment or manual entry;

[0020] 2. The present invention provides a slidable protection groove on the mobile chassis, and forms a storage space inside the protection groove. When the mounting block is flipped to a horizontal state, it is located in the storage space. In this way, the protection groove can provide better protection for the monitoring module and the mechanical arm, thereby avoiding collision with the wall in a narrow space, or contact with the wet area due to uneven ground and other factors, which may cause a certain degree of damage to the monitoring module and the mechanical arm;

[0021] 3. The present invention further designs the regional structure of the robotic arm, reducing the conventional robotic arm structure to a three-axis robotic arm, reducing the space occupied by the robotic arm and the connection structure required by the robotic arm; when not in use, it can be folded on the surface of the robot, wrapped and fixed around the monitoring module, and can also protect the overall structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, other relevant drawings can be obtained based on these drawings without creative work. In the drawings:

[0023] Figure 1 This is a schematic diagram of the overall structure of the power grid inspection robot in the present invention;

[0024] Figure 2 It is a schematic diagram of opening the protection slot of the power grid inspection robot in the present invention;

[0025] Figure 3 It is a disassembled diagram of the fixed outer frame and the rotating block in the present invention;

[0026] Figure 4 It is a schematic diagram of the opening and closing door structure in the present invention;

[0027] Figure 5 is a cross-sectional view of the protection groove structure in the present invention;

[0028] Figure 6 is a side view of the protection groove structure in the present invention;

[0029] Figure 7 It is a top view of the protection groove structure in the present invention.

[0030] Marks and corresponding parts names in the attached drawings:

[0031] 1-base; 101-walking wheel; 102-top plate; 103-extension bar; 104-torsion shaft; 105-opening and closing door; 2-fixed outer frame; 201-rotating block; 202-driving motor; 203-transmission mechanism; 204-connection interface; 205-connecting ring; 3-mounting block; 301-rotating seat; 302-upright rod; 303-cross bar; 304-monitoring module; 4-fixed support rod; 401-first servo motor; 402-connecting rod; 403-second servo motor; 404-extension rod; 405-manipulator; 5-protection groove; 501-tooth groove; 502-limiting groove; 503-limiting bar; 504-raised block; 505-gear; 506-hole plate; 507-buckle plate; 508-cotton pad; 6-camera module. DETAILED DESCRIPTION

[0032] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0034] In the description of the embodiments of the present application, technical terms such as "first" and "second" are only used to distinguish different objects and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features.

[0035] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0036] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists, A and B exist at the same time, and B exists. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0037] In the embodiments of the present application, the same reference numerals represent the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, width and other dimensions of various components in the embodiments of the present application shown in the drawings, as well as the overall thickness, length, width and other dimensions of the integrated device are only exemplary descriptions and should not constitute any limitation to the present application.

[0038] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces), unless otherwise clearly and specifically defined.

[0039] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0040] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0041] Please refer to Figures 1 to 7 A power grid inspection robot provided in an embodiment of the present application includes a mobile chassis, a flipping mechanism and a slewing mechanism; the flipping mechanism includes a fixed outer frame 2 and a rotating block 201, the fixed outer frame 2 is arranged in the mobile chassis, the rotating block 201 is flippably arranged in the fixed outer frame 2, and the flipping axis of the rotating block 201 is perpendicular to the walking direction of the mobile chassis; the slewing mechanism includes a mounting block 3 and a rotating seat 301, the mounting block 3 is fixedly connected to the rotating block 201, the rotating block 201 can drive the mounting block 3 to flip from a vertical state to a horizontal state, the rotating seat 301 is slewingly arranged on the mounting block 3, the slewing axis of the rotating seat 301 is perpendicular to the flipping axis of the rotating block 201, and a monitoring module 304 and a mechanical arm are arranged on the rotating seat 301.

[0042] The fixed outer frame 2 in this embodiment is fixed in the mobile chassis, a rotating block 201 is arranged inside the fixed outer frame 2, the rotating block 201 is used to rotate inside the fixed outer frame 2, a mounting block 3 is arranged at the top of the rotating block 201, a rotating seat 301 is arranged at the top of the mounting block 3, and the rotating seat 301 can be driven to rotate by a driving structure arranged in the mounting block 3. The monitoring module 304 and the mechanical arm are installed on the rotating seat 301, and can rotate circumferentially with the rotating seat 301.

[0043] The mobile chassis in this embodiment is used to drive the entire robot to walk. Since the flipping axis of the rotating block 201 in the flipping mechanism is arranged horizontally and perpendicular to the walking direction of the mobile chassis, the mounting block 3 can be flipped forward or backward in the walking direction of the robot to adjust the pitch angle of the monitoring module 304. At the same time, the rotating seat 301 can drive the monitoring module 304 to rotate to adjust the circumferential position of the monitoring module 304, thereby completing the use of routine inspections.

[0044] When the height of the robot needs to be lowered, the rotating block 201 can be used to drive the mounting block 3 to flip backward from the vertical state to the horizontal state, and the monitoring module 304 and the robotic arm are flipped synchronously. In this way, the components on the robot's mobile chassis form a foldable structure, which can gather the monitoring module 304 and the robotic arm to the rear end of the robot, thereby completing the reduction of the overall structural height, so that it can be used in relatively narrow areas without carrying other inspection equipment or manual entry.

[0045] According to some embodiments of the present application, the mobile chassis includes a base 1 and a top plate 102, walking wheels 101 are arranged on both sides of the base 1, the top plate 102 is arranged at the top of the base 1, the fixed outer frame 2 is fixedly connected to the top plate 102, and the lower part of the fixed outer frame 2 is located in the base 1.

[0046] The base 1 in this embodiment can be designed as a square box body, and the fixed outer frame 2 is arranged in the inner space of the box body, and the two form a relatively fixed connection. The fixed outer frame 2 is also in the shape of a square box body, and the rotating block 201 is arranged in the fixed outer frame 2. The top surface and the rear side surface of the fixed outer frame 2 are open structures, so that the rotating block 201 drives the mounting block 3 to flip backward to a horizontal state. The walking wheel 101 can be a wheat wheel or a universal wheel, and the walking wheel 101 is driven by a motor to rotate to realize the walking of the robot.

[0047] According to some embodiments of the present application, the mobile chassis also includes a protective groove 5 slidably arranged in the base 1, and the sliding direction of the protective groove 5 is along the walking direction of the mobile chassis. The protective groove 5 is used to slide open when the mounting block 3 is flipped horizontally to form a storage space.

[0048] The protection groove 5 in this embodiment forms a structure similar to a drawer, which can slide backward to open to form a storage space for accommodating the mounting block 3 and the components flipped therewith. By arranging the protection groove 5 that can slide and open on the mobile chassis, a storage space is formed inside it, and when the mounting block 3 flips to a horizontal state, it is located in the storage space, so that the protection groove 5 can form a good protection for the monitoring module 304 and the mechanical arm, thereby avoiding collision with the wall in a narrow space, or contact with a humid area due to uneven ground and other factors, which may cause a certain degree of damage to the monitoring module 304 and the mechanical arm.

[0049] According to some embodiments of the present application, two opposite inner side walls of the base 1 are provided with limiting grooves 502, and the limiting grooves 502 are arranged along the sliding direction of the protection groove 5; limiting strips 503 are provided on both side surfaces of the protection groove 5, and the limiting strips 503 and the limiting grooves 502 are arranged correspondingly. Specifically, the limiting grooves 502 are arranged on two opposite inner side walls of the base 1 parallel to the walking direction of the robot, and each side wall has a plurality of limiting grooves 502; the limiting strips 503 are arranged on the outer side walls of the protection groove 5 opposite to the limiting grooves 502, and each side wall has a plurality of limiting strips 503; the protection groove 5 and the base 1 form a sliding connection through the cooperation of the limiting strips 503 and the limiting grooves 502, and when the protection groove 5 is driven to open or close, the limiting strips 503 slide along the limiting grooves 502.

[0050] According to some embodiments of the present application, tooth grooves 501 are provided on the two opposite inner side walls of the base 1, and the tooth grooves 501 are arranged along the sliding direction of the protection groove 5; gears 505 are provided on both side surfaces of the protection groove 5, and the gears 505 and the tooth grooves 501 are meshingly connected. Specifically, the arrangement of the tooth grooves 501 is the same as that of the limiting grooves 502, and each side wall has a plurality of tooth grooves 501, and the tooth grooves 501 have tooth surfaces meshing with the gears 505 along the length direction; a protruding block 504 is provided between the limiting bars 503 of the protection groove 5, and a gear 505 is provided on the surface of the protruding block 504, and the gear 505 is placed in the tooth groove 501 and forms a meshing relationship. By driving the gear 505 to rotate, it moves along the tooth surface in the tooth groove 501, thereby driving the protection groove 5 to slide.

[0051] According to some embodiments of the present application, a perforated plate 506 is provided at the inner bottom end of the protective groove 5 , a buckle plate 507 is provided at the tail end of the protective groove 5 , and a cotton pad 508 is provided on the inner wall of the buckle plate 507 .

[0052] According to some embodiments of the present application, an extension bar 103 is provided on both sides of the top of the rear side of the base 1, and an opening and closing door 105 is provided between the two extension bars 103, and the opening and closing door 105 can be passively opened downward when the mounting block 3 is flipped horizontally. Specifically, a torsion shaft 104 is provided at the bottom end of the extension bar 103, and the opening and closing door 105 is connected to the torsion shaft 104. The torsion shaft 104 is similar to a torsion spring hinge, which is used to enable the opening and closing door 105 to open downward when an external force acts, and the opening and closing door 105 can automatically close when the external force disappears. The opening direction of the opening and closing door 105 is toward the bottom wall of the base 1, and the length of both sides of the opening and closing door 105 is the same as the extension length of the extension bar 103. When the mounting block 3 is flipped to a horizontal state, the mounting block 3 can automatically open the opening and closing door 105 downward, and when the mounting block 3 is in a vertical state, the opening and closing door 105 is automatically closed under the action of the torsion shaft 104.

[0053] According to some embodiments of the present application, drive motors 202 are provided on both side surfaces of the fixed outer frame 2, transmission mechanisms 203 are provided on both inner side walls of the fixed outer frame 2, connecting rings 205 are provided on both side surfaces of the rotating block 201, the connecting rings 205 and the transmission mechanism 203 are annular embedded connections, and the drive motor 202 and the transmission mechanism 203 are transmission connections.

[0054] The rear end surface of the rotating block 201 is provided with a connection interface 204, through which the cable can be introduced. During operation, the driving motor 202 drives the rotating block 201 to rotate through the transmission mechanism 203 and the connecting ring 205. The rotating block 201 and the mounting block 3 are fixedly connected, the bottom end of the rotating block 201 is an arc-shaped structure, and the top end of the mounting block 3 is fixedly connected with a rotating seat 301. The rotating angle of the rotating block 201 is ninety degrees, and the rotating direction is set to rotate backward. The base 1 also includes a main control module, and the main control module includes an MCU controller.

[0055] According to some embodiments of the present application, an upright pole 302 is fixedly arranged vertically on the rotating seat 301, a cross bar 303 is horizontally installed at the top of the upright pole 302, and two monitoring modules 304 are respectively installed at both ends of the cross bar 303. The lower end of the upright pole 302 is fixed on the rotating seat 301, the middle part of the cross bar 303 is fixedly connected to the top of the upright pole 302, and the monitoring modules 304 are respectively installed at both ends of the cross bar 303. When the mounting block 3 is in a vertical state, the two monitoring modules 304 are in a horizontal state.

[0056] According to some embodiments of the present application, the robotic arm includes a fixed support rod 4 vertically fixed on the rotating seat 301, a first servo motor 401 is arranged at the top end of the fixed support rod 4, a connecting rod 402 is arranged on the first servo motor 401, a second servo motor 403 is arranged at the end of the connecting rod 402, an extension rod 404 is arranged on the second servo motor 403, and a robotic arm 405 is installed at the end of the extension rod 404.

[0057] Specifically, the fixed support rod 4 and the upright rod 302 are arranged symmetrically relative to the rotation axis of the rotating seat 301, that is, they are arranged in front and behind in the walking direction of the robot. The fixed support rod 4 is located at the rear end of the upright rod 302, and the first servo motor 401 is installed on the side of the cross bar 303. The connecting rod 402 is embedded in the top surface of the cross bar 303, and the second servo motor 403 is arranged at the front end of the connecting rod 402. The front end of the second servo motor 403 is arranged with an extension rod 404, and the front end of the extension rod 404 is installed with a manipulator 405.

[0058] In this embodiment, the regional structure of the robotic arm is further designed, so that the conventional robotic arm structure can be reduced to a three-axis robotic arm, reducing the space occupied by the robotic arm and the connection structure required by the robotic arm; when not in use, it can be folded and set on the surface of the robot, wrapped and fixed around the monitoring module 304, and can also protect the overall structure.

[0059] Specifically, the overall structure of the robot is still based on the base 1 and the walking wheel 101, the monitoring module 304, the rotating base 301 and the upright rod 302, etc., to complete the normal use; and the bottom side of the rotating base 301 is provided with the mounting block 3 and the bottom fixed outer frame 2 structure, and the fixed outer frame 2 can be operated by the rotating block 201 and the driving motor 202 used in conjunction. When in use, the driving motor 202 is mainly controlled by the MCU controller, and the connecting ring 205 on the rotating block 201 is driven by the transmission mechanism 203 to rotate ninety degrees until the overall structure of the upper part of the robot rotates to the rear end of the base 1, so that the height of the upper structure is roughly the same as the height of the top plate 102 of the base 1, thereby reducing the overall height, so that the inspection robot can drill into a narrow space to complete the monitoring operation.

[0060] Since it is easy to collide with the wall in a narrow space, or contact with the wet area due to uneven ground and other factors, the monitoring module 304 may be damaged to a certain extent. Therefore, an extension strip 103 is designed at the rear end of the top plate 102, and a protective groove 5 is provided on the lower side of the extension strip 103. The protective groove 5 is normally Figure 1 As shown, the whole is in a contracted shape, and the extension strip 103 on the top side is sealed by a torsion shaft 104 and a sunken opening and closing door 105.

[0061] When the protection slot 5 slides open, it is mainly based on the protruding blocks 504 on both sides and the embedded gear 505 rotating in the tooth groove 501, so that the gear 505 is driven by the motor inside the protruding block 504, so that the limit bars 503 on both sides of the protection slot 5 slide in the limit slot 502 to expand and form a longer protection space. When the rotating block 201 rotates, because the opening and closing door 105 is mainly controlled by the torsion spring of the torsion shaft 104, the opening and closing door 105 will open downward when it is subjected to downward pressure until the upper structure of the rotating block 201 enters the inner side of the protection slot 5 due to rotation. Since the wiring provided by the rotating block 201 is also provided at the connection interface 204 on the rear side, when a longer connection cable is left, the arc structure at the bottom of itself can support the rotation angle of the bottom.

[0062] Since the top of the rotating seat 301 is respectively provided with an upright rod 302 and a fixed support rod 4 structure at the front and back, the fixed support rod 4 and the first servo motor 401, the connecting rod 402, the second servo motor 403, the extension rod 404 and the manipulator 405 at the top form a robotic arm. The fixed support rod 4 itself is a fixed structure and is always in a synchronous rotation state with the rotating seat 301. This structure allows the manipulator 405 to always be within the field of view of the monitoring module 304.

[0063] Conventional robotic arms need to be retracted when not in use to prevent the overall rods from being worn out due to gravity and the principle of leverage. However, in order to increase the flexibility and length of the robotic arms, the overall joints need to be further increased, which in turn causes the probability of failure of the robotic arms to increase exponentially. The present application reduces the joints of the robot arm, and directly uses the fixed support rod 4 to form a fixing effect at the rear end, and the front end forms a supporting effect through the cross bar 303 on the inner side of the monitoring module 304. At the same time, the connecting rod 402 is extended and embedded between the cross bar 303. This structure can be placed for a long time and can complete the fixed support and limiting function. The second servo motor 403 at the front end can rotate the extension rod 404 and the robot 405 to attach or adsorb to the side of the mounting block 3 when not in use. While completing the fixation of the overall structure, the robot arm can also protect the overall firmness of the upper and lower monitoring module 304; and the three-axis robot arm structure combined with the rotating seat 301 can basically meet the daily operation of equipment such as switches or transformer boxes. If necessary, the rotating block 201 can be rotated to adjust the height of the robot 405 under the condition that the protective slot 5 is not unfolded.

[0064] Since the inspection robot is equipped with a main control system, an MCU controller and a wireless connection module, when an abnormality occurs in the inspection area, such as a mouse gnawing on the cable sheath and causing electric shock, the light on the top of the base 1 will light up, and the wireless connection module will provide prompts and mileage markings to the user.

[0065] According to some embodiments of the present application, a camera module 6 is further provided on the robotic arm. The camera modules 6 are respectively provided on both sides of the second servo motor 403 . The camera module 6 includes an illumination lamp and a camera.

[0066] When in a narrow space, since the monitoring module 304 is mainly connected to the upright rod 302 through the cross bar 303, when the monitoring module 304 is placed horizontally, it can only adjust the angle through the elevation and depression angles, as well as the gap between the cross bar 303 and the connecting rod 402 to view the conditions at the left and right cable trenches. At this time, a camera module 6 can be set. When the mounting block 3 is flipped to a horizontal state, the structure at its top is retracted to the inside of the protective groove 5, mainly through the cotton pad 508 to complete the covering, and the perforated plate 506 to drain the dripping water droplets. The second servo motor 403 is still exposed on the outside at this time. Therefore, the camera modules 6 on both sides of the second servo motor 403 can be used to inspect and record the inner walls of the left and right sides of the cable trench, while the monitoring module 304 completes the inspection and monitoring of the top of the cable trench.

[0067] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A power grid inspection robot, characterized in that: It includes a mobile chassis, a flipping mechanism and a slewing mechanism; the flipping mechanism includes a fixed outer frame and a rotating block, the fixed outer frame is arranged in the mobile chassis, the rotating block is flippably arranged in the fixed outer frame, and the flipping axis of the rotating block is perpendicular to the walking direction of the mobile chassis; the slewing mechanism includes a mounting block and a rotating seat, the mounting block is fixedly connected to the rotating block, the rotating block can drive the mounting block to flip from a vertical state to a horizontal state, the rotating seat is slewingly arranged on the mounting block, the rotating axis of the rotating seat is perpendicular to the flipping axis of the rotating block, and a monitoring module and a mechanical arm are arranged on the rotating seat.

2. The power grid inspection robot according to claim 1, characterized in that: The mobile chassis includes a base and a top plate, the base is provided with walking wheels on both sides, the top plate is provided at the top end of the base, the fixed outer frame is fixedly connected to the top plate, and the lower part of the fixed outer frame is located in the base.

3. The power grid inspection robot according to claim 2, characterized in that: The mobile chassis also includes a protection groove slidably arranged in the base, the sliding direction of the protection groove is along the walking direction of the mobile chassis, and the protection groove is used to slide open when the mounting block is flipped horizontally to form a storage space.

4. The power grid inspection robot according to claim 3, characterized in that: Limiting grooves are arranged on two opposite inner side walls of the base, and the limiting grooves are arranged along the sliding direction of the protection groove; limiting strips are arranged on both side surfaces of the protection groove, and the limiting strips and the limiting grooves are arranged correspondingly.

5. The power grid inspection robot according to claim 4, characterized in that: Tooth grooves are arranged on two opposite inner side walls of the base, and the tooth grooves are arranged along the sliding direction of the protection groove; gears are arranged on both side surfaces of the protection groove, and the gears and the tooth grooves are meshingly connected.

6. The power grid inspection robot according to any one of claims 3 to 5, characterized in that: A perforated plate is arranged at the inner bottom end of the protection groove, a gusset plate is arranged at the tail end of the protection groove, and a cotton pad is arranged on the inner wall of the gusset plate.

7. The power grid inspection robot according to any one of claims 3 to 5, characterized in that: Extension bars are arranged on both sides of the top end of the rear side of the base, and an opening and closing door is arranged between the two extension bars. The opening and closing door can be passively opened downward when the mounting block is flipped horizontally.

8. The power grid inspection robot according to any one of claims 1 to 5, characterized in that: Drive motors are arranged on both side surfaces of the fixed outer frame, transmission mechanisms are arranged on both inner side walls of the fixed outer frame, connecting rings are arranged on both side surfaces of the rotating block, the connecting rings and the transmission mechanism are annularly embedded, and the drive motor and the transmission mechanism are transmission connected.

9. The power grid inspection robot according to any one of claims 1 to 5, characterized in that: An upright pole is fixedly arranged vertically on the rotating seat, a cross bar is horizontally installed on the top of the upright pole, and the two monitoring modules are respectively installed at two ends of the cross bar.

10. The power grid inspection robot according to any one of claims 1 to 5, characterized in that: The robotic arm includes a fixed support rod vertically fixed on the rotating seat, a first servo motor is arranged at the top end of the fixed support rod, a connecting rod is arranged on the first servo motor, a second servo motor is arranged at the end of the connecting rod, an extension rod is arranged on the second servo motor, and a robotic arm is installed at the end of the extension rod.

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