Electric power inspection robot

Abstract

The invention discloses an electric power inspection robot, and relates to the technical field of electric power inspection equipment. The electric power inspection robot comprises a walking mechanism, a detection mechanism and an advanced detection mechanism, the walking mechanism comprises a vehicle body, tires for walking are arranged at the bottoms of the two sides of the vehicle body, and a motor for driving the tires to rotate and a battery are arranged in the vehicle body; the advanced detection mechanism comprises two detection wheels which are symmetrically installed relative to the vehicle body, the diameter of the detection wheels is the same as that of the tires, a wheel shaft is arranged between the two detection wheels, a left telescopic control rod and a right telescopic control rod are hinged to the wheel shaft, the vehicle body is provided with a rotating rod, the left telescopic control rod and the right telescopic control rod are both connected with the rotating rod, and the rotating rod is parallel to the wheel shaft. The left telescopic control rod and the right telescopic control rod are parallel, the rotating rod is connected with an angle sensor, the angle sensor is electrically connected with a control system installed on the vehicle body, and the detection mechanism is connected with the vehicle body. The electric power inspection robot has the beneficial effects of being accurate in detection and preventing overturning.

Description

Technical Field

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

[0002] Nowadays, many substation inspections are becoming more and more intelligent, and people are beginning to use power inspection robots to perform corresponding work and tasks. Due to their flexible control and operation methods, and the advantages of not being affected by weather factors, they are gradually being used to perform inspection tasks in unmanned or sparsely staffed substations and distribution stations. It can be applied to different working environments, and during the detection process, the power patrol robot can perform independent or remote detection through a remote control.

[0003] In the prior art, when the intelligent power inspection robot of a substation performs equipment inspection tasks within the station, the power inspection robot generally relies on a visual monitoring module to detect the road surface on which it is traveling. However, it is difficult for the visual monitoring module to avoid all wide cracks or potholes, especially some continuous gaps. If the robot fails to avoid them in time, it is easy to cause it to fall over in the pit, causing damage to the power inspection robot.

[0004] Therefore, the prior art needs to be improved. Summary of the invention

[0005] The technical problem to be solved by the present invention is that the current power inspection robot may tip over in a pit, causing damage to the power inspection robot. The purpose is to provide a power inspection robot that adopts a corresponding technical solution and has the beneficial effects of accurate detection and preventing tipping.

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

[0007] A power inspection robot comprises a walking mechanism, a detection mechanism and a pre-detection mechanism.

[0008] The walking mechanism comprises a body, the body is provided with tires for walking at the bottom of both sides, and the body is provided with a motor and a battery for driving the tires to rotate;

[0009] The advance detection mechanism comprises two detection wheels symmetrically mounted relative to the vehicle body, the detection wheels having the same diameter as the tire, a wheel axle being arranged between the two detection wheels, and a left telescopic control rod and a right telescopic control rod being hingedly connected to the wheel axle,

[0010] The vehicle body is provided with a rotating rod, the left telescopic control rod and the right telescopic control rod are both connected to the rotating rod, the rotating rod is parallel to the wheel axle, the left telescopic control rod and the right telescopic control rod are parallel, the rotating rod is connected to an angle sensor, and the angle sensor is electrically connected to a control system installed on the vehicle body,

[0011] The detection mechanism is connected to the vehicle body.

[0012] In the above technical solution, since the spacing between the two detection wheels is the same as the spacing between the tires, the detection wheels can be used to detect the road that the tires are about to travel on. Since the diameter of the detection wheels is the same as the diameter of the tires, when the detection wheels pass through a smaller gap or pothole (such as the gap in the trench cover), the detection wheels can pass directly, and the corresponding tires can also pass directly. When the detection wheels pass through a wider gap or pothole, the detection wheels will roll down along the pit wall. At this time, the left telescopic control rod and the right telescopic control rod will deflect downward, and the angle sensor will collect the rotation information of the rotating rod, and transmit the rotation data to the control system. The control system stops the tire rotation to brake and prevent the power inspection robot from falling into the pothole. The power inspection robot has a better self-protection effect and a longer service life.

[0013] Furthermore, in the present invention, the above-mentioned left telescopic control rod includes a left sleeve and a left guide rod inserted into the left sleeve, the left sleeve is fixedly connected to the rotating rod, the left guide rod is hinged to the wheel axle, the left sleeve is provided with an electric push rod, the telescopic column of the electric push rod is connected to the left guide rod, and the telescopic direction of the telescopic column is parallel to the telescopic direction of the left guide rod.

[0014] Furthermore, in the present invention, the above-mentioned right telescopic control rod includes a right sleeve and a right guide rod inserted into the right sleeve, the right sleeve is fixedly connected to the rotating rod, the right guide rod is hinged to the wheel axle, the right sleeve is provided with an electric push rod, the telescopic column of the electric push rod is connected to the right guide rod, and the telescopic direction of the telescopic column is parallel to the telescopic direction of the right guide rod.

[0015] Furthermore, in the present invention, the above-mentioned wheel axle is provided with a connecting piece, the connecting piece is connected to a cross bar, the cross bar is connected to a vertical bar, the right guide rod is provided with a rotating ring mounted on the vertical rod, and the left guide rod is provided with a rotating ring mounted on the vertical rod.

[0016] Furthermore, in the present invention, the vehicle body is provided with a bearing seat, and both ends of the rotating rod are connected to the bearing seat.

[0017] Furthermore, in the present invention, the rotating rod is provided with a first gear, and the angle sensor is provided with a second gear transmission-connected to the first gear.

[0018] Furthermore, in the present invention, the above-mentioned detection mechanism includes a shell connected to the vehicle body, and the shell is provided with an infrared thermal imager for detecting the fire source and an optical camera for detecting the environment.

[0019] Furthermore, in the present invention, the above-mentioned shell cover is provided with a protective cover, and the protective cover includes a first cover body and a second cover body. An electric lifting rod is provided at the bottom of the shell, and the electric lifting rod is connected to the vehicle body. The electric lifting rod includes a base and a telescopic rod. The bottoms of the first cover body and the second cover body are hinged to the base, and the telescopic rod is hinged with a push-pull rod, and the push-pull rod is hinged to the first cover body and the second cover body. When the telescopic rod is extended, the push-pull rod pushes the protective cover open, and when the telescopic rod is shortened, the push-pull rod pulls the protective cover closed.

[0020] Furthermore, in the present invention, the side of the vehicle body is provided with a side guard for protecting the tire, and the side guard is provided with a through hole for covering the tire.

[0021] Furthermore, in the present invention, the vehicle body is provided with a sensor for avoiding obstacles, and the sensor includes an ultrasonic sensor or a radar.

[0022] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0023] 1. Good protection effect: When the detection wheel passes through a small gap or pothole (such as the gap of the trench cover), the detection wheel can pass directly, and the corresponding tire can also pass directly. When the detection wheel passes through a large gap or pothole, the detection wheel will roll down along the pit wall. At this time, the left telescopic control rod and the right telescopic control rod will deflect downward, and the angle sensor will collect the rotation information of the rotating rod and transmit the rotation data to the control system. The control system stops the tire rotation to brake and prevent the power inspection robot from falling into the pothole. The power inspection robot has a better self-protection effect and a longer service life.

[0024] 2. Accurate feedback information: Compared with the tires at the bottom of the vehicle body, the detection wheel will drive uphill or downhill first. When driving uphill, the left and right telescopic control levers will drive the rotating rod to rotate forward, and the angle sensor will transmit the rotation information to the control system, allowing the power system (motor and reducer, etc.) to output higher torque, allowing the power inspection robot to climb better. When driving downhill, the left and right telescopic control levers will drive the rotating rod to rotate in the opposite direction, and the angle sensor will transmit the rotation information to the control system, allowing the power system (motor and reducer, etc.) to output a lower speed, stabilize the downhill speed of the power inspection robot, and avoid rolling due to excessive speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] 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:

[0026] Figure 1 A schematic diagram of an electric power inspection robot of the present invention;

[0027] Figure 2 It is a schematic diagram of the connection between the connecting piece and the left guide rod of the present invention;

[0028] Figure 3 is a schematic diagram of the advance detection mechanism of the present invention;

[0029] Figure 4 It is a schematic diagram of the protective cover of the present invention after being pulled together;

[0030] Figure 5 It is a schematic diagram of the protective cover of the present invention after being pushed open.

[0031] Markings and corresponding parts names in the attached drawings: 1-travel mechanism, 101-body, 102-tire, 103-side block, 1031-through hole, 104-sensor, 2-detection mechanism, 201-housing, 202-infrared thermal imager, 203-optical camera, 204-electric lifting rod, 2041-base, 2042-telescopic rod, 3-advance detection mechanism, 301-detection wheel, 302-axle, 3021-connector, 3022-cross bar , 3023-vertical rod, 303-left telescopic control rod, 3031-left sleeve, 3032-left guide rod, 304-right telescopic control rod, 3041-right sleeve, 3042-right guide rod, 305-rotating collar, 4-rotating rod, 401-first gear, 5-angle sensor, 501-second gear, 6-electric push rod, 601-telescopic column, 7-bearing seat, 8-protective cover, 801-first cover body, 802-second cover body, 803-push-pull rod. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with the embodiments and drawings. The schematic implementation mode of the present invention and its description are only used to explain the present invention and are not intended to limit the present invention. The following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present invention.

[0033] It should be noted that similar numbers and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In the description of the embodiments of the present invention, it should also be noted that unless otherwise clearly specified and limited, the terms "setting", "installation" and "connection" 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 it can be indirectly connected through an intermediate medium, and it can be the internal connection of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0034] Example

[0035] Reference Figures 1 to 5 As shown, an electric power inspection robot according to an embodiment of the present invention is described in detail as follows.

[0036] Combination Figure 1 As shown, the electric power inspection robot of the present invention mainly includes three parts: a walking mechanism 1, a detection mechanism 2 and an advance detection mechanism 3. The walking mechanism 1 is used to facilitate the movement of the electric power inspection robot, the detection mechanism 2 is used for the electric power inspection robot to realize the inspection function, and the advance detection mechanism 3 is used to advance detect the road on which the electric power inspection robot is about to travel to avoid rollover.

[0037] In some implementations of this embodiment, Figure 1 As shown, the walking mechanism 1 includes a rectangular parallelepiped body 101, and four tires 102 are installed at the bottom of the body 101, of which two front wheels are located at the front side, and two rear wheels are located at the rear side, and the front wheels and rear wheels are aligned in a straight line. A power system (motor and reducer) for driving the tires 102 to rotate is installed inside the body 101, and the motor is powered by an internal battery, and a control system is also installed inside. The control system works by electrically controlling the power system to realize the forward, backward, turning and patrol inspection of the electric inspection robot.

[0038] It should be noted that the tire 102 is a rubber tire with a pattern on the surface, which has the advantages of stable driving and being suitable for various road surfaces.

[0039] Furthermore, the detection mechanism 2 is installed on the vehicle body 101 to perform power inspection, collect image information, or detect fire sources.

[0040] In some implementations of this embodiment, the advance detection mechanism 3 mainly includes four parts: a detection wheel 301, a wheel axle 302, a left telescopic control rod 303 and a right telescopic control rod 304. Figure 1 and Figure 2 As shown, the wheel axle 302 is a horizontally arranged rod, two detection wheels 301 are installed at both ends of the wheel axle 302 , and the left telescopic control rod 303 and the right telescopic control rod 304 are both hinged to the wheel axle 302 .

[0041] It should be noted that the diameter of the detection wheel 301 is the same as the diameter of the tire 102, and the spacing between the two detection wheels 301 is the same as the spacing between the two front tires 102 and the two rear tires 102. The tire 102 can directly pass through the gap or pothole that the detection wheel 301 can pass through, and the tire 102 cannot pass through the gap or pothole that the detection wheel 301 cannot pass through. The route that the detection wheel 301 installed symmetrically relative to the vehicle body 101 has traveled through will also be passed by the tire 102, so the detection wheel 301 has a good detection effect.

[0042] Further, combined with Figure 1 and Figure 2 As shown, the left telescopic control rod 303 is perpendicular to the wheel axle 302, and the right telescopic control rod 304 is perpendicular to the wheel axle 302, so the left telescopic control rod 303 and the right telescopic control rod 304 are parallel to each other. Figure 1 and Figure 3 As shown, a rotating rod 4 and an angle sensor 5 are installed on the vehicle body 101, and the two ends of the rotating rod 4 are supported by two bearing seats 7. The bottom of the bearing seat 7 is fixedly connected to the vehicle body 101, so that the rotating rod 4 can rotate. A first gear 401 is installed in the middle position of the rotating rod 4, and a second gear 501 is installed on the angle sensor 5, and the second gear 501 is meshed with the first gear 401. When the rotating rod 4 rotates forward or is tightened in the reverse direction, the rotation information is transmitted to the angle sensor 5 through the meshing of the second gear 501 and the first gear 401, and the angle sensor 5 then transmits the signal to the control system through the wire. The control system makes corresponding adjustments to the output power or rotation direction of the motor according to the information fed back by the angle sensor 5, so as to facilitate the better walking of the power inspection robot.

[0043] In some implementations of this embodiment, in order to enable the power inspection robot to travel and turn, this embodiment adopts the following technical solutions. Figure 2 and Figure 3 As shown, the left telescopic control rod 303 includes two parts, a left sleeve 3031 and a left guide rod 3032. The left guide rod 3032 is inserted into the left sleeve 3031 and can move back and forth. The right telescopic control rod 304 includes two parts, a right sleeve 3041 and a right guide rod 3042. The right guide rod 3042 is inserted into the right sleeve 3041 and can move back and forth. The left sleeve 3031 and the right sleeve 3041 are both welded and fixed to the rotating rod 4. When the left telescopic control rod 303 and the right telescopic control rod 304 deflect up and down, the rotating rod 4 is driven to rotate forward or reversely.

[0044] Further, combined with Figure 2 and Figure 3 As shown, the axle 302 is fixedly installed with two connecting members 3021, and the connecting member 3021 is made of square steel. A cross bar 3022 is installed in the middle position of the right end face of the connecting member 3021, and a vertical rod 3023 is fixedly connected to the right end of the cross bar 3022. A rotating collar 305 is sleeved on the top of the cross bar 3022, and a rotating collar 305 is also sleeved on the bottom of the cross bar 3022. The two rotating collars 305 are fixedly connected to the left end face of the left guide rod 3032. The two rotating collars 305 of the other connecting member 3021 are fixedly connected to the left end face of the right guide rod 3042. Therefore, the left guide rod 3032 can rotate around the vertical rod 3023 of one connecting member 3021, and the right guide rod 3042 can rotate around the vertical rod 3023 of the other connecting member 3021.

[0045] In order to realize the telescopic control of the left telescopic control rod 303 and the right telescopic control rod 304, an electric push rod 6 is installed on the left sleeve 3031, a blocking piece is fixedly installed on the left guide rod 3032, the telescopic column 601 of the electric push rod 6 is fixedly connected to the blocking piece, and the telescopic direction of the telescopic column 601 is parallel to the telescopic direction of the left guide rod 3032, so as to realize synchronous telescopic. An electric push rod 6 is also installed on the right sleeve 3041, a blocking piece is fixedly installed on the right guide rod 3042, the telescopic column 601 of the electric push rod 6 is fixedly connected to the blocking piece, and the telescopic direction of the telescopic column 601 is parallel to the telescopic direction of the right guide rod 3042, so as to realize synchronous telescopic.

[0046] Combination Figure 1 As shown, when it is necessary to turn left, the control system sends a command to control the electric push rod 6 on the right sleeve 3041, and its telescopic column 601 extends, driving the right guide rod 3042 to extend, and the left telescopic control rod 303 remains stationary. At this time, the detection wheel 301 on the right side deflects to the left, so that the power inspection robot turns left. When it is necessary to turn right, the control system sends a command to control the electric push rod 6 on the left sleeve 3031, and its telescopic column 601 extends, driving the left guide rod 3032 to extend, and the right telescopic control rod 304 remains stationary. At this time, the detection wheel 301 on the left side deflects to the right, so that the power inspection robot turns right.

[0047] In some implementations of this embodiment, Figure 1 As shown, the detection mechanism 2 includes an electric lifting rod 204, the bottom end of the electric lifting rod 204 is fixedly connected to the top of the vehicle body 101, and a shell 201 is installed on the top of the electric lifting rod 204. The electric lifting rod 204 can drive the shell 201 to rise or fall. The infrared thermal imager 202 and the optical camera 203 are installed on the shell 201. The infrared thermal imager 202 is used to detect whether there is a fire source in the inspection area, and the optical camera 203 is used to collect image information of the inspection area. Other sensing instruments can also be installed, such as fire leakage gas detectors, temperature and humidity sensors, etc., to achieve more detection effects. After the electric lifting rod 204 drives the optical camera 203 to rise, the optical camera 203 has a better field of view and a larger detection range. After the electric lifting rod 204 drives the shell 201 to lower, the overall center of gravity is lowered, which is conducive to the power inspection robot to quickly reach the inspection area.

[0048] Combination Figure 4 and Figure 5 As shown, in order to protect the infrared thermal imager 202, optical camera 203 and other electronic instruments in the detection mechanism 2, a protective cover 8 that can be opened and closed is installed. The electric lifting rod 204 includes a base 2041 and a telescopic rod 2042. The base 2041 is fixedly connected to the top of the vehicle body 101, and the telescopic rod 2042 is connected to the shell 201 to drive the shell 201 to rise and fall vertically. The protective cover 8 includes a first cover body 801 and a second cover body 802 in left and right halves. The bottoms of the first cover body 801 and the second cover body 802 are both hingedly connected to the base 2041, which facilitates the opening or closing of the first cover body 801 and the second cover body 802.

[0049] In addition, a horizontal connecting rod is installed on the outer wall of the telescopic rod 2042, and the connecting rod passes through the end positions of the two push-pull rods 803. This allows the push-pull rods 803 to rotate around the connecting rod. A hinge support is installed above the left side wall of the first cover body 801, and the hinge support is connected to the left push-pull rod 803. A hinge support is also installed above the right side wall of the first cover body 801, and the hinge support is connected to the right push-pull rod 803. Figure 4 and Figure 5 As shown, when the telescopic rod 2042 is shortened, the push-pull rod 803 is in a V shape, pulling the protective cover 8 together to achieve a protective effect; when the telescopic rod 2042 is extended, the push-pull rod 803 gradually pushes the first cover body 801 and the second cover body 802 apart, and finally the detection mechanism 2 is located outside the protective cover 8, and the push-pull rod 803 is in an inverted V shape, which does not affect observation and detection.

[0050] Further, combined with Figure 1As shown, a sensor 104 is installed at the front end of the vehicle body 101. The sensor 104 can be an ultrasonic sensor or a radar to detect whether there is an obstacle in front and play a role in obstacle avoidance.

[0051] Furthermore, combined Figure 1 As shown, the side guard 103 is plate-shaped and fixedly mounted on the left and right sides of the vehicle body 101. A through hole 1031 is provided on the side guard 103. The top of the tire 102 passes through the through hole 1031, so that the side guard 103 wraps the outer side of the tire 102. Since the tire 102 does not need to turn, the side guard 103 has a good protective effect on the tire 102, reducing accidental side collisions of the tire.

[0052] The working principle of the power inspection robot of the present invention is as follows:

[0053] Since the spacing between the two detection wheels 301 is the same as the spacing between the tires 102, the detection wheel 301 can be used to detect the road that the tire 102 is about to travel. Since the diameter of the detection wheel 301 is the same as the diameter of the tire 102, when the detection wheel 301 passes through a narrow gap or pothole (such as the gap of the trench cover), the detection wheel 301 can pass directly, and the corresponding tire 102 can also pass directly. When the detection wheel 301 passes through a wide gap or pothole, the detection wheel 301 will roll down along the pit wall. At this time, the left telescopic control rod 303 and the right telescopic control rod 304 deflect downward, and the angle sensor 5 collects the rotation information of the rotating rod 4, and transmits the rotation data to the control system. The control system stops the rotation of the tire 102 to brake, and then slowly retreats a distance to avoid the power inspection robot falling into the pothole. When driving uphill, the left telescopic control rod 303 and the right telescopic control rod 304 will drive the rotating rod 4 to rotate forward, and the angle sensor 5 will transmit the rotation information to the control system, so that the power system (motor and reducer, etc.) can output a higher torque, and the power inspection robot can climb the slope better. When driving downhill, the left telescopic control rod 303 and the right telescopic control rod 304 will drive the rotating rod 4 to rotate in the opposite direction, and the angle sensor 5 will transmit the rotation information to the control system, so that the power system (motor and reducer, etc.) can output a lower speed, stabilize the downhill speed of the power inspection robot, and avoid rolling due to excessive speed. The power inspection robot has a better self-protection effect and a longer service life.

[0054] In summary, an electric power inspection robot includes a walking mechanism 1, a detection mechanism 2 and an advance detection mechanism 3, the walking mechanism 1 includes a body 101, the body 101 is provided with tires 102 for walking at the bottom of both sides, and the body 101 is provided with motors and batteries for driving the tires 102 to rotate; the advance detection mechanism 3 includes two detection wheels 301 symmetrically installed relative to the body 101, the detection wheels 301 have the same diameter as the tires 102, a wheel axle 302 is arranged between the two detection wheels 301, the wheel axle 302 is hinged with a left telescopic control rod 303 and a right telescopic control rod 304, the body 101 is provided with a rotating rod 4, the left telescopic control rod 303 and the right telescopic control rod 304 are both connected to the rotating rod 4, the rotating rod 4 is parallel to the wheel axle 302, the left telescopic control rod 303 and the right telescopic control rod 304 are parallel, the rotating rod 4 is connected to the angle sensor 5, the angle sensor 5 is electrically connected to the control system installed on the body 101, and the detection mechanism 2 is connected to the body 101. The left telescopic control rod 303 comprises a left sleeve 3031 and a left guide rod 3032 inserted into the left sleeve 3031, the left sleeve 3031 is fixedly connected to the rotating rod 4, the left guide rod 3032 is hinged to the wheel axle 302, the left sleeve 3031 is provided with an electric push rod 6, the telescopic column 601 of the electric push rod 6 is connected to the left guide rod 3032, and the telescopic direction of the telescopic column 601 is parallel to the telescopic direction of the left guide rod 3032. The right telescopic control rod 304 comprises a right sleeve 3041 and a right guide rod 3042 inserted into the right sleeve 3041, the right sleeve 3041 is fixedly connected to the rotating rod 4, the right guide rod 3042 is hinged to the wheel axle 302, the right sleeve 3041 is provided with an electric push rod 6, the telescopic column 601 of the electric push rod 6 is connected to the right guide rod 3042, and the telescopic direction of the telescopic column 601 is parallel to the telescopic direction of the right guide rod 3042. The wheel axle 302 is provided with a connecting piece 3021, the connecting piece 3021 is connected with a cross bar 3022, the cross bar 3022 is connected with a vertical bar 3023, the right guide rod 3042 is provided with a rotating collar 305 sleeved on the vertical bar 3023, and the left guide rod 3032 is provided with a rotating collar 305 sleeved on the vertical bar 3023. The vehicle body 101 is provided with a bearing seat 7, and both ends of the rotating rod 4 are connected to the bearing seat 7. The rotating rod 4 is provided with a first gear 401, and the angle sensor 5 is provided with a second gear 501 transmission-connected with the first gear 401. The detection mechanism 2 includes a shell 201 connected with the vehicle body 101, and the shell 201 is provided with an infrared thermal imager 202 for detecting a fire source and an optical camera 203 for detecting an environment. An electric lifting rod 204 is provided at the bottom of the shell 201, and the electric lifting rod 204 is connected to the vehicle body 101. The side of the vehicle body 101 is provided with a side guard 103 for protecting the tire 102, and the side guard 103 is provided with a through hole 1031 for covering the tire 102. The vehicle body 101 is provided with a sensor 104 for avoiding obstacles, and the sensor 104 includes an ultrasonic sensor 104 or a radar.Therefore, the electric power inspection robot of the present invention has the beneficial effects of accurate detection and preventing overturning.

[0055] 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 inspection robot, characterized in that: It comprises a walking mechanism (1), a detection mechanism (2) and a pre-detection mechanism (3). The walking mechanism (1) comprises a body (101), the body (101) being provided with tires (102) for walking at the bottom of both sides, and a motor and a battery for driving the tires (102) to rotate being provided inside the body (101); The advance detection mechanism (3) comprises two detection wheels (301) symmetrically mounted relative to the vehicle body (101), the detection wheels (301) having the same diameter as the tire (102), a wheel axle (302) being arranged between the two detection wheels (301), and the wheel axle (302) being hingedly connected to a left telescopic control rod (303) and a right telescopic control rod (304), The vehicle body (101) is provided with a rotating rod (4), the left telescopic control rod (303) and the right telescopic control rod (304) are both connected to the rotating rod (4), the rotating rod (4) is parallel to the wheel axle (302), the left telescopic control rod (303) and the right telescopic control rod (304) are parallel, the rotating rod (4) is connected to an angle sensor (5), and the angle sensor (5) is electrically connected to a control system installed on the vehicle body (101), The detection mechanism (2) is connected to the vehicle body (101).

2. The power inspection robot according to claim 1, characterized in that: The left telescopic control rod (303) comprises a left sleeve (3031) and a left guide rod (3032) inserted into the left sleeve (3031); the left sleeve (3031) is fixedly connected to the rotating rod (4); the left guide rod (3032) is hinged to the wheel axle (302); the left sleeve (3031) is provided with an electric push rod (6); a telescopic column (601) of the electric push rod (6) is connected to the left guide rod (3032); and the telescopic direction of the telescopic column (601) is parallel to the telescopic direction of the left guide rod (3032).

3. The power inspection robot according to claim 2, characterized in that: The right telescopic control rod (304) comprises a right sleeve (3041) and a right guide rod (3042) inserted into the right sleeve (3041); the right sleeve (3041) is fixedly connected to the rotating rod (4); the right guide rod (3042) is hinged to the wheel axle (302); the right sleeve (3041) is provided with an electric push rod (6); a telescopic column (601) of the electric push rod (6) is connected to the right guide rod (3042); and the telescopic direction of the telescopic column (601) is parallel to the telescopic direction of the right guide rod (3042).

4. The power inspection robot according to claim 3, characterized in that: The wheel axle (302) is provided with a connecting piece (3021), the connecting piece (3021) is connected to a cross bar (3022), the cross bar (3022) is connected to a vertical bar (3023), the right guide rod (3042) is provided with a rotating ring (305) sleeved on the vertical bar (3023), and the left guide rod (3032) is provided with a rotating ring (305) sleeved on the vertical bar (3023).

5. The power inspection robot according to claim 1, characterized in that: The vehicle body (101) is provided with a bearing seat (7), and both ends of the rotating rod (4) are connected to the bearing seat (7).

6. The power inspection robot according to claim 5, characterized in that: The rotating rod (4) is provided with a first gear (401), and the angle sensor (5) is provided with a second gear (501) transmission-connected to the first gear (401).

7. The power inspection robot according to claim 1, characterized in that: The detection mechanism (2) comprises a housing (201) connected to the vehicle body (101), and the housing (201) is provided with an infrared thermal imager (202) for detecting a fire source and an optical camera (203) for detecting an environment.

8. The power inspection robot according to claim 7, characterized in that: The housing (201) is provided with a protective cover (8), the protective cover (8) comprising a first cover body (801) and a second cover body (802); an electric lifting rod (204) is provided at the bottom of the housing (201), the electric lifting rod (204) is connected to the vehicle body (101), the electric lifting rod (204) comprises a base (2041) and a telescopic rod (2042); the first cover body (801) and the second cover body (802) are 02) are hinged to the base (2041), the telescopic rod (2042) is hinged with a push-pull rod (803), the push-pull rod (803) is hinged to the first cover body (801) and the second cover body (802), when the telescopic rod (2042) is extended, the push-pull rod (803) pushes the protective cover (8) open, and when the telescopic rod (2042) is shortened, the push-pull rod (803) pulls the protective cover (8) closed.

9. The power inspection robot according to claim 7, characterized in that: A side block (103) for protecting the tire (102) is arranged on the side of the vehicle body (101), and the side block (103) is provided with a through hole (1031) for covering the tire (102).

10. The power inspection robot according to any one of claims 1 to 9, characterized in that: The vehicle body (101) is provided with a sensor (104) for avoiding obstacles, and the sensor (104) includes an ultrasonic sensor or a radar.

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