Intelligent photovoltaic power plant inspection robot

Abstract

The invention relates to the technical field of photovoltaic power plants, and discloses an intelligent photovoltaic power plant inspection robot which comprises a bottom shell, a supporting cylinder is fixedly connected to the middle of the top of the bottom shell, a partition plate is fixedly connected to the middle of the inner side of the bottom shell, and driving mechanisms are symmetrically arranged at the two ends of the bottom of the partition plate. The driving mechanism comprises two inclined rods rotationally connected to the two sides, close to one end, of the bottom of the partition plate, micro motors are fixedly connected to the sides, close to each other, of the bottoms of the two inclined rods, the output ends of the two micro motors penetrate through the close inclined rods to be fixedly connected with driving wheels, and a same connecting rod is fixedly connected between the middles of the two inclined rods; the middle of the connecting rod is rotationally sleeved with a pull rod. According to the invention, by means of free and flexible actions, the system can go deep into each place needing patrol, is not limited by terrains, can perform rapid patrol without omission, reduces the overall operation and maintenance expenditure, and improves the economic benefits of a power station.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic power plants, and in particular to a smart photovoltaic power plant inspection robot. Background Art

[0002] As the global demand for clean energy soars, the scale of photovoltaic power plants continues to expand, and large-scale centralized power stations and distributed photovoltaic systems are widely deployed. In the current situation where photovoltaic power stations are growing rapidly, how to improve the operating efficiency of power stations, reduce operation and maintenance costs, and ensure the safe and stable operation of power stations has become an urgent problem to be solved. Smart inspection robots have come into being. They integrate advanced technologies such as robotics, the Internet of Things, big data, and artificial intelligence. They can realize automatic navigation, real-time monitoring, fault diagnosis and other functions in photovoltaic power stations. The application of this technology can not only improve the operation and maintenance efficiency of power stations and reduce labor costs, but also promptly discover and deal with potential safety hazards, providing strong guarantees for the long-term stable operation of photovoltaic power stations.

[0003] In the prior art, existing inspection robots generally achieve walking and steering through driving wheels. This setting allows the robot to move freely on flat ground. However, when faced with obstacles, such as thresholds or ground with height differences, the robot's movement will be hindered, which severely limits the robot's inspection location and reduces the robot's work efficiency. For this reason, a smart photovoltaic power plant inspection robot is designed. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a smart photovoltaic power plant inspection robot.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] The intelligent photovoltaic power plant inspection robot comprises a bottom shell, a support cylinder is fixedly connected to the middle position of the top of the bottom shell, a partition is fixedly connected to the middle part of the inner side of the bottom shell, and driving mechanisms are symmetrically arranged at both ends of the bottom of the partition, and the driving mechanism comprises two inclined rods rotatably connected to the two sides of the bottom of the partition near one end, and the two sides of the bottom of the two inclined rods close to each other are fixedly connected to micro motors, and the output ends of the two micro motors are fixedly connected to driving wheels through the adjacent inclined rods. The four independent micro motors enable the robot to move forward or backward when operating synchronously, and the robot to turn when the rotation speed difference between the two sides is different. There is a fixed connection between the middle parts of the two inclined rods. The same connecting rod, and a pull rod is rotatably sleeved in the middle of the connecting rod, the driving mechanism also includes two vertical blocks fixedly connected to one end of the bottom of the partition, the same sliding rod is fixedly connected between the two vertical blocks, and the sliding sleeve of the sliding rod is provided with a first screw block, a circular hole matched with the sliding rod is opened in the middle of the first screw block, the same first reciprocating screw rod is also rotatably connected between the two vertical blocks, and the first reciprocating screw rod passes through the first screw block, a screw rod sliding sleeve is fixedly sleeved on the first screw block, and the inner circumferential surface of the screw rod sliding sleeve is provided with a pin hole along its radial direction, and a crescent pin matching the first reciprocating screw rod is provided in the pin hole, and the top end of the pull rod is rotatably connected to the bottom of the first screw block.

[0007] As a further scheme of the present invention, the driving mechanism also includes a connecting block fixedly connected to the bottom of the partition near the middle, the bottom of the connecting block is rotatably sleeved with a sleeve rod, the bottom of the connecting block is provided with a circular hole adapted to the sleeve rod, and one end of the sleeve rod near the middle of the partition is fixedly connected to a conical spur gear, and the other end of the sleeve rod is fixedly connected to a sleeve, the inner edge of the sleeve is rotatably connected to a first ratchet, and one side of the first ratchet is fixedly connected to a first spring, and the other end of the first spring is fixedly connected to the inner edge of the sleeve, the end of the first reciprocating screw rod near the sleeve passes through the vertical block and is fixedly connected to a round rod, and the other end of the round rod is fixedly connected to a ratchet gear, and the ratchet gear is located inside the sleeve, and the ratchet gear is adapted to the first ratchet, and through the arrangement of the ratchet gear and the first ratchet, etc., the two driving mechanisms can operate independently.

[0008] As a further solution of the present invention, electric telescopic rods are fixedly sleeved on both sides of the middle part of the partition, and circular holes compatible with the electric telescopic rods are opened on both sides of the partition. Two auxiliary wheels are arranged at the bottom of the two electric telescopic rods, and a power supply and transmission control module is arranged at one end of the top of the partition. A driving motor is fixedly connected to the middle position of the top of the partition, and a bevel gear is fixedly connected to the output end of the bottom of the driving motor through the partition, and the bevel gears are respectively meshed with two bevel spur gears. The different driving mechanisms are driven to operate by the forward and reverse rotation of the driving motor, thereby enabling the robot to cross obstacles.

[0009] As a further scheme of the present invention, a screw plate is fixedly connected to the top of the support tube, and guide rods are slidably sleeved on both ends of the screw plate, and circular holes are opened at both ends of the screw plate that are compatible with the guide rods. The bottoms of the two guide rods are fixedly connected to the same bottom plate, and the bottom plate is compatible with the inner wall of the support tube, and the tops of the two guide rods are fixedly connected to the same top plate, and a second reciprocating screw rod is rotatably connected to the middle of the top of the bottom plate, and the top of the second reciprocating screw rod passes through the screw plate and the top plate and is fixedly connected to the first disk, the screw plate is fixedly sleeved with a screw rod sleeve, and the inner circumferential surface of the screw rod sleeve is radially provided with a pin hole, and a crescent pin compatible with the second reciprocating screw rod is arranged in the pin hole, and a circular hole compatible with the second reciprocating screw rod is opened on the top plate, and a plurality of first bevel gear blocks are equidistantly arranged on the top circumference of the first disk. The top plate is lifted and lowered reciprocatingly by rotating the second reciprocating screw rod, so that the height of the high-definition camera and the thermal infrared imaging machine can be adjusted.

[0010] As a further solution of the present invention, a top cover is fixedly connected to the top of the top plate, a high-definition camera is rotatably connected to one side of the outer wall of the top cover, and a thermal infrared imaging machine is rotatably connected to the other side of the outer wall of the top cover. A straight bar frame is fixedly connected to the side where the thermal infrared imaging machine and the high-definition camera are close to each other. Through the high-definition camera and the thermal infrared imaging machine, the robot can perform more accurate inspections.

[0011] As a further solution of the present invention, an adjustment mechanism is provided at the middle of one end of the top of the top plate close to the two straight frames, and the adjustment mechanism includes two guide columns fixedly connected to the top of the top plate, and the top of the two guide columns is fixedly connected to the same rectangular plate, and the circumferential surface of the two guide columns is slidably sleeved with the same second screw block, and both ends of the second screw block are provided with circular holes matching the guide columns, and both ends of the second screw block are fixedly connected with adjustment rods, and the other ends of the two adjustment rods pass through the top cover and are slidably connected in the adjacent straight frames, and both sides of the top cover are provided with vertical holes matching the adjustment rods.

[0012] As a further scheme of the present invention, the adjustment mechanism also includes a third reciprocating screw rod that is rotatably connected, and the bottom of the third reciprocating screw rod passes through the second screw block and is rotatably connected to the top of the top plate. The second screw block is fixedly sleeved with a screw sleeve, and the inner circumferential surface of the screw sleeve is provided with a pin hole along its radial direction, and a crescent pin that cooperates with the third reciprocating screw rod is provided in the pin hole. The top of the third reciprocating screw rod passes through a rectangular plate and is fixedly connected with a synchronous wheel. A circular hole connected to the third reciprocating screw rod is opened in the middle of the rectangular plate, and a synchronous belt is sleeved on the synchronous wheel. The angle adjustment of the high-definition camera and the thermal infrared imaging machine is achieved through the reciprocating lifting and lowering of the second screw block.

[0013] As a further solution of the present invention, a U-shaped frame is fixedly connected to the top of the top plate near the first disc, an adjusting motor is fixedly connected to the middle of the top of the U-shaped frame, the bottom output end of the adjusting motor passes through the U-shaped frame and is fixedly connected to a driving rod, the bottom of the driving rod is fixedly connected to a connecting column, the bottom of the connecting column is fixedly connected to a square rod, a second disc is slidably sleeved on the square rod, a square hole matching the square rod is opened in the middle of the second disc, a stopper is fixedly connected to the bottom of the square rod, a second spring is sleeved at the top of the square rod, a plurality of second bevel gear blocks are fixedly connected to the bottom of the second disc at equal distances, and the plurality of second bevel gear blocks are matched with the plurality of first bevel gear blocks.

[0014] As a further solution of the present invention, a rotating ring is rotatably connected at the top edge of the connecting column, a synchronous groove is opened on the outer side of the rotating ring, and the other end of the synchronous belt is sleeved in the synchronous groove, a plurality of ratchet grooves are opened on the circumferential inner wall of the rotating ring at equal distances, a second ratchet is rotatably connected near the ratchet groove at the top of the connecting column, and the second ratchet is adapted to the ratchet groove, a third spring is fixedly connected to the other end of the second ratchet, and the other end of the third spring is fixedly connected to the fixed block, and the fixed block is fixedly connected to the top of the connecting column.

[0015] The beneficial effects of the present invention are:

[0016] The present invention adopts technical means such as a driving mechanism, a driving motor, an electric telescopic rod and auxiliary wheels. Through the forward and reverse rotation of the driving motor, the driving mechanisms at the front and rear ends are respectively controlled to operate, so that the driving wheels at the front and rear ends are respectively raised and lowered. In conjunction with the auxiliary wheels, it is convenient for the robot to cross obstacles or uneven ground, improve the robot's passability, and effectively solve the problem of limited robot movement mentioned in the background technology, thereby achieving the technical effect of being able to penetrate into various locations that need to be inspected by relying on free and flexible movement, not being restricted by the terrain, and being able to inspect quickly and without omissions, thereby reducing overall operation and maintenance expenses and improving the economic benefits of the power station.

[0017] The present invention adjusts the forward and reverse rotation of the motor to respectively drive the angle adjustment of the high-definition camera and the thermal infrared imaging machine or the height adjustment of the high-definition camera and the thermal infrared imaging machine, so that the robot can patrol better with the high-definition camera and the thermal infrared imaging machine, without blind spots in patrol, and improve the quality of patrol. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the overall structure of the smart photovoltaic power plant inspection robot proposed by the present invention;

[0019] Figure 2 This is a schematic diagram of the cross-sectional structure of the bottom shell of the smart photovoltaic power plant inspection robot proposed by the present invention;

[0020] Figure 3This is a schematic diagram of the structure of the driving mechanism of the smart photovoltaic power plant inspection robot proposed by the present invention;

[0021] Figure 4 The intelligent photovoltaic power plant inspection robot proposed by the present invention Figure 3 A schematic diagram of the structure enlarged at A;

[0022] Figure 5 The intelligent photovoltaic power plant inspection robot proposed by the present invention Figure 3 A schematic diagram of the enlarged structure at B;

[0023] Figure 6 This is a schematic diagram of the inner structure of the sleeve of the smart photovoltaic power plant inspection robot proposed by the present invention;

[0024] Figure 7 This is a schematic diagram of the structure of the driving motor of the smart photovoltaic power plant inspection robot proposed by the present invention;

[0025] Figure 8 This is a schematic diagram of the cross-sectional structure of the support tube of the smart photovoltaic power plant inspection robot proposed by the present invention;

[0026] Fig. 9 This is a schematic diagram of the cross-sectional structure of the top cover of the smart photovoltaic power plant inspection robot proposed by the present invention;

[0027] Fig.10 This is a structural schematic diagram of the adjustment mechanism of the smart photovoltaic power plant inspection robot proposed by the present invention;

[0028] Fig.11 This is a schematic diagram of the local structure of the top of the roof of the smart photovoltaic power plant inspection robot proposed by the present invention;

[0029] Fig.12 This is a schematic diagram of the structure of the connection column of the smart photovoltaic power plant inspection robot proposed in the present invention.

[0030] In the figure: 1, bottom shell; 101, partition; 102, electric telescopic rod; 103, auxiliary wheel; 104, power supply and transmission control module; 2, support cylinder; 201, screw plate; 3, driving mechanism; 301, inclined rod; 302, driving wheel; 303, micro motor; 304, vertical block; 305, sliding rod; 306, first reciprocating screw rod; 307, connecting rod; 308, first screw block; 309, pull rod; 310, connecting block; 311, round rod; 312, conical spur gear; 313, sleeve; 314, ratchet gear; 315, first ratchet; 316, first spring; 4, driving motor; 401, conical gear; 5, bottom plate; 501, guide rod; 502, second reciprocating screw rod; 503, first disc; 6, top plate; 601, top cover; 7, high-definition camera; 701, straight frame; 8, thermal infrared imaging machine; 9, adjustment mechanism; 901, guide column; 902, third reciprocating screw rod; 903, second screw block; 904, adjustment rod; 905, rectangular plate; 906, synchronous wheel; 907, synchronous belt; 10, U-shaped frame; 1001, adjustment motor; 11, second disc; 12, square rod; 1201, stopper; 1202, second spring; 13, connecting column; 14, rotating ring; 1401, synchronous groove; 1402, ratchet groove; 15, driving rod; 16, second ratchet; 17, third spring. DETAILED DESCRIPTION

[0031] 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.

[0032] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0033] Reference Figure 1-Figure 12The intelligent photovoltaic power plant inspection robot includes a bottom shell 1, a support cylinder 2 is fixedly connected to the middle position of the top of the bottom shell 1, a partition 101 is fixedly connected to the middle of the inner side of the bottom shell 1, and driving mechanisms 3 are symmetrically arranged at both ends of the bottom of the partition 101. The driving mechanism 3 includes two inclined rods 301 rotatably connected to both sides of the bottom of the partition 101 near one end, and the sides of the two inclined rods 301 close to each other at the bottom are fixedly connected to micro motors 303. The output ends of the two micro motors 303 are fixedly connected to the driving wheels 302 through the adjacent inclined rods 301. The same connecting rod 307 is fixedly connected between the middle parts of the two inclined rods 301, and a pull rod 309 is rotatably sleeved in the middle of the connecting rod 307. The driving mechanism 3 also includes It includes two vertical blocks 304 fixedly connected to one end of the bottom of the partition 101, a same sliding rod 305 is fixedly connected between the two vertical blocks 304, and the sliding rod 305 is slidably sleeved with a first screw block 308, and a circular hole matched with the sliding rod 305 is opened in the middle of the first screw block 308, and a same first reciprocating screw rod 306 is also rotatably connected between the two vertical blocks 304, and the first reciprocating screw rod 306 passes through the first screw block 308, a screw rod sliding sleeve is fixedly sleeved on the first screw block 308, and the inner circumferential surface of the screw rod sliding sleeve is provided with pin holes along its radial direction, and a crescent pin matching with the first reciprocating screw rod 306 is provided in the pin hole, and the top of the pull rod 309 is rotatably connected to the bottom of the first screw block 308.

[0034] In this embodiment, the driving mechanism 3 also includes a connecting block 310 fixedly connected to the bottom of the partition 101 near the middle, a sleeve rod is rotatably sleeved at the bottom of the connecting block 310, a round hole adapted to the sleeve rod is opened at the bottom of the connecting block 310, and a conical spur gear 312 is fixedly connected to one end of the sleeve rod near the middle of the partition 101, and a sleeve 313 is fixedly connected to the other end of the sleeve rod, a first ratchet 315 is rotatably connected to the inner edge of the sleeve 313, and a first spring 316 is fixedly connected to one side of the first ratchet 315, and the first spring 316 is fixedly connected to the inner edge of the sleeve 313. The other end of the spring 316 is fixedly connected to the inner edge of the sleeve 313, and the end of the first reciprocating screw rod 306 close to the sleeve 313 passes through the vertical block 304 and is fixedly connected to the round rod 311, and the other end of the round rod 311 is fixedly connected to the ratchet gear 314, and the ratchet gear 314 is located inside the sleeve 313, and the ratchet gear 314 is adapted to the first ratchet tooth 315. The arrangement of the sleeve 313, the first ratchet tooth 315 and the ratchet gear 314, etc., can drive one of the driving mechanisms 3 to operate when the driving motor 4 rotates forward and reversely.

[0035] In this embodiment, electric telescopic rods 102 are fixedly sleeved on both sides of the middle part of the partition 101, and circular holes compatible with the electric telescopic rods 102 are opened on both sides of the partition 101. Two auxiliary wheels 103 are arranged at the bottom of the two electric telescopic rods 102, and a power supply and transmission control module 104 is arranged at one end of the top of the partition 101. Through the arrangement of the electric telescopic rods 102 and the auxiliary wheels 103, the robot can be in a stable state when crossing obstacles. A driving motor 4 is fixedly connected to the middle position of the top of the partition 101, and the output end of the bottom of the driving motor 4 passes through the partition 101 and is fixedly connected to a bevel gear 401, and the bevel gear 401 is respectively meshed with two bevel spur gears 312, and the two driving mechanisms 3 are driven to operate respectively through the forward and reverse rotation of the driving motor 4.

[0036] In this embodiment, a screw plate 201 is fixedly connected to the top of the support tube 2, and guide rods 501 are slidably sleeved at both ends of the screw plate 201. Round holes adapted to the guide rods 501 are opened at both ends of the screw plate 201. The bottoms of the two guide rods 501 are fixedly connected to the same bottom plate 5, and the bottom plate 5 is adapted to the inner wall of the support tube 2. The arrangement of the bottom plate 5 makes the top plate 6 always in a stable state during the lifting process. The tops of the two guide rods 501 are fixedly connected to the same top plate 6, and the bottom plate A second reciprocating screw rod 502 is rotatably connected at the middle of the top, and the top of the second reciprocating screw rod 502 passes through the screw plate 201 and the top plate 6 to be fixedly connected to the first disc 503. A screw sleeve is fixedly sleeved on the screw plate 201, and a pin hole is arranged along the radial direction on the inner circumference of the screw sleeve, and a crescent pin for the second reciprocating screw rod 502 is arranged in the pin hole. A circular hole matching the second reciprocating screw rod 502 is opened on the top plate 6, and a plurality of first bevel gear blocks are arranged at equal distances on the top circumference of the first disc 503.

[0037] In this embodiment, a top cover 601 is fixedly connected to the top of the top plate 6, a high-definition camera 7 is rotatably connected to one side of the outer wall of the top cover 601, a thermal infrared imaging machine 8 is rotatably connected to the other side of the outer wall of the top cover 601, and a straight frame 701 is fixedly connected to the side where the thermal infrared imaging machine 8 and the high-definition camera 7 are close.

[0038] In this embodiment, an adjustment mechanism 9 is provided at the middle of one end of the top of the top plate 6 close to the two straight frames 701, and the adjustment mechanism 9 includes two guide columns 901 fixedly connected to the top of the top plate 6, and the same rectangular plate 905 is fixedly connected to the top of the two guide columns 901. The circumferential surfaces of the two guide columns 901 are slidably sleeved with the same second screw block 903, and both ends of the second screw block 903 are provided with circular holes that are compatible with the guide columns 901, and both ends of the second screw block 903 are fixedly connected with adjustment rods 904, and the other ends of the two adjustment rods 904 pass through the top cover 601 and are slidably connected in the adjacent straight frames 701, and both sides of the top cover 601 are provided with vertical holes that are compatible with the adjustment rods 904.

[0039] In this embodiment, the adjustment mechanism 9 also includes a third reciprocating screw rod 902 that is rotatably connected, and the bottom of the third reciprocating screw rod 902 passes through the second screw block 903 and is rotatably connected to the top of the top plate 6. The second screw block 903 is fixedly sleeved with a screw sleeve, and the inner circumferential surface of the screw sleeve is provided with a pin hole along its radial direction, and a crescent pin that cooperates with the third reciprocating screw rod 902 is provided in the pin hole. The top of the third reciprocating screw rod 902 passes through a rectangular plate 905 and is fixedly connected with a synchronous wheel 906. A circular hole connected to the third reciprocating screw rod 902 is opened in the middle of the rectangular plate 905, and a synchronous belt 907 is sleeved on the synchronous wheel 906. Through the rotation of the third reciprocating screw rod 902, the second screw block 903 is reciprocated and lifted, so that the angles of the high-definition camera 7 and the thermal infrared imaging machine 8 are adjusted.

[0040] In this embodiment, a U-shaped frame 10 is fixedly connected to the top of the top plate 6 near the first disc 503, and an adjusting motor 1001 is fixedly connected to the middle of the top of the U-shaped frame 10. By adjusting the forward and reverse rotation of the motor 1001, the height of the high-definition camera 7 and the thermal infrared imaging machine 8 can be adjusted, or the pitch angle of the high-definition camera 7 and the thermal infrared imaging machine 8 can be adjusted, so that the inspection of the high-definition camera 7 and the thermal infrared imaging machine 8 is more comprehensive. The bottom output end of the adjusting motor 1001 passes through the U-shaped frame 10 and is fixedly connected to a driving rod 15. The bottom of the driving rod 15 is fixedly connected to a connecting column 13, and the bottom of the connecting column 13 is fixedly connected to a square rod 12. A second disc 11 is slidably sleeved on the square rod 12, and a square hole matched with the square rod 12 is opened in the middle of the second disc 11. The setting of the square hole enables the second disc 11 to be raised and lowered while rotating with the adjusting motor 1001. A stopper 1201 is fixedly connected to the bottom of the square rod 12, and a second spring 1202 is sleeved on the top of the square rod 12. A plurality of second bevel gear blocks are fixedly connected to the bottom of the second disc 11 at equal distances, and the plurality of second bevel gear blocks are matched with the plurality of first bevel gear blocks. The cooperation of the second disc 11, the first disc 503 and the second spring 1202, etc., enables the second disc 11 to only move in one direction with the second reciprocating screw rod 502.

[0041] In this embodiment, a rotating ring 14 is rotatably connected at the top edge of the connecting column 13, a synchronous groove 1401 is opened on the outer side of the rotating ring 14, and the other end of the synchronous belt 907 is sleeved in the synchronous groove 1401, and a plurality of ratchet grooves 1402 are opened at equal distances on the circumferential inner wall of the rotating ring 14, a second ratchet 16 is rotatably connected near the ratchet groove 1402 at the top of the connecting column 13, and the second ratchet 16 is adapted to the ratchet groove 1402, and the other end of the second ratchet 16 is fixedly connected to a third spring 17, and the other end of the third spring 17 is fixedly connected to the fixed block, and the fixed block is fixedly connected to the top of the connecting column 13, and the setting of the rotating ring 14, the synchronous groove 1401, the ratchet groove 1402, etc., makes the rotating ring 14 only rotate in one direction.

[0042] Working principle: When in use, when the robot is moving, the side facing the high-definition camera 7 is the front end. When moving on a flat road, the two electric telescopic rods 102 shrink with the auxiliary wheels 103, and the four driving wheels 302 contact the ground to achieve walking. The four driving wheels 302 are all controlled by independent micro motors 303, and the left and right steering of the robot is achieved through the speed difference. When walking, when encountering obstacles, such as thresholds, the two electric telescopic rods 102 are started at this time, so that the auxiliary wheels 103 drop and contact the ground, and at the same time, the drive motor 4 is started to rotate the bevel gear 401 counterclockwise, so that the two bevel spur gears 312 both rotate, but in opposite directions. The bevel spur gears 312 of the front drive mechanism 3 are connected through the sleeve The cylinder 313 and the first ratchet 315 will rotate with the ratchet gear 314, the round rod 311 and the first reciprocating screw rod 306, while the rear driving mechanism 3 will not rotate due to the arrangement of the ratchet gear 314 and the first ratchet 315. The first screw block 308 at the front end will move with the pull rod 309, so that the two inclined rods 301 at the front end rotate upward, so that the two driving wheels 302 at the front end are suspended in the air. At this time, the two driving wheels 302 at the rear end and the four auxiliary wheels 103 are used to support the equipment. The driving wheels 302 at the rear end move so that the two driving wheels 302 at the front end pass over the obstacles, and then the driving motor 4 continues to rotate counterclockwise, so that the first screw block 308 moves with the pull rod 309 and returns to its original position. At this time, the driving wheels 302 at the front end will The electric telescopic rod 102 contacts the ground, and at the same time, the electric telescopic rod 102 contracts, so that the auxiliary wheel 103 passes over the obstacle, and at the same time, the drive motor 4 is started to rotate clockwise, so that the drive wheel 302 at the rear end is lifted. Through the cooperation of the micro motor 303, the drive motor 4 and the electric telescopic rod 102, the robot can cross different obstacles without being restricted by the terrain, so as to achieve better inspection. When it is necessary to adjust the height of the high-definition camera 7 and the thermal infrared imaging machine 8, the adjustment motor 1001 rotates counterclockwise, so that under the action of the second spring 1202, the second disc 11 and the first disc 503, the second reciprocating screw rod 502 rotates, so that the second reciprocating screw rod 502 reciprocates and rises and falls along the screw plate 201, and the bottom plate 5, the guide rod 501 and the top plate 5 are connected to the robot. The arrangement of the plate 6 allows the high-definition camera 7 and the thermal infrared imager 8 to be lifted and lowered stably. During the process, since the second ratchet 16 cannot engage with the ratchet groove 1402, the rotating ring 14 cannot rotate with the synchronous wheel 906. When it is necessary to adjust the viewing angle of the high-definition camera 7 and the thermal infrared imager 8, the motor 1001 is adjusted to rotate clockwise so that the second bevel gear block at the bottom of the second disk 11 cannot engage with the first bevel gear block at the top of the first disk 503, so that the second reciprocating screw rod 502 cannot rotate. At the same time, the second ratchet 16 can engage with the ratchet groove 1402, so that the rotating ring 14 rotates with the synchronous wheel 906 through the synchronous belt 907, so that the third reciprocating screw rod 902 rotates, and then the second screw block 903 is lifted and lowered reciprocatingly.By raising and lowering the adjustment rod 904 and cooperating with the vertical frame 701, the pitch angle of the high-definition camera 7 and the thermal infrared imager 8 can be adjusted. Through the cooperation of the high-definition camera 7 and the thermal infrared imager 8 and the power supply and transmission control module 104, etc., the station operation data, photovoltaic power generation unit data, instrument detection data, etc. can be organically integrated, and component failures can be systematically and comprehensively evaluated, and the locations of failures and foreign objects can be returned in time, so that the staff can clean or repair the photovoltaic panels in time. Through the cooperation of the thermal infrared imager 8 and the high-definition camera 7, combined with the latest image processing algorithms and photogrammetry technology, the automatic detection of abnormal conditions such as line defects and fan defects can be realized, and the abnormal details and accurate location information can be reported, so as to realize the inspection of the collection line, fan tower, and blades.

[0043] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0044] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0045] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein, for example. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0046] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A smart photovoltaic power plant inspection robot, comprising a bottom shell (1), characterized in that: A support cylinder (2) is fixedly connected to the middle position of the top of the bottom shell (1), a partition (101) is fixedly connected to the middle of the inner side of the bottom shell (1), and a driving mechanism (3) is symmetrically arranged at both ends of the bottom of the partition (101), and the driving mechanism (3) comprises two inclined rods (301) rotatably connected to both sides of the bottom of the partition (101) near one end, and the sides of the bottoms of the two inclined rods (301) close to each other are fixedly connected to micro motors (303), and the output ends of the two micro motors (303) are fixedly connected to the driving wheels (302) through the adjacent inclined rods (301), and the middle parts of the two inclined rods (301) are fixedly connected to the same connecting rod (307), and the middle part of the connecting rod (307) is rotatably sleeved with a pull rod (309), and the driving mechanism (3) also comprises a fixed Two vertical blocks (304) are connected to one end of the bottom of the partition (101), and a same sliding rod (305) is fixedly connected between the two vertical blocks (304), and the sliding rod (305) is slidably sleeved with a first screw block (308), and a circular hole matching the sliding rod (305) is opened in the middle of the first screw block (308), and a same first reciprocating screw rod (306) is also rotatably connected between the two vertical blocks (304), and the first reciprocating screw rod (306) passes through the first screw block (308), a screw rod sliding sleeve is fixedly sleeved on the first screw block (308), and a pin hole is provided on the inner circumferential surface of the screw rod sliding sleeve along its radial direction, and a crescent pin matching the first reciprocating screw rod (306) is provided in the pin hole, and the top of the pull rod (309) is rotatably connected to the bottom of the first screw block (308).

2. The intelligent photovoltaic power plant inspection robot according to claim 1 is characterized in that: The driving mechanism (3) further comprises a connecting block (310) fixedly connected to the bottom of the partition (101) near the middle, a sleeve rod rotatably sleeved on the bottom of the connecting block (310), a circular hole adapted to the sleeve rod is opened on the bottom of the connecting block (310), a conical spur gear (312) is fixedly connected to one end of the sleeve rod near the middle of the partition (101), and a sleeve (313) is fixedly connected to the other end of the sleeve rod, a first ratchet (315) is rotatably connected to the inner edge of the sleeve (313), and a first ratchet (315) is rotatably connected to the inner edge of the sleeve (313), and a first ratchet (315) is rotatably connected to the inner edge of the sleeve (313). A first spring (316) is fixedly connected to one side of a ratchet tooth (315), and the other end of the first spring (316) is fixedly connected to the inner edge of the sleeve (313); one end of the first reciprocating screw rod (306) close to the sleeve (313) passes through the vertical block (304) and is fixedly connected to a round rod (311); the other end of the round rod (311) is fixedly connected to a ratchet gear (314); the ratchet gear (314) is located inside the sleeve (313), and the ratchet gear (314) is matched with the first ratchet tooth (315).

3. The intelligent photovoltaic power plant inspection robot according to claim 1 is characterized in that: Electric telescopic rods (102) are fixedly sleeved on both sides of the middle of the partition (101), and circular holes matching the electric telescopic rods (102) are opened on both sides of the partition (101). Two auxiliary wheels (103) are arranged at the bottom of the two electric telescopic rods (102). A power supply and transmission control module (104) is arranged at one end of the top of the partition (101). A driving motor (4) is fixedly connected to the middle position of the top of the partition (101), and a bevel gear (401) is fixedly connected to the output end of the bottom of the driving motor (4) passing through the partition (101), and the bevel gear (401) is respectively meshed with two bevel spur gears (312).

4. The intelligent photovoltaic power plant inspection robot according to claim 1 is characterized in that: The top of the support tube (2) is fixedly connected with a screw plate (201), both ends of the screw plate (201) are slidably sleeved with guide rods (501), both ends of the screw plate (201) are provided with round holes adapted to the guide rods (501), the bottoms of the two guide rods (501) are fixedly connected with a same bottom plate (5), and the bottom plate (5) is adapted to the inner wall of the support tube (2), the tops of the two guide rods (501) are fixedly connected with a same top plate (6), and the middle of the top of the bottom plate (5) is rotatably connected with a second A reciprocating screw rod (502), and the top of the second reciprocating screw rod (502) passes through the screw plate (201) and the top plate (6) and is fixedly connected to the first disc (503), the screw plate (201) is fixedly sleeved with a screw sleeve, and the inner circumferential surface of the screw sleeve is provided with a pin hole along its radial direction, and a crescent pin for the second reciprocating screw rod (502) is provided in the pin hole, and a circular hole matching the second reciprocating screw rod (502) is opened on the top plate (6), and a plurality of first bevel gear blocks are equidistantly provided on the top circumference of the first disc (503).

5. The intelligent photovoltaic power plant inspection robot according to claim 4 is characterized in that: A top cover (601) is fixedly connected to the top of the top plate (6); a high-definition camera (7) is rotatably connected to one side of the outer wall of the top cover (601); a thermal infrared imaging machine (8) is rotatably connected to the other side of the outer wall of the top cover (601); and a straight bar frame (701) is fixedly connected to the side where the thermal infrared imaging machine (8) and the high-definition camera (7) are close to each other.

6. The intelligent photovoltaic power plant inspection robot according to claim 5 is characterized in that: An adjustment mechanism (9) is provided at the middle of one end of the top of the top plate (6) close to the two straight strip frames (701), and the adjustment mechanism (9) comprises two guide posts (901) fixedly connected to the top of the top plate (6), the tops of the two guide posts (901) are fixedly connected to a same rectangular plate (905), the circumferential surfaces of the two guide posts (901) are slidably sleeved with a same second screw block (903), both ends of the second screw block (903) are provided with circular holes matched with the guide posts (901), both ends of the second screw block (903) are fixedly connected with adjustment rods (904), the other ends of the two adjustment rods (904) pass through the top cover (601) and are slidably connected to the adjacent straight strip frames (701), and both sides of the top cover (601) are provided with vertical holes matched with the adjustment rods (904).

7. The intelligent photovoltaic power plant inspection robot according to claim 6 is characterized in that: The adjusting mechanism (9) also includes a third reciprocating screw (902) that is rotatably connected, and the bottom of the third reciprocating screw (902) passes through a second screw block (903) and is rotatably connected to the top of the top plate (6); the second screw block (903) is fixedly sleeved with a screw sleeve, and the inner circumferential surface of the screw sleeve is provided with a pin hole along its radial direction, and a crescent pin that cooperates with the third reciprocating screw (902) is provided in the pin hole; the top of the third reciprocating screw (902) passes through a rectangular plate (905) and is fixedly connected to a synchronous wheel (906); a circular hole that is connected to the third reciprocating screw (902) is opened in the middle of the rectangular plate (905), and a synchronous belt (907) is sleeved on the synchronous wheel (906).

8. The intelligent photovoltaic power plant inspection robot according to claim 6 is characterized in that: A U-shaped frame (10) is fixedly connected to the top of the top plate (6) near the first disc (503); an adjusting motor (1001) is fixedly connected to the middle of the top of the U-shaped frame (10); an output end of the bottom of the adjusting motor (1001) passes through the U-shaped frame (10) and is fixedly connected to a driving rod (15); a connecting column (13) is fixedly connected to the bottom of the driving rod (15); a square rod (12) is fixedly connected to the bottom of the connecting column (13); a second disc (11) is slidably sleeved on the square rod (12); a square hole matching the square rod (12) is opened in the middle of the second disc (11); a stopper (1201) is fixedly connected to the bottom of the square rod (12); a second spring (1202) is sleeved on the top of the square rod (12); a plurality of second bevel gear blocks are fixedly connected to the bottom of the second disc (11) at equal distances; and the plurality of second bevel gear blocks match the plurality of first bevel gear blocks.

9. The intelligent photovoltaic power plant inspection robot according to claim 8, characterized in that: A rotating ring (14) is rotatably connected to the top edge of the connecting column (13), a synchronous groove (1401) is provided on the outer side of the rotating ring (14), and the other end of the synchronous belt (907) is sleeved in the synchronous groove (1401), a plurality of ratchet grooves (1402) are equidistantly provided on the circumferential inner wall of the rotating ring (14), a second ratchet (16) is rotatably connected to the top of the connecting column (13) near the ratchet groove (1402), and the second ratchet (16) is adapted to the ratchet groove (1402), the other end of the second ratchet (16) is fixedly connected to a third spring (17), and the other end of the third spring (17) is fixedly connected to a fixed block, and the fixed block is fixedly connected to the top of the connecting column (13).

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