Portable rail robot for GIS equipment detection and detection method

Abstract

The invention relates to the technical field of inspection robots, in particular to a portable track robot for GIS equipment detection and a detection method. Comprising a housing; the telescopic module is arranged on the shell, and a visual camera module is arranged at the telescopic end of the telescopic module; the shell is fixedly connected with a sliding shaft, and the main frame is arranged on the sliding shaft in the shell; the sliding frames are connected to the main frame in a sliding mode, the sliding frames are provided with symmetrically-distributed electric wheels, and first elastic pieces are arranged between the sliding frames and the main frame; the driving assembly is arranged on the main frame; and the limiting assembly is arranged on the main frame. According to the invention, when the electric wheels are stuck by the joints of the rails, the electric wheels are sequentially lifted up to be separated from the rails, and the electric wheels are sequentially wound around the joints of the rails, so that the electric wheels drive the visual camera module to continuously inspect the GIS equipment, and the normal operation of the inspection work is ensured.

Description

Technical Field

[0001] The present invention complies with the technical field of inspection robots, and in particular relates to a portable track robot for GIS equipment inspection and an inspection method. Background Art

[0002] GIS (gas insulated switchgear) is a high-voltage switchgear that uses gas as an insulating medium. It is widely used in power systems to control, protect and distribute electric energy. Due to its complex structure and special operating environment, the traditional manual inspection method is inefficient and unsafe, so it is gradually being replaced by intelligent inspection robots. The portable GIS inspection robot is an automated device specifically used for power equipment inspection. It can realize automatic inspection, data collection and abnormal alarm functions of GIS equipment. The modular design is adopted between the modules. Sensors, cameras and other functional modules can be flexibly configured according to different task requirements. The inspection equipment of GIS equipment is mainly track-type inspection. Inspections are mainly carried out by robots, wheeled inspection robots and drones. Among them, track-type inspection robots have become an important tool for modern power equipment inspection due to their automation, efficiency, high precision and safety. Track-type inspection robots move above or around GIS equipment on preset tracks to complete the inspection of GIS equipment. However, since the preset tracks are made of multiple sections, after long-term use, these joints will be misaligned due to material aging and continuous load. When misalignment occurs at the joints of two tracks, the inspection robot will encounter jamming when passing through these connection points, which will cause the inspection robot to be unable to complete the inspection work in time, resulting in safety hazards unable to be discovered in time. Summary of the invention

[0003] In order to overcome the shortcomings mentioned in the above background technology, the present invention provides a portable track robot and a detection method for GIS equipment detection.

[0004] The technical solution is: a portable track robot for GIS equipment inspection, comprising: a shell; a telescopic module, which is arranged on the shell, and a visual camera module is arranged at the telescopic end of the telescopic module; a main frame, a sliding shaft is fixedly connected to the shell, and the main frame is arranged on the sliding shaft in the shell; a plurality of sliding frames, all of which are slidably connected to the main frame, and the sliding frames are provided with symmetrically distributed electric wheels, and a first elastic member is arranged between the sliding frames and the main frame; a driving component, which is arranged on the main frame and is used to push the sliding frame to slide along the main frame to separate the electric wheels from the track; a limiting component, which is arranged on the main frame and is used to limit all the sliding frames.

[0005] As an improvement of the above-mentioned scheme, the driving assembly includes: a first servo motor, fixedly connected to the main frame; a first gear, fixedly connected to the output shaft of the first servo motor, the main frame is slidably connected to a rack rack, and the first gear is meshed with the rack rack; an extrusion block, fixedly connected to the rack rack, and the extrusion block is used to squeeze all the sliding frames so that the sliding frames slide along the main frame.

[0006] As an improvement of the above-mentioned scheme, the limiting assembly includes: a support frame, fixedly connected to the main frame; limiting blocks, the same number as the sliding frames, all of which are slidably connected to the support frame, all of the sliding frames are fixedly connected with clamping blocks, the limiting blocks limit the sliding frames through the clamping blocks, and all of the limiting blocks are provided with a transmission assembly for making themselves slide along the support frame.

[0007] As an improvement of the above-mentioned scheme, the transmission assembly includes: a transmission rod, which is slidably connected to the support frame, and a second elastic member is arranged between the support frame and the transmission rod; a push plate, which is fixedly connected to the limit block, and the push plate is provided with an inclined groove, and the transmission rod is located on the push plate and slides in the inclined groove.

[0008] As an improvement of the above scheme, the extrusion block is fixedly connected to a trigger block, and the trigger block is used to extrude all the transmission rods. The extrusion block and the trigger block are both trapezoidal blocks, and the upper bottom width of the trigger block is equal to the lower bottom width of the extrusion block, which is used to make the extrusion block contact with the sliding frame after the transmission rod contacts the upper bottom of the trigger block.

[0009] As an improvement of the above scheme, it also includes: an adjustment component, which is arranged on the main frame and is used to adjust the friction between the electric wheel and the track, and the adjustment component includes: an angle detection module, which is arranged on the main frame, the telescopic module is rotatably connected to the shell, and the rotation axis center lines of the telescopic module and the shell are perpendicular to the driving direction of the electric wheel; a threaded rod, which is rotatably connected in the shell, the threaded rod is threadedly connected to the main frame, and the sliding shaft on the shell is slidably connected to the main frame; a rotating component, which is arranged in the shell and is used to apply a force to the main frame to increase the friction between the electric wheel and the track.

[0010] As an improvement of the above scheme, the rotating assembly includes: a second gear, rotatably connected to the threaded rod; a second servo motor, fixedly connected to the housing, the output shaft of the second servo motor is fixedly connected to a third gear, the third gear is meshed with the second gear, a third elastic member is arranged between the threaded rod and the second gear, and the third elastic member is used to apply torque to the threaded rod; a back-support assembly, arranged in the housing, used to stabilize the electric wheel and increase the friction with the track.

[0011] As an improvement of the above-mentioned scheme, the anti-support assembly includes: two support members, both of which are slidably connected to the outer shell, and a fourth elastic member is arranged between the support members and the outer shell; an extrusion assembly, which is arranged in the outer shell and is used to apply extrusion force to the two support members.

[0012] As an improvement of the above-mentioned scheme, the extrusion assembly includes: a sliding plate, the outer shell is fixedly connected to a sliding rod, the sliding plate is slidably connected to the sliding rod of the outer shell, the sliding plate is rotatably connected to an extrusion shaft, and the extrusion shaft is used to extrude the two supporting members; a trigger rod is slidably connected to the sliding plate, a fifth elastic member is arranged between the sliding plate and the trigger rod, the second gear is fixedly connected to a pushing block, the pushing block is used to push the trigger rod to move, and a sixth elastic member is arranged between the extrusion shaft and the sliding plate.

[0013] A portable track robot detection method for GIS equipment detection, using the above-mentioned portable track robot for GIS equipment detection, comprises the following steps: Step 1: Turn on the visual camera module and the electric wheel, make the electric wheel move along the track, and make the visual camera module collect GIS equipment images to complete the inspection, so that the visual camera module inspection is completed, and then turn off the visual camera module and the electric wheel; Step 2: During the inspection process, when the electric wheel is stuck, the trigger block first squeezes the transmission rod to release the limit of the block by the limit block, and then the squeeze block lifts the electric wheel through the sliding frame to make the first electric wheel bypass the stuck position; Step 3: After the first electric wheel bypasses the stuck position, the extrusion block drives the trigger block to change position, so that the second electric wheel is lifted, and the limit block locks the electric wheel bypassing the stuck position, and this cycle continues until all electric wheels bypass the stuck position; Step 4: During the inspection process, when the electric wheel slips on the uphill or downhill slope, the second servo motor is turned on, so that the second servo motor applies a rotational force to the threaded rod through the third gear, the second gear and the third elastic member, and the rotational force of the threaded rod presses the electric wheel down on the track through the main frame and the sliding frame; Step 5: When the second gear rotates, the push block squeezes the trigger rod, so that the trigger rod drives the extrusion axis through the fifth elastic member and the sliding plate to apply an upward force to the two support members. The support members apply an upward force to the track, so that the electric wheel and the support members clamp the track, increasing the friction between the electric wheel and the track, so that the visual camera module completes the inspection work.

[0014] The beneficial effects are as follows: 1. When the electric wheel is stuck at the track connection, the present invention lifts the electric wheel upward in sequence to separate it from the track, and makes the electric wheel bypass the track joint in sequence, so that the electric wheel drives the visual camera module to continue to inspect the GIS equipment, thereby ensuring the normal operation of the inspection work.

[0015] 2. The sliding frame is locked to the main frame by means of a limit block and a card block, and when the electric wheel needs to be lifted, the locking state of the sliding frame is automatically unlocked to avoid shaking during the operation of the device, resulting in inaccurate inspections, and improve the stability of the device when it moves along the track.

[0016] 3. When the electric wheel and the track slip, the electric wheel applies a downward force to the track, and the support applies an upward force to the track, thereby clamping the track, thereby increasing the friction force of the electric wheel on the track, reducing the probability of the electric wheel continuing to slip, and allowing the device to continue its inspection work. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a schematic cross-sectional view of the three-dimensional structure of the housing of the present invention; Figure 3 It is a schematic diagram of the three-dimensional structure of the first gear and the rack rack of the present invention; Figure 4 It is a schematic diagram of the three-dimensional structure of the support frame of the present invention; Figure 5 It is a schematic diagram of the three-dimensional structure of the limit block and the clamping block of the present invention; Figure 6 It is a schematic diagram of the three-dimensional structure of the transmission rod and the second elastic member of the present invention; Figure 7 It is a schematic diagram of the three-dimensional structure of the extrusion block and the trigger block of the present invention; Figure 8 It is a schematic diagram of the three-dimensional structure of the threaded rod and the second gear of the present invention; Fig. 9 It is a schematic diagram of the three-dimensional structure of the extrusion shaft and the pushing block of the present invention.

[0018] The numbers in the figure are as follows: 1-housing, 2-telescopic module, 3-visual camera module, 4-main frame, 5-sliding frame, 6-electric wheel, 7-first elastic member, 201-first servo motor, 202-first gear, 203-rack frame, 204-extrusion block, 301-support frame, 302-limiting block, 303-block, 304-transmission rod, 305-second elastic member, 306-push plate, 307-trigger block, 401-angle detection module, 402-threaded rod, 403-second gear, 404-second servo motor, 405-third gear, 406-third elastic member, 501-support member, 502-fourth elastic member, 503-sliding plate, 504-extrusion shaft, 505-trigger rod, 506-fifth elastic member, 507-push block, 508-sixth elastic member. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0020] Track-based inspection robots move on preset tracks over or around GIS equipment to perform regular inspection tasks. However, since these tracks are made up of multiple sections, after long-term use, the track joints will become misaligned due to material aging and continuous load. This misalignment can cause misalignment at the track joints, leading to jamming or poor operation, which not only affects the efficiency and accuracy of the inspection work, but also causes damage to the robot, increasing maintenance costs and downtime.

[0021] A portable track robot for GIS equipment inspection, such as Figure 1-Figure 5 As shown, it includes: a shell 1; a telescopic module 2, which is arranged on the shell 1, and a visual camera module 3 is arranged at the telescopic end of the telescopic module 2; a main frame 4, which is fixedly connected with a sliding shaft in the shell 1, and the main frame 4 is arranged on the sliding shaft in the shell 1; a plurality of sliding frames 5, which are all slidably connected to the main frame 4, and the sliding frames 5 are provided with symmetrically distributed electric wheels 6, and a first elastic member 7 is provided between the sliding frames 5 and the main frame 4; a driving component, which is arranged on the main frame 4, and is used to push the sliding frame 5 to slide along the main frame 4 to separate the electric wheel 6 from the track; a limiting component, which is arranged on the main frame 4, and is used to limit all the sliding frames 5.

[0022] In the above scheme, the telescopic module 2 is installed at the bottom of the shell 1, and the telescopic end of the telescopic module 2 is used to carry the visual camera module 3. The telescopic module 2 can adjust the height and position of the visual camera module 3 according to the detection requirements to adapt to different detection scenarios. The visual camera module 3 is used to detect the target equipment, collect images and data of the GIS equipment through cameras and sensors, and transmit the detection data in real time for subsequent analysis and processing. At the same time, the visual camera module 3 can locate its own position according to the real-time image collection, and determine whether the device is stuck on the track. The material of the main frame 4 is high-strength alloy steel, which has sufficient strength and rigidity to withstand the vibration and impact during the operation of the equipment. There are three sliding frames 5, and they are distributed on the main frame 4 at equal intervals in a straight line. In the initial state, the electric wheels 6 on the left and right sliding frames 5 are in contact with the track, and the electric wheel 6 in the middle is separated from the track, which improves the stability of the equipment movement. The first elastic member 7 is a tension spring, and the first elastic member 7 is in a stretched state. The first elastic member 7 is used to drive the electric wheels 6 on the adjacent sliding frames 5 to fit the track. When the electric wheels 6 are stuck at the track connection, the electric wheels 6 are lifted up and separated from the track in turn, and the electric wheels 6 bypass the joints of the track in turn, so that the electric wheels 6 drive the visual camera module 3 to continue to inspect the GIS equipment, thereby ensuring the normal operation of the inspection work and improving the completion degree of the inspection.

[0023] Specifically, Figure 2-Figure 4 As shown, the driving assembly includes: a first servo motor 201, fixedly connected to the main frame 4; a first gear 202, fixedly connected to the output shaft of the first servo motor 201, the main frame 4 is slidably connected to a rack frame 203, the first gear 202 is meshed with the rack frame 203; an extrusion block 204, fixedly connected to the rack frame 203, the extrusion block 204 is used to squeeze all the sliding frames 5 so that the sliding frames 5 slide along the main frame 4.

[0024] In the above scheme, the first servo motor 201 is located in the middle of the main frame 4, and the meshing position of the first gear 202 and the rack frame 203 is located in the middle of the rack frame 203, and the extrusion block 204 is located in the middle of the rack frame 203, so that when the extrusion block 204 squeezes all the sliding frames 5, the movement area of ​​the rack frame 203 is small, and the space in the shell 1 is reasonably utilized. The extrusion block 204 is a trapezoidal structure, and the lower bottom of the extrusion block 204 is in contact with the rack frame 203, and the waist of the extrusion block 204 is used to squeeze the sliding frame 5, and the sliding frame 5 is in contact with the upper bottom of the extrusion block 204.

[0025] Specifically, Figure 4-Figure 6As shown, the limiting assembly includes: a support frame 301, fixedly connected to the main frame 4; limiting blocks 302, the same number as the sliding frames 5, all of which are slidably connected to the support frame 301, all sliding frames 5 are fixedly connected with clamping blocks 303, the limiting blocks 302 limit the sliding frames 5 through the clamping blocks 303, and all the limiting blocks 302 are provided with a transmission assembly for sliding themselves along the support frame 301.

[0026] In the above scheme, the support frame 301 and the main frame 4 are made of the same material, both of which are high-strength alloy steel for providing a sliding track for the limit block 302. The limit block 302 has a groove with the same thickness as the block 303. The groove of the limit block 302 is plugged into the block 303, that is, the limit block 302 limits the block 303 up and down. The groove mouth of the limit block 302 is provided with an inclined chamfer to facilitate the block 303 to slide into the limit block 302. The limit block 302 and the block 303 lock the sliding frame 5, thereby improving the stability of the device when walking along the track.

[0027] Specifically, Figure 5-Figure 7 As shown, the transmission assembly includes: a transmission rod 304, which is slidably connected to the support frame 301, and a second elastic member 305 is arranged between the support frame 301 and the transmission rod 304; a push plate 306, which is fixedly connected to the limit block 302, and the push plate 306 is provided with an inclined groove, and the transmission rod 304 is located in the inclined groove on the push plate 306 and slides; the extrusion block 204 is fixedly connected to the trigger block 307, and the trigger block 307 is used to extrude all the transmission rods 304, and the extrusion block 204 and the trigger block 307 are both trapezoidal blocks, and the upper bottom width of the trigger block 307 is equal to the lower bottom width of the extrusion block 204, which is used to make the extrusion block 204 contact with the sliding frame 5 after the transmission rod 304 contacts with the upper bottom of the trigger block 307.

[0028] In the above scheme, the transmission rod 304 is made of high-strength material, has high rigidity and wear resistance, and can withstand stress and impact during the transmission process. The second elastic member 305 is a tension spring, and the second elastic member 305 is used to drive the transmission rod 304 to reset. The transmission rod 304 converts the movement of the extrusion block 204 into the sliding of the limit block 302 by cooperating with the inclined groove on the push plate 306. The middle part of the trigger block 307 corresponds to the middle part of the extrusion block 204, the lower bottom of the trigger block 307 is coplanar with the lower bottom of the extrusion block 204, the upper bottom of the trigger block 307 is coplanar with the upper bottom of the extrusion block 204, and the upper bottom width of the trigger block 307 is equal to the lower bottom width of the extrusion block 204, which is used to enable the trigger block 307 to preferentially extrude the corresponding transmission rod 304, and the corresponding limit block 302 slides to release the limit of the card block 303. At this time, the sliding frame 5 can slide freely, and then the extrusion block 204 contacts the sliding frame 5, driving the sliding frame 5 to slide upward.

[0029] When it is necessary to inspect the GIS equipment, the staff turns on all the electric wheels 6 and the visual camera module 3. The electric wheels 6 drive the housing 1 to move along the track through the sliding frame 5 and the main frame 4. During this period, the visual camera module 3 collects images or videos of the GIS equipment in real time, and transmits the collected images and videos to the control console, so that the staff can directly observe the situation of the GIS equipment. In the process of the device inspecting along the track, the telescopic module 2 can be controlled so that the telescopic end of the telescopic module 2 drives the visual camera module 3 to change its height. The visual camera module 3 can electrically control its rotation angle and tilt angle to realize the lifting and tilting of the visual camera module 3 and the pitching in different directions, thereby improving the degree of freedom of image acquisition of the visual camera module 3. This is done until the equipment inspection is completed, and then the electric wheels 6 drive the device to reset to the initial position (when the track is a closed-loop structure, the electric wheels 6 drive the device to move unidirectionally to the initial position, and when the track is a non-closed-loop structure, the electric wheels 6 rotate in the opposite direction to drive the device to move to the initial position), and then turn off the electric wheels 6 and the visual camera module 3. When it is necessary to inspect the GIS equipment again, repeat the above steps.

[0030] When the electric wheel 6 runs to the right along the track, it is stuck due to track misalignment (here Figure 1 Direction is used as an example for explanation), the visual camera module 3 can know that the device is stuck according to the image acquisition, at this time, the first servo motor 201 is turned on, the output shaft of the first servo motor 201 drives the first gear 202 to rotate, the first gear 202 drives the rack 203 to move rightward, the rack 203 drives the extrusion block 204 thereon to move synchronously, the extrusion block 204 moves rightward and separates from the middle sliding frame 5, the first elastic member 7 in the middle pulls the adjacent sliding frame 5 to move downward, so that the sliding frame 5 drives the two electric wheels 6 thereon to fit with the track, and the rack 203 drives The movable extrusion block 204 contacts the sliding frame 5 on the right. At this time, the extrusion block 204 squeezes the sliding frame 5 on the right, so that the sliding frame 5 on the right slides upward due to the extrusion force. At the same time, the first elastic member 7 on the right stretches, and the sliding frame 5 on the right drives the two electric wheels 6 thereon to separate from the track, until the sliding frame 5 on the right is in contact with the upper side of the extrusion block 204, and then the first servo motor 201 is turned off. During this period, after the two electric wheels 6 on the right are lifted to a height exceeding the height of the stuck track, the electric wheels 6 on the left and the middle drive the device to continue to move to the right until the electric wheel 6 in the middle is stuck by the track.

[0031] After the electric wheel 6 in the middle is stuck by the track, the first servo motor 201 is turned on, so that the output shaft of the first servo motor 201 drives the extrusion block 204 to move to the left through the first gear 202 and the rack 203, so that the extrusion block 204 is separated from the right sliding frame 5, and the right sliding frame 5 drives the electric wheel 6 thereon to fit with the track under the action of the adjacent first elastic member 7, and then the upper side of the extrusion block 204 fits with the middle sliding frame 5, so that the electric wheel 6 on the middle sliding frame 5 is separated from the track, and the electric wheel 6 is lifted to a height exceeding the stuck height. After the dead track height is reached, the electric wheel 6 drives the device to continue to move to the right, so that the middle electric wheel 6 bypasses the track docking point. At this time, the first servo motor 201 is turned off until the left electric wheel 6 is stuck by the track, and then the first servo motor 201 is turned on to make the extrusion block 204 continue to move to the left. The upper side of the extrusion block 204 is separated from the middle sliding frame 5 and contacts the left sliding frame 5. During this process, the electric wheel 6 of the middle sliding frame 5 moves downward to fit the track, and the electric wheel 6 of the left sliding frame 5 moves upward to separate from the track. Similarly, when the left electric wheel 6 is lifted to a height exceeding the height of the stuck track, the device continues to move to the right, so that the left electric wheel 6 bypasses the track joint, and then the first servo motor 201 is turned off, so that the electric wheel 6 drives the device to continue to move to the right, until the left electric wheel 6 passes the joint of the two guide rails, then all the electric wheels 6 are turned off and the first servo motor 201 is turned on, so that the upper side of the extrusion block 204 is separated from the left sliding frame 5 and contacts the middle sliding frame 5, so that the left electric wheel 6 moves downward and fits with the track, and the middle electric wheel 6 moves upward and separates from the track, and then all the electric wheels 6 are turned on and the first servo motor 201 is turned off, so that the electric wheel 6 drives the device to continue to move along the track to inspect the GIS equipment. If the above problem is encountered, repeat the above steps, and when the electric wheel 6 is stuck at the track connection, the electric wheel 6 is separated from the track in turn, lifted to a certain height to bypass the track joint, so that the electric wheel 6 drives the visual camera to continue the equipment inspection work, ensure the normal operation of the inspection work, and improve the completion degree of the inspection.

[0032] When the rack frame 203 drives the extrusion block 204 thereon to switch positions, the extrusion block 204 is described here in contact with the right sliding frame 5. When the extrusion block 204 moves to the right, the extrusion block 204 drives the trigger block 307 thereon to move synchronously. The trigger block 307 preferentially contacts the transmission rod 304 on the right. At this time, the trigger block 307 squeezes the transmission rod 304, causing the transmission rod 304 to slide upward along the support frame 301 under the squeezing force. At the same time, the second elastic member 305 is stretched, and the transmission rod 304 moves upward and drives the limit block 302 to slide along the support frame 301 through the inclined groove on the push plate 306, so that the limit block 302 is in contact with the adjacent The blocking block 303 is separated, and the sliding frame 5 can slide freely along the main frame 4 until the transmission rod 304 contacts the upper side of the trigger block 307. At this time, the limit block 302 stops moving, and the extrusion block 204 contacts the sliding frame 5 on the right. As the rack frame 203 continues to move to the right, the extrusion block 204 squeezes the sliding frame 5 on the right. At this time, the sliding frame 5 on the right slides upward along the main frame 4, separating the right electric wheel 6 from the track, until the sliding frame 5 on the right contacts the upper side of the extrusion block 204 and slides to the middle of the upper side of the extrusion block 204. At this time, the transmission rod 304 is located in the middle of the trigger block 307.

[0033] When the extrusion block 204 is separated from the right sliding frame 5, it runs in the reverse direction according to the above principle, so that the rack frame 203 drives the extrusion block 204 to move to the left, so that the extrusion block 204 is separated from the right sliding frame 5, that is, the right electric wheel 6 is in contact with the track, and then the trigger block 307 is separated from the transmission rod 304, so that the limit block 302 is reset and contacts with the card block 303, and the right sliding frame 5 is limited again, and the sliding frame 5 is locked with the main frame 4 by the limit block 302 and the card block 303, and when it is necessary to lift the electric wheel 6, the locking state of the sliding frame 5 is automatically unlocked, thereby improving the stability of the device when moving along the track and improving the inspection accuracy of the device for equipment.

[0034] In a further embodiment, Figure 1 , Figure 2 and Figure 8 As shown, it also includes: an adjustment component, which is arranged on the main frame 4 and is used to adjust the friction between the electric wheel 6 and the track. The adjustment component includes: an angle detection module 401, which is arranged on the main frame 4, the telescopic module 2 is rotatably connected to the shell 1, and the rotation axis center lines of the telescopic module 2 and the shell 1 are perpendicular to the driving direction of the electric wheel 6; a threaded rod 402, which is rotatably connected in the shell 1, the threaded rod 402 is threadedly connected to the main frame 4, and the sliding shaft on the shell 1 is slidably connected to the main frame 4; a rotating component, which is arranged in the shell 1, and is used to apply a force to the main frame 4 to increase the friction between the electric wheel 6 and the track.

[0035] In the above scheme, the telescopic module 2 drives the visual camera module 3 to always be in a vertical state under the action of gravity, preventing the camera module 3 from deflecting with the shell 1 and causing errors in image acquisition, thereby improving the accuracy of image acquisition by the visual camera module 3. The angle detection module 401 is specifically a potentiometer with a simple structure, low cost, and easy installation and integration. The angle detection module 401 is used to detect whether the telescopic module 2 and the shell 1 are deflected. The rotation of the threaded rod 402 can drive the main frame 4 to slide along the shell 1, thereby adjusting the contact pressure between the electric wheel 6 and the track. At the same time, the tight thread of the threaded rod 402 can lock the main frame 4 up and down when it is not rotating, thereby preventing it from sliding unnecessary in the shell 1.

[0036] Specifically, Figure 8 and Fig. 9 As shown, the rotating assembly includes: a second gear 403, which is rotatably connected to the threaded rod 402; a second servo motor 404, which is fixedly connected to the housing 1, and the output shaft of the second servo motor 404 is fixedly connected to the third gear 405, the third gear 405 is meshed with the second gear 403, and a third elastic member 406 is arranged between the threaded rod 402 and the second gear 403, and the third elastic member 406 is used to apply torque to the threaded rod 402; a back-support assembly, which is arranged in the housing 1, and is used to stably increase the friction between the electric wheel 6 and the track.

[0037] In the above scheme, the third elastic member 406 is a torsion spring, which is used to apply rotational force to the threaded rod 402. The output shaft of the second servo motor 404 applies rotational force to the threaded rod 402 through the third gear 405, the second gear 403 and the rotational force of the third elastic member 406, so that the main frame 4 only has a downward sliding force along the outer shell 1, thereby increasing the contact pressure between the electric wheel 6 and the track. During this period, the rotation angle of the output shaft of the second servo motor 404 is amplified by the torsion of the third elastic member 406. Since the electric wheel 6 fits the track, the main frame 4 is threadedly connected to the threaded rod 402. If the rotational force of the second servo motor 404 directly acts on the main frame 4, it is very easy to cause the electric wheel 6 to fit the track too much, thereby causing the electric wheel 6 to be unable to move along the track.

[0038] Specifically, Figure 8 and Fig. 9As shown, the reverse support assembly includes: a support member 501, which has two members, both of which are slidably connected to the shell 1, and a fourth elastic member 502 is arranged between the support member 501 and the shell 1; an extrusion assembly, which is arranged in the shell 1 and is used to apply an extrusion force to the two support members 501; the extrusion assembly includes: a sliding plate 503, the shell 1 is fixedly connected to a sliding rod, the sliding plate 503 is slidably connected to the sliding rod of the shell 1, the sliding plate 503 is rotatably connected to an extrusion shaft 504, and the extrusion shaft 504 is used to squeeze the two support members 501; a trigger rod 505, which is slidably connected to the sliding plate 503, and a fifth elastic member 506 is arranged between the sliding plate 503 and the trigger rod 505, the second gear 403 is fixedly connected to a pushing block 507, the pushing block 507 is used to push the trigger rod 505 to move, and a sixth elastic member 508 is arranged between the extrusion shaft 504 and the sliding plate 503.

[0039] In the above scheme, the support member 501 is composed of a pulley and a support rod. The two support members 501 are located at the top of the shell 1 and are in contact with the lower side of the track. The fourth elastic member 502 is a tension spring, which is used to keep the two support members 501 in contact with the lower side of the track. The fifth elastic member 506 is a tension spring, which is used to apply an upward force to the sliding plate 503 and the extrusion shaft 504. The push block 507 has a spiral end face, which is used to extrude the trigger rod 505 upward through the spiral end face. The sixth elastic member 508 is used to drive the extrusion shaft 504 to deflect and adapt to the height difference between the two support members 501.

[0040] Since the arrangement of the track needs to be laid according to the external environment and the height and shape of the equipment, the track will have ups and downslopes. At the same time, after the electric wheel 6 has been moving for a long time, the pattern on the outside of the electric wheel 6 is seriously worn, thereby reducing the ability of the electric wheel 6 to grip the track, causing the device to slip during the uphill and downhill processes. Therefore, when the device goes uphill to the right along the track (here, Figure 1 The direction shown is explained), the telescopic module 2 and the visual camera module 3 at the bottom rotate with the housing 1 due to the action of gravity. At this time, the angle detection module 401 detects that the rotation state of the telescopic module 2 and the housing 1 is maintained for a long time, and then slipping occurs. The device cannot move upward along the track, and at this time, the second servo motor 404 is turned on, and the output shaft of the second servo motor 404 drives the third gear 405 to rotate, so that the third gear 405 drives the second gear 403 to rotate synchronously, and the rotation of the second gear 403 drives the third elastic member 406 to accumulate torque, and the torque of the third elastic member 406 acts on the threaded rod 402, and the rotational force of the threaded rod 402 acts on the main frame 4, so that the main frame 4 has a downward force that is perpendicular to the running direction of the track, and the main frame 4 drives all the electric wheels 6 through the sliding frame 5 to have the same force, and at this time, the electric wheel 6 that is in contact with the track presses down the track.

[0041] When the second gear 403 rotates, the second gear 403 drives the push block 507 to rotate synchronously, and the push block 507 squeezes the trigger rod 505, so that the trigger rod 505 moves upward under the squeezing force, and the trigger rod 505 drives the sliding plate 503 to move upward synchronously through the fifth elastic member 506, and the sliding plate 503 drives the extrusion shaft 504 to move upward synchronously, and this is done until the extrusion shaft 504 contacts the two support members 501 and follows the height difference between the two support members 501, so that the extrusion shaft 504 deflects along the sliding plate 503, and the sixth elastic member 508 twists at the same time. At this time, the trigger rod 505 05 continues to move upward, the trigger rod 505 slides along the sliding plate 503, and at the same time the fifth elastic member 506 is stretched and stored, and the pulling force of the fifth elastic member 506 is transmitted to the two support members 501 through the sliding plate 503 and the extrusion shaft 504, so that the two support members 501 generate an upward force on the lower part of the track. Even if the electric wheel 6 applies a downward force to the track, the support member 501 applies an upward force to the track to clamp the track, thereby increasing the friction force of the electric wheel 6 on the track, reducing the probability of the electric wheel 6 continuing to slip, and allowing the device to continue its inspection work.

[0042] When the device runs to the planar track again, the second servo motor 404 is turned on to reset the output shaft of the second servo motor 404, thereby resetting the second gear 403 and the third gear 405, and resetting the third elastic member 406 to twist, thereby releasing the downward pressure of the electric wheel 6 on the track. At the same time, the second gear 403 drives the push block 507 to reset and rotate, and the trigger rod 505 resets and moves downward under the action of the fifth elastic member 506, and the extrusion shaft 504 is separated from the two support members 501. At the same time, the sixth elastic member 508 resets and twists, releasing the extrusion state of the two support members 501, and releasing the extrusion of the support member 501 on the track, so that when the electric wheel 6 runs on the planar track, the friction between the electric wheel 6 and the track is reduced, thereby reducing the friction loss of the electric wheel 6.

[0043] In a further embodiment, Figure 1-Figure 8 As shown, a portable track robot detection method for GIS equipment detection, using the above-mentioned portable track robot for GIS equipment detection, includes the following steps: Step 1: Turn on the visual camera module 3 and the electric wheel 6, and make the electric wheel 6 move along the track, so that the visual camera module 3 collects images of the GIS equipment to complete the inspection, and so on until the inspection of the visual camera module 3 is completed, and then turn off the visual camera module 3 and the electric wheel 6; Step 2: During the inspection process, when the electric wheel 6 is stuck, the trigger block 307 first squeezes the transmission rod 304, so that the limit block 302 releases the limit on the block 303, and then the squeeze block 204 lifts the electric wheel 6 through the sliding frame 5, so that the first electric wheel 6 bypasses the stuck position; Step 3: After the first electric wheel 6 bypasses the stuck position, the extrusion block 204 drives the trigger block 307 to change position, so that the second electric wheel 6 is lifted, and the limit block 302 locks the electric wheel 6 bypassing the stuck position, and the cycle continues until all the electric wheels 6 bypass the stuck position; Step 4: During the inspection process, when the electric wheel 6 slips on the uphill or downhill slope, the second servo motor 404 is turned on, so that the second servo motor 404 applies a rotational force to the threaded rod 402 through the third gear 405, the second gear 403 and the third elastic member 406, and the rotational force of the threaded rod 402 presses the electric wheel 6 down on the track through the main frame 4 and the sliding frame 5; Step 5: When the second gear 403 rotates, the push block 507 squeezes the trigger rod 505, so that the trigger rod 505 drives the extrusion shaft 504 to apply an upward force to the two support members 501 through the fifth elastic member 506 and the sliding plate 503. The support member 501 applies an upward force to the track, so that the electric wheel 6 and the support member 501 clamp the track, increasing the friction between the electric wheel 6 and the track, so that the visual camera module 3 completes the inspection work.

[0044] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A portable track robot for GIS equipment inspection, characterized in that it includes: Housing (1); A telescopic module (2) is arranged on the housing (1), and a visual camera module (3) is arranged at the telescopic end of the telescopic module (2); A main frame (4), a sliding shaft being fixedly connected inside the outer shell (1), and the main frame (4) being arranged on the sliding shaft inside the outer shell (1); A plurality of sliding frames (5) are provided, each of which is slidably connected to the main frame (4); the sliding frame (5) is provided with symmetrically distributed electric wheels (6); and a first elastic member (7) is provided between the sliding frame (5) and the main frame (4); A driving assembly, arranged on the main frame (4), and used for pushing the sliding frame (5) to slide along the main frame (4), so that the electric wheel (6) is separated from the track; A limiting assembly is arranged on the main frame (4) and is used to limit the position of all the sliding frames (5).

2. A portable track robot for GIS equipment inspection according to claim 1, characterized in that: The drive assembly comprises: A first servo motor (201) fixedly connected to the main frame (4); A first gear (202) is fixedly connected to the output shaft of the first servo motor (201); the main frame (4) is slidably connected to a rack frame (203); the first gear (202) is meshed with the rack frame (203); The extrusion block (204) is fixedly connected to the rack frame (203), and the extrusion block (204) is used to squeeze all the sliding frames (5) so that the sliding frames (5) slide along the main frame (4).

3. A portable track robot for GIS equipment inspection according to claim 2, characterized in that: The limit assembly includes: A support frame (301) fixedly connected to the main frame (4); The limit blocks (302) are the same in number as the sliding frames (5), and are all slidably connected to the support frame (301). All the sliding frames (5) are fixedly connected with a clamping block (303). The limit blocks (302) limit the position of the sliding frames (5) via the clamping block (303). All the limit blocks (302) are provided with a transmission assembly for sliding themselves along the support frame (301).

4. The portable track robot for GIS equipment inspection according to claim 3 is characterized in that: The transmission assembly comprises: A transmission rod (304) is slidably connected to the support frame (301), and a second elastic member (305) is provided between the support frame (301) and the transmission rod (304); The push plate (306) is fixedly connected to the limit block (302), the push plate (306) is provided with an inclined groove, and the transmission rod (304) is located in the inclined groove on the push plate (306) and slides.

5. The portable track robot for GIS equipment inspection according to claim 4 is characterized in that: The extrusion block (204) is fixedly connected to a trigger block (307), the trigger block (307) being used to extrude all the transmission rods (304), the extrusion block (204) and the trigger block (307) being both trapezoidal blocks, the upper base width of the trigger block (307) being equal to the lower base width of the extrusion block (204), and being used to make the extrusion block (204) contact the sliding frame (5) after the transmission rods (304) contact the upper base of the trigger block (307).

6. The portable track robot for GIS equipment inspection according to claim 5 is characterized in that: It also includes: an adjustment component, which is arranged on the main frame (4) and is used to adjust the friction between the electric wheel (6) and the track, and the adjustment component includes: An angle detection module (401) is arranged on the main frame (4), the telescopic module (2) is rotatably connected to the housing (1), and the rotation axis of the telescopic module (2) and the housing (1) are both perpendicular to the driving direction of the electric wheel (6); A threaded rod (402) is rotatably connected to the housing (1); the threaded rod (402) is threadably connected to the main frame (4); and a sliding shaft on the housing (1) is slidably connected to the main frame (4); A rotating assembly is arranged in the housing (1) and is used to apply a force to the main frame (4) to increase the friction between the electric wheel (6) and the track.

7. The portable track robot for GIS equipment inspection according to claim 6 is characterized in that: The rotating assembly comprises: A second gear (403) rotatably connected to the threaded rod (402); a second servo motor (404) fixedly connected to the housing (1); an output shaft of the second servo motor (404) fixedly connected to a third gear (405); the third gear (405) meshing with the second gear (403); a third elastic member (406) being provided between the threaded rod (402) and the second gear (403); the third elastic member (406) being used to apply a torque to the threaded rod (402); A back-support component is arranged in the housing (1) and is used to stably increase the friction between the electric wheel (6) and the track.

8. The portable track robot for GIS equipment inspection according to claim 7 is characterized in that: The anti-support component includes: There are two support members (501), both of which are slidably connected to the housing (1), and a fourth elastic member (502) is provided between the support member (501) and the housing (1); An extrusion assembly is arranged in the housing (1) and is used to apply an extrusion force to the two support members (501).

9. The portable track robot for GIS equipment inspection according to claim 8, characterized in that: The extrusion assembly comprises: A sliding plate (503), the housing (1) being fixedly connected to a sliding rod, the sliding plate (503) being slidably connected to the sliding rod of the housing (1), the sliding plate (503) being rotatably connected to an extrusion shaft (504), the extrusion shaft (504) being used to extrude the two support members (501); A trigger rod (505) is slidably connected to the sliding plate (503); a fifth elastic member (506) is provided between the sliding plate (503) and the trigger rod (505); a pushing block (507) is fixedly connected to the second gear (403); the pushing block (507) is used to push the trigger rod (505) to move; and a sixth elastic member (508) is provided between the extrusion shaft (504) and the sliding plate (503).

10. A portable track robot detection method for GIS equipment detection, using the portable track robot for GIS equipment detection according to claim 9, characterized in that: The following steps are involved: Step 1: Turn on the visual camera module (3) and the electric wheel (6), and make the electric wheel (6) move along the track, so that the visual camera module (3) collects images of the GIS equipment to complete the inspection, and this continues until the inspection of the visual camera module (3) is completed, and then turn off the visual camera module (3) and the electric wheel (6); Step 2: During the inspection process, when the electric wheel (6) is stuck, the trigger block (307) preferentially squeezes the transmission rod (304), so that the limit block (302) releases the limit on the blocking block (303), and then the squeezing block (204) lifts the electric wheel (6) through the sliding frame (5), so that the first electric wheel (6) bypasses the stuck position; Step 3: After the first electric wheel (6) bypasses the stuck position, the extrusion block (204) drives the trigger block (307) to change position, so that the second electric wheel (6) is lifted, and the limit block (302) locks the electric wheel (6) bypassing the stuck position, and the cycle is repeated until all the electric wheels (6) bypass the stuck position; Step 4: During the inspection process, when the electric wheel (6) slips when going up or down a slope, the second servo motor (404) is turned on, so that the second servo motor (404) applies a rotational force to the threaded rod (402) through the third gear (405), the second gear (403) and the third elastic member (406), and the rotational force of the threaded rod (402) causes the electric wheel (6) to press down the track through the main frame (4) and the sliding frame (5); Step 5: When the second gear (403) rotates, the push block (507) squeezes the trigger rod (505), so that the trigger rod (505) drives the squeezing shaft (504) to apply an upward force to the two support members (501) through the fifth elastic member (506) and the sliding plate (503). The support members (501) apply an upward force to the track, so that the electric wheel (6) and the support member (501) clamp the track, thereby increasing the friction between the electric wheel (6) and the track, so that the visual camera module (3) completes the inspection work.

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