Intelligent inspection robot for power supply operation and maintenance

Abstract

The invention relates to the technical field of inspection robots, in particular to a power supply operation and maintenance intelligent inspection robot which comprises an inspection robot body, two pairs of moving wheels are fixedly connected to the outer wall of the inspection robot body, and a moving cleaning mechanism is arranged between the inspection robot body and one pair of moving wheels located on one side. Collision protection mechanisms are arranged at the two ends of the inspection robot body, and a laser radar body and a warning lamp are fixedly connected to the top end of the inspection robot body. According to the inspection camera, the condensation auxiliary mechanism and the light supplementing mechanism are matched with the rotary vibration mechanism, dust on the surface of the inspection camera can be cleaned through the vibration effect, interference of the dust is reduced, meanwhile, light supplementing and brightening are conducted in the dark environment, the visibility of the inspection environment is improved, and when the inspection camera shoots, the inspection camera is not damaged. And the divergent light is gathered, so that shadows are reduced, the image clarity is ensured, and the accuracy of collected data is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and in particular to an intelligent inspection robot for power supply operation and maintenance. Background Art

[0002] Inspection robots are automated, intelligent devices used to perform inspection tasks in various environments. In chemical and petrochemical plants, inspection robots are often used to replace inspection personnel to operate and maintain power equipment. Inspection robots usually use cameras to capture and collect on-site operation data of power equipment in real time, and send the data to a remote inspection center through wireless transmission technology to remotely monitor on-site conditions and quickly respond to abnormal situations.

[0003] At present, inspection robots generally use laser navigation technology to perform autonomous navigation and positioning, and travel accurately along a predetermined path. However, during the driving process, fragments or debris often remain on the paths in some areas, causing obstructions, resulting in bumps when passing by, causing unstable interference to the camera's shooting and collection, and when passing through dusty or dark areas, the dust and darkness can easily affect the recognition and collection of the laser radar and camera, reducing their accuracy, thereby affecting the work of the inspection robot. For this reason, the present invention proposes an intelligent inspection robot for power supply operation and maintenance. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent inspection robot for power supply operation and maintenance to solve the problems raised in the above-mentioned background technology.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] A power supply operation and maintenance intelligent inspection robot comprises an inspection robot body, the outer wall of the inspection robot body is fixedly connected with two pairs of moving wheels, and a mobile cleaning mechanism is provided between the inspection robot body and a pair of moving wheels located on one side, collision protection mechanisms are provided at both ends of the inspection robot body, the top of the inspection robot body is respectively fixedly connected with a laser radar body and a warning light, the top of the inspection robot body is fixedly connected with a driving turntable, and the top of the driving turntable is fixedly connected with a manipulator, a rotating vibration mechanism is provided between the outer wall of the driving turntable and the top of the inspection robot body, an inspection camera is provided on one side of the manipulator, and a focusing auxiliary mechanism is provided between the inspection camera and the manipulator.

[0007] Preferably, a pair of the collision protection mechanisms each include a pair of mounting plates, one end of the pair of mounting plates are fixedly connected to one end of the inspection robot body, and a baffle is fixedly connected between the other ends of the pair of mounting plates, one end of the baffle away from the mounting plate is fixedly connected to a flexible wear-resistant sleeve, and a DCLAN buffer body is provided inside the flexible wear-resistant sleeve.

[0008] Preferably, the mobile cleaning mechanism includes two pairs of pulleys, a pair of the pulleys are meshed with a transmission belt, a rotating rod is rotatably connected between the mounting plates on one side via a bearing, the two pairs of pulleys are respectively sleeved on the outer walls of the moving wheel and the rotating rod, the outer wall of the rotating rod is sleeved with a cleaning barrel brush, the outer wall of the rotating rod is sleeved with a pair of first bevel gears, and the outer walls of the pair of first bevel gears are meshed with the second bevel gear, one end of the inspection robot body is fixedly connected to a pair of connecting plates, and the outer wall of the connecting plate is rotatably connected to a rotating toggle rod frame via a bearing, the top of the rotating toggle rod frame is fixedly connected to the bottom end of the second bevel gear, and a magnetic repulsion cleaning mechanism is provided between the outer wall of the transmission belt and the inspection robot body and the warning light.

[0009] Preferably, the magnetic repulsion cleaning mechanism includes a pair of T-shaped rods fixedly connected to the top of the inspection robot body, the outer walls of the pair of T-shaped rods are sleeved with movable sleeve blocks, and one end of the movable sleeve block is fixedly connected to a connecting straight plate, and the end of the connecting straight plate away from the movable sleeve block is fixedly connected to a first single-sided magnet block, the outer walls of a pair of transmission belts are fixedly connected to a pair of second single-sided magnet blocks, and the second single-sided magnet block and the opposite sides of the first single-sided magnet block repel each other, the outer wall of the warning light is provided with a pair of cleaning wipers in contact with it, and one end of the cleaning wipers is fixedly connected to a first electric telescopic rod, one end of a pair of the first electric telescopic rods is fixedly connected to a connecting plate, and one end of the connecting plate is fixedly connected to the movable sleeve block, and an extrusion blowing mechanism is provided between the top of the inspection robot body and one end of the pair of movable sleeve blocks away from the connecting plate.

[0010] Preferably, the extrusion blowing mechanism includes a pair of movable top plates, one end of the pair of movable top plates are fixedly connected to the end of the movable sleeve block away from the connecting plate, the bottom ends of the pair of movable top plates are fixedly connected to a connecting short plate, and the bottom ends of the connecting short plates are fixedly connected to two pairs of first connecting plates, the top of the inspection robot body is provided with two pairs of connecting side plates, and one end of the connecting side plates is fixedly connected to a pair of second connecting plates, a pair of first connecting plates and the second connecting plates are rotatably connected with a movable inclined rod, and the ends of the pair of connecting side plates away from each other are fixedly connected to a movable round rod, the top of the inspection robot body is fixedly connected to a pair of fixed plates, and one end of the fixed plate is drilled with a first through hole, the ends of the two movable round rods located on the outside that are away from each other pass through the first through hole and extend to the outside thereof, the outer walls of the two movable round rods located on the outside are sleeved with telescopic springs, and the two ends of the telescopic springs are respectively fixedly connected to the fixed plate and one end of the connecting side plate.

[0011] Preferably, the outer walls of the two movable round rods located on the outside are fixedly connected to a pair of collision balls, and the outer walls of the pair of collision balls are in contact with the other end of the fixed plate, the top of the inspection robot body is fixedly connected to a rectangular straight frame, and the inside of the rectangular straight frame is slidably connected to a pair of sliding plates, the top of the rectangular straight frame is fixedly connected to an air outlet filter pipe, and the air outlet filter pipe is located at the bottom of the laser radar body, second through holes are drilled at both ends of the rectangular straight frame, and the close ends of the two movable round rods located on the inside pass through the second through holes and are fixedly connected to the sliding plate.

[0012] Preferably, the focusing auxiliary mechanism includes a connecting frame plate fixedly connected to one end of the manipulator, one end of the connecting frame plate is fixedly connected to a circular plate, and the inner wall of the connecting frame plate is fixedly connected to a second electric telescopic rod, one end of the circular plate is drilled with a first circular hole and a pair of second circular holes, and one end of the second electric telescopic rod passes through the circular holes and is fixedly connected to one end of the inspection camera, the other end of the circular plate is fixedly connected to a pair of straight cylinders, and a filter thick tube is fixedly connected between the pair of straight cylinders, and the inner wall of the filter thick tube is fixedly connected to a plurality of focusing deformable transparent airbags, one A plurality of air guide tubes are fixedly connected to the outer wall of the straight cylinder, and one end of the air guide tube passes through the thick filter tube and is fixedly connected to the focusing deformable transparent air bag. A pair of straight cylinders are slidably connected to the inside of a T-shaped extrusion plate, and a third circular hole is drilled at one end of a pair of straight cylinders. One end of the T-shaped extrusion plate passes through the second circular hole and the third circular hole in sequence and is fixedly connected to an L-shaped plate. A pair of rectangular openings are drilled at one end of the circular plate, and one end of the L-shaped plate passes through the rectangular opening and is fixedly connected to one end of the inspection camera. A fill light mechanism is provided on the outer wall of the circular plate.

[0013] Preferably, the fill light mechanism includes a plurality of fill lights fixedly connected to the other end of the circular plate, the outer wall of the circular plate is fixedly connected with a plurality of elastic deformation airbags, and the inner wall of the elastic deformation airbags is fixedly connected with a plurality of deformation memory springs, the deformation memory springs are made of photosensitive shape memory polymer material, and the deformation memory springs match the light of the fill lights, the initial state of the deformation memory springs is a contracted state, and the surface of the elastic deformation airbags is provided with a fill light fluorescent powder layer.

[0014] Preferably, the rotational vibration mechanism includes a plurality of rotating plates, one end of each of the rotating plates is fixedly connected to the outer wall of the driving turntable, the bottom ends of each of the rotating plates are fixedly connected to a plurality of elastic levers, and the elastic levers are in contact with the top of the inspection robot body, and the top of the inspection robot body is fixedly connected to a plurality of evenly distributed semicircular obstacle bars.

[0015] Beneficial effects of the present invention:

[0016] 1. The present invention provides collision protection and mobile cleaning mechanisms to reduce damage during the movement of the inspection robot body. In addition, during the movement, the rotating toggle rod frame and the cleaning brush can be used to clean up gravel or debris on the path and dust on the inspection robot body, thereby reducing movement obstacles, avoiding unstable interference to the shooting and collection of the inspection camera, and ensuring stable shooting of the inspection camera.

[0017] 2. The present invention provides a magnetic repulsion cleaning mechanism and an extrusion blowing mechanism, which can respectively clean the warning light and the laser radar body, reduce dust adhesion, ensure the lighting effect of the warning light, and also prevent dust from interfering with the navigation accuracy of the laser radar body, thereby enabling the inspection robot body to travel stably along the predetermined path.

[0018] 3. The present invention, through the setting of the focusing auxiliary mechanism and the fill light mechanism in conjunction with the rotating vibration mechanism, can utilize the vibration effect to clean the dust on the surface of the inspection camera to reduce the interference of dust, and at the same time perform fill light and brighten the inspection environment in a dark environment to improve the visibility of the inspection environment. Moreover, when the inspection camera is shooting, the light emitted by it is gathered to reduce shadows and ensure the clarity of the image, thereby ensuring the accuracy of the collected data. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 It is a schematic diagram of the partial cutaway structure of the present invention;

[0022] Figure 3 It is a partial three-dimensional structural schematic diagram of the mobile cleaning mechanism in the present invention;

[0023] Figure 4 It is a partial three-dimensional structural schematic diagram of the magnetic repulsion cleaning mechanism and the extrusion blowing mechanism in the present invention;

[0024] Figure 5 It is a partial cross-sectional structural schematic diagram of the extrusion blowing mechanism in the present invention;

[0025] Figure 6 It is a partial cross-sectional structural schematic diagram of the focusing auxiliary mechanism in the present invention;

[0026] Figure 7 The present invention Figure 6 The enlarged structural diagram at A in the middle;

[0027] Figure 8 It is a partial cross-sectional structural schematic diagram of the fill light mechanism in the present invention;

[0028] Fig. 9 It is a three-dimensional structural schematic diagram of the rotary vibration mechanism in the present invention.

[0029] The reference numerals in the figure are as follows: 1. Inspection robot body; 2. Moving wheel; 3. LiDAR body; 4. Warning light; 5. Driving turntable; 6. Manipulator; 7. Inspection camera; 8. Collision protection mechanism; 801. Mounting plate; 802. Baffle; 803. Flexible wear-resistant sleeve; 804. DCLAN buffer body; 9. Mobile cleaning mechanism; 901. Pulley; 902. Drive belt; 903. Rotating rod; 904. Cleaning brush ; 905, first bevel gear; 906, second bevel gear; 907, connecting plate; 908, rotating toggle rod frame; 10, magnetic repulsion cleaning mechanism; 1001, T-shaped rod; 1002, movable sleeve block; 1003, connecting straight plate; 1004, first single-sided magnet block; 1005, second single-sided magnet block; 1006, connecting plate; 1007, first electric telescopic rod; 1008, cleaning wiper; 11, extrusion blowing mechanism; 1101 , movable top plate; 1102, connecting short plate; 1103, connecting side plate; 1104, movable diagonal rod; 1105, rectangular straight frame; 1106, sliding plate; 1107, movable round rod; 1108, telescopic spring; 1109, fixed plate; 11010, collision ball; 11011, air outlet filter tube; 12, focusing auxiliary mechanism; 1201, connecting frame plate; 1202, round plate; 1203, second electric telescopic rod; 120 4. L-shaped plate; 1205. straight tube; 1206. T-shaped extrusion plate; 1207. filter thick tube; 1208. focusing deformable transparent airbag; 1209. air guide tube; 13. fill light mechanism; 1301. fill light; 1302. elastic deformable airbag; 1303. fill light fluorescent powder layer; 1304. deformation memory spring; 14. rotation vibration mechanism; 1401. rotating plate; 1402. elastic lever; 1403. semicircular barrier bar. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] like Figure 1-Figure 9As shown, an intelligent inspection robot for power supply operation and maintenance includes an inspection robot body 1, the outer wall of the inspection robot body 1 is fixedly connected with two pairs of moving wheels 2, and a moving cleaning mechanism 9 is provided between the inspection robot body 1 and a pair of moving wheels 2 located on one side, collision protection mechanisms 8 are provided at both ends of the inspection robot body 1, the top of the inspection robot body 1 is respectively fixedly connected with a laser radar body 3 and a warning light 4, the top of the inspection robot body 1 is fixedly connected with a driving turntable 5, and the top of the driving turntable 5 is fixedly connected with a manipulator 6, a rotating vibration mechanism 14 is provided between the outer wall of the driving turntable 5 and the top of the inspection robot body 1, an inspection camera 7 is provided on one side of the manipulator 6, and a focusing auxiliary mechanism 12 is provided between the inspection camera 7 and the manipulator 6.

[0032] During use of this solution, the laser radar body 3 uses laser detection technology to detect and analyze the moving front of the inspection robot body 1 to ensure the stable movement of the inspection robot body 1. At the same time, the warning light 4 reminds the surrounding personnel to avoid collisions, and the driving turntable 5 cooperates with the manipulator 6 to drive the inspection camera 7 to move in multiple directions. Then the inspection camera 7 emits light, which is reflected by the power equipment to monitor and collect the operating status information of the power equipment at different positions.

[0033] like Figure 1-Figure 2 As shown, a pair of collision protection mechanisms 8 each include a pair of mounting plates 801, one end of the pair of mounting plates 801 are fixedly connected to one end of the inspection robot body 1, and a baffle 802 is fixedly connected between the other ends of the pair of mounting plates 801, and one end of the baffle 802 away from the mounting plate 801 is fixedly connected to a flexible wear-resistant sleeve 803, and a DCLAN buffer body 804 is provided inside the flexible wear-resistant sleeve 803.

[0034] During use of this solution, the DCLAN buffer body 804 is a new type of non-Newtonian fluid, composed of countless pairs of DCLAN intelligent molecules, with excellent buffering capacity, able to withstand impact force, and able to buffer and protect when the inspection robot body 1 collides with external objects, thereby avoiding damage to the inspection robot body 1 caused by collision impact.

[0035] like Figure 1-Figure 3As shown, the mobile cleaning mechanism 9 includes two pairs of pulleys 901, a pair of pulleys 901 are meshedly connected with a transmission belt 902, a rotating rod 903 is rotatably connected between the mounting plates 801 on one side through a bearing, the two pairs of pulleys 901 are respectively sleeved on the outer walls of the moving wheel 2 and the rotating rod 903, the outer wall of the rotating rod 903 is sleeved with a cleaning cylinder brush 904, the outer wall of the rotating rod 903 is sleeved with a pair of first bevel gears 905, and the outer walls of the pair of first bevel gears 905 are meshedly connected with a second bevel gear 906, one end of the inspection robot body 1 is fixedly connected with a pair of connecting plates 907, and the outer wall of the connecting plate 907 is rotatably connected with a rotating toggle rod frame 908 through a bearing, the top of the rotating toggle rod frame 908 is fixedly connected to the bottom end of the second bevel gear 906, and a magnetic repulsion cleaning mechanism 10 is provided between the outer wall of the transmission belt 902 and the inspection robot body 1 and the warning light 4.

[0036] During use of the present solution, when a pair of moving wheels 2 located on one side rolls, the meshing transmission action between a pair of pulleys 901 and a transmission belt 902 drives the rotating rod 903 to rotate, thereby driving the cleaning barrel brush 904 to rotate, and cleaning the dust on the moving end face of the inspection robot body 1. At the same time, the rotating rod 903 drives the rotating toggle rod frame 908 to rotate through the meshing transmission action of the first bevel gear 905 and the second bevel gear 906, so as to scrape and clean the gravel or debris on the travel path of the moving wheel 2, reduce the obstruction of the gravel or debris, and avoid the moving wheel 2 rolling on the path with gravel or debris, which may cause the inspection robot body 1 to shake, avoid unstable interference to the shooting and collection of the inspection camera 7, and ensure the stable shooting of the inspection camera 7.

[0037] like Figure 1-Figure 2 and Figure 4 As shown, the magnetic repulsion cleaning mechanism 10 includes a pair of T-shaped rods 1001 fixedly connected to the top of the inspection robot body 1, the outer walls of the pair of T-shaped rods 1001 are sleeved with a movable sleeve block 1002, and one end of the movable sleeve block 1002 is fixedly connected to a connecting straight plate 1003, and the end of the connecting straight plate 1003 away from the movable sleeve block 1002 is fixedly connected to a first single-sided magnet block 1004, and the outer walls of a pair of transmission belts 902 are fixedly connected to a pair of second single-sided magnet blocks 1005, and the second single-sided magnet blocks 1005 and The opposite sides of the first single-sided magnet block 1004 repel each other, and the outer wall of the warning light 4 is provided with a pair of cleaning wipers 1008 in contact with it, and one end of the cleaning wiper 1008 is fixedly connected to the first electric telescopic rod 1007, one end of the pair of first electric telescopic rods 1007 are fixedly connected to a connecting plate 1006, and one end of the connecting plate 1006 is fixedly connected to the movable sleeve block 1002, and an extrusion blowing mechanism 11 is provided between the top of the inspection robot body 1 and the end of the pair of movable sleeve blocks 1002 away from the connecting plate 1006.

[0038] During use of the present solution, a pair of second single-sided magnet blocks 1005 move together with the transmission belt 902. When the magnetic end of the second single-sided magnet block 1005 moves to correspond to the magnetic end of the first single-sided magnet block 1004, the magnetic repulsive force is used to drive the first single-sided magnet block 1004 and the movable sleeve block 1002 to move upward along the T-shaped rod 1001, and drive the connecting plate 1006 to move along with the movable sleeve block 1002. When the magnetic end of the second single-sided magnet block 1005 is separated from the magnetic end of the first single-sided magnet block 1004, the first single-sided magnet block 1004 and the movable sleeve block 1002 fall and reset, driving the connecting plate 1006 to move downward, and so on and so forth, so that the connecting plate 1006 drives the first electric telescopic rod 1007 and the cleaning wiper 1008 to move, so that the first electric telescopic rod 1007 drives the cleaning wiper 1008 to wipe back and forth along the surface of the warning light 4 to remove dust attached to its surface and ensure the bright effect of the warning light 4.

[0039] like Figure 1 and Figure 4-Figure 5 As shown, the extrusion blowing mechanism 11 includes a pair of movable top plates 1101, one end of the pair of movable top plates 1101 is fixedly connected to the end of the movable sleeve block 1002 away from the connecting plate 1006, the bottom ends of the pair of movable top plates 1101 are fixedly connected with a connecting short plate 1102, and the bottom ends of the connecting short plates 1102 are fixedly connected with two pairs of first connecting plates, the top of the inspection robot body 1 is provided with two pairs of connecting side plates 1103, and one end of the connecting side plates 1103 is fixedly connected with a pair of second connecting plates, a movable inclined rod 1104 is rotatably connected between the pair of first connecting plates and the second connecting plates, the ends of the pair of connecting side plates 1103 away from each other are fixedly connected with a movable round rod 1107, the top of the inspection robot body 1 is fixedly connected with a pair of fixed plates 1109, and one end of the fixed plate 1109 is drilled with a first through hole, and the ends of the two movable round rods 1107 located on the outside that are away from each other pass through the first through hole and extend to On its outside, the outer walls of the two movable round rods 1107 located on the outside are sleeved with telescopic springs 1108, and the two ends of the telescopic springs 1108 are respectively fixedly connected to the fixed plate 1109 and one end of the connecting side plate 1103; the outer walls of the two movable round rods 1107 located on the outside are fixedly connected to a pair of collision balls 11010, and the outer walls of the pair of collision balls 11010 are in contact with the other end of the fixed plate 1109; the top of the inspection robot body 1 is fixedly connected to a rectangular straight frame 1105, and the inside of the rectangular straight frame 1105 is slidably connected to a pair of sliding plates 1106; the top of the rectangular straight frame 1105 is fixedly connected to an air outlet filter pipe 11011, and the air outlet filter pipe 11011 is located at the bottom of the laser radar body 3; second through holes are drilled at both ends of the rectangular straight frame 1105, and the close ends of the two movable round rods 1107 located on the inside pass through the second through holes and are fixedly connected to the sliding plate 1106.

[0040] During use of the present solution, the movable sleeve block 1002 moves back and forth, driving the movable top plate 1101 and the connecting short plate 1102 to move back and forth, so that the connecting short plate 1102 pulls a pair of movable oblique rods 1104 to alternately move toward and away from each other, and drives two pairs of movable round rods 1107 to repeatedly move toward and away from each other through the connecting side plates 1103, prompting the two movable round rods 1107 located on the inner side to drive a pair of sliding plates 1106 to repeatedly squeeze the air inside the rectangular straight frame 1105 to spray upward through the air outlet filter tube 11011 and blow toward the surface of the laser radar body 3 to remove dust on its surface. At the same time, the two movable round rods 1107 located on the outer side drive a pair of collision balls 11010 to repeatedly contact the fixed plate 1109 to generate vibration, and perform vibration-assisted cleaning of the dust on the surface of the laser radar body 3, so that the dust on the surface of the laser radar body 3 is fully and comprehensively cleaned, avoiding interference with the navigation accuracy of the laser radar body 3, and prompting the inspection robot body 1 to be able to travel stably along the predetermined path.

[0041] like Figure 1 and Figure 6-Figure 8 As shown, the focusing auxiliary mechanism 12 includes a connecting frame plate 1201 fixedly connected to one end of the manipulator 6, one end of the connecting frame plate 1201 is fixedly connected to a circular plate 1202, and the inner wall of the connecting frame plate 1201 is fixedly connected to a second electric telescopic rod 1203, one end of the circular plate 1202 is drilled with a first circular hole and a pair of second circular holes, and one end of the second electric telescopic rod 1203 passes through the circular holes and is fixedly connected to one end of the inspection camera 7, the other end of the circular plate 1202 is fixedly connected to a pair of straight tubes 1205, and a filter thick tube 1207 is fixedly connected between the pair of straight tubes 1205, and the inner wall of the filter thick tube 1207 is fixedly connected to a plurality of focusing deformable transparent air bags 1208, A plurality of air guide tubes 1209 are fixedly connected to the outer wall of the straight cylinder 1205, and one end of the air guide tube 1209 passes through the thick filter tube 1207 and is fixedly connected to the focusing deformable transparent air bag 1208. A pair of straight cylinders 1205 are slidably connected to the inside thereof with a T-shaped extrusion plate 1206, and a third circular hole is drilled at one end of the pair of straight cylinders 1205, one end of the T-shaped extrusion plate 1206 passes through the second circular hole and the third circular hole in sequence, and is fixedly connected to an L-shaped plate 1204, a pair of rectangular openings are drilled at one end of the circular plate 1202, and one end of the L-shaped plate 1204 passes through the rectangular opening and is fixedly connected to one end of the inspection camera 7, and a fill light mechanism 13 is provided on the outer wall of the circular plate 1202.

[0042] During use of this solution, the second electric telescopic rod 1203 drives the inspection camera 7 to approach the filter thick tube 1207, and at the same time, a pair of L-shaped plates 1204 move synchronously with the inspection camera 7, driving the T-shaped extrusion plate 1206 to squeeze the air inside the pair of straight tubes 1205 through the air guide tube 1209 and into the focusing deformable transparent airbag 1208 to cause it to expand. The surface of the focusing deformable transparent airbag 1208 is provided with a refractive layer made of crystal material, and the cross-section of the focusing deformable transparent airbag 1208 is triangular, which can refract the light diverged from the inspection camera 7 multiple times, so as to make the diverged light gather together with the main light again, so as to make most of the light act on the inspection of the power equipment, so as to obtain sufficient and comprehensive image information when receiving light information later, reduce the generation of shadows, and ensure the clarity of image data. In addition, the surface of the filter thick tube 1207 is provided with a filter layer, which can filter the light from non-inspection cameras 7, reduce interference, and thus ensure the accuracy of collected data.

[0043] like Figure 1 and Figure 8 As shown, the fill light mechanism 13 includes a plurality of fill lights 1301 fixedly connected to the other end of the circular plate 1202, a plurality of elastic deformation airbags 1302 are fixedly connected to the outer wall of the circular plate 1202, and a plurality of deformation memory springs 1304 are fixedly connected to the inner wall of the elastic deformation airbags 1302, the deformation memory springs 1304 are made of photosensitive shape memory polymer material, and the deformation memory springs 1304 match the light of the fill lights 1301, the initial state of the deformation memory springs 1304 is a contracted state, and a fill light fluorescent powder layer 1303 is provided on the surface of the elastic deformation airbags 1302.

[0044] During use of the present solution, in a dark environment, when the light is dim when the inspection camera 7 is shooting, affecting the clarity of the image, multiple fill lights 1301 are turned on, and at the same time, part of the divergent light is irradiated on the fill light phosphor layer 1303, so that the fill light phosphor layer 1303 emits matching light, and the deformation memory spring 1304 is made of a photosensitive shape memory polymer material. Under the action of the light of the fill light 1301, it is deformed and extended, driving the multiple elastic deformation airbags 1302 to extend, thereby achieving fill light brightening in a dark environment, improving the visibility of the inspection environment, and facilitating the shooting of the inspection camera 7.

[0045] like Figure 1 and Fig. 9 As shown, the rotational vibration mechanism 14 includes a plurality of rotating plates 1401, one end of each of the plurality of rotating plates 1401 is fixedly connected to the outer wall of the driving turntable 5, the bottom ends of each of the plurality of rotating plates 1401 are fixedly connected to a plurality of elastic levers 1402, and they are in contact with the top end of the inspection robot body 1, and the top end of the inspection robot body 1 is fixedly connected to a plurality of evenly distributed semicircular obstacle bars 1403.

[0046] During use of the present solution, when the turntable 5 is driven to rotate, the rotating plate 1401 drives the multiple elastic levers 1402 to rotate along the top of the inspection robot body 1, and repeatedly contacts and separates from the multiple semicircular obstacle bars 1403 on the rotating path, causing the multiple elastic levers 1402 to repeatedly separate from and reposition from the top of the inspection robot body 1 under the elastic action and the squeezing action of the semicircular obstacle bars 1403, thereby generating vibrations, so as to shake off the dust on the surface of the inspection camera 7 and reduce the interference of dust.

[0047] The present invention provides a power supply operation and maintenance intelligent inspection robot. The working principle is as follows: the inspection robot body 1 moves stably with the assistance of two pairs of moving wheels 2 and a laser radar body 3, and the corresponding warning lights 4 light up to remind the surrounding personnel. Then, when a pair of moving wheels 2 on one side roll, the meshing transmission action between a pair of pulleys 901 and a transmission belt 902 drives a rotating rod 903 to rotate, so that it drives a cleaning barrel brush 904 to rotate, and the dust on the moving end face of the inspection robot body 1 is cleaned. At the same time, the rotating rod 903 drives a rotating toggle rod frame 908 to rotate through the meshing transmission action of a first bevel gear 905 and a second bevel gear 906, so as to scrape and clean the gravel or debris on the driving path of the moving wheel 2, and a pair of first bevel gears 905 and a second bevel gear 906 are engaged. The two single-sided magnet blocks 1005 move together with the transmission belt 902. When the magnetic end of the second single-sided magnet block 1005 moves to correspond to the magnetic end of the first single-sided magnet block 1004, the magnetic repulsive force is used to drive the first single-sided magnet block 1004 and the movable sleeve block 1002 to move upward along the T-shaped rod 1001, and drive the connecting plate 1006 to move along with the movable sleeve block 1002. When the magnetic end of the second single-sided magnet block 1005 is separated from the magnetic end of the first single-sided magnet block 1004, the first single-sided magnet block 1004 and the movable sleeve block 1002 fall and reset, driving the connecting plate 1006 to move downward, and this is repeated, so that the connecting plate 1006 drives the first electric telescopic rod 1007 and the cleaning wiper block 1008 to move, thereby promoting The first electric telescopic rod 1007 drives the cleaning wiper 1008 to wipe back and forth along the surface of the warning light 4 to remove the dust attached to the surface. The synchronous movable top plate 1101 and the connecting short plate 1102 move back and forth with the movable sleeve block 1002, so that the connecting short plate 1102 pulls a pair of movable inclined rods 1104 to alternately move toward and away from each other, and drives the two pairs of movable round rods 1107 to repeatedly move toward and away from each other through the connecting side plates 1103, so that the two movable round rods 1107 located on the inner side drive a pair of sliding plates 1106 to repeatedly squeeze the air inside the rectangular straight frame 1105 through the air outlet filter tube 11011 to spray upward and blow to the surface of the laser radar body 3 to remove the dust on the surface. At the same time, the two movable round rods 1107 located on the outer side drive the pair of sliding plates 1106 to repeatedly squeeze the air inside the rectangular straight frame 1105 to spray upward through the air outlet filter tube 11011 to blow toward the surface of the laser radar body 3 to remove the dust on the surface. The rod 1107 drives a pair of collision balls 11010 to repeatedly contact the fixed plate 1109 to generate vibration, and performs vibration-assisted cleaning of dust on the surface of the laser radar body 3. The dust on the surface of the laser radar body 3 is fully and comprehensively cleaned, and moved to the power equipment area. When inspection is required, the turntable 5 is driven to rotate, and the inspection camera 7 is driven close to the power equipment in cooperation with the operation of the manipulator 6. During the rotation of the driving turntable 5, the rotating plate 1401 rotates synchronously, and drives multiple elastic levers 1402 to rotate along the top of the inspection robot body 1, and repeatedly contacts and separates from multiple semicircular obstacle bars 1403 on the rotation path, so that the multiple elastic levers 1402 are under the elastic effect and the squeezing effect of the semicircular obstacle bars 1403.It repeatedly separates from and resets the top of the inspection robot body 1 to generate vibration, so as to shake off the dust on the surface of the inspection camera 7 and clean the dust on the surface of the inspection camera 7. Then, the second electric telescopic rod 1203 drives the inspection camera 7 to approach the filter thick tube 1207. At the same time, a pair of L-shaped plates 1204 move synchronously with the inspection camera 7, driving the T-shaped extrusion plate 1206 to squeeze the air inside a pair of straight tubes 1205 through the air guide tube 1209 and into the focusing deformable transparent airbag 1208 to expand it. Next, the inspection camera 7 emits light, and the focusing deformable transparent airbag 1208 refracts the light emitted from the inspection camera 7 multiple times, so that the divergent light is gathered together with the light of the main body again, so that most of the light acts on the inspection of the power equipment. When the environment is darker, multiple fill lights 1301 light up, and some of them emit The scattered light is irradiated on the fill light phosphor layer 1303, so that the fill light phosphor layer 1303 emits matching light, and the deformation memory spring 1304 is deformed and extended under the light of the fill light 1301, driving multiple elastic deformation airbags 1302 to extend, and fill light is brightened in a dark environment. Then the emitted light is reflected by the power equipment and returned to the inspection camera 7 through the filter tube 1207 again. The inspection camera 7 receives it, obtains the corresponding image data information, and sends the data to the remote inspection center through wireless transmission technology to remotely monitor the on-site situation. When the inspection of the power equipment at this location is completed, it continues to move. On the moving path, it is not urgent to avoid and collide with foreign objects. The baffle 802 and the flexible wear-resistant sleeve 803 first collide with the foreign objects to buffer and reduce the impact of the collision, and provide buffer protection for the inspection robot body 1.

[0048] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention to be protected.

Claims

1. An intelligent inspection robot for power supply operation and maintenance, comprising an inspection robot body (1), characterized in that: The outer wall of the inspection robot body (1) is fixedly connected to two pairs of moving wheels (2), and a moving cleaning mechanism (9) is provided between the inspection robot body (1) and the pair of moving wheels (2) located on one side. Collision protection mechanisms (8) are provided at both ends of the inspection robot body (1). The top of the inspection robot body (1) is respectively fixedly connected to a laser radar body (3) and a warning light (4). The top of the inspection robot body (1) is fixedly connected to a driving turntable (5), and the top of the driving turntable (5) is fixedly connected to a manipulator (6). A rotating vibration mechanism (14) is provided between the outer wall of the driving turntable (5) and the top of the inspection robot body (1). An inspection camera (7) is provided on one side of the manipulator (6), and a focusing auxiliary mechanism (12) is provided between the inspection camera (7) and the manipulator (6).

2. The power supply operation and maintenance intelligent inspection robot according to claim 1, characterized in that: A pair of the collision protection mechanisms (8) each comprises a pair of mounting plates (801), one end of the pair of mounting plates (801) being fixedly connected to one end of the inspection robot body (1), and a baffle (802) being fixedly connected between the other ends of the pair of mounting plates (801), one end of the baffle (802) away from the mounting plate (801) being fixedly connected to a flexible wear-resistant sleeve (803), and a DCLAN buffer body (804) being provided inside the flexible wear-resistant sleeve (803).

3. The power supply operation and maintenance intelligent inspection robot according to claim 2, characterized in that: The mobile cleaning mechanism (9) comprises two pairs of pulleys (901), a transmission belt (902) is meshedly connected between the pair of pulleys (901), a rotating rod (903) is rotatably connected between the mounting plates (801) located on one side via a bearing, the two pairs of pulleys (901) are respectively sleeved on the outer walls of the mobile wheel (2) and the rotating rod (903), a cleaning barrel brush (904) is sleeved on the outer wall of the rotating rod (903), and a pair of first bevel gears (905) are sleeved on the outer wall of the rotating rod (903). , and the outer walls of a pair of first bevel gears (905) are meshedly connected to the second bevel gear (906), one end of the inspection robot body (1) is fixedly connected to a pair of connecting plates (907), and the outer walls of the connecting plates (907) are rotatably connected to a rotating toggle rod frame (908) through a bearing, the top end of the rotating toggle rod frame (908) is fixedly connected to the bottom end of the second bevel gear (906), and a magnetic repulsion cleaning mechanism (10) is provided between the outer wall of the transmission belt (902) and the inspection robot body (1) and the warning light (4).

4. The power supply operation and maintenance intelligent inspection robot according to claim 3, characterized in that: The magnetic repulsion cleaning mechanism (10) comprises a pair of T-shaped rods (1001) both fixedly connected to the top of the inspection robot body (1); the outer walls of the pair of T-shaped rods (1001) are both sleeved with movable sleeve blocks (1002); one end of the movable sleeve block (1002) is fixedly connected to a connecting straight plate (1003); one end of the connecting straight plate (1003) away from the movable sleeve block (1002) is fixedly connected to a first single-sided magnet block (1004); the outer walls of the pair of transmission belts (902) are both fixedly connected to a pair of second single-sided magnet blocks (1005); and the second single-sided magnet blocks (1005) and the first single-sided magnet blocks (1004) are fixedly connected to the outer walls of the pair of transmission belts (902). The opposite sides of a single-sided magnet block (1004) repel each other, the outer wall of the warning light (4) is provided with a pair of cleaning wipers (1008) in contact therewith, and one end of the cleaning wiper (1008) is fixedly connected to a first electric telescopic rod (1007), one end of the pair of first electric telescopic rods (1007) is fixedly connected to a connecting plate (1006), and one end of the connecting plate (1006) is fixedly connected to a movable sleeve block (1002), and an extrusion blowing mechanism (11) is provided between the top end of the inspection robot body (1) and one end of the pair of movable sleeve blocks (1002) away from the connecting plate (1006).

5. The power supply operation and maintenance intelligent inspection robot according to claim 4, characterized in that: The extrusion and blowing mechanism (11) comprises a pair of movable top plates (1101), one end of each of the pair of movable top plates (1101) is fixedly connected to one end of the movable sleeve block (1002) away from the connecting plate (1006), the bottom ends of each of the pair of movable top plates (1101) are fixedly connected to a connecting short plate (1102), and the bottom ends of the connecting short plates (1102) are fixedly connected to two pairs of first connecting plates, the top of the inspection robot body (1) is provided with two pairs of connecting side plates (1103), and one end of the connecting side plates (1103) is fixedly connected to a pair of second connecting plates, and a movable inclined rod is rotatably connected between the pair of first connecting plates and the second connecting plates. (1104), the ends of a pair of connecting side plates (1103) that are away from each other are fixedly connected to a movable round rod (1107), the top of the inspection robot body (1) is fixedly connected to a pair of fixed plates (1109), and one end of the fixed plate (1109) is drilled with a first through hole, and the ends of the two movable round rods (1107) located on the outside that are away from each other pass through the first through hole and extend to the outside thereof, and the outer walls of the two movable round rods (1107) located on the outside are sleeved with telescopic springs (1108), and the two ends of the telescopic springs (1108) are respectively fixedly connected to the fixed plate (1109) and one end of the connecting side plate (1103).

6. The power supply operation and maintenance intelligent inspection robot according to claim 5, characterized in that: The outer walls of the two movable round rods (1107) located on the outside are fixedly connected to a pair of collision balls (11010), and the outer walls of the pair of collision balls (11010) are in contact with the other end of the fixed plate (1109); the top of the inspection robot body (1) is fixedly connected to a rectangular straight frame (1105), and the inside of the rectangular straight frame (1105) is slidably connected to a pair of sliding plates (1106); the top of the rectangular straight frame (1105) is fixedly connected to an air outlet filter tube (11011), and the air outlet filter tube (11011) is located at the bottom of the laser radar body (3); second through holes are drilled at both ends of the rectangular straight frame (1105), and the adjacent ends of the two movable round rods (1107) located on the inside pass through the second through holes and are fixedly connected to the sliding plate (1106).

7. The power supply operation and maintenance intelligent inspection robot according to claim 1, characterized in that: The focusing auxiliary mechanism (12) comprises a connecting frame plate (1201) fixedly connected to one end of the manipulator (6); one end of the connecting frame plate (1201) is fixedly connected to a circular plate (1202); the inner wall of the connecting frame plate (1201) is fixedly connected to a second electric telescopic rod (1203); one end of the circular plate (1202) is drilled with a first circular hole and a pair of second circular holes; one end of the second electric telescopic rod (1203) passes through the circular holes and is fixedly connected to one end of the inspection camera (7); the other end of the circular plate (1202) is fixedly connected to a pair of straight tubes (1205); a filter thick tube (1207) is fixedly connected between the pair of straight tubes (1205); a plurality of focusing deformable transparent air bags (1208) are fixedly connected to the inner wall of the filter thick tube (1207); A plurality of air guide tubes (1209) are fixedly connected to the outer wall of the straight tube (1205), and one end of the air guide tube (1209) passes through the filter thick tube (1207) and is fixedly connected to the focusing deformable transparent air bag (1208). A pair of straight tubes (1205) are slidably connected to the inside of a T-shaped extrusion plate (1206), and one end of the pair of straight tubes (1205) is drilled with a third circular hole, one end of the T-shaped extrusion plate (1206) passes through the second circular hole and the third circular hole in sequence, and is fixedly connected to an L-shaped plate (1204). A pair of rectangular openings are drilled at one end of the circular plate (1202), and one end of the L-shaped plate (1204) passes through the rectangular opening and is fixedly connected to one end of the inspection camera (7). A fill light mechanism (13) is provided on the outer wall of the circular plate (1202).

8. The power supply operation and maintenance intelligent inspection robot according to claim 7, characterized in that: The fill light mechanism (13) comprises a plurality of fill light lamps (1301) which are fixedly connected to the other end of the circular plate (1202); the outer wall of the circular plate (1202) is fixedly connected to a plurality of elastic deformation airbags (1302); and the inner wall of the elastic deformation airbags (1302) is fixedly connected to a plurality of deformation memory springs (1304); the deformation memory springs (1304) are made of a photosensitive shape memory polymer material, and the deformation memory springs (1304) match the light of the fill light lamps (1301); the initial state of the deformation memory springs (1304) is a contracted state; and a fill light fluorescent powder layer (1303) is provided on the surface of the elastic deformation airbags (1302).

9. The power supply operation and maintenance intelligent inspection robot according to claim 1, characterized in that: The rotary vibration mechanism (14) comprises a plurality of rotating plates (1401), one end of each of the plurality of rotating plates (1401) being fixedly connected to the outer wall of the driving turntable (5), the bottom ends of each of the plurality of rotating plates (1401) being fixedly connected to a plurality of elastic levers (1402) which are in contact with the top end of the inspection robot body (1), and the top end of the inspection robot body (1) being fixedly connected to a plurality of evenly distributed semicircular obstacle bars (1403).

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