Height-adjustable electric intelligent operation and inspection robot

Abstract

The invention discloses a height-adjustable electric power intelligent operation and inspection robot, and belongs to the technical field of electric power intelligent operation and inspection machine bases. Comprising an autonomous navigation chassis base, a servo lifting platform, a multi-axis mechanical arm, a second operation and inspection guide rail module and a first operation and inspection guide rail module, and through the autonomous navigation chassis, the servo lifting platform and the multi-axis mechanical arm of the height-adjustable electric intelligent operation and inspection robot, the working height can be flexibly adjusted, and the robot can adapt to different environments. Particularly, the first operation and inspection guide rail module and the second operation and inspection guide rail module carried by the robot can be combined to form a complete arc-shaped guide rail structure, and a wound wire group is wound around the arc-shaped guide rail structure. And the driving mechanism carries the intelligent operation inspection camera to move along the guide rail, so that all-directional dead-corner-free scanning detection is realized. The design not only improves the detection efficiency and accuracy, but also avoids the interface loosening risk caused by physical intervention.

Description

Technical Field

[0001] The invention relates to the technical field of an electric power intelligent operation and inspection machine base, and more specifically to an electric power intelligent operation and inspection robot with adjustable height. Background Art

[0002] In modern power systems, with the continuous expansion of power grid scale and the increase in technical complexity, traditional manual inspection methods can no longer meet the requirements of efficiency and safety. To meet this challenge, intelligent operation and inspection robots have gradually become a trend in the industry. Such robots can integrate a variety of advanced sensors and intelligent algorithms to automatically complete daily inspection, troubleshooting and maintenance tasks of power equipment without human intervention.

[0003] However, in actual applications, especially when facing complex power facility environments, the wires in many substations and transmission lines are not arranged neatly. In particular, there are often several entangled wires on the outer interface of some power equipment, which will bring great inconvenience to the intelligent shooting end and analysis module of the operation and inspection robot. Traditional fixed-angle cameras often cannot provide clear and effective image data in this case, because key parts may be blocked by other wires, resulting in failure of visual detection. In order to solve this problem, the existing technology generally adopts multi-scanning ends for multi-angle shooting combined with three-dimensional reconstruction technology to obtain detailed information of the target area from multiple perspectives and generate accurate three-dimensional models to help identify potential fault points.

[0004] However, in actual work, not all the external interfaces of power equipment can be extended to multiple shooting and scanning terminals. The wires connected to the external interfaces of some power equipment are directly placed on the platform of the power rack. It is difficult for the scanning terminal on the intelligent operation and inspection equipment to extend to the bottom of the equipment, and it is also difficult to adjust the shooting terminal at this position after extending to the bottom of the equipment. Therefore, how to accurately detect these inaccessible or covered key areas without interfering with the existing electrical layout has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] In view of the problems existing in the prior art, the purpose of the present invention is to provide an electric power intelligent operation and inspection robot with adjustable height, aiming to solve the above-mentioned technical problems.

[0006] To solve the above problems, the present invention adopts the following technical solutions.

[0007] An electric power intelligent operation and inspection robot with adjustable height comprises an autonomous navigation chassis seat, a servo lifting platform is fixedly installed on the upper surface of the autonomous navigation chassis seat, a multi-axis mechanical arm is fixedly installed on the lifting end of the servo lifting platform, the output end of the multi-axis mechanical arm is divided into two groups, one upper and one lower, a second operation and inspection guide rail module is configured on one side of the output end on the upper side of the multi-axis mechanical arm, and a first operation and inspection guide rail module is configured on one side of the output end on the lower side of the multi-axis mechanical arm; The first transport and inspection guide rail module has the same structure as the second transport and inspection guide rail module, and the second transport and inspection guide rail modules on the upper and lower sides can form a complete arc-shaped guide rail structure sleeved on the outside of the wire group when in a fitted state with the first transport and inspection guide rail module; Among them, the second inspection guide rail module is provided with a driving mechanism, and the driving mechanism is configured with an intelligent inspection camera. The driving mechanism is used to carry the intelligent inspection camera to rotate in a circular arc guide structure composed of the second inspection guide rail module and the first inspection guide rail module to perform intelligent inspection scanning on any side of the wire group.

[0008] As a further solution of the present invention: the first transport and inspection guide rail module includes a side expansion bracket plate fixedly installed on the lower output end of the multi-axis robot arm, a semi-circular arc slot guide rail is fixedly installed on the outer side of the side expansion bracket plate, a limiting slot belt is fixedly connected at the middle position of the inner wall of the semi-circular arc slot guide rail, the slot of the limiting slot belt is T-shaped in a cross-sectional state, toothed belts are fixedly installed on the inner wall edges on both sides of the semi-circular arc slot guide rail, and magnetic side panels are fixedly installed on the end faces on both sides of the semi-circular arc slot guide rail.

[0009] As a further solution of the present invention: the driving mechanism includes a T-shaped soft rubber block slidably sleeved inside the limiting slot belt, a cavity sleeve is fixedly installed on the protruding end of the T-shaped soft rubber block, a second electric telescopic rod with an output end extending outward is fixedly installed inside the cavity of the cavity sleeve, and an intelligent inspection camera is fixedly installed on the output end of the second electric telescopic rod, a first U-shaped wing plate frame is fixedly installed on the outer surface of the cavity sleeve, gear plates are movably installed at both side ends of the first U-shaped wing plate frame, and the gear plates on both sides are meshed with the toothed belts on both sides, and a servo motor is also fixedly installed on the inner wall of one side end of the first U-shaped wing plate frame, and the output end of the servo motor passes through the side end of the first U-shaped wing plate frame and is fixedly connected to the center of the gear plate on the same side.

[0010] As a further solution of the present invention: a first outward-flipping module and a second outward-flipping module are respectively arranged on both sides of the bottom of the intelligent operation and inspection camera, the first outward-flipping module includes a second U-shaped wing plate frame fixedly connected to the bottom of the intelligent operation and inspection camera, both side ends of the second U-shaped wing plate frame are fixedly connected with a torsion spring sleeve rod, and an outward-flipping plate is sleeved by the torsion spring sleeve rod, the bottom of the outward-flipping plate is fixedly connected with a magnetic pointed tip rocker, and an external exhaust fan is fixedly installed on the outer side of the outward-flipping plate.

[0011] As a further solution of the present invention: the structure of the second outward-flipping module is the same as the structure of the first outward-flipping module consisting of an outward-flipping plate, a magnetic nozzle rocker plate, and an external exhaust fan, and the outward-flipping plate in the second outward-flipping module is also sleeved on the bottom of the second U-shaped wing plate frame through a torsion spring sleeve rod and is symmetrical with the outward-flipping plate of the second outward-flipping module, and the outward-flipping plates on both sides of the second U-shaped wing plate frame are always kept in a clamped state under the torsional force of the torsion spring sleeve rod.

[0012] As a further solution of the present invention: the upper sides of the outward-flip plates on both sides of the second U-shaped wing frame are movably installed with outward-flip hinged frames, and the outer ends of the outward-flip hinged frames are movably installed with buckle clamps, and the surfaces of the buckle clamps are fixedly installed with electrically controlled magnetic suction plates, and the outer surface of the cavity sleeve and the outward-flip hinged frames on both sides are fixedly installed with metal partitions, and sliding guide rails are provided at positions on both sides of the metal partitions.

[0013] As a further solution of the present invention: both side ends of the buckle card plate are provided with buckles, and are slidably sleeved in the sliding guide rail on the same side through the buckles, and the electrically controlled magnetic suction plate is fitted and corresponding to the metal partition on the same side under the clamping action of the buckle card plate.

[0014] As a further solution of the present invention: first electric telescopic rods are fixedly installed at both ends of the outer side surfaces of the semi-circular arc groove guide rails of the first transport and inspection guide rail module and the second transport and inspection guide rail module, and the output ends of the first electric telescopic rods are both facing the axial center position of the circular arc guide structure composed of the second transport and inspection guide rail module and the first transport and inspection guide rail module, and extrusion plates are fixedly installed on the output ends of the first electric telescopic rods.

[0015] As a further solution of the present invention: a scraping module is also configured on the surface of the outer flip plate in the second outer flip module facing the intelligent operation and inspection camera, and the scraping module includes a third U-shaped wing plate frame, a first outer hinge plate is movably installed on the inner side of the third U-shaped wing plate frame, a second outer hinge plate is movably installed on the outer side of the first outer hinge plate, and a wiping block is fixedly installed on the upper surface of the second outer hinge plate.

[0016] As a further solution of the present invention: a bent flexible plate is fixedly installed on the bottom of the second outer hinge plate, and the second outer hinge plate is lifted upward as a whole under the elastic force of the bent flexible plate, and when the outer flaps on both sides of the second U-shaped wing plate frame are clamped, the wiping block is in contact with the bottom camera end of the intelligent operation and inspection camera.

[0017] Compared with the prior art, the above technical solution provided by the present invention has at least the following beneficial effects: (1) Through the autonomous navigation chassis, servo lifting platform and multi-axis robotic arm of the height-adjustable electric intelligent operation and inspection robot, the working height can be flexibly adjusted and adapted to different environments. In particular, the first operation and inspection guide rail module and the second operation and inspection guide rail module carried by the robot can be combined to form a complete arc-shaped guide rail structure, surrounding the winding wire group. The drive mechanism carries the intelligent operation and inspection camera along this guide rail to achieve all-round scanning and detection without blind spots. This design not only improves the detection efficiency and accuracy, but also avoids the risk of loose interfaces caused by physical intervention; (2) The external exhaust fan configured on the external flip module can effectively discharge heat during the detection process, provide a more stable infrared thermal imaging background, and ensure the accuracy of the detection results. The electrically controlled magnetic suction plate is used to control the state of the external flip plate, so that it can be unfolded or clamped when needed, providing a better shooting angle and protection for the camera in complex environments, such as entangled or fitted wires. These functions work together to significantly enhance the adaptability and reliability of the system in complex environments, ensuring that key areas are effectively detected; (3) The electric telescopic rod is used to clamp the wires near the interface to prevent the interface from loosening due to the flip-out operation. At the same time, the scraping module can perform real-time maintenance on the camera every time the flip-out plate is closed, ensuring that its lens is always clean and improving image quality. This not only solves the problems that are difficult to handle in the existing technology, but also greatly improves the overall efficiency and safety of power equipment inspection, providing strong support for the stable operation of the power system. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which are incorporated herein and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, further serve to explain the principles of the invention and to enable those skilled in the relevant art to make and use the invention.

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the structure of the first transport and inspection guide rail module of the present invention, and the first transport and inspection guide rail module split up and down; Figure 3 It is a structural schematic diagram of the first transport and inspection guide rail module of the present invention; Figure 4It is a structural schematic diagram of the driving mechanism of the present invention; Figure 5 It is a structural schematic diagram of the sliding guide surface of the present invention; Figure 6 It is a structural schematic diagram of the first and second outward-turning modules of the present invention in the split state from left to right; Figure 7 It is a schematic structural diagram of the scraping module of the present invention. Reference numerals

[0020] 1. Autonomous navigation chassis; 2. Servo lifting platform; 3. Multi-axis robotic arm; 4. First transport and inspection guide rail module; 41. Side extension bracket plate; 42. Semicircular arc slot guide rail; 43. Toothed belt; 44. Limiting slot belt; 45. Magnetic side plate; 46. First electric telescopic rod; 47. Extrusion plate; 5. The second transport and inspection rail module; 6. Driving mechanism; 61. T-shaped soft rubber block; 62. Cavity sleeve; 63. Second electric telescopic rod; 64. First U-shaped wing frame; 65. Gear plate; 66. Servo motor; 67, first outward turning module; 671, second U-shaped wing frame; 672, torsion spring sleeve rod; 673, outward turning plate; 674, magnetic tip rocker; 675, external exhaust fan; 676, outward turning hinge frame; 677, buckle card plate; 678, electric control magnetic suction plate; 68. Second outward turning module; 69. Sliding guide rail; 610. Metal partition; 7. Intelligent operation and inspection camera; 8. Scraping module; 81. Third U-shaped wing frame; 82. First outer hinge plate; 83. Second outer hinge plate; 84. Wiping block; 85. Bent tough plate.

[0021] As shown in the figure, in order to clearly implement the structure of the embodiment of the present invention, specific structures and devices are marked in the figure, but this is only for illustrative purposes and is not intended to limit the present invention to the specific structure, device and environment. According to specific needs, ordinary technicians in this field can adjust or modify these devices and environments. DETAILED DESCRIPTION

[0022] The following is a detailed description of an electric power intelligent operation and inspection robot with adjustable height provided by the present invention in combination with the accompanying drawings and specific embodiments. At the same time, it is explained here that in order to make the embodiments more detailed, the following embodiments are listed as the best and preferred embodiments, and other alternatives can also be adopted by technicians in some known technical fields; and the accompanying drawings are only for more specific description of the embodiments, and are not intended to specifically limit the present invention.

[0023] like Figures 1 to 7 As shown, an embodiment of the present invention provides an electric power intelligent operation and inspection robot with adjustable height, comprising an autonomous navigation chassis base 1, a servo lifting platform 2 is fixedly installed on the upper surface of the autonomous navigation chassis base 1, a multi-axis mechanical arm 3 is fixedly installed on the lifting end of the servo lifting platform 2, and the output end of the multi-axis mechanical arm 3 is divided into two groups, one upper and one lower, and a second operation and inspection guide rail module 5 is configured on one side of the upper output end of the multi-axis mechanical arm 3, and a first operation and inspection guide rail module 4 is configured on one side of the lower output end of the multi-axis mechanical arm 3; The first transport and inspection rail module 4 has the same structure as the second transport and inspection rail module 5, and the second transport and inspection rail modules 5 on the upper and lower sides are fitted with the first transport and inspection rail module 4 to form a complete arc-shaped rail structure sleeved on the outside of the wire group; Among them, the second inspection guide rail module 5 is provided with a driving mechanism 6, and the driving mechanism 6 is configured with an intelligent inspection camera 7. The driving mechanism 6 is used to carry the intelligent inspection camera 7 to rotate in a circular arc guide structure composed of the second inspection guide rail module 5 and the first inspection guide rail module 4, so as to perform intelligent inspection scanning on any side of the wire group.

[0024] In order to solve the problem that in a complex and crowded power equipment environment, it is difficult for the existing technology to clearly and effectively detect key parts without moving the wires, the above-mentioned technical solution is now adopted to solve the problem. The above-mentioned technical solution is mainly composed of an autonomous navigation chassis seat 1, a servo lifting platform 2, a multi-axis mechanical arm 3, a first inspection guide rail module 4, a second inspection guide rail module 5, a driving mechanism 6, and an intelligent inspection camera 7. The autonomous navigation chassis seat 1, the servo lifting platform 2, and the multi-axis mechanical arm 3 are all inspection equipment in the prior art. The configured autonomous navigation chassis seat 1 is a base in the prior art that uses laser radar, ultrasonic sensors, visual cameras and other equipment to perceive the environment, build a surrounding environment map, and plan the optimal inspection route according to a preset path or real-time demand. The configured servo lifting platform 2 is also a platform structure capable of servo lifting in the prior art. It is vertically installed on the upper surface of the autonomous navigation chassis seat 1, and is used to control the multi-axis mechanical arm 3 at the output end to move up and down, so as to servo change the height of the operating end of the multi-axis mechanical arm 3. The configured multi-axis mechanical arm 3 is also a mechanical arm structure capable of multi-directional servo movement in the prior art, which is divided into two groups The independent manipulators can work separately, wherein specifically, a second inspection rail module 5 is configured on one side of the upper output end of the multi-axis manipulator 3, and a first inspection rail module 4 is configured on one side of the lower output end of the multi-axis manipulator 3. The second inspection rail module 5 has the same structure as the first inspection rail module 4, both of which are half-arc rail structures. When working, the multi-axis manipulator 3 is used to extend the bottom half of the arc rail structure into the bottom of the detection wire, that is, the first inspection rail module 4 is extended into the bottom of the detection wire, and then the second inspection rail module 4 located on the upper side is covered. The guide rail module 5 enables the second inspection guide rail module 5 and the first inspection guide rail module 4 to form a complete arc guide rail structure, so that the driving mechanism 6 can move back and forth freely on the guide rail with the intelligent inspection camera 7, so as to better assist the stable operation of the inspection equipment, whether it is for subsequent intelligent inspection scanning on any side of the wire group or for providing a force-bearing base that can shovel away the entangled wires, and effectively solves the problem that in a complex and crowded power equipment environment, it is difficult for the existing technology to perform clear and effective detection of key parts without moving the wires.

[0025] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7As shown, the first transport and inspection guide rail module 4 includes a side support plate 41 fixedly installed on the lower output end of the multi-axis robot 3, a semi-circular slot guide rail 42 is fixedly installed on the outer side of the side support plate 41, a limiting slot belt 44 is fixedly connected at the middle position of the inner wall of the semi-circular slot guide rail 42, the slot of the limiting slot belt 44 is T-shaped in a cross-sectional state, toothed belts 43 are fixedly installed on the inner wall edges on both sides of the semi-circular slot guide rail 42, and magnetic side panels 45 are fixedly installed on the end faces of both sides of the semi-circular slot guide rail 42.

[0026] Among them, the configured semicircular groove guide rail 42 and the limiting groove belt 44 and the tooth belt 43 are all integrated structures, and the so-called tooth belt 43 is a tooth arranged along the inner wall edges on both sides of the semicircular groove guide rail 42, providing a meshing point for subsequent gears, and the limiting groove belt 44 configured at the middle position of the inner wall of the semicircular groove guide rail 42 is a T-shaped groove structure, in order to engage the subsequent buckle so that the configured intelligent operation and inspection camera 7 is always perpendicular to the cross-section of the semicircular groove guide rail 42, the configured magnetic side panel 45 is a magnetic structure that can be adsorbed and fitted in the prior art, and the magnetic side panels 45 on the contact surfaces of the first operation and inspection guide rail module 4 and the second operation and inspection guide rail module 5 are in an adsorbed state with each other to ensure the stability and integrity of the overall structure in the fitted state.

[0027] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 As shown, the driving mechanism 6 includes a T-shaped soft rubber block 61 slidably sleeved inside the limiting slot belt 44, a cavity sleeve 62 is fixedly installed on the protruding end of the T-shaped soft rubber block 61, a second electric telescopic rod 63 with an output end protruding outward is fixedly installed inside the cavity of the cavity sleeve 62, and an intelligent inspection camera 7 is fixedly installed on the output end of the second electric telescopic rod 63, and a first U-shaped wing plate frame 64 is fixedly installed on the outer surface of the cavity sleeve 62, gear plates 65 are movably installed at the two side ends of the first U-shaped wing plate frame 64, and the gear plates 65 on both sides are meshed with the toothed belts 43 on both sides, and a servo motor 66 is also fixedly installed on the inner wall of one side end of the first U-shaped wing plate frame 64, and the output end of the servo motor 66 passes through the side end of the first U-shaped wing plate frame 64 and is fixedly connected to the center of the gear plate 65 on the same side.

[0028] Among them, the configured T-shaped soft rubber block 61 is used to slide and engage in the limiting slot belt 44, and because the T-shaped soft rubber block 61 is fixedly connected to the cavity sleeve 62, under the action of the engagement of the T-shaped soft rubber block 61, it can be ensured that the cavity sleeve 62 is always extended in a direction perpendicular to the cross-section of the semi-circular arc slot guide 42 during the movement, so as to ensure the consistency and controllability of the direction of the detection end, and the setting of soft rubber is to better pass the arc surfaces on both sides of the semi-circular arc slot guide 42 to ensure the smoothness of movement, and the gear plates 65 on both sides of the first U-shaped wing frame 64 are meshed on the toothed belt 43 of the semi-circular arc slot guide 42, and the configured servo motor 66 is a prior art The motor structure capable of servo drive in the technique, when working at its output end, can drive the output end gear plate 65 to use the toothed belt 43 as the meshing point, and utilize the limiting effect of the T-shaped soft rubber block 61 and the limiting slot belt 44 to move along the complete arc guide structure composed of the second inspection guide module 5 and the first inspection guide module 4. It only needs to control the rotation direction of the servo motor 66 to control the direction of movement of the first U-shaped wing frame 64, that is, the direction of movement of the intelligent inspection camera 7. The so-called intelligent inspection camera 7 is also a high-tech camera device designed for equipment inspection in industrial environments such as power systems in the prior art. It integrates advanced imaging technology, sensor technology and intelligent algorithms, and can automatically monitor and analyze the status of equipment without human intervention.

[0029] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 As shown, the first outward-flipping module 67 and the second outward-flipping module 68 are respectively arranged on both sides of the bottom of the intelligent operation and inspection camera 7, and the first outward-flipping module 67 includes a second U-shaped wing frame 671 fixedly connected to the bottom of the intelligent operation and inspection camera 7, and the two side ends of the second U-shaped wing frame 671 are fixedly connected with a torsion spring sleeve rod 672, and an outward-flipping plate 673 is sleeved by the torsion spring sleeve rod 672, and the bottom of the outward-flipping plate 673 is fixedly connected with a magnetic tip rocker 674, and an external exhaust fan 675 is fixedly installed on the outer side of the outward-flipping plate 673.

[0030] The first external turning module 67 and the second external turning module 68 are similar in overall structure, but the second external turning module 68 is additionally provided with a scraping module 8, so as to perform real-time maintenance and cleaning of the intelligent operation inspection camera 7 by using the scraping module 8 in the process of opening and closing the first external turning module 67 and the second external turning module 68, and to provide an additional protective cover structure for the outer side of the intelligent operation inspection camera 7 when not shooting. Correspondingly, in order to ensure the cross-sectional viewing angle of the intelligent operation inspection camera 7, the second U-shaped wing frame 671 is provided with a corresponding opening on the fixed end surface of the intelligent operation inspection camera 7 and the second U-shaped wing frame 671 for shooting. The so-called torsion spring sleeve rod 672 is a rod used to provide torsion force in the prior art, and the configured magnetic pointed tip rocker plate 674 can, on the one hand, utilize its pointed tip characteristic shape to improve the smoothness of insertion when the structure on each side is inserted into the wire in a wound and fitted state. Therefore, the whole structure is also a soft rubber structure. The so-called magnetic attraction means that when the outer flaps 673 on both sides are clamped, the inner contact surfaces can be effectively fitted together, and the outer flaps 673 on both sides can better form a whole inserted into the wire. The configured external exhaust fan 675 is, as the name implies, a fan structure that can exhaust air outwards. This is because during the actual detection process, the cable wires of the power cabinet equipment will release heat outwards, and most of the intelligent operation and inspection cameras 7 in the prior art need to use infrared thermal imaging technology to detect whether there is overheating at the wire connection point. Therefore, the heat in the working environment and the working heat of the equipment itself will affect the detection result. However, it is difficult to focus on the detection point when processing through background noise reduction in the prior art. Therefore, the external exhaust fan 675 is configured in a position that can be expanded and clamped, which can effectively reduce the heat energy discharge at this point during the contact process and provide a more stable infrared thermal imaging background.

[0031] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 As shown, the structure of the second outward-turning module 68 is the same as the structure of the first outward-turning module 67 composed of an outward-turning plate 673, a magnetic nozzle rocker plate 674, and an external exhaust fan 675, and the outward-turning plate 673 in the second outward-turning module 68 is also sleeved on the bottom of the second U-shaped wing frame 671 through a torsion spring sleeve rod 672 and is symmetrical with the outward-turning plate 673 of the second outward-turning module 68, and the outward-turning plates 673 on both sides of the second U-shaped wing frame 671 are always kept in a clamped state under the torsional force of the torsion spring sleeve rod 672.

[0032] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 As shown, the upper sides of the outward-flip plates 673 on both sides of the second U-shaped wing frame 671 are movably mounted with outward-flip hinged frames 676, and the outer ends of the outward-flip hinged frames 676 are movably mounted with buckle clamps 677, and the surfaces of the buckle clamps 677 are fixedly mounted with electrically controlled magnetic suction plates 678, and the outer surface of the cavity sleeve 62 and the outward-flip hinged frames 676 on both sides are fixedly mounted with metal partitions 610, and sliding guide rails 69 are provided at positions on both sides of the metal partitions 610.

[0033] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 As shown, both side ends of the buckle card plate 677 are provided with buckles, and are slidably sleeved in the sliding guide rail 69 on the same side through the buckles, and the electrically controlled magnetic suction plate 678 is fitted and corresponding to the metal partition plate 610 on the same side under the clamping action of the buckle card plate 677.

[0034] Among them, the configured electrically controlled magnetic suction plate 678 is a structure in the prior art that can change the magnetic suction state on the action surface by changing the state of the electric control, that is, a device in the prior art that can control the magnetic state of its surface by changing the electrical signal, because under the clamping action of the convex buckle clamping plate 677, the action surface of the electrically controlled magnetic suction plate 678 on each side is attached to the metal partition 610 on the same side, and the so-called metal partition 610 is to provide a plate surface with a stable adsorption end for the electrically controlled magnetic suction plate 678 on the same side. The specific adsorption state can be expressed as follows: In the absence of adsorption force: by setting the second electric telescopic rod 63 inside the cavity sleeve 62, the second electric telescopic rod 63 controls the intelligent operation inspection camera 7 on its output end, so as to change the extension length of the intelligent operation inspection camera 7, that is, to change its distance from the wire. In the absence of adsorption force, that is, the electric-controlled magnetic suction plate 678 does not work and is not in contact with the metal partition plate 610 on the same side, when the intelligent operation inspection camera 7 extends outward, the buckle card plate 677 will extend along the sliding guide rail 69 with the camera, and because the outer side of the intelligent operation inspection camera 7 The two outer flaps 673 are adsorbed together, that is, the intelligent inspection camera 7 and the two outer flaps 673 in the clamped state will extend and retract synchronously. In this state, the two outer flaps 673 in the clamped state can not only protect the camera from extending together, but also extend outward in a clamped sharp mouth state to better insert into the wire group. The so-called wire group is a plurality of groups of wires that are entangled together and adhere to each other. The surface where the wires adhere together cannot be detected. Therefore, the two outer flaps 673 in the clamped state need to be inserted into the inside thereof, so as to be separated for subsequent processing, so as to provide a better scanning end surface for detection. Under the action of adsorption force: Under the action of adsorption force, that is, the electric-controlled magnetic suction plate 678 works, and it is in a state of being in contact with the metal partition 610 on the same side. In the process of the intelligent operation and inspection camera 7 extending outward, the convex buckle card plate 677 will not extend along the sliding guide rail 69 with the camera, because in this state, the electric-controlled magnetic suction plate 678 will be firmly adsorbed on the metal partition 610, and because the two outer flip plates 673 located on the outside of the intelligent operation and inspection camera 7 are attached together by adsorption and the torsion force of the torsion spring sleeve rod 672, it only needs that the adsorption force of one side of the electric-controlled magnetic suction plate 678 on the metal partition 610 is large enough, so that when the intelligent operation and inspection camera 7 extends outward, that is, when the second electric telescopic rod 63 extends outward, the two outer flip plates 673 in the clamped state are turned outward to both sides and unfolded, and the two outer flip plates 673 are unfolded when inserted into the middle of the two tightly attached wires, so that the surface that is attached together can be effectively detected, providing a better scanning end face for detection.

[0035] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7As shown, first electric telescopic rods 46 are fixedly installed at both ends of the outer side surfaces of the semicircular arc groove guide rails 42 of the first transport and inspection guide rail module 4 and the second transport and inspection guide rail module 5, and the output ends of the first electric telescopic rods 46 are both oriented toward the axial center position of the circular arc guide structure composed of the second transport and inspection guide rail module 5 and the first transport and inspection guide rail module 4, and extrusion plates 47 are fixedly installed on the output ends of the first electric telescopic rods 46.

[0036] Among them, the configured extrusion plate 47 is actually an additional guarantee structure. In the actual operation of the power system, the loosening of the equipment interface is a common but extremely serious problem. This situation usually occurs in key locations such as substations, distribution rooms and transmission lines. When the interface is loose, a small gap will appear between the conductors that were originally in close contact, causing increased resistance. This will not only cause local overheating, but may also cause arc discharge, seriously affecting the power transmission efficiency and increasing the risk of fire. As mentioned above, during the operation of the power system, the wires at the interface end of the equipment will be entangled and fitted. When the first and second flip-over modules 67 and 68 are flipped outward to provide a better shooting surface, the interface will become loose. Therefore, the first electric telescopic rod 46 arranged on the first and second transport and inspection guide rail modules 4 and 5 can extend the extrusion plate 47 at the output end before the flip-over process, and clamp the wire on the side of the interface close to the end to be detected, simulating the process of clamping the hair end when combing the hair, so that the flip-over process on the other side does not interfere with the interface side, thereby reducing the occurrence of loose interfaces. Each first electric telescopic rod 46 works independently.

[0037] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 As shown, a scraping module 8 is also arranged on the surface of the outer flip plate 673 in the second outer flip module 68 facing the intelligent operation and inspection camera 7, and the scraping module 8 includes a third U-shaped wing frame 81, and a first outer hinge plate 82 is movably installed on the inner side of the third U-shaped wing frame 81, and a second outer hinge plate 83 is movably installed on the outer side of the first outer hinge plate 82, and a wiping block 84 is fixedly installed on the upper surface of the second outer hinge plate 83.

[0038] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7As shown, a bending flexible plate 85 is fixedly installed at the bottom of the second outer hinge plate 83, and the second outer hinge plate 83 is lifted upward as a whole under the elastic force of the bending flexible plate 85, and when the outer flaps 673 on both sides of the second U-shaped wing frame 671 are clamped, the wiping block 84 is in contact with the bottom camera end of the intelligent operation and inspection camera 7.

[0039] Among them, the configured scraping module 8 is as mentioned above, and is used to perform real-time maintenance on the camera end of the intelligent operation and inspection camera 7 during the opening and closing process of the first external flip module 67 and the second external flip module 68. The wiping block 84 used for maintenance is made of soft rubber and is installed on the inner wall of one side of the second external flip module 68 through two movable hinged first external hinge plates 82 and second external hinge plates 83. Every time the second external flip module 68 and the first external flip module 67 are re-tightened, the camera will be wiped by the wiping block 84, and the bent tough plate 85 configured at the bottom of the second external hinge plate 83 is actually an L-shaped elastic plate to ensure that the upper second external hinge plate 83 can have a certain toughness, so that it can be smoothly squeezed to the bottom of the intelligent operation and inspection camera 7 during the tightening process. At the same time, when the second external flip module 68 and the first external flip module 67 are tightened, the wiping block 84 can also be used as an external protective end to protect the camera, and the wiping end does not require an additional driving module, making the entire mechanism more stable.

[0040] The present invention covers any substitution, modification, equivalent method and scheme made on the essence and scope of the present invention. In order to make the public have a thorough understanding of the present invention, specific details are described in detail in the following preferred embodiments of the present invention, but those skilled in the art can fully understand the present invention without the description of these details. In addition, in order to avoid unnecessary confusion about the essence of the present invention, well-known methods, processes, procedures, components and circuits are not described in detail.

[0041] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An electric power intelligent operation and inspection robot with adjustable height, comprising an autonomous navigation chassis (1), characterized in that: A servo lifting platform (2) is fixedly mounted on the upper surface of the autonomous navigation chassis seat (1); a multi-axis robotic arm (3) is fixedly mounted on the lifting end of the servo lifting platform (2); the output end of the multi-axis robotic arm (3) is divided into two groups, one upper and one lower; a second transport and inspection guide rail module (5) is arranged on one side of the upper output end of the multi-axis robotic arm (3), and a first transport and inspection guide rail module (4) is arranged on one side of the lower output end of the multi-axis robotic arm (3); The first transport and inspection guide rail module (4) and the second transport and inspection guide rail module (5) have the same structure, and the second transport and inspection guide rail modules (5) and the first transport and inspection guide rail modules (4) on the upper and lower sides are able to form a complete arc-shaped guide rail structure sleeved on the outside of the conductor group when in a fitted state; The second transport and inspection guide rail module (5) is provided with a driving mechanism (6), and the driving mechanism (6) is provided with an intelligent transport and inspection camera (7). The driving mechanism (6) is used to carry the intelligent transport and inspection camera (7) to perform a circular rotation on the arc-shaped guide rail structure formed by the second transport and inspection guide rail module (5) and the first transport and inspection guide rail module (4), so as to perform an intelligent transport and inspection scan on any side of the wire group.

2. The height-adjustable electric power intelligent operation and inspection robot according to claim 1, characterized in that: The first transport and inspection guide rail module (4) comprises a side support plate (41) fixedly mounted on the output end of the lower side of the multi-axis robot arm (3); a semi-circular slot guide rail (42) is fixedly mounted on the outer side of the side support plate (41); a limiting slot belt (44) is fixedly connected to the middle position of the inner wall of the semi-circular slot guide rail (42); the slot of the limiting slot belt (44) is T-shaped in a cross-sectional state; toothed belts (43) are fixedly mounted on the inner wall edges on both sides of the semi-circular slot guide rail (42); and magnetic side panels (45) are fixedly mounted on the end faces on both sides of the semi-circular slot guide rail (42).

3. The height-adjustable electric power intelligent operation and inspection robot according to claim 2, characterized in that: The driving mechanism (6) comprises a T-shaped soft rubber block (61) slidably sleeved inside the limiting slot belt (44); a cavity sleeve (62) is fixedly mounted on the protruding end of the T-shaped soft rubber block (61); a second electric telescopic rod (63) with an output end protruding outward is fixedly mounted inside the cavity of the cavity sleeve (62); an intelligent operation inspection camera (7) is fixedly mounted on the output end of the second electric telescopic rod (63); and a second electric telescopic rod (63) is fixedly mounted on the outer surface of the cavity sleeve (62). A first U-shaped wing frame (64) is installed, and gear plates (65) are movably installed at both side ends of the first U-shaped wing frame (64), and the gear plates (65) on both sides are meshed with the toothed belts (43) on both sides. A servo motor (66) is also fixedly installed on the inner wall of one side end of the first U-shaped wing frame (64), and the output end of the servo motor (66) passes through the side end of the first U-shaped wing frame (64) and is fixedly connected to the center of the gear plate (65) on the same side.

4. The height-adjustable electric power intelligent operation and inspection robot according to claim 3, characterized in that: The first outward-turning module (67) and the second outward-turning module (68) are respectively arranged on both sides of the bottom of the intelligent operation and inspection camera (7), the first outward-turning module (67) comprises a second U-shaped wing frame (671) fixedly connected to the bottom of the intelligent operation and inspection camera (7), both side ends of the second U-shaped wing frame (671) are fixedly connected to a torsion spring sleeve rod (672), and an outward-turning plate (673) is sleeved by the torsion spring sleeve rod (672), the bottom of the outward-turning plate (673) is fixedly connected to a magnetic tip rocker (674), and an external exhaust fan (675) is fixedly installed on the outer side of the outward-turning plate (673).

5. The height-adjustable electric power intelligent operation and inspection robot according to claim 4, characterized in that: The structure of the second outward-turning module (68) is the same as the structure of the first outward-turning module (67), which is composed of an outward-turning plate (673), a magnetic nozzle rocker plate (674), and an external exhaust fan (675). The outward-turning plate (673) in the second outward-turning module (68) is also sleeved on the bottom of the second U-shaped wing frame (671) through a torsion spring sleeve rod (672) and is symmetrical with the outward-turning plate (673) of the second outward-turning module (68). The outward-turning plates (673) on both sides of the second U-shaped wing frame (671) are always kept in a clamped state under the torsion force of the torsion spring sleeve rod (672).

6. The height-adjustable electric power intelligent operation and inspection robot according to claim 5, characterized in that: An outward-turning hinged frame (676) is movably mounted on the upper side of the outward-turning plates (673) on both sides of the second U-shaped wing frame (671), and a buckle-carrying plate (677) is movably mounted on the outer side end of the outward-turning hinged frame (676), and an electrically controlled magnetic suction plate (678) is fixedly mounted on the surface of the buckle-carrying plate (677), and a metal partition (610) is fixedly mounted on the outer surface of the cavity sleeve (62) at the same side as the outward-turning hinged frames (676) on both sides, and sliding guide rails (69) are provided at positions on both sides of the metal partition (610).

7. The height-adjustable electric power intelligent operation and inspection robot according to claim 6, characterized in that: The two side ends of the buckle card plate (677) are both provided with buckles, and are slidably sleeved in the sliding guide rail (69) on the same side through the buckles, and the electrically controlled magnetic attraction plate (678) is fitted and corresponds to the metal partition plate (610) on the same side under the clamping action of the buckle card plate (677).

8. The height-adjustable electric power intelligent operation and inspection robot according to claim 7, characterized in that: First electric telescopic rods (46) are fixedly mounted at both ends of the outer side surfaces of the semicircular arc groove guide rails (42) of the first transport and inspection guide rail module (4) and the second transport and inspection guide rail module (5), and the output ends of the first electric telescopic rods (46) are both oriented toward the axial center of the circular arc guide rail structure formed by the second transport and inspection guide rail module (5) and the first transport and inspection guide rail module (4), and extrusion plates (47) are fixedly mounted on the output ends of the first electric telescopic rods (46).

9. The height-adjustable electric power intelligent operation and inspection robot according to claim 8, characterized in that: A scraping module (8) is also arranged on the surface of the outer flip plate (673) in the second outer flip module (68) facing the intelligent operation inspection camera (7), and the scraping module (8) comprises a third U-shaped wing frame (81), a first outer hinge plate (82) is movably mounted on the inner side of the third U-shaped wing frame (81), a second outer hinge plate (83) is movably mounted on the outer side of the first outer hinge plate (82), and a wiping block (84) is fixedly mounted on the upper surface of the second outer hinge plate (83).

10. The height-adjustable electric power intelligent operation and inspection robot according to claim 9, characterized in that: A bent flexible plate (85) is fixedly mounted at the bottom of the second outer hinge plate (83); the second outer hinge plate (83) is lifted upward as a whole under the elastic force of the bent flexible plate (85); and when the outer flaps (673) on both sides of the second U-shaped wing frame (671) are clamped, the wiping block (84) is in contact with the bottom camera end of the intelligent operation and inspection camera (7).

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