Transformer substation inspection robot with regulation and control function

Abstract

The transformer substation inspection robot with the regulation and control function comprises an inspection mainframe box, the inspection mainframe box is of a hollow shell structure, an advancing mechanism is arranged on the lower side of the inspection mainframe box, a supporting base is fixedly connected to the upper portion of the inspection mainframe box, and a camera shooting mechanism and a guide plate are fixedly arranged on the front side and the rear side of the supporting base correspondingly; mounting plates are arranged on the front side and the rear side of the bottom of the inspection mainframe box correspondingly, a cleaning assembly is arranged on the front side mounting plate in a penetrating mode, and a regulation and control mechanism sleeves the rear side mounting plate. Snow blocks or ice blocks and the like on the front side of the advancing direction of the inspection robot can be removed through the removing assembly, and the influence on the advancing stability of the inspection robot is prevented; therefore, the inspection stability is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and particularly to a substation inspection robot with a regulation function. Background Art

[0002] With the rapid development of the power grid, more and more unattended substations are being built. The safety of substation equipment is particularly important. Usually, the inspection of substations is carried out manually, which not only consumes a large amount of manpower and material resources but also increases the workload of personnel. Unattended substations are usually unguarded, but precisely because of this, frequent problems occur. When equipment fails or emergencies occur in the substation, they cannot be detected and measures cannot be taken in time, resulting in huge property losses. In recent years, more and more substations have used various sensors carried by inspection robots to complete image inspections of substation equipment, automatic identification of equipment instruments, infrared detection of primary equipment, etc., record equipment information, and provide abnormal alarms. Operators can complete the inspection of substation equipment only through real-time data, images, etc. received by the background base station computer. During the inspection process of the inspection robot, if it encounters snowy weather or there is snow on the road surface, and there may also be partial icing on the snow-covered road surface, it may cause the road surface to be uneven and there may be snow blocks or ice blocks, etc., which will affect the stability of the inspection robot during travel. Existing inspection robots may tip over and fall under weather conditions such as strong winds, rain, and snow, which is very unsafe, and may thus affect the inspection duration of substation equipment and the inspection effect.

[0003] By searching, it is found that the Chinese invention patent with the published application number 2016102832764 discloses a substation inspection robot, which includes a robot body arranged in the substation, a track arranged according to the inspection route, and a traveling device. The robot body is connected to the track through the traveling device; the traveling device includes a traveling mechanism and a clamping mechanism, and the clamping mechanism is located below the traveling mechanism: a C-shaped groove is provided on the traveling mechanism, a U-shaped groove is provided on the clamping mechanism, the track is accommodated in the C-shaped groove, and the clamping mechanism wraps the traveling mechanism and the track in it through the U-shaped groove. The inspection robot in this technical solution needs to perform inspections according to a pre-designed inspection track, and it is necessary to complete the track laying work in advance and plan a reasonable route, which has limitations in the inspection scope, is not convenient to use, and consumes more manpower and material resources. Summary of the Invention

[0004] The purpose of the present invention is to provide a substation inspection robot with a regulation function to solve the problems raised in the above background technology. During the inspection process of the inspection robot, if it encounters snowfall weather or there is snow accumulation on the road surface, it may cause the road surface to be uneven, and there may be snow blocks or ice blocks, etc., which may affect the stability during inspection and the inspection effect.

[0005] In order to achieve the above effects, the technical solution of the present invention is as follows:

[0006] A substation inspection robot with a regulation function includes an inspection main chassis. The inspection main chassis has a hollow shell structure. A traveling mechanism is arranged on the lower side of the inspection main chassis. A support seat is fixedly connected above the inspection main chassis. A camera mechanism and a guide plate are respectively fixedly arranged on the front and rear sides of the support seat. Installation plates are respectively arranged on the front and rear sides of the bottom of the inspection main chassis. Installation holes are symmetrically opened at the four corners of the front and rear installation plates. A cleaning mechanism is installed through two of the front installation plate, and a regulation mechanism is installed through two of the rear installation plate.

[0007] As a further preferred solution of the present invention, the cleaning mechanism includes a motor, a first telescopic rod, an installation block, a rotating shaft, an L-shaped rod, and a rotating rod. Motors are arranged in the through holes on both sides of the front installation plate. The output shaft of the motor is fixedly provided with a first telescopic rod. The lower end of the first telescopic rod is fixedly provided with an installation block. Rotating shafts are rotatably arranged on both sides of the installation block. An L-shaped rod is fixedly provided on the lower side of the rotating shaft. A rotating rod is fixedly provided at one end of the L-shaped rod.

[0008] As a further preferred solution of the present invention, a housing is arranged on the outer side of the rotating rod. Guide members are symmetrically penetrated and slidably arranged on the rotating rod. First springs are symmetrically fixedly arranged between the two sides of the guide member and the rotating rod. Sliding plates are symmetrically slidably arranged on the lower side of the rotating rod. Second springs are fixedly arranged between the sliding plates and the housing. Pressing wheels are symmetrically rotatably arranged on the lower side of the housing. Brush hairs are arranged on the lower surface of the housing. A baffle is fixedly arranged on one side of the housing.

[0009] As a further preferred solution of the present invention, a circular ring is fixedly sleeved on the lower side of the first telescopic rod. A support ring is movably sleeved on the outer side of the circular ring. A telescopic shell is fixedly arranged between one side of the support ring and the front installation plate. An electric lifting rod is fixedly arranged inside the telescopic shell. A second telescopic rod is fixedly arranged between the other side of the support ring and the front installation plate. A guide rod is fixedly arranged on the side of the rotating shaft away from the first telescopic rod. Guide rings are arranged on the upper and lower sides of the guide rod. The guide rod is slidably arranged between the two guide rings. The upper guide ring is fixedly arranged with the support ring, and a connecting rod fixedly arranged with the support ring is fixedly arranged on one side of the lower guide ring.

[0010] As a further preferred embodiment of the present invention, a first moving member is slidably disposed on one side of the rotating rod close to the baffle. A pressing block is fixedly provided on one side of the first moving member. A third spring is fixedly provided between the first moving member and the rotating rod. An installation cavity is provided at the position of the rotating rod where the pressing block is located. A first switch electrically connected to the motor is installed on one side of the installation cavity of the rotating rod close to the third spring. A second switch electrically connected to the electric lifting rod is installed on the other side of the installation cavity of the rotating rod.

[0011] As a further preferred embodiment of the present invention, the adjustment mechanism includes a first mounting shell, a first sliding rod, and a roller member. First mounting shells are fixedly provided on both sides of the rear mounting plate. A first sliding rod that movably penetrates the rear mounting plate is slidably disposed in the first mounting shell. A roller member is provided at the lower end of the first sliding rod.

[0012] As a further preferred embodiment of the present invention, the traveling mechanism is two walking wheels. A support shaft is fixedly provided in the middle of the inner side of the walking wheels. A connecting block is rotatably provided at one end of the support shaft. A second sliding rod is fixedly provided on the upper side of the connecting block. A second mounting shell is slidably disposed on the upper side of the second sliding rod. A mounting disc is fixedly provided on one side of the second mounting shell. A fourth spring fixedly connected to the second mounting shell is fixedly provided at the upper end of the second sliding rod. A third switch is installed on one side of the second mounting shell on one side of the front two walking wheels. The third switch is electrically connected to the electric lifting rod. A pressing rod is fixedly provided on one side of the connecting block.

[0013] As a further preferred embodiment of the present invention, an L-shaped plate is slidably disposed inside the second mounting shell. An electric push rod is fixedly provided at the upper end of the second mounting shell. The telescopic end of the electric push rod is fixedly connected to the L-shaped plate. A fourth switch electrically connected to the electric push rod is installed on one side of the installation cavity of the rotating rod. A second moving member is slidably penetrated and disposed above the fourth switch on the rotating rod. There is a fifth spring between the second moving member and the rotating rod.

[0014] As a further preferred embodiment of the present invention, a sixth spring fixedly connected to the first mounting shell is provided at the upper end of the first sliding rod. A fifth switch electrically connected to the electric push rod is installed inside the first mounting shell.

[0015] As a further preferred embodiment of the present invention, a GPS module is provided in the guide plate and is powered by a solar cell. A visible light camera and an infrared camera are provided on the imaging mechanism. The traveling mechanism is made of a non-ferromagnetic conductive material and is coated with an anti-slip coating on the surface.

[0016] The present invention has the following advantages compared with the prior art:

[0017] 1. The present invention provides a substation inspection robot with a regulating function. Through the cooperation of a first telescopic rod driven by a motor, a mounting block, a rotating shaft, an L-shaped rod and other components, a cleaning mechanism can flexibly adjust the angle and position to achieve effective removal of ice and snow on the road during the inspection process. Through the pressure wheel, bristles and multiple springs on the cleaning mechanism, it is ensured that the cleaning tool maintains appropriate pressure during the cleaning process, avoiding excessive wear of the cleaning mechanism or incomplete cleaning, thereby extending the service life of the robot and ensuring the use effect.

[0018] 2. The present invention provides a substation inspection robot with a regulating function. By setting a regulating component, the ability of the walking wheels to move up and down can be increased when the road surface is uneven, so that the traveling mechanism can move up and down more easily, which is beneficial for the inspection robot to pass through obstacles such as snow blocks or ice blocks and uneven road surfaces, so as to reduce the large shaking of the inspection robot during movement, prevent a large impact on the stability of the inspection robot during inspection, and improve the stability and inspection effect during inspection.

[0019] 3. The present invention provides a substation inspection robot with a regulating function. Through components such as an electric lifting rod, a support ring and a guide rod, the height and angle of the cleaning mechanism can be precisely controlled to meet different inspection needs. At the same time, the traveling mechanism adopts non-ferromagnetic conductive materials and is coated with an anti-slip coating, which not only improves the robot's grip on icy and snowy roads, but also avoids magnetic field interference and enhances the stability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is an overall structural diagram of a substation inspection robot with control function according to the present invention;

[0021] Figure 2 This is a structural diagram of a substation inspection robot with a control function according to the present invention;

[0022] Figure 3 This is a schematic structural diagram of the lower side connection of the first telescopic rod of a substation inspection robot with a control function according to the present invention;

[0023] Figure 4 This is a structural diagram of a support ring of a substation inspection robot with a control function according to the present invention;

[0024] Figure 5 This is a structural diagram of the installation block of a substation inspection robot with a control function according to the present invention;

[0025] Figure 6 This is a diagram showing the internal structure of a cleaning block of a substation inspection robot with a control function according to the present invention;

[0026] Figure 7Cross-sectional view of the rotating rod of a substation inspection robot with a regulation function of the present invention at the pressing block;

[0027] Figure 8 Structural diagram of the traveling mechanism of a substation inspection robot with a regulation function of the present invention;

[0028] Figure 9 Cross-sectional view of the second mounting shell of a substation inspection robot with a regulation function of the present invention;

[0029] Figure 10 Cross-sectional view of the regulation component of a substation inspection robot with a regulation function of the present invention.

[0030] Markings in the figure:

[0031] 1, inspection main chassis; 2, cleaning mechanism; 21, motor; 22, first telescopic rod; 23, mounting block; 24, rotating shaft; 25, L-shaped rod; 26, rotating rod; 27, housing; 28, guiding member; 29, first spring; 210, sliding plate; 211, second spring; 212, pressing wheel; 213, brush; 214, baffle; 221, ring; 222, support ring; 223, telescopic housing; 224, electric lifting rod; 225, second telescopic rod; 226, guiding rod; 227, guiding ring; 228, connecting rod; 231, first moving member; 232, pressing block; 233, third spring; 234; first switch; 235; second switch; 3, regulation mechanism; 31, first mounting shell; 32, first sliding rod; 33, roller member; 34, sixth spring; 35; fifth switch; 4, traveling mechanism; 41, traveling wheel; 42, support shaft; 43, connecting block; 44, second sliding rod; 45, second mounting shell; 46, mounting disc; 47, fourth spring; 48, third switch; 49, pressing rod; 410, L-shaped plate; 411, electric push rod; 412, fourth switch; 413, second moving member; 414, fifth spring; 5, support seat; 6, camera mechanism; 7, guiding plate; 8, mounting plate; Detailed implementation manners

[0032] The following will describe the detailed implementation manners of the present invention in detail. In order to avoid excessive unnecessary details, the well-known structures or functions will not be described in detail in the following embodiments. The approximate language used in the following embodiments can be used for quantitative expression, indicating that a certain change in quantity is allowed without changing the basic function. Unless otherwise defined, the technical and scientific terms used in the following embodiments have the same meaning as commonly understood by those skilled in the art to which the present invention belongs.

[0033] It should be noted that the terms "first", "second", "third", "fourth", "fifth", etc. in the description and claims of the present invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0034] Example 1

[0035] See also Figure 1 The present invention provides a substation inspection robot with a control function, comprising an inspection main box 1, the inspection main box 1 is a hollow shell structure, a traveling mechanism 4 is arranged on the lower side of the inspection main box 1, a support seat 5 is fixedly connected to the top of the inspection main box 1, a camera mechanism 6 and a guide plate 7 are fixedly arranged on the front and rear sides of the support seat 5, mounting plates 8 are arranged on the front and rear sides of the bottom of the inspection main box 1, mounting holes are symmetrically opened on the four corners of the mounting plates 8 on the front and rear sides, two mounting holes of the mounting plate 8 on the front side are provided with a cleaning mechanism 2, and two mounting holes of the mounting plate 8 on the rear side are provided with a control mechanism 3.

[0036] In this embodiment, the inspection main box 1 is a hollow shell structure, which contains key components such as control circuits and batteries. The front and rear sides of the bottom of the main box are respectively provided with mounting plates 8 for fixing the cleaning component 2 and the regulating mechanism 3. The traveling mechanism 4 is located at the lower side of the inspection main box 1, and is composed of a plurality of walking wheels, which are responsible for driving the entire robot to move in the substation. The support seat 5 is fixedly connected to the top of the inspection main box 1, and a camera mechanism 6 and a guide plate 7 are respectively installed on the front and rear sides thereof. The camera mechanism 6 is used to capture the working status of the substation equipment in real time, and the guide plate 7 helps to ensure that the robot maintains the correct direction of travel in a complex environment. The mounting plates 8 are arranged on the front and rear sides of the bottom of the inspection main box 1, and are mainly used to support and fix the cleaning component 2 and the regulating mechanism 3. The radius of the cleaning component 2 when working is less than the distance to the traveling mechanism 4. The main purpose of the cleaning component 2 is to remove snow or ice on the inspection path to ensure that the robot can complete the task smoothly. Through the control component 3, the ability of the traveling mechanism 4 to move up and down can be increased when the road surface is uneven, so that the traveling mechanism 4 can move up and down more easily, so as to facilitate the inspection main box 1 to pass through obstacles such as snow or ice and uneven road surfaces, so as to slow down the large shaking of the inspection main box 1 during its movement, prevent a large impact on the stability of the inspection main box 1 during inspection, and improve the stability and inspection effect during inspection.

[0037] Example 2

[0038] See also Figures 1 to 5, a substation inspection robot with a regulation function provided by the present invention, the cleaning mechanism 2 includes a motor 21, a first telescopic rod 22, a mounting block 23, a rotating shaft 24, an L-shaped rod 25, and a rotating rod 26. Motors 21 are provided on both through holes on both sides of the front mounting plate 8. The output shaft of the motor 21 is fixedly provided with a first telescopic rod 22. The lower end of the first telescopic rod 22 is fixedly provided with a mounting block 23. Rotating shafts 24 are rotatably provided on both sides of the mounting block 23. An L-shaped rod 25 is fixedly provided on the lower side of the rotating shaft 24. A rotating rod 26 is fixedly provided at one end of the L-shaped rod 25.

[0039] In this embodiment, a housing 27 is provided on the outer side of the rotating rod 26. Guide members 28 are symmetrically penetrated and slidably provided on the rotating rod 26. First springs 29 are symmetrically fixedly provided between both sides of the guide member 28 and the rotating rod 27. Sliding plates 210 are symmetrically slidably provided on the lower side of the rotating rod 26. A second spring 211 is fixedly provided between the sliding plate 210 and the housing 27. The cross-section of the sliding plate 210 is set as a trapezoidal cross-section, so that the rotating rod 26 can support the sliding plate 210. The two end faces of the sliding plate 210 are in contact with the inner side surface of the housing 27. When the housing 27 encounters snow blocks or ice blocks and undergoes a horizontal displacement, the second spring 211 will not be distorted. Pressing wheels 212 are symmetrically rotatably provided on the lower side of the housing 27. A brush 213 is provided on the lower surface of the housing 27. A baffle 214 is fixedly provided on one side of the housing 27. A brush 213 is provided on the lower side of the housing 27. The brush 213 can clean the snow and the like between the road surface and the bottom end of the housing 27. A baffle 214 is fixedly provided on one side of the housing 27. The baffle 214 can prevent the snow, snow blocks or ice blocks from overflowing from the inside of the housing 27 during cleaning.

[0040] Furthermore, a ring 221 is fixedly sleeved on the lower side of the first telescopic rod 22. A support ring 222 is movably sleeved on the outer side of the ring 221. The support ring 222 can support the ring 221. A telescopic housing 223 is fixedly provided between one side of the support ring 222 and the front mounting plate 8. An electric lifting rod 224 is fixedly provided inside the telescopic housing 223. The telescopic housing 223 can protect the electric lifting rod 224. A second telescopic rod 225 is fixedly provided between the other side of the support ring 222 and the front mounting plate 8. A guide rod 226 is fixedly provided on the side of the rotating shaft 24 away from the first telescopic rod 22. Guide rings 227 are provided on the upper and lower sides of the guide rod 226. The guide rod 226 is slidably provided between the two guide rings 227. The upper guide ring 227 is fixedly provided with the support ring 222. A connecting rod 228 fixedly provided with the support ring 222 is fixedly provided on one side of the lower guide ring 227. The second telescopic rod 225 can play an auxiliary support and guiding and limiting role in the up and down movement of the support ring 222;

[0041] A first moving member 231 is slidably arranged on one side of the rotating rod 26 close to the baffle 214. A pressing block 232 is fixedly arranged on one side of the first moving member 231. A third spring 233 is fixedly arranged between the first moving member 231 and the rotating rod 26. An installation cavity is arranged at the position of the rotating rod 26 where the pressing block 232 is located. A first switch 234 electrically connected to the motor 21 is installed on one side of the installation cavity of the rotating rod 26 close to the third spring 233. A second switch 235 electrically connected to the electric lifting rod 224 is installed on the other side of the installation cavity of the rotating rod 26. When the pressing block 232 is stressed, the corresponding switch can be triggered to realize the automatic operation of the cleaning mechanism.

[0042] During use, the electric lifting rod 224 drives the support ring 222 to move downward, so that the first telescopic rod 22 extends downward, the rotating rod 26 moves downward, and under the elastic force of the second spring 211, the pressing wheel 212 on the lower side of the housing 27 presses on the road surface. By controlling the motors 21 on both sides to work, the output shafts of the motors 21 drive the first telescopic rods 22 to rotate, so that the ring 221 rotates inside the support ring 222, and the mounting block 23, the L-shaped rod 25 and the rotating rod 26 rotate. Furthermore, the housing 27 can be rotated, and the pressing wheel 212 rolls on the ground. Thus, the snow, snow blocks or ice cubes in front of the inspection robot can be pushed to both sides through the housing 27 and the bristles 213 on the lower side of the housing 27, so as not to affect the progress of the traveling mechanism 4 and prevent the stability of the inspection robot during traveling from being affected, ensuring the stability during inspection. The arrangement of the housing 27 on both sides of the mounting block 23 can improve the cleaning effect.

[0043] On the side of the rotating shaft 24 away from the first telescopic rod 22, a guide rod 226 is fixedly installed. Guide rings 227 are arranged on the upper and lower sides of the guide rod 226. The guide rod 226 is slidably arranged between the two guide rings 227. The lower side part of the guide ring 227 is located in the traveling direction of the inspection main chassis 1, and the upper side part of the guide ring 227 is close to the inspection main chassis 1. The upper guide ring 227 is fixedly installed with the support ring 222. On one side of the lower guide ring 227, a connecting rod 228 fixedly installed with the support ring 222 is fixedly installed. The connecting rod 228 supports and fixes the lower guide ring 226. When the installation block 23 is rotated by the motor 21, the guide rod 226 on the side where the two rotating shafts 24 are away from each other can be rotated, and one side of the guide rod 226 can slide along the guide ring 227, enabling the guide rod 226 to be inclined in the vertical direction. When the snow, snow blocks, ice cubes, etc. on the road surface are removed by rotating the housing 27, that is, when the pressing wheel 212 presses against the road surface, the guide rod 226 rotates and slides on the lower side part of the guide ring 227. After the housing 27 pushes the snow blocks or ice cubes to both sides of the advancing direction of the inspection robot, under the action of the guide ring 227, the guide rod 226 is inclined upward, causing the rotating shaft 24 to rotate upward, enabling the housing 27 to be inclined upward, preventing the snow, snow blocks, ice cubes, etc. from being pushed back to the advancing direction of the inspection robot when the housing 27 continues to rotate inward towards the inspection vehicle 11, which affects the stability of the inspection robot during inspection.

[0044] On the side of the rotating rod 26 close to the baffle 214, a first moving part 231 is slidably arranged through. On one side of the first moving part 231, a pressing block 232 is fixedly installed. A third spring 233 is fixedly installed between the first moving part 231 and the rotating rod 26. An installation cavity is arranged at the position of the rotating rod 26 where the pressing block 232 is located. The pressing block 232 can move along the installation cavity of the rotating rod 26. On the side of the installation cavity of the rotating rod 26 close to the third spring 233, a first switch 234 electrically connected to the motor 21 is installed. On the other side of the installation cavity of the rotating rod 26, a second switch 235 electrically connected to the electric lifting rod 224 is installed. When removing snow blocks or ice cubes on the road surface by the housing 27, if the snow blocks or ice cubes are relatively hard, the housing 27 will not be able to push the snow blocks or ice cubes. At this time, the motor 21 drives the continuous rotation of the rotating rod 26, causing the housing 27 to press against the first moving part 231 to move. The third spring 233 is compressed, and the pressing block 232 moves closer to the second switch 235, causing the pressing block 232 to release the pressing action on the first switch 234, stopping the motor 21 from working, preventing the motor 21 from being damaged due to excessive load. The pressing action of the pressing block 232 on the second switch 235 causes the electric lifting rod 224 to work and drive the support ring 222 to move upward, causing the housing 27 to move upward, preventing the snow blocks or ice cubes from blocking the work of the housing 27.

[0045] Embodiment 3

[0046] Please refer to Figure 1 、 Figure 6 、Figure 7 , Figure 8 , Figure 9 and Figure 10 , a substation inspection robot with a regulation function provided by the present invention, the regulation mechanism 3 includes a first mounting shell 31, a first sliding rod 32 and a roller member 33. First mounting shells 31 are fixedly provided on both sides of the rear mounting plate 8. A first sliding rod 32 that movably penetrates the rear mounting plate 8 is slidably arranged in the first mounting shell 31, and a roller member 33 is arranged at the lower end of the first sliding rod 32.

[0047] The traveling mechanism 4 is two traveling wheels 41. A support shaft 42 is fixedly provided in the middle of the inner side of the traveling wheel 41. A connecting block 43 is rotatably arranged at one end of the support shaft 42. A second sliding rod 44 is fixedly provided on the upper side of the connecting block 43. A second mounting shell 45 is slidably arranged on the upper side of the second sliding rod 44. A mounting disc 46 is fixedly provided on one side of the second mounting shell 45. A fourth spring 47 fixedly connected to the second mounting shell 45 is fixedly provided at the upper end of the second sliding rod 44. A third switch 48 is installed on one side of the second mounting shell 45 on one side of the front two traveling wheels 41. The third switch 48 is electrically connected to the electric lifting rod 224. A pressing rod 49 is fixedly provided on one side of the connecting block 43.

[0048] Furthermore, an L-shaped plate 410 is slidably arranged inside the second mounting shell 45. An electric push rod 411 is fixedly provided at the upper end of the second mounting shell 45. The telescopic end of the electric push rod 411 is fixedly connected to the L-shaped plate 410. A fourth switch 412 electrically connected to the electric push rod 411 is installed on one side of the installation cavity of the rotating rod 26. A second moving member 413 is slidably arranged through the rotating rod 26 above the fourth switch 412. There is a fifth spring 414 between the second moving member 413 and the rotating rod 26.

[0049] A sixth spring 34 fixedly connected to the first mounting shell 31 is provided at the upper end of the first sliding rod 32. A fifth switch 35 electrically connected to the electric push rod 411 is installed inside the first mounting shell 31.

[0050] First mounting shells 31 are fixedly provided on both sides of the rear mounting plate 8. A first sliding rod 32 that movably penetrates the rear mounting plate 8 is slidably arranged in the first mounting shell 31. A roller member 33 is arranged at the lower end of the first sliding rod 32. The first sliding rod 32 is connected to the wheel frame of the roller member 33. Under the elastic force of the sixth spring 34, the roller of the roller member 33 rolls on the road surface. A sixth spring 34 fixedly connected to the first mounting shell 31 is fixedly provided at the upper end of the first sliding rod 33. A fifth switch 35 electrically connected to the electric push rod 411 is installed inside the first mounting shell 31;

[0051] When the traveling mechanism passes through harder snow or ice blocks, the roller member 33 will also pass through harder snow or ice blocks. For protruding snow or ice blocks, the roller member 33 will move upward, causing the first slide bar 32 to move upward. An inclined surface is provided on the upper side of the first slide bar 32. After the first slide bar 32 moves upward, it can press the fifth switch 35, so that the telescopic ends of the two electric push rods 411 on this side drive the L-shaped plate 410 to move toward the inner side of the second mounting shell 45, so that the horizontal section of the L-shaped plate 410 is located on the inner side of the fourth spring 47, so that the range of the telescopic deformation of the fourth spring 47 is reduced, thereby ensuring the stability of the inspection robot during travel and reducing unnecessary shaking of the robot during inspection, thereby preventing large shaking of the infrared camera device of the inspection robot, and improving the stability and inspection effect during inspection.

[0052] Example 4

[0053] See also Figure 1 As shown, there is a GPS module in the guide plate 7, which is powered by solar cells. A visible light camera and an infrared camera are arranged on the camera mechanism 6. The traveling mechanism 4 is made of non-ferromagnetic conductive material and coated with an anti-slip coating on the surface. A support seat 5 is fixedly connected above the inspection main box 1, and a camera mechanism 6 and a guide plate 7 are fixedly arranged on the front and rear sides of the support seat 5, respectively. The camera 6 includes a visible light camera and an infrared camera, which can realize multi-angle and multi-spectrum monitoring of substation equipment. The guide plate 7 has a built-in GPS module, which is powered by solar cells to ensure accurate navigation and positioning of the inspection robot in the substation. The traveling mechanism 4 is made of non-ferromagnetic conductive material and coated with an anti-slip coating to ensure stability and safety under icy and snowy road conditions.

[0054] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A substation inspection robot with control function, comprising an inspection main box (1), characterized in that: The inspection host box (1) is in the form of a hollow shell structure. A travel mechanism (4) is arranged at the lower side of the inspection host box (1). A support seat (5) is fixedly connected to the upper side of the inspection host box (1). A camera mechanism (6) and a guide plate (7) are fixedly arranged at the front and rear sides of the support seat (5). Mounting plates (8) are arranged at the front and rear sides of the bottom of the inspection host box (1). Mounting holes are symmetrically provided at the four corners of the mounting plates (8) at the front and rear sides. A cleaning mechanism (2) is arranged at two mounting holes of the mounting plate (8) at the front side, and a regulating mechanism (3) is arranged at two mounting holes of the mounting plate (8) at the rear side.

2. A substation inspection robot with control function according to claim 1, characterized in that: The cleaning mechanism (2) comprises a motor (21), a first telescopic rod (22), a mounting block (23), a rotating shaft (24), an L-shaped rod (25), and a rotating rod (26). The through holes on both sides of the front mounting plate (8) are provided with motors (21), the output shaft of the motor (21) is fixedly provided with the first telescopic rod (22), the lower end of the first telescopic rod (22) is fixedly provided with a mounting block (23), both sides of the mounting block (23) are rotatably provided with rotating shafts (24), the lower side of the rotating shaft (24) is fixedly provided with an L-shaped rod (25), and one end of the L-shaped rod (25) is fixedly provided with a rotating rod (26).

3. A substation inspection robot with control function according to claim 2, characterized in that: A shell (27) is arranged on the outer side of the rotating rod (26), a guide member (28) is symmetrically and slidably arranged on the rotating rod (26), first springs (29) are symmetrically and fixedly arranged between the two sides of the guide member (28) and the rotating rod (27), a slide plate (210) is symmetrically and slidably arranged on the lower side of the rotating rod (26), a second spring (211) is fixedly arranged between the slide plate (210) and the shell (27), a pressure wheel (212) is symmetrically and rotatably arranged on the lower side of the shell (27), bristles (213) are arranged on the lower surface of the shell (27), and a baffle (214) is fixedly arranged on one side of the shell (27).

4. A substation inspection robot with control function according to claim 2, characterized in that: A circular ring (221) is provided on the fixed sleeve at the lower side of the first telescopic rod (22); a support ring (222) is provided on the movable sleeve outside the circular ring (221); a telescopic shell (223) is fixedly provided between one side of the support ring (222) and the front mounting plate (8); an electric lifting rod (224) is fixedly provided inside the telescopic shell (223); a second telescopic rod (225) is fixedly provided between the other side of the support ring (222) and the front mounting plate (8); a guide rod (226) is fixedly provided on the side of the rotating shaft (24) away from the first telescopic rod (22); guide rings (227) are provided on the upper and lower sides of the guide rod (226); the guide rod (226) is slidably arranged between the two guide rings (227); the upper guide ring (227) is fixedly provided with the support ring (222); and a connecting rod (228) fixedly provided with the support ring (222) is fixedly provided on one side of the lower guide ring (227).

5. A substation inspection robot with control function according to claim 3, characterized in that: A first moving member (231) is slidably provided on one side of the rotating rod (26) close to the baffle (214); a pressure block (232) is fixedly provided on one side of the first moving member (231); a third spring (233) is fixedly provided between the first moving member (231) and the rotating rod (26); a mounting cavity is provided on the rotating rod (26) at the pressure block (232); a first switch (234) electrically connected to the motor (21) is installed on one side of the mounting cavity of the rotating rod (26) close to the third spring (233); and a second switch (235) electrically connected to the electric lifting rod (224) is installed on the other side of the mounting cavity of the rotating rod (26).

6. A substation inspection robot with control function according to claim 1, characterized in that: The regulating mechanism (3) comprises a first mounting shell (31), a first sliding rod (32) and a roller member (33); the first mounting shell (31) is fixedly provided on both sides of the rear mounting plate (8); a first sliding rod (32) movably penetrating the rear mounting plate (8) is slidably provided in the first mounting shell (31); and a roller member (33) is provided at the lower end of the first sliding rod (32).

7. A substation inspection robot with control function according to claim 1, characterized in that: The travel mechanism (4) comprises two running wheels (41), a support shaft (42) is fixedly provided at the inner middle part of the running wheel (41), a connecting block (43) is rotatably provided at one end of the supporting shaft (42), a second sliding rod (44) is fixedly provided on the upper side of the connecting block (43), a second mounting shell (45) is slidably provided on the upper side of the second sliding rod (44), a mounting plate (46) is fixedly provided on one side of the second mounting shell (45), a fourth spring (47) fixed to the second mounting shell (45) is fixedly provided at the upper end of the second sliding rod (44), a third switch (48) is installed on one side of the second mounting shell (45) on one side of the two running wheels (41) on the front side, the third switch (48) is electrically connected to the electric lifting rod (224), and a pressing rod (49) is fixedly provided on one side of the connecting block (43).

8. A substation inspection robot with control function according to claim 7, characterized in that: An L-shaped plate (410) is slidably disposed inside the second mounting shell (45), an electric push rod (411) is fixedly disposed at the upper end of the second mounting shell (45), a telescopic end of the electric push rod (411) is fixedly connected to the L-shaped plate (410), a fourth switch (412) electrically connected to the electric push rod (411) is mounted on one side of the mounting cavity of the rotating rod (26), a second moving member (413) is slidably disposed through the rotating rod (26) located on the upper side of the fourth switch (412), and a fifth spring (414) is disposed between the second moving member (413) and the rotating rod (26).

9. A substation inspection robot with control function according to claim 6, characterized in that: A sixth spring (34) fixedly connected to the first mounting shell (31) is provided at the upper end of the first sliding rod (32), and a fifth switch (35) electrically connected to the electric push rod (411) is installed inside the first mounting shell (31).

10. A substation inspection robot with control function according to claim 1, characterized in that: The guide plate (7) has a GPS module which is powered by a solar cell. The camera mechanism (6) is provided with a visible light camera and an infrared camera. The travel mechanism (4) is made of a non-ferromagnetic conductive material and is coated with an anti-slip coating.

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