Crawler-type inspection robot for transformer substation and use method of crawler-type inspection robot

Abstract

The invention discloses a crawler-type inspection robot for a transformer substation and a using method of the crawler-type inspection robot, and belongs to the technical field of inspection robots. The crawler-type inspection robot comprises a robot body, a high-definition camera and an infrared detector are fixed to the upper end of the robot body, and a fixing ring is fixed to the upper portion of the robot body; an annular plate is rotationally connected to the fixing ring, a first driving unit for driving the annular plate to rotate is arranged in the fixing ring, a plurality of anti-collision assemblies are evenly distributed and fixed to the outer side circumference of the annular plate and are symmetrical according to the axis center line of the fixing ring, and an arc-shaped rack is rotationally arranged on the outer side of the annular plate. And a second driving unit for driving the arc-shaped rack to rotate is arranged in the annular plate. The multiple first anti-collision plates and the multiple second anti-collision plates are located on the outer side of the robot body, the multiple first anti-collision plates and the multiple second anti-collision plates form an anti-collision shell of the robot body, and the robot body can be effectively prevented from being collided when working.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and in particular to a crawler inspection robot for a substation and a use method thereof. Background Art

[0002] In order to reduce the burden of manual inspections, robots are gradually used to replace manual inspections during the inspection process of substations. The inspection robots can perform self-positioning, path planning, intelligent perception, face recognition, video monitoring, etc. during the inspection process. They can assist in completing monitoring and patrol work, realize dynamic inspections, no-dead-angle monitoring, and abnormal warnings, effectively avoiding the various disadvantages of manual inspections.

[0003] Generally, inspection robots use high-definition cameras and infrared imaging detectors to inspect the surrounding environment. When the inspection robots encounter garbage on the inspection road surface during mobile inspection, it is inconvenient to clean it up. In addition, accidental impacts from the outside world can easily cause damage to the robot during movement. Summary of the invention

[0004] In order to solve the deficiencies in the prior art, the present invention provides a crawler inspection robot for a substation and a method of using the same to solve the technical problems in the prior art that when there is garbage on the inspection road surface during mobile inspection, it is inconvenient to clean up the robot, and accidental impacts from the outside during movement can easily cause damage to the robot.

[0005] In order to achieve the above object, the technical solution provided by the present invention is:

[0006] A first aspect of the present invention discloses a crawler inspection robot for a substation, comprising a robot body, a high-definition camera and an infrared detector fixed on the upper end of the robot body, a fixed ring fixed on the upper part of the robot body, a ring plate rotatably connected to the fixed ring, a first driving unit for driving the ring plate to rotate is arranged in the fixed ring, a plurality of anti-collision components are evenly distributed and fixed on the outer circumference of the ring plate, the plurality of anti-collision components are symmetrical about the axis centerline of the fixed ring, an arc-shaped rack is rotatably arranged on the outer side of the ring plate, a second driving unit for driving the arc-shaped rack to rotate is arranged in the ring plate, the anti-collision component comprises a fixed plate fixedly connected to the ring plate, a first anti-collision plate is slidably arranged on the fixed plate, a second gear is rotatably connected to the upper end of the fixed plate, the second gear is connected to the first anti-collision plate through a transmission component, and the arc-shaped rack can be driven sequentially during rotation. The second gear makes multiple first anti-collision plates move away from the robot body in sequence, and the first anti-collision plate gradually approaches the ground when it moves away from the robot body. The first anti-collision plate includes a first inclined portion and a second inclined portion that are fixedly connected, and the first anti-collision plate is V-shaped as a whole. The first inclined portion is located on the outside of the fixed plate, and an inverted L-shaped second anti-collision plate is covered on the second inclined portion. The second anti-collision plate is fixed with a first guide block at one end facing the fixed plate, and a horizontally arranged first guide groove is provided on the first inclined portion, and the first guide block is slidably engaged in the first guide groove, and a second guide block is fixed at one end of the fixed plate facing the second anti-collision plate. A vertical second guide groove is provided on the second anti-collision plate, and the second guide block is slidably engaged in the second guide groove. The free end of the straight portion of the second anti-collision plate is rotatably connected to the cover plate, and the second inclined portion is located between the vertical portions of the cover plate and the second anti-collision plate.

[0007] Specifically, the first driving unit includes a first gear ring fixed on the inner side of the ring plate, a first motor is fixed in the fixed ring, a first gear is coaxially fixed on the output shaft of the first motor, and the first gear is meshed with the first gear ring.

[0008] Specifically, the second drive unit includes a rotating ring coaxially connected to the ring plate, a second gear ring is fixed inside the rotating ring, a third gear is coaxially fixed on the output shaft of the second motor, the third gear is meshed with the second gear ring, and an arc-shaped rack is fixed outside the rotating ring.

[0009] Specifically, a slide groove is provided on the fixed plate, the slide groove is inclined, a slider is slidably connected in the slide groove, the slider is fixedly connected to the first inclined portion of the first anti-collision plate, and the first anti-collision plate gradually approaches the ground under the guiding effect of the slide groove on the slider during the process of the first anti-collision plate moving away from the robot body.

[0010] Specifically, the transmission assembly includes a screw rotatably arranged in a slide groove, the length direction of the screw is parallel to the length direction of the slide groove, the screw passes through the slider, the screw is threadedly connected to the slider, a rotating shaft is concentrically fixed to the lower end of the second gear, the rotating shaft is rotatably connected to the fixed plate, a second bevel gear is concentrically fixed on the rotating shaft, a first bevel gear is concentrically fixed to one end of the screw close to the second bevel gear, and the second bevel gear is meshed with the first bevel gear.

[0011] Specifically, a first cleaning brush and a second cleaning brush are fixed to the lower end of the first anti-collision plate and the lower end of the second anti-collision plate respectively, and the lower end of the first cleaning brush and the lower end of the second cleaning brush are flush.

[0012] Specifically, a plurality of ventilation holes are provided on the first inclined portion of the first anti-collision plate, and filters are fixed in the ventilation holes.

[0013] Specifically, the upper end of the cover plate is rotatably connected to the straight portion of the second anti-collision plate through a shaft.

[0014] Specifically, a magnet is fixed to the lower end of the cover plate, and the magnet magnetically adsorbs the first anti-collision plate.

[0015] Specifically, one end of the second anti-collision plate close to the fixing plate is in sliding contact with the first inclined portion of the first anti-collision plate.

[0016] A second aspect of the present invention discloses a method for using a crawler inspection robot for a substation, comprising the following steps:

[0017] High-definition cameras and infrared detectors conduct inspections of substations;

[0018] When there is garbage on the road that needs to be cleaned, the second motor is started, and the second motor drives the third gear to rotate, so that the rotating ring and the arc-shaped rack rotate. During the rotation process, the arc-shaped rack will mesh with multiple second gears in sequence and drive the second gears to rotate. During the rotation process of the second gear, the second bevel gear is driven to rotate through the rotating shaft, and the slider drives the first anti-collision plate away from the robot body and gradually approaches the ground;

[0019] When the first anti-collision plate moves away from the robot body, the second anti-collision plate gradually approaches the ground, and the first anti-collision plate pushes the cover plate to rotate;

[0020] The first motor is started, the first motor drives the first gear to rotate, the ring plate drives the multiple anti-collision components to rotate synchronously, and the garbage on the ground enters the storage cavity formed by the cover plate, the first anti-collision plate, the second anti-collision plate, the first cleaning brush and the second cleaning brush;

[0021] After the robot body transfers the garbage in the storage chamber to the designated position, multiple first anti-collision plates approach the robot body in turn, and the first anti-collision plate, the second anti-collision plate, the first cleaning brush and the second cleaning brush can rise. When the first anti-collision plate and the second anti-collision plate are restored, the cover plate is restored, and the garbage in the storage chamber remains on the ground and under the first anti-collision plate and the second anti-collision plate. Then the robot body can continue to move to perform inspection work.

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

[0023] 1. Multiple first anti-collision plates and multiple second anti-collision plates are located outside the robot body. The multiple first anti-collision plates and multiple second anti-collision plates form an anti-collision shell of the robot body. The anti-collision shell can effectively protect the robot body and prevent the robot body from being hit when working.

[0024] 2. During the rotation of the arc-shaped rack, multiple first anti-collision plates can be away from the robot body. When the first anti-collision plate is away from the robot body, the first anti-collision plate and the second anti-collision plate can be lowered. After the first cleaning brush and the second cleaning brush come into contact with the ground, the cover plate can be rotated to above the first anti-collision plate. At this time, a storage cavity for storing garbage is formed between the cover plate, the first anti-collision plate, the second anti-collision plate, the first cleaning brush and the second cleaning brush. During the rotation of multiple anti-collision components driven by the ring plate, garbage on the ground can enter the storage cavity. As the robot body moves, the garbage in the storage cavity is transferred.

[0025] 3. After the robot body transfers the garbage in the storage chamber to the designated position, the arc-shaped rack rotates so that the multiple first anti-collision plates approach the robot body in turn. When the first anti-collision plate approaches the robot body, the first anti-collision plate and the second anti-collision plate can rise. After the first anti-collision plate and the second anti-collision plate are restored, the garbage in the storage chamber remains on the ground and is located under the first anti-collision plate and the second anti-collision plate. Then the machine body can continue to move for inspection work.

[0026] 4. During the rotation of the ring plate, the fixed plate, the first anti-collision plate, the first cleaning brush, the second anti-collision plate, the second cleaning brush and the cover plate rotate accordingly, and the air entering the storage cavity passes through the filter in the ventilation hole and is discharged from the storage cavity. The air flowing in the storage cavity can prevent the garbage in the storage cavity from being discharged. At the same time, under the action of centrifugal force, the garbage gathers at the first inclined portion of the first anti-collision plate in the storage cavity, which can further prevent the garbage from being discharged from the storage cavity. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the present invention.

[0028] Figure 2 Schematic diagram of the robot body of the present invention.

[0029] Figure 3It is a schematic diagram of the cooperation between the first anti-collision plate and the second anti-collision plate of the present invention.

[0030] Figure 4 It is a schematic diagram of the cooperation among the fixed plate, the ring plate, the swivel ring and the arc-shaped rack of the present invention.

[0031] Figure 5 It is a schematic diagram of the cooperation among the fixing plate, the first anti-collision plate and the second anti-collision plate of the present invention.

[0032] Figure 6 It is a schematic diagram of the cooperation among the cover plate, the first anti-collision plate and the second anti-collision plate of the present invention.

[0033] Figure 7 It is a schematic diagram of the cooperation between the slide groove and the slider of the present invention.

[0034] Figure 8 Schematic diagram of the transmission assembly of the present invention.

[0035] Fig. 9 Schematic diagram of the second anti-collision plate of the present invention.

[0036] Fig.10 Schematic diagram of the fixing plate of the present invention.

[0037] Fig.11 Schematic diagram of the first anti-collision plate of the present invention.

[0038] Fig.12 It is a schematic diagram of the cooperation between the second anti-collision plate and the cover plate of the present invention.

[0039] Fig.13 It is a schematic diagram of the cover plate and the second anti-collision plate being connected via a shaft rod according to the present invention.

[0040] Fig.14 It is a cross-sectional view of the present invention.

[0041] Fig.15 For the present invention Fig.14 Magnified view of area A.

[0042] Fig.16 This is a schematic diagram of the first anti-collision plate of the present invention being away from the robot body.

[0043] Fig.17 This is a state diagram of the second anti-collision plate and the cover plate after the first anti-collision plate of the present invention is away from the robot body.

[0044] Fig.18 It is a schematic diagram of the matching structure of the second anti-collision plate, the cover plate and the fixing plate after the first anti-collision plate of the present invention is away from the robot body.

[0045] Fig.19 This is a bottom view of the present invention after the first anti-collision plate of the present invention is away from the robot body.

[0046] Fig. 20 It is a bottom view of the present invention.

[0047] The names of the parts in the accompanying drawings are: 1. Robot body; 2. Fixed ring; 3. Ring plate; 4. First gear ring; 5. First motor; 6. First gear; 7. Fixed plate; 8. Slide; 9. Screw; 10. First bevel gear; 11. Second bevel gear; 12. Rotating shaft; 13. Second gear; 14. Sliding block; 15. First anti-collision plate; 151. First inclined portion; 152. Second inclined portion; 16. First cleaning brush; 17. Ventilation hole; 18. Filter; 19. First guide groove; 20. Second anti-collision plate; 21. First guide block; 22. Second guide groove; 23. Second guide block; 24. Second cleaning brush; 25. Cover plate; 26. Shaft; 27. Magnet; 28. Rotating ring; 29. ​​Second gear ring; 30. Second motor; 31. Third gear; 32. Arc rack; 33. High-definition camera; 34. Infrared detector. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0049] Example 1

[0050] like Figure 1-Figure 20 As shown, a crawler inspection robot for a substation includes a robot body 1, and a high-definition camera 33 and an infrared detector 34 are fixed on the upper end of the robot body 1.

[0051] A fixing ring 2 is fixed on the upper part of the robot body 1 , a ring plate 3 is rotatably connected to the fixing ring 2 , and a first driving unit for driving the ring plate 3 to rotate is arranged inside the fixing ring 2 .

[0052] like Fig.14 and Fig.15 As shown, the first driving unit includes a first gear ring 4 fixed to the inner side of the ring plate 3, a first motor 5 is fixed inside the fixed ring 2, a first gear 6 is coaxially fixed on the output shaft of the first motor 5, and the first gear 6 is meshed with the first gear ring 4. After the first motor 5 is started, the first motor 5 drives the first gear 6 to rotate, the first gear 6 drives the first gear ring 4 to rotate, and the ring plate 3 rotates when the first gear ring 4 rotates.

[0053] An arc-shaped rack 32 is rotatably arranged outside the ring plate 3, and a second driving unit is arranged inside the ring plate 3 to drive the arc-shaped rack 32 to rotate. Fig.14 and Fig.15As shown, the second driving unit includes a rotating ring 28 that is coaxially connected to the ring plate 3, a second gear ring 29 is fixed inside the rotating ring 28, a third gear 31 is coaxially fixed on the output shaft of the second motor 30, the third gear 31 is meshed with the second gear ring 29, and an arc-shaped rack 32 is fixed outside the rotating ring 28. After the second motor 30 is started, the second motor 30 drives the third gear 31 to rotate, the third gear 31 drives the rotating ring 28 to rotate, and the arc-shaped rack 32 rotates when the rotating ring 28 rotates.

[0054] A plurality of anti-collision components are evenly distributed and fixed on the outer circumference of the ring plate 3 , and the plurality of anti-collision components are symmetrical about the axis centerline of the fixing ring 2 .

[0055] The anti-collision assembly includes a fixed plate 7 fixedly connected to the ring plate 3, and a first anti-collision plate 15 is slidably arranged on the fixed plate 7. Specifically, a slide groove 8 is provided on the fixed plate 7, and the slide groove 8 is inclined. A slider 14 is slidably engaged in the slide groove 8, and the slider 14 is fixedly connected to the first anti-collision plate 15.

[0056] like Figure 8 As shown, the upper end of the fixed plate 7 is rotatably connected with a second gear 13, and the second gear 13 is connected to the first anti-collision plate 15 through a transmission assembly. Specifically, the transmission assembly includes a screw 9 rotatably arranged in the slide slot 8, the length direction of the screw 9 is parallel to the length direction of the slide slot 8, the screw 9 passes through the slider 14, the screw 9 is threadedly connected to the slider 14, the lower end of the second gear 13 is coaxially fixed with a rotating shaft 12, the rotating shaft 12 is rotatably connected to the fixed plate 7, the rotating shaft 12 is coaxially fixed with a second bevel gear 11, the end of the screw 9 close to the second bevel gear 11 is coaxially fixed with a first bevel gear 10, and the second bevel gear 11 is meshed with the first bevel gear 10.

[0057] During the rotation of the arc rack 32, the second gear 13 can be driven in sequence and multiple first anti-collision plates 15 can be moved away from the robot body 1 in sequence. During the process of the first anti-collision plate 15 moving away from the robot body 1, the first anti-collision plate 15 gradually approaches the ground under the guiding effect of the slide groove 8 on the slider 14.

[0058] The first anti-collision plate 15 includes a first inclined portion 151 and a second inclined portion 152 that are fixedly connected. The first anti-collision plate 15 is V-shaped as a whole. The first inclined portion 151 is located outside the fixed plate 7 . The slider 14 is fixedly connected to the first inclined portion 151 of the first anti-collision plate 15 .

[0059] The second inclined portion 152 is covered with an inverted L-shaped second anti-collision plate 20, and a first guide block 21 is fixed to the end of the second anti-collision plate 20 facing the fixed plate 7. A horizontally arranged first guide groove 19 is provided on the first inclined portion 151, and the first guide block 21 is slidably engaged in the first guide groove 19. A second guide block 23 is fixed to the end of the fixed plate 7 facing the second anti-collision plate 20, and a vertical second guide groove 22 is provided on the second anti-collision plate 20, and the second guide block 23 is slidably engaged in the second guide groove 22. The end of the second anti-collision plate 20 close to the fixed plate 7 is in sliding contact with the first inclined portion 151 of the first anti-collision plate 15.

[0060] The free end of the straight portion of the second anti-collision plate 20 is rotatably connected with a cover plate 25. Specifically, the upper end of the cover plate 25 is rotatably connected to the straight portion of the second anti-collision plate 20 through a shaft 26. The second inclined portion 152 is located between the cover plate 25 and the vertical portion of the second anti-collision plate 20. A magnet 27 is fixed to the lower end of the cover plate 25, and the magnet 27 magnetically adsorbs the first anti-collision plate 15. The cover plate 25 adsorbs the first anti-collision plate 15 through the magnet 27, which can prevent the cover plate 25 from shaking when the robot body 1 moves.

[0061] A first cleaning brush 16 and a second cleaning brush 24 are fixed to the lower ends of the first anti-collision plate 15 and the second anti-collision plate 20, respectively. The lower ends of the first cleaning brush 16 and the second cleaning brush 24 are flush with each other.

[0062] A plurality of ventilation holes 17 are formed on the first inclined portion 151 of the first anti-collision plate 15 , and a filter screen 18 is fixed in the ventilation holes 17 .

[0063] Example 2

[0064] A method for using a crawler inspection robot for a substation comprises the following steps:

[0065] Step 1, the high-definition camera 33 and the infrared detector 34 inspect the substation;

[0066] Step 2, when there is garbage on the road that needs to be cleaned, start the second motor 30, the second motor 30 drives the third gear 31 to rotate, so that the rotating ring 28 and the arc rack 32 rotate, and the arc rack 32 will mesh with multiple second gears 13 in sequence during the rotation process and drive the second gear 13 to rotate. During the rotation of the second gear 13, the second bevel gear 11 is driven to rotate through the rotating shaft 12, and the slider 14 drives the first anti-collision plate 15 away from the robot body 1 and gradually approaches the ground;

[0067] Step 3, when the first anti-collision plate 15 is away from the robot body 1, the second anti-collision plate 20 gradually approaches the ground, and the first anti-collision plate 15 pushes the cover plate 25 to rotate;

[0068] Step 4, start the first motor 5, the first motor 5 drives the first gear 6 to rotate, the ring plate 3 drives the multiple anti-collision components to rotate synchronously, and the garbage on the ground enters the storage cavity formed by the cover plate 25, the first anti-collision plate 15, the second anti-collision plate 20, the first cleaning brush 16 and the second cleaning brush 24;

[0069] Step 5. After the robot body 1 transfers the garbage in the storage chamber to the designated position, multiple first anti-collision plates 15 approach the robot body 1 in turn, and the first anti-collision plate 15, the second anti-collision plate 20, the first cleaning brush 16 and the second cleaning brush 24 can rise. When the first anti-collision plate 15 and the second anti-collision plate 20 are restored, the cover plate 25 is restored, and the garbage in the storage chamber remains on the ground and is located under the first anti-collision plate 15 and the second anti-collision plate 20. Then the robot body 1 can continue to move to perform inspection work.

[0070] Working principle:

[0071] When the robot body 1 moves along the planned path, the high-definition camera 33 and the infrared detector 34 inspect the substation.

[0072] During the inspection process, when there is garbage on the road that needs to be cleaned, the second motor 30 is started first, and the second motor 30 drives the third gear 31 to rotate. The third gear 31 drives the rotating ring 28 and the arc rack 32 to rotate through the second gear ring 29. During the rotation process, the arc rack 32 will mesh with multiple second gears 13 in sequence and drive the second gear 13 to rotate. During the rotation of the second gear 13, the second bevel gear 11 is driven to rotate through the rotating shaft 12. The second bevel gear 11 drives the screw 9 to rotate through the first bevel gear 10. The rotation of the screw 9 can make the slider 14 move in the slide groove 8, and the slider 14 drives the first anti-collision plate 15 away from the robot body 1.

[0073] When the first anti-collision plate 15 moves away from the robot body 1, under the guiding action of the slide groove 8 on the slider 14, the first anti-collision plate 15 gradually approaches the ground. Because the second guide block 23 is slidably engaged in the second guide groove 22, the second anti-collision plate 20 can only move in the vertical direction. When the first anti-collision plate 15 moves away from the robot body 1, the second anti-collision plate 20 gradually approaches the ground, but the second anti-collision plate 20 will not move away from the robot body 1. When the first anti-collision plate 15 moves away from the robot body 1, the first guide block 21 slides in the first guide groove 19. In the process of the first anti-collision plate 15 moving away from the robot body 1 and gradually approaching the ground, the first anti-collision plate 15 pushes the cover plate 25 to rotate. When the arc-shaped rack 32 is disengaged from the gear, the cover plate 25 can rotate to above the first anti-collision plate 15. At this time, a storage chamber for storing garbage is formed between the cover plate 25, the first anti-collision plate 15, the second anti-collision plate 20, the first cleaning brush 16 and the second cleaning brush 24. At this time, the state of the anti-collision component is as follows: Fig.17 shown.

[0074] The arc-shaped rack 32 can rotate the plurality of second gears 13 in sequence during the rotation. After the plurality of second gears 13 rotate, the state of the inspection robot is as follows: Fig.16 shown.

[0075] Then, the first motor 5 is started, and the first motor 5 drives the first gear 6 to rotate. The first gear 6 drives the ring plate 3 to rotate through the first gear ring 4, and the ring plate 3 drives the fixed plate 7 to rotate, that is, the ring plate 3 drives the multiple anti-collision components to rotate synchronously. Fig.16 The anti-collision assembly rotates clockwise, and the garbage on the ground will enter the storage cavity formed by the cover plate 25, the first anti-collision plate 15, the second anti-collision plate 20, the first cleaning brush 16 and the second cleaning brush 24. During the rotation of the anti-collision assembly, the airflow will continuously enter the storage cavity and pass through the filter 18 in the ventilation hole 17 before being discharged. During the rotation of the anti-collision assembly, the air continuously entering the storage cavity can prevent the garbage in the storage cavity from being discharged. At the same time, under the action of centrifugal force, the garbage gathers at the first inclined portion 151 of the first anti-collision plate 15 in the storage cavity, which can further prevent the garbage from being discharged from the storage cavity.

[0076] After the robot body 1 transfers the garbage in the storage chamber to the designated position, the arc-shaped rack 32 rotates so that the multiple first anti-collision plates 15 approach the robot body 1 in sequence. When the first anti-collision plate 15 approaches the robot body 1, the first anti-collision plate 15, the second anti-collision plate 20, the first cleaning brush 16 and the second cleaning brush 24 can rise. When the first anti-collision plate 15 and the second anti-collision plate 20 are restored, the cover plate 25 is restored, and the garbage in the storage chamber remains on the ground and is located under the first anti-collision plate 15 and the second anti-collision plate 20. Then the robot body 1 can continue to move to perform inspection work.

[0077] Compared with the prior art, the present invention has the following beneficial effects:

[0078] 1. Multiple first anti-collision plates and multiple second anti-collision plates are located outside the robot body. The multiple first anti-collision plates and multiple second anti-collision plates form an anti-collision shell of the robot body. The anti-collision shell can effectively protect the robot body and prevent the robot body from being hit when working.

[0079] 2. During the rotation of the arc-shaped rack, multiple first anti-collision plates can be away from the robot body. When the first anti-collision plate is away from the robot body, the first anti-collision plate and the second anti-collision plate can be lowered. After the first cleaning brush and the second cleaning brush come into contact with the ground, the cover plate can be rotated to above the first anti-collision plate. At this time, a storage cavity for storing garbage is formed between the cover plate, the first anti-collision plate, the second anti-collision plate, the first cleaning brush and the second cleaning brush. During the rotation of multiple anti-collision components driven by the ring plate, garbage on the ground can enter the storage cavity. As the robot body moves, the garbage in the storage cavity is transferred.

[0080] 3. After the robot body transfers the garbage in the storage chamber to the designated position, the arc-shaped rack rotates so that the multiple first anti-collision plates approach the robot body in turn. When the first anti-collision plate approaches the robot body, the first anti-collision plate and the second anti-collision plate can rise. After the first anti-collision plate and the second anti-collision plate are restored, the garbage in the storage chamber remains on the ground and is located under the first anti-collision plate and the second anti-collision plate. Then the machine body can continue to move for inspection work.

[0081] 4. During the rotation of the ring plate, the fixed plate, the first anti-collision plate, the first cleaning brush, the second anti-collision plate, the second cleaning brush and the cover plate rotate accordingly, and the air entering the storage cavity passes through the filter in the ventilation hole and is discharged from the storage cavity. The air flowing in the storage cavity can prevent the garbage in the storage cavity from being discharged. At the same time, under the action of centrifugal force, the garbage gathers at the first inclined portion of the first anti-collision plate in the storage cavity, which can further prevent the garbage from being discharged from the storage cavity.

[0082] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A crawler inspection robot for a substation, comprising a robot body (1), a high-definition camera (33) and an infrared detector (34) being fixed on the upper end of the robot body (1), characterized in that: A fixed ring (2) is fixed on the upper part of a robot body (1), a ring plate (3) is rotatably connected to the fixed ring (2), a first driving unit for driving the ring plate (3) to rotate is arranged inside the fixed ring (2), a plurality of anti-collision components are evenly distributed and fixed on the outer circumference of the ring plate (3), the plurality of anti-collision components are symmetrical about the axis centerline of the fixed ring (2), an arc-shaped rack (32) is rotatably arranged on the outer side of the ring plate (3), a second driving unit for driving the arc-shaped rack (32) to rotate is arranged inside the ring plate (3), and the anti-collision components include The ring plate (3) is fixedly connected to a fixed plate (7), a first anti-collision plate (15) is slidably arranged on the fixed plate (7), a second gear (13) is rotatably connected to the upper end of the fixed plate (7), the second gear (13) is connected to the first anti-collision plate (15) through a transmission assembly, and the arc-shaped rack (32) can sequentially drive the second gear (13) during rotation and make the plurality of first anti-collision plates (15) move away from the robot body (1) in sequence, and the first anti-collision plates (15) gradually move closer to the robot body (1) when they move away from the robot body (1). Near the ground, the first anti-collision plate (15) comprises a first inclined portion (151) and a second inclined portion (152) which are fixedly connected. The first anti-collision plate (15) is V-shaped as a whole. The first inclined portion (151) is located outside the fixed plate (7). An inverted L-shaped second anti-collision plate (20) is covered on the second inclined portion (152). A first guide block (21) is fixed to one end of the second anti-collision plate (20) facing the fixed plate (7). A first guide groove (19) arranged horizontally is provided on the first inclined portion (151). The first guide block (21) is slidably engaged in the first guide groove (19); a second guide block (23) is fixed to one end of the fixed plate (7) facing the second anti-collision plate (20); a vertical second guide groove (22) is provided on the second anti-collision plate (20); the second guide block (23) is slidably engaged in the second guide groove (22); a free end of the straight portion of the second anti-collision plate (20) is rotatably connected to a cover plate (25); and the second inclined portion (152) is located between the cover plate (25) and the vertical portion of the second anti-collision plate (20).

2. According to claim 1, a crawler inspection robot for a substation, characterized in that: The first drive unit comprises a first gear ring (4) fixed on the inner side of the ring plate (3), a first motor (5) is fixed inside the fixed ring (2), a first gear (6) is coaxially fixed on the output shaft of the first motor (5), and the first gear (6) is meshed with the first gear ring (4).

3. According to claim 1, a crawler inspection robot for a substation, characterized in that: The second driving unit comprises a rotating ring (28) connected to the ring plate (3) for coaxial rotation, a second gear ring (29) being fixed inside the rotating ring (28), a third gear (31) being coaxially fixed on the output shaft of the second motor (30), the third gear (31) being meshed with the second gear ring (29), and an arc-shaped rack (32) being fixed outside the rotating ring (28).

4. According to claim 1, a crawler inspection robot for a substation, characterized in that: The fixing plate (7) is provided with a slide groove (8), the slide groove (8) is inclined, a slider (14) is slidably engaged in the slide groove (8), the slider (14) is fixedly connected to the first inclined portion (151) of the first anti-collision plate (15), and in the process of the first anti-collision plate (15) moving away from the robot body (1), the first anti-collision plate (15) gradually approaches the ground under the guiding effect of the slide groove (8) on the slider (14), and the transmission assembly includes a screw rod (9) rotatably arranged in the slide groove (8), and the screw rod (9) The length direction of the second gear (13) is parallel to the length direction of the slide groove (8), the screw rod (9) passes through the slider (14), the screw rod (9) and the slider (14) are threadedly connected, a rotating shaft (12) is coaxially fixed to the lower end of the second gear (13), the rotating shaft (12) is rotatably connected to the fixed plate (7), a second bevel gear (11) is coaxially fixed to the rotating shaft (12), a first bevel gear (10) is coaxially fixed to one end of the screw rod (9) close to the second bevel gear (11), and the second bevel gear (11) is meshed with the first bevel gear (10).

5. The crawler inspection robot for a substation according to claim 1, characterized in that: A first cleaning brush (16) and a second cleaning brush (24) are respectively fixed to the lower end of the first anti-collision plate (15) and the lower end of the second anti-collision plate (20), and the lower end of the first cleaning brush (16) and the lower end of the second cleaning brush (24) are flush.

6. The crawler inspection robot for a substation according to claim 1, characterized in that: A plurality of ventilation holes (17) are provided on the first inclined portion (151) of the first anti-collision plate (15), and a filter screen (18) is fixed in the ventilation hole (17).

7. A crawler inspection robot for a substation according to claim 1, characterized in that: The upper end of the cover plate (25) is rotatably connected to the straight portion of the second anti-collision plate (20) via a shaft (26).

8. The crawler inspection robot for a substation according to claim 1, characterized in that: A magnet (27) is fixed to the lower end of the cover plate (25), and the magnet (27) magnetically adsorbs the first anti-collision plate (15).

9. The crawler inspection robot for a substation according to claim 1, characterized in that: One end of the second anti-collision plate (20) close to the fixing plate (7) is in sliding contact with the first inclined portion (151) of the first anti-collision plate (15).

10. A method for using a crawler inspection robot for a substation, based on the crawler inspection robot for a substation according to any one of claims 1 to 9, characterized in that: The following steps are involved: High-definition cameras (33) and infrared detectors (34) inspect the substation; When there is garbage on the road that needs to be cleaned, the second motor (30) is started, and the second motor (30) drives the third gear (31) to rotate, so that the rotating ring (28) and the arc-shaped rack (32) rotate. During the rotation process, the arc-shaped rack (32) will mesh with the plurality of second gears (13) in sequence and drive the second gears (13) to rotate. During the rotation process of the second gear (13), the second bevel gear (11) is driven to rotate through the rotating shaft (12), and the slider (14) drives the first anti-collision plate (15) away from the robot body (1) and gradually approaches the ground; When the first anti-collision plate (15) moves away from the robot body (1), the second anti-collision plate (20) gradually approaches the ground, and the first anti-collision plate (15) pushes the cover plate (25) to rotate; The first motor (5) is started, the first motor (5) drives the first gear (6) to rotate, the ring plate (3) drives the multiple anti-collision components to rotate synchronously, and the garbage on the ground enters the storage chamber formed by the cover plate (25), the first anti-collision plate (15), the second anti-collision plate (20), the first cleaning brush (16) and the second cleaning brush (24); When the robot body (1) transfers the garbage in the storage chamber to a designated position, the plurality of first anti-collision plates (15) are sequentially close to the robot body (1), and the first anti-collision plate (15), the second anti-collision plate (20), the first cleaning brush (16) and the second cleaning brush (24) can rise. When the first anti-collision plate (15) and the second anti-collision plate (20) are restored, the cover plate (25) is restored, and the garbage in the storage chamber remains on the ground and is located below the first anti-collision plate (15) and the second anti-collision plate (20). Then the robot body (1) can continue to move to perform inspection work.

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