A crawler inspection robot for substation and its use method

Abstract

The present invention discloses a crawler inspection robot for a substation and a method for using the same, belonging to the technical field of inspection robots. The crawler inspection robot comprises a robot body, a high-definition camera and an infrared detector fixed to the upper end of the robot body, a fixed ring fixed to the upper portion of the robot body, a ring plate rotatably connected to the fixed ring, a first drive unit for driving the ring plate to rotate disposed within the fixed ring, a plurality of anti-collision components evenly distributed and fixed on the outer circumference of the ring plate, the plurality of anti-collision components being symmetrical about the axis centerline of the fixed ring, an arc-shaped rack rotatably disposed on the outer side of the ring plate, and a second drive unit for driving the arc-shaped rack to rotate disposed within the ring plate. The present invention has a plurality of first anti-collision plates and a plurality of second anti-collision plates located on the outer side of the robot body, the plurality of first anti-collision plates and the plurality of second anti-collision plates forming an anti-collision shell of the robot body, which can effectively avoid being hit when the robot body is in operation.

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 method of using the robot. 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-blind-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 robot encounters garbage on the inspection road during mobile inspection, it is inconvenient to clean it up. In addition, accidental impact from the outside world during movement can easily cause damage to the robot. Summary of the Invention

[0004] In order to solve the deficiencies in the prior art, the present invention provides a crawler inspection robot for substations and a method of using the same to solve the technical problems in the prior art that when encountering garbage on the inspection road surface during mobile inspection, it is inconvenient to clean up the robot, and accidental external impacts 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] The 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 end of the robot body, a ring plate rotatably connected to the fixed ring, a first drive 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 drive 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 in sequence during the rotation process. The first anti-collision plate is fixed with a first guide block, and the first anti-collision plate is fixed with a second guide block toward one end of the fixed plate. The first anti-collision plate is fixed with a first guide block, and a vertical second guide block is provided on the second anti-collision plate. 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 concentrically 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 connected to the ring plate for concentric rotation, a second gear ring is fixed on the inner side of the rotating ring, a third gear is concentrically 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 on the outer side of the rotating ring.

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

[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 and the slider are threadedly connected, 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, and 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, causing the rotating ring and the arc-shaped rack to 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. 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] Start the first motor, 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 is located 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 chamber 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 the multiple anti-collision components driven by the ring plate, the garbage on the ground can enter the storage chamber. As the robot body moves, the garbage in the storage chamber 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 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 to perform 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. The air entering the storage chamber passes through the filter in the ventilation hole and is discharged from the storage chamber. The air flowing in the storage chamber can prevent the garbage in the storage chamber 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 chamber, which can further prevent the garbage from being discharged from the storage chamber. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 Schematic diagram of the present invention.

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

[0029] Figure 3This 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 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 This 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] Figure 9 Schematic diagram of the second anti-collision plate of the present invention.

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

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

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

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

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

[0041] Figure 15 For the present invention Figure 14 Magnified view of area A in center.

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

[0043] Figure 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] Figure 18 This is a schematic diagram of the coordination structure of the second anti-collision plate, the cover plate, and the fixing plate after the first anti-collision plate is away from the robot body.

[0045] Figure 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] Figure 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. Slider; 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 clearly and completely described 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 Figures 1-20 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 provided in the fixing ring 2 .

[0052] like Figure 14 and Figure 15 As shown, the first drive unit includes a first gear ring 4 fixed to the inner side of the ring plate 3, a first motor 5 fixed inside the fixed ring 2, and a first gear 6 concentrically fixed to the output shaft of the first motor 5. The first gear 6 meshes with the first gear ring 4. When the first motor 5 is started, the first motor 5 drives the first gear 6 to rotate, and the first gear 6 drives the first gear ring 4 to rotate. When the first gear ring 4 rotates, the ring plate 3 rotates.

[0053] The outer side of the ring plate 3 is provided with an arc-shaped rack 32 for rotation, and the inner side of the ring plate 3 is provided with a second driving unit for driving the arc-shaped rack 32 to rotate. Figure 14 and Figure 15As shown, the second drive unit includes a rotating ring 28 that is coaxially connected to the ring plate 3 for rotation. A second gear ring 29 is fixed to the inner side of the rotating ring 28. A third gear 31 is concentrically fixed to the output shaft of the second motor 30. The third gear 31 meshes with the second gear ring 29, and an arcuate rack 32 is fixed to the outer side of the rotating ring 28. When the second motor 30 is started, the second motor 30 drives the third gear 31 to rotate, and the third gear 31 drives the rotating ring 28 to rotate. When the rotating ring 28 rotates, the arcuate rack 32 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 provided on the fixed plate 7. Specifically, a sliding groove 8 is provided on the fixed plate 7, and the sliding groove 8 is arranged at an angle. A slider 14 is slidably engaged in the sliding 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 to the 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 set in the slide 8, the length direction of the screw 9 is parallel to the length direction of the slide 8, the screw 9 passes through the slider 14, and the screw 9 is threadedly connected to the slider 14. The lower end of the second gear 13 is concentrically fixed with a rotating shaft 12, and the rotating shaft 12 is rotatably connected to the fixed plate 7. A second bevel gear 11 is concentrically fixed to the rotating shaft 12. A first bevel gear 10 is concentrically fixed to one end of the screw 9 near the second bevel gear 11, and the second bevel gear 11 is meshed with the first bevel gear 10.

[0057] During the rotation of the arc-shaped 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. 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 action 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 , and the slider 14 is fixedly connected to the first inclined portion 151 of the first anti-collision plate 15 .

[0059] An inverted L-shaped second anti-collision plate 20 is provided on the second inclined portion 152. A first guide block 21 is fixed to the end of the second anti-collision plate 20 facing the fixed plate 7. A horizontal first guide groove 19 is defined on the first inclined portion 151, and the first guide block 21 slides and engages 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. A vertical second guide groove 22 is defined on the second anti-collision plate 20, and the second guide block 23 slides and engages in the second guide groove 22. The end of the second anti-collision plate 20 near the fixed plate 7 slides in 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 to 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 via 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 attracts the first anti-collision plate 15. The cover plate 25 attracts the first anti-collision plate 15 via 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 filters 18 are 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: High-definition camera 33 and infrared detector 34 inspect the substation;

[0066] Step 2: 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 sequentially mesh with multiple second gears 13 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;

[0067] Step 3: 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;

[0068] Step 4: Start the first motor 5, which 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;

[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] While 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-shaped rack 32 to rotate through the second gear ring 29. During the rotation process, the arc-shaped rack 32 will mesh with multiple second gears 13 in sequence and drive the second gear 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. 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 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 Figure 17 shown.

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

[0075] Then the first motor 5 is started, 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 multiple anti-collision components to rotate synchronously. Figure 16 As the anti-collision assembly rotates clockwise, 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. During the rotation of the anti-collision assembly, air will continuously enter the storage chamber 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 chamber can prevent the garbage in the storage chamber from being discharged. At the same time, under the action of centrifugal force, the garbage is accumulated at the first inclined portion 151 of the first anti-collision plate 15 in the storage chamber, which can further prevent the garbage from being discharged from the storage chamber.

[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 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 chamber 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 the multiple anti-collision components driven by the ring plate, the garbage on the ground can enter the storage chamber. As the robot body moves, the garbage in the storage chamber 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 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 to perform 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. The air entering the storage chamber passes through the filter in the ventilation hole and is discharged from the storage chamber. The air flowing in the storage chamber can prevent the garbage in the storage chamber 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 chamber, which can further prevent the garbage from being discharged from the storage chamber.

[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 scope of protection 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) fixed to the upper end of the robot body (1), characterized in that: A fixed ring (2) is fixed on the upper part of the 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 in the fixed ring (2), 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 according to the axis center line 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 in the ring plate (3), and the anti-collision component includes The ring plate (3) is fixedly connected to a fixed plate (7), a first anti-collision plate (15) is slidably provided on the fixed plate (7), the upper end of the fixed plate (7) is rotatably connected to a second gear (13), 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 the rotation process and make the plurality of first anti-collision plates (15) sequentially away from the robot body (1), and the first anti-collision plates (15) gradually approach the robot body (1) when they are away from the robot body (1). Near the ground, 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). 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 horizontally arranged first guide groove (19) 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 fixing 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 a second inclined portion (152) is located between the cover plate (25) and the vertical portion of the second anti-collision plate (20).

2. A crawler inspection robot for a substation according to claim 1, 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 in the fixed ring (2), a first gear (6) is concentrically fixed on the output shaft of the first motor (5), and the first gear (6) is meshed with the first gear ring (4).

3. A crawler inspection robot for a substation according to claim 1, characterized in that: The second drive unit comprises a rotating ring (28) connected to the ring plate (3) for coaxial rotation, a second gear ring (29) being fixed on the inner side of 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 on the outer side of the rotating ring (28).

4. A crawler inspection robot for a substation according to claim 1, characterized in that: The fixed plate (7) is provided with a slide groove (8), the slide groove (8) is tilted, a slider (14) is slidably engaged in the slide groove (8), the slider (14) is fixedly connected to the first tilted 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 (9) rotatably arranged in the slide groove (8), the screw (9) The length direction of the second gear (13) is parallel to the length direction of the slide (8), the screw (9) passes through the slider (14), the screw (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), and a first bevel gear (10) is coaxially fixed to one end of the screw (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 fixed to the lower end of the first anti-collision plate (15) and the lower end of the second anti-collision plate (20), respectively. 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. The 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 fixed 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) conduct inspections of 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). 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 the designated position, the plurality of first anti-collision plates (15) are sequentially moved 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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