Robot active avoidance device for power grid security and protection

Abstract

The invention relates to the technical field of power grid security, and discloses a power grid security robot active avoiding device which comprises a robot box, supporting frames are slidably connected to the left side and the right side of the lower portion of an inner cavity of the robot box, and mounting bases are fixedly connected to the upper end faces of the supporting frames on the left side and the right side. Box doors are slidably connected to the left side and the right side of the upper end face of the robot box, a jacking box is arranged on the upper end face of the mounting base, and a patrolling device is rotationally mounted in the middle of the inner side wall of the jacking box. The lifting mechanisms are arranged on the front end face and the rear end face of the mounting seat; opening and closing mechanisms are arranged on the lower end faces of the box doors on the left side and the right side; through the arrangement of the lifting mechanism and the opening and closing mechanism, the patroller ascends while the box door is opened, switching of storage during work and rest of the patroller is achieved, corrosion of external dust and moisture to a circuit board is avoided, and the service life of the patroller is effectively prolonged.

Description

Technical Field

[0001] The invention relates to the technical field of power grid security, and in particular to a robot active avoidance device for power grid security. Background Art

[0002] A substation is a place in the power system that transforms voltage and current, receives and distributes electric energy. The substation in a power plant is a step-up substation, which boosts the electric energy generated by the generator and feeds it into the high-voltage power grid. In order for the substation to work stably, regular inspections are usually required. Nowadays, intelligent inspection robots have appeared to replace manual inspections of substations. In power grid security inspections, robots can assist or replace operators to complete dangerous, heavy, and complex tasks, thereby improving work efficiency and quality, and improving work safety. In order to improve the flexibility of the robot during the inspection process, inspection equipment such as cameras, infrared sensors, and ultrasonic rangefinders are often installed on the inspection robot, so that the robot can flexibly avoid obstacles and improve the reliability of inspection operations.

[0003] However, as the robot moves continuously during operation, the inspection equipment installed on the existing robot is prone to collision, damage or fall off, affecting the inspection work. At the same time, the existing robot lacks components for storing infrared lenses and other equipment. If the infrared lens is exposed to the outside for a long time when not in use, the dust and moisture from the outside can easily cause irreversible damage to the infrared lens, affecting its service life. Therefore, there is an urgent need for an active avoidance device for power grid security robots. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] The object of the present invention is to provide an active avoidance device for a robot used for power grid security, so as to solve the problem of lack of protective measures for patrol equipment in the above-mentioned background technology.

[0006] (II) Technical solution

[0007] To achieve the above object, the present invention provides the following technical solutions: A robot active avoidance device for power grid security, comprising a robot box, support frames are slidably connected to the left and right sides of the lower part of the inner cavity of the robot box, and mounting seats are fixedly connected to the upper end surfaces of the support frames on the left and right sides, and box doors are slidably connected to the left and right sides of the upper end surface of the robot box, and a lifting box is provided on the upper end surface of the mounting seat, and a patrol device is rotatably installed in the middle of the inner side wall of the lifting box; A lifting mechanism, wherein the front and rear end surfaces of the mounting seat are provided with a lifting mechanism, and the lifting mechanism is used to adjust the height of the mounting seat; An opening and closing mechanism, the lower end surfaces of the box doors on the left and right sides are both provided with an opening and closing mechanism, and the opening and closing mechanism is used to move the box doors; A clamping mechanism, wherein the left and right sides of the inner cavity of the mounting seat are provided with a clamping mechanism, and the clamping mechanism is used to clamp the lifting box; A rotating mechanism is arranged in the inner cavity of the lifting box and is used to rotate the patrol device.

[0008] Preferably, the lifting mechanism includes a lifting motor, a transmission rod, a lifting worm, a lifting worm wheel, a rotating rod, a first rotating seat, a lifting telescopic rod and a second rotating seat. The transmission rod is rotatably connected to the front side of the inner cavity of the robot box, and the lifting worm is fixedly connected to the left and right sides of the outer wall of the transmission rod. The upper part of the left and right sides of the inner cavity of the robot box is rotatably connected to the rotating rod, and the front part of the outer wall of the rotating rod is fixedly connected to the lifting worm wheel. The front and rear sides of the outer wall of the rotating rod are fixedly connected to the first rotating seat, and the two ends of the lifting telescopic rod are respectively fixedly connected to the first rotating seat and the second rotating seat.

[0009] Preferably, the spiral directions of the lifting worms on the left and right sides are opposite, the lifting worms are meshingly connected with the lifting worm wheels, the front and rear end surfaces of the mounting seat are provided with stepped grooves, the inner cavity of the stepped grooves is slidably connected with a stepped block, and the stepped block is rotatably connected to the second rotating seat.

[0010] Preferably, a slide groove is provided at the lower part of the left and right sides of the inner cavity of the robot box, a slider is slidably connected to the inner cavity of the slide groove, the slider is fixedly connected to the support frame, and a lifting motor is fixedly connected to the upper right end surface of the robot box through a frame, and the output shaft end of the lifting motor is fixedly connected to the transmission rod.

[0011] Preferably, the opening and closing mechanism includes a first sprocket, a chain, a second sprocket, a connecting rod, a gear and a rack. A connecting rod is rotatably connected to the left and right sides of the upper inner cavity of the robot box, a second sprocket is fixedly connected to the middle of the outer wall of the connecting rod, gears are fixedly connected to the front and rear sides of the outer wall of the connecting rod, and a rack is fixedly connected to the lower end surface of the box door.

[0012] Preferably, a first sprocket is fixedly connected to the middle of the outer wall of the rotating rod on the left and right sides, the first sprocket is connected to the second sprocket through a chain, the gear is meshingly connected to the rack, the rack is slidably connected to the robot box, a limiting groove is provided in the inner cavity of the rack, and a limiting plate is fixedly connected to the left and right sides of the upper end surface of the robot box, and the limiting plate slides in the inner cavity of the limiting groove.

[0013] Preferably, the clamping mechanism includes a first rotating joint, a spring telescopic rod, a second rotating joint and a clamping plate, the first rotating joint is fixedly connected to the front and rear sides of the inner wall of the mounting seat, the clamping plate is slidably connected to the inner cavity of the mounting seat, the second rotating joint is fixedly connected to the front and rear sides of the outer wall of the clamping plate, and a spring telescopic rod is fixedly connected between the first rotating joint and the second rotating joint located on the front side.

[0014] Preferably, the rotating mechanism includes a vertical plate, a rotating worm, a rotating motor and a rotating worm wheel. The vertical plate is fixedly connected to the inner wall of the lifting box, a rotating worm is rotatably connected between the vertical plates on the left and right sides, a rotating worm wheel is fixedly connected to the side wall of the patroller, and the rotating motor is fixedly connected to the inner wall of the lifting box close to the vertical plate through a frame.

[0015] Preferably, the rotating worm wheel is meshingly connected with the rotating worm, and the output shaft end of the rotating motor is fixedly connected with the rotating worm.

[0016] Preferably, a buzzer is fixedly connected to the right side wall of the robot box, power wheels are fixedly connected around the lower end surface of the robot box, and the buzzer is electrically connected to the patrol device.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. In the invention, when the entire robot device is in use, since the output shaft end of the lifting motor is fixedly connected to the transmission rod, the user can start the lifting motor to make the transmission rod drive the lifting worm to rotate. The spiral directions of the lifting worms on the left and right sides are opposite. At this time, the lifting worms on the left and right sides will drive the lifting worm wheels to rotate in different directions. The lifting telescopic rod will gradually shrink and the slider can move to the two ends of the slide groove. At this time, the first rotating seat will drive the lifting telescopic rod to move the mounting seat upward, and finally the patroller on the lifting box can slide out of the inner cavity of the robot box and be exposed to the outside world. Through the setting of the patroller, the patroller can patrol the surrounding environment for use during power grid security.

[0018] 2. In the invention, when the patroller slides out to the outside of the robot box, since the output shaft end of the rotating motor is fixedly connected to the rotating worm, the rotating worm can be rotated by starting the rotating motor, and the rotating worm wheel is meshed with the rotating worm. At this time, the rotating worm can drive the rotating worm wheel to rotate the patroller, so that the direction of the camera on the patroller changes, and all-round monitoring is realized, which greatly improves the practicality of the entire robot device. When the patroller detects abnormal human activities around the power grid, the video signal can be sent to the remote terminal through the patroller, and the buzzer can be made to sound abnormally, triggering the alarm in time. Through the setting of the power wheel, the user can move the entire robot device during remote operation to realize the detection of the entire power grid. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall structure of a robot active avoidance device for power grid security according to the present invention; Figure 2 This is a schematic diagram of the overall structure of a robot active avoidance device for power grid security according to the present invention; Figure 3 It is a front view cross-sectional structural schematic diagram of an active avoidance device for a power grid security robot according to the present invention; Figure 4 The invention is a robot active avoidance device for power grid security Figure 3 A schematic diagram of the enlarged structure of the middle A area; Figure 5 The invention is a robot active avoidance device for power grid security Figure 3 Schematic diagram of the enlarged structure of the middle B area; Figure 6 It is a cross-sectional structural diagram of a lifting box of an active avoidance device for a power grid security robot according to the present invention; Figure 7 The invention is a robot active avoidance device for power grid security Figure 5 Schematic diagram of the enlarged structure of the middle C area; Figure 8 The present invention is a schematic structural diagram of a lifting box of an active avoidance device for a robot for power grid security.

[0020] In the figure: 1. robot box; 11. slide; 12. slider; 13. buzzer; 14. power wheel; 2. support frame; 3. mounting seat; 31. step slot; 32. step block; 4. box door; 5. lifting mechanism; 51. lifting motor; 52. transmission rod; 53. lifting worm; 54. lifting worm wheel; 55. rotating rod; 56. first rotating seat; 57. lifting telescopic rod; 58. second rotating seat; 6. opening and closing mechanism; 61. First sprocket; 62. Chain; 63. Second sprocket; 64. Connecting rod; 65. Gear; 66. Rack; 661. Limiting groove; 662. Limiting plate; 7. Clamping mechanism; 71. First rotating joint; 72. Spring telescopic rod; 73. Second rotating joint; 74. Clamping plate; 8. Lifting box; 81. Patroller; 9. Rotating mechanism; 91. Vertical plate; 92. Rotating worm; 93. Rotating motor; 94. Rotating worm wheel. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] See also Figure 1-Figure 8 The present invention provides a technical solution for an active avoidance device of a robot for power grid security: A robot active avoidance device for power grid security comprises a robot box 1, a support frame 2 is slidably connected to the left and right sides of the lower part of the inner cavity of the robot box 1, a mounting seat 3 is fixedly connected to the upper end faces of the support frames 2 on the left and right sides, a box door 4 is slidably connected to the left and right sides of the upper end face of the robot box 1, a lifting box 8 is provided on the upper end face of the mounting seat 3, and a patrol device 81 is rotatably installed on the middle part of the inner side wall of the lifting box 8; Lifting mechanism 5: The front and rear end surfaces of the mounting seat 3 are provided with a lifting mechanism 5, and the lifting mechanism 5 is used to adjust the height of the mounting seat 3; An opening and closing mechanism 6 is provided on the lower end surfaces of the box doors 4 on both sides, and the opening and closing mechanism 6 is used to move the box doors 4; Clamping mechanism 7, the left and right sides of the inner cavity of the mounting seat 3 are provided with clamping mechanism 7, and the clamping mechanism 7 is used to clamp the lifting box 8; The rotating mechanism 9 is arranged in the inner cavity of the lifting box 8 and is used to rotate the patrol device 81 .

[0023] Further, the lifting mechanism 5 includes a lifting motor 51, a transmission rod 52, a lifting worm 53, a lifting worm wheel 54, a rotating rod 55, a first rotating seat 56, a lifting telescopic rod 57 and a second rotating seat 58. The transmission rod 52 is rotatably connected to the front side of the inner cavity of the robot box 1, and the lifting worm 53 is fixedly connected to the left and right sides of the outer wall of the transmission rod 52. The upper part of the left and right sides of the inner cavity of the robot box 1 is rotatably connected to the rotating rod 55, and the front part of the outer wall of the rotating rod 55 is fixedly connected to the lifting worm wheel 54. The front and rear sides of the outer wall of the rotating rod 55 are fixedly connected to the first rotating seat 56, and the two ends of the lifting telescopic rod 57 are respectively fixedly connected to the first rotating seat 56 and the second rotating seat 58; The spiral directions of the lifting worms 53 on the left and right sides are opposite, the lifting worms 53 are meshed and connected with the lifting worm wheels 54, the front and rear end surfaces of the mounting seat 3 are provided with stepped grooves 31, the inner cavity of the stepped grooves 31 is slidably connected with a stepped block 32, and the stepped block 32 is rotatably connected with the second rotating seat 58; A slide groove 11 is provided at the lower part of the left and right sides of the inner cavity of the robot box 1, and a slider 12 is slidably connected to the inner cavity of the slide groove 11, and the slider 12 is fixedly connected to the support frame 2. A lifting motor 51 is fixedly connected to the upper right end surface of the robot box 1 through a frame, and the output shaft end of the lifting motor 51 is fixedly connected to the transmission rod 52. A buzzer 13 is fixedly connected to the right side wall of the robot box 1, and power wheels 14 are fixedly connected around the lower end surface of the robot box 1. The buzzer 13 is electrically connected to the patrol device 81.

[0024] It should be noted that when the entire robot device is in use, since the output shaft end of the lifting motor 51 is fixedly connected to the transmission rod 52, the user can start the lifting motor 51 to make the transmission rod 52 drive the lifting worm 53 to rotate. The spiral directions of the lifting worm 53 on the left and right sides are opposite. At this time, the lifting worm 53 on the left and right sides will drive the lifting worm wheel 54 to rotate in different directions, and are fixedly connected to the rotating rod 55 through the first rotating seat 56. At this time, the lifting telescopic rod 57 will gradually shrink, and the slider 12 can move to the two ends of the slide groove 11. At this time, the first rotating seat 56 will drive the lifting telescopic rod 57 to move the mounting seat 3 upward, and finally the patroller 81 on the lifting box 8 can slide out of the inner cavity of the robot box 1 and be exposed to the outside world. Through the setting of the patroller 81, the patroller 81 can patrol the surrounding environment for use during power grid security.

[0025] Further, the opening and closing mechanism 6 includes a first sprocket 61, a chain 62, a second sprocket 63, a connecting rod 64, a gear 65 and a rack 66. The connecting rod 64 is rotatably connected to the left and right sides of the upper inner cavity of the robot box 1, the second sprocket 63 is fixedly connected to the middle of the outer wall of the connecting rod 64, the gear 65 is fixedly connected to the front and rear sides of the outer wall of the connecting rod 64, and the rack 66 is fixedly connected to the lower end surface of the box door 4; A first sprocket 61 is fixedly connected to the middle of the outer wall of the rotating rod 55 on the left and right sides. The first sprocket 61 is transmission-connected to the second sprocket 63 through a chain 62. The gear 65 is meshed with the rack 66. The rack 66 is slidingly connected to the robot box 1. A limiting groove 661 is set in the inner cavity of the rack 66. A limiting plate 662 is fixedly connected to the left and right sides of the upper end surface of the robot box 1, and the limiting plate 662 slides in the inner cavity of the limiting groove 661.

[0026] It should be noted that when the rotating rod 55 rotates, since the first sprocket 61 is fixedly connected to the rotating rod 55, the first sprocket 61 will also rotate, and cooperate with the chain 62 to rotate the second sprocket 63. Since the second sprocket 63 is fixedly connected to the connecting rod 64, the connecting rod 64 will drive the gears 65 on the front and rear sides to rotate. Through the meshing connection between the rack 66 and the gear 65, and the cooperation of the limit plate 662, the racks 66 on both sides will drive the box door 4 to open to both sides. At this time, the entire robot device can realize the function of taking out and storing the lifting box 8, avoiding the patrol device 81 from being exposed to the outside air when not in use, reducing the erosion of dust and moisture on the circuit board of the patrol device 81, thereby greatly improving the service life of the entire robot device.

[0027] Furthermore, the clamping mechanism 7 includes a first rotating joint 71, a spring telescopic rod 72, a second rotating joint 73 and a clamping plate 74. The first rotating joint 71 is fixedly connected to the front and rear sides of the inner wall of the mounting seat 3, the clamping plate 74 is slidably connected to the inner cavity of the mounting seat 3, the second rotating joint 73 is fixedly connected to the front and rear sides of the outer wall of the clamping plate 74, and the spring telescopic rod 72 is fixedly connected between the first rotating joint 71 and the second rotating joint 73 located on the front side.

[0028] It should be noted that when carrying the patrol device 81, the user can move the clamping plates 74 to the sides of the mounting seat 3. At this time, the spring telescopic rod 72 is in a taut state. After that, the lifting box 8 is placed on the mounting seat 3, and the clamping plates 74 are released. The spring telescopic rod 72 can be reset. At this time, the clamping plates 74 on both sides will be retracted to clamp the lifting box 8. When the patrol device 81 is bumpy during carrying, the vibration force generated can be absorbed by the spring telescopic rod 72, thereby ensuring the safety of the patrol device 81 during carrying.

[0029] Furthermore, the rotating mechanism 9 includes a vertical plate 91, a rotating worm 92, a rotating motor 93 and a rotating worm gear 94. The vertical plate 91 is fixedly connected to the inner wall of the lifting box 8, the rotating worm 92 is rotatably connected between the vertical plates 91 on the left and right sides, the rotating worm gear 94 is fixedly connected to the side wall of the patrol device 81, and the rotating motor 93 is fixedly connected to the inner side wall of the lifting box 8 near the vertical plate 91 through a frame; The rotating worm wheel 94 is meshedly connected with the rotating worm 92 , and the output shaft end of the rotating motor 93 is fixedly connected with the rotating worm 92 .

[0030] It should be noted that when the patroller 81 slides out to the outside of the robot box 1, since the output shaft end of the rotating motor 93 is fixedly connected to the rotating worm 92, the rotating worm 92 can be rotated by starting the rotating motor 93, and the rotating worm wheel 94 is meshed with the rotating worm 92. At this time, the rotating worm 92 can drive the rotating worm wheel 94 to rotate the patroller 81, so that the direction of the camera on the patroller 81 changes, and 360° all-round monitoring is achieved, which greatly improves the practicality of the entire robot device. When the patroller 81 detects abnormal human activities around the power grid, the video signal can be sent to the remote terminal through the patroller 81, and the buzzer 13 can make an abnormal sound to trigger an alarm in time. Through the setting of the power wheel 14, the user can move the entire robot device during remote operation to achieve full-area detection of the power grid.

[0031] Working principle: When the entire robot device is in use, since the output shaft end of the lifting motor 51 is fixedly connected to the transmission rod 52, the user can start the lifting motor 51 to make the transmission rod 52 drive the lifting worm 53 to rotate. The spiral directions of the lifting worm 53 on the left and right sides are opposite. At this time, the lifting worm 53 on the left and right sides will drive the lifting worm wheel 54 to rotate in different directions, and the lifting worm 53 will be fixedly connected to the rotating rod 55 through the first rotating seat 56. At this time, the lifting telescopic rod 57 will gradually shrink, and the slider 12 can move to the two ends of the slide groove 11. At this time, the first rotating seat 56 will drive the lifting telescopic rod 57 to move the mounting seat 3 upward, and finally the patrol device 81 on the lifting box 8 can slide out of the inner cavity of the robot box 1 and be exposed to the outside world. Through the setting of the patrol device 81, the patrol device 81 can patrol the surrounding environment at this time, which is used during the power grid security period. When the patrol device 81 slides out to the outside of the robot box 1, since the output shaft end of the rotating motor 93 is fixedly connected to the rotating worm 92, the rotating worm 92 can be rotated by starting the rotating motor 93, and the rotating worm wheel 94 is meshed with the rotating worm 92. At this time, the rotating worm 92 can drive the rotating worm wheel 94 to rotate the patrol device 81, so that the direction of the camera on the patrol device 81 changes, and 360° all-round monitoring is achieved, which greatly improves the practicality of the entire robot device. When the patrol device 81 detects abnormal human activities around the power grid, the video signal can be sent to the remote terminal through the patrol device 81, and the buzzer 13 can be made to sound abnormally, triggering the alarm in time. Through the setting of the power wheel 14, the user can move the entire robot device during remote operation to achieve detection of the entire power grid. When the rotating rod 55 rotates, since the first sprocket 61 is fixedly connected to the rotating rod 55, the first sprocket 61 will also rotate, and cooperate with the chain 62 to rotate the second sprocket 63. Since the second sprocket 63 is fixedly connected to the connecting rod 64, the connecting rod 64 will drive the gears 65 on the front and rear sides to rotate. Through the meshing connection between the rack 66 and the gear 65, and the cooperation of the limit plate 662, the racks 66 on both sides will drive the box door 4 to open to both sides. At this time, the entire robot device can realize the function of taking out and storing the lifting box 8, avoiding the patrol device 81 from being exposed to the outside air when not in use, reducing the erosion of dust and moisture on the circuit board of the patrol device 81, thereby greatly improving the service life of the entire robot device; When carrying the patrol device 81, the user can move the clamping plates 74 toward the two sides of the mounting seat 3. At this time, the spring telescopic rod 72 is in a taut state. After that, the lifting box 8 is placed on the mounting seat 3, and the clamping plates 74 are released. The spring telescopic rod 72 can be reset. At this time, the clamping plates 74 on both sides will be retracted to clamp the lifting box 8. When the patrol device 81 is bumpy during carrying, the vibration force generated can be absorbed by the spring telescopic rod 72, thereby ensuring the safety of the patrol device 81 during carrying.

[0032] Finally, it should be noted that the above content is only used to illustrate the technical solution of the present invention, rather than to limit the scope of protection of the present invention. Simple modifications or equivalent substitutions of the technical solution of the present invention by ordinary technicians in this field do not deviate from the essence and scope of the technical solution of the present invention.

Claims

1. A robot active avoidance device for power grid security, comprising a robot housing (1), characterized in that: The robot box (1) has support frames (2) slidably connected to the left and right sides of the inner cavity of the lower part, and the upper end surfaces of the support frames (2) on the left and right sides are fixedly connected to mounting seats (3), and the upper end surfaces of the robot box (1) have box doors (4) slidably connected to the left and right sides, and the upper end surfaces of the mounting seats (3) have a lifting box (8), and a patrol device (81) is rotatably mounted in the middle of the inner side wall of the lifting box (8); A lifting mechanism (5), wherein the front and rear end surfaces of the mounting seat (3) are provided with a lifting mechanism (5), and the lifting mechanism (5) is used to adjust the height of the mounting seat (3); An opening and closing mechanism (6), wherein the lower end surfaces of the box doors (4) on the left and right sides are both provided with an opening and closing mechanism (6), and the opening and closing mechanism (6) is used to move the box doors (4); A clamping mechanism (7), wherein the clamping mechanism (7) is arranged on the left and right sides of the inner cavity of the mounting seat (3), and the clamping mechanism (7) is used to clamp the lifting box (8); A rotating mechanism (9), wherein the rotating mechanism (9) is arranged in the inner cavity of the lifting box (8), and the rotating mechanism (9) is used to rotate the patrol device (81).

2. The active avoidance device for a power grid security robot according to claim 1, characterized in that: The lifting mechanism (5) comprises a lifting motor (51), a transmission rod (52), a lifting worm (53), a lifting worm wheel (54), a rotating rod (55), a first rotating seat (56), a lifting telescopic rod (57) and a second rotating seat (58); the front side of the inner cavity of the robot box (1) is rotatably connected to the transmission rod (52); the left and right sides of the outer wall of the transmission rod (52) are fixedly connected to the lifting worm (53); the upper part of the left and right sides of the inner cavity of the robot box (1) is rotatably connected to the rotating rod (55); the front part of the outer wall of the rotating rod (55) is fixedly connected to the lifting worm wheel (54); the front and rear sides of the outer wall of the rotating rod (55) are fixedly connected to the first rotating seat (56); and the two ends of the lifting telescopic rod (57) are respectively fixedly connected to the first rotating seat (56) and the second rotating seat (58).

3. The active avoidance device for a power grid security robot according to claim 2, characterized in that: The spiral directions of the lifting worms (53) on the left and right sides are opposite, and the lifting worms (53) are meshingly connected with the lifting worm wheels (54). The front and rear end surfaces of the mounting seat (3) are provided with stepped grooves (31), and the inner cavity of the stepped grooves (31) is slidably connected with a stepped block (32), and the stepped block (32) is rotatably connected with the second rotating seat (58).

4. The active avoidance device for a power grid security robot according to claim 2, characterized in that: The robot box (1) is provided with a slide groove (11) at the lower part of the left and right sides of the inner cavity, and a slider (12) is slidably connected to the inner cavity of the slide groove (11), and the slider (12) is fixedly connected to the support frame (2). The upper right end surface of the robot box (1) is fixedly connected to a lifting motor (51) through a frame, and the output shaft end of the lifting motor (51) is fixedly connected to a transmission rod (52).

5. The active avoidance device for a power grid security robot according to claim 2, characterized in that: The opening and closing mechanism (6) comprises a first sprocket (61), a chain (62), a second sprocket (63), a connecting rod (64), a gear (65) and a rack (66); the connecting rod (64) is rotatably connected to the left and right sides of the upper inner cavity of the robot box (1); the second sprocket (63) is fixedly connected to the middle of the outer wall of the connecting rod (64); the gear (65) is fixedly connected to the front and rear sides of the outer wall of the connecting rod (64); and the rack (66) is fixedly connected to the lower end surface of the box door (4).

6. The active avoidance device for a power grid security robot according to claim 5, characterized in that: A first sprocket (61) is fixedly connected to the middle of the outer side walls of the rotating rod (55) on the left and right sides; the first sprocket (61) is transmission-connected to the second sprocket (63) via a chain (62); the gear (65) is meshingly connected to the rack (66); the rack (66) is slidably connected to the robot housing (1); a limiting groove (661) is provided in the inner cavity of the rack (66); and limiting plates (662) are fixedly connected to the left and right sides of the upper end surface of the robot housing (1); the limiting plates (662) slide in the inner cavity of the limiting groove (661).

7. The active avoidance device for a power grid security robot according to claim 1, characterized in that: The clamping mechanism (7) comprises a first rotating joint (71), a spring telescopic rod (72), a second rotating joint (73) and a clamping plate (74); the first rotating joint (71) is fixedly connected to the front and rear sides of the inner wall of the mounting seat (3); the clamping plate (74) is slidably connected to the inner cavity of the mounting seat (3); the second rotating joint (73) is fixedly connected to the front and rear sides of the outer wall of the clamping plate (74); and the spring telescopic rod (72) is fixedly connected between the first rotating joint (71) and the second rotating joint (73) located at the front side.

8. The active avoidance device for a power grid security robot according to claim 1, characterized in that: The rotating mechanism (9) comprises a vertical plate (91), a rotating worm (92), a rotating motor (93) and a rotating worm gear (94); the vertical plate (91) is fixedly connected to the inner wall of the lifting box (8); a rotating worm gear (92) is rotatably connected between the vertical plates (91) on the left and right sides; the rotating worm gear (94) is fixedly connected to the side wall of the patrol device (81); and the rotating motor (93) is fixedly connected to the inner wall of the lifting box (8) on a side close to the vertical plate (91) via a frame.

9. The active avoidance device for a power grid security robot according to claim 8, characterized in that: The rotating worm wheel (94) is meshingly connected to the rotating worm (92), and the output shaft end of the rotating motor (93) is fixedly connected to the rotating worm (92).

10. The active avoidance device for a power grid security robot according to claim 1, characterized in that: A buzzer (13) is fixedly connected to the right side wall of the robot box (1), and power wheels (14) are fixedly connected around the lower end surface of the robot box (1). The buzzer (13) is electrically connected to the patrol device (81).

Images