Multifunctional inspection robot for high-voltage line inspection

Abstract

The invention relates to the technical field of special operation robots, and discloses a multifunctional inspection robot for high-voltage line inspection, which comprises a robot main body, an over-temperature detection mechanism is arranged on the front surface of the robot main body, and a vibration acoustic detection mechanism is arranged in the robot main body and below the robot main body. A sliding positioning mechanism is arranged below the robot body, the over-temperature detection mechanism comprises two extension frames, and the back faces of the two extension frames are fixedly connected with the front face of the robot body. According to the multifunctional inspection robot for high-voltage line inspection, an over-temperature detection mechanism is arranged, an adjusting motor is conveniently mounted on one side of an extension frame through a mounting frame, a rotating rod is adjusted to drive a connecting block to rotate so as to adjust the angle of an infrared camera, the temperature of a high-voltage line can be monitored through the infrared camera, and an overheated part can be found; the inspection robot is more comprehensive in inspection aspect, and the function of improving the multifunctionality of the inspection robot is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of special operation robots, and particularly to a multifunctional inspection robot for high-voltage line inspection. Background Technique

[0002] High-voltage transmission lines used for power transmission are exposed in the wild for a long time, which will cause problems such as wear, corrosion, and material aging of the transmission lines. If they cannot be discovered and repaired or replaced in time, the original damages and defects will continue to expand. Over time, serious accidents such as large-scale power outages may occur. Therefore, it is necessary to use high-voltage line inspection robots to regularly inspect high-voltage transmission lines in order to detect the working conditions of the transmission lines and changes in the environment.

[0003] According to the publication number CN108199297A, a high-voltage line inspection robot is disclosed. The high-voltage line inspection robot includes: a main drive module, a gripper module, a universal joint, and a push rod motor. The gripper module and the main drive module are alternately connected together through the universal joint and the push rod motor. Among them, there are four gripper modules and three main drive modules.

[0004] Adopting the above technical solution can effectively reduce the operation intensity during inspection, reduce the inspection cost, and improve the inspection operation quality and management technology. However, in the above technical solution, the inspection robot can only move in the route direction of the high-voltage line to detect the external conditions of the high-voltage line, and cannot detect abnormal conditions such as heat generation, vibration, and arc discharge of the high-voltage line. Moreover, it is necessary to hang the inspection robot outside the high-voltage line, which is likely to affect the high-voltage line, so that it is impossible to accurately inspect the wire slack and insulator damage of the high-voltage line, thereby reducing the versatility of the inspection robot and making the detection of the high-voltage line relatively one-sided. Summary of the Invention

[0005] The purpose of the present invention is to provide a multifunctional inspection robot for high-voltage line inspection to solve the problems raised in the above background technique.

[0006] To solve the above technical problems, the present invention provides the following technical solution: A multifunctional inspection robot for high-voltage line inspection, including a robot main body. An over-temperature detection mechanism is arranged on the front surface of the robot main body. A vibration and acoustic detection mechanism is jointly arranged inside the robot main body and below the robot main body. A sliding positioning mechanism is arranged below the robot main body. The over-temperature detection mechanism includes two extension frames. The back surfaces of the two extension frames are fixedly connected to the front surface of the robot main body. An adjustment rotating rod is rotatably connected inside the two extension frames. A mounting frame is fixedly connected to the left side surface of one of the extension frames. An adjustment motor is fixedly connected to the inner wall of the mounting frame. The output end of the adjustment motor is fixedly connected to the left end of the adjustment rotating rod. A connecting block is fixedly connected to the outer surface of the adjustment rotating rod. An infrared camera is fixedly connected to the front surface of the connecting block. The infrared camera is signal-connected to the adjustment motor through a PLC controller. The infrared camera is data-connected to the robot main body through a wire;

[0007] The vibration and acoustic detection mechanism includes an extension electric push rod. A receiving groove is opened on the bottom surface of the robot main body. The upper surface of the extension electric push rod is fixedly connected to the inner top wall of the receiving groove. The telescopic end of the extension electric push rod is fixedly connected to an extension push plate. A mounting plate is fixedly connected to the bottom surface of the extension push plate. Two groups of sound sensors are fixedly connected to the bottom surface of the mounting plate. Each group of sound sensors is data-connected to the robot main body through a wire. A sliding groove is opened on the bottom surface of the mounting plate. A plurality of sliding blocks are slidably connected inside the sliding groove. A vibration sensor is fixedly connected to the bottom surface of each sliding block. Each vibration sensor is data-connected to the robot main body through a wire;

[0008] The sliding positioning mechanism includes a plurality of limit sliders. The bottom surfaces of the plurality of limit sliders are respectively fixedly connected to the upper surfaces of the plurality of sliding blocks. Each limit slider is slidably connected inside the sliding groove. Limit sliding grooves are opened on the front surface and the back surface of the mounting plate. Each limit sliding groove is communicated with the sliding groove. A limit bolt is slidably connected inside each limit slider. Each limit bolt is slidably connected inside the two limit sliding grooves. An extrusion ring is sleeved on the outer surface of each limit bolt. The back surface of each extrusion ring is in contact with the front surface of the mounting plate. A torsion disk is fixedly connected to one end of each limit bolt close to the extrusion ring. A torsion buckle is fixedly connected to the front surface of each torsion disk.

[0009] Preferably, the outer surface of the robot main body is fixedly connected with drone wings arranged at equal intervals. The output end of each drone wing is fixedly connected with a rotating fan blade.

[0010] The power supply inside the robot body drives the drone wings to drive the rotating fan blades to rotate, thereby facilitating the control of the flight inspection of the inspection robot.

[0011] Preferably, a first stabilizing bearing is fixedly connected to the outer surface of each of the rotating fan blades, and the outer rings of a plurality of the first stabilizing bearings are respectively fixedly connected to the inner walls of a plurality of drone wings.

[0012] By using the first stabilizing bearing, the rotating fan blades can rotate stably within the drone wings, thereby improving the flight stability of the inspection robot.

[0013] Preferably, two support legs are fixedly connected to the front surface and the back surface of the robot body respectively, and a support plate is fixedly connected to the bottom end of each group of support legs.

[0014] By using the two groups of support legs, it is convenient to support the robot body, and by using the support plate, the support stability of the robot body is improved.

[0015] Preferably, a reinforcing ring is fixedly connected to the outer surface of each group of support legs, and the bottom surface of each group of reinforcing rings is fixedly connected to the upper surface of the support plate.

[0016] Through the reinforcing ring, it can be fixed at the connection between the support leg and the support plate, thereby improving the connection stability between the support leg and the support plate.

[0017] Preferably, a protective cover is fixedly connected to the bottom surface of the robot body, and the protective cover is communicated with the storage groove.

[0018] By means of the protective cover fixed to the bottom surface of the robot body, it is convenient to store and protect the extending push plate and the mounting plate, thereby being able to conveniently protect the inspection robot.

[0019] Preferably, two reinforcing frames are fixedly connected to the upper surface of the protective cover, and the side surfaces of the two reinforcing frames close to each other are respectively fixedly connected to the two side surfaces of the robot body.

[0020] By using the two reinforcing frames, the protective cover can be firmly fixed to the bottom surface of the robot body, thereby improving the installation stability of the inspection robot.

[0021] Preferably, high-definition cameras and lidars arranged at equal distances are fixedly connected to the outer surface of the robot body, and each high-definition camera and each lidar are connected to the robot body through wires for data connection.

[0022] Through the high-definition cameras, the physical state of the line can be detected by using high-resolution cameras and image recognition technology, such as wire slack and insulator damage, etc., and by using the lidar, the inspection robot can avoid obstacles and achieve precise positioning and navigation.

[0023] Preferably, second stable bearings are fixedly connected to the sides of the two extension frames facing away from each other, and the inner rings of each of the second stable bearings are fixedly connected to the outer surface of the adjustment rotating rod.

[0024] By using the second stable bearings, the rotation stability of the adjustment rotating rod in the two extension frames can be improved, thereby facilitating the stable adjustment of the angle of the infrared camera.

[0025] Preferably, the telescopic end of the extension electric push rod is fixedly connected with a storage mounting block, and the bottom surface of the storage mounting block is fixedly connected with the upper surface of the extension push plate.

[0026] By using the storage mounting block, it is convenient to store the storage mounting block inside the storage groove and improve the connection stability between the telescopic end of the extension electric push rod and the extension push plate.

[0027] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0028] First, through the cooperation of the robot main body, extension frames, adjustment rotating rod, mounting frame, adjustment motor, connection block and infrared camera, the present invention can conveniently install the adjustment motor on one side of the extension frame through the mounting frame by means of the extension frame fixed on one side of the robot main body. By controlling the adjustment motor, it is convenient to drive the adjustment rotating rod to rotate in the extension frame, so as to drive the connection block to rotate through the adjustment rotating rod to adjust the angle of the infrared camera. By using the infrared camera, the temperature of the high-voltage line can be monitored to find overheated parts, thus making the inspection aspect of the inspection robot more comprehensive and playing a role in improving the versatility of the inspection robot.

[0029] Second, through the cooperation of the vibration acoustic detection mechanism and the sliding positioning mechanism, the present invention can use the extension electric push rod fixed in the storage groove to push the extension push plate to extend downward until the sound sensor fixed under the mounting plate is close to the high-voltage line to detect abnormal noises of the line, such as arc discharge, etc. A sliding groove is opened on the bottom surface of the mounting plate to facilitate the sliding of the sliding block in the sliding groove, so as to adjust the position of the vibration sensor fixed on the bottom surface of the sliding block. By manually turning the limit bolt in the limit chute, due to the limit slider fixed on the sliding block, the limit slider in the limit chute can be positioned by the extrusion of the extrusion ring on the mounting plate, so that the vibration sensor can be stably arranged under the mounting plate and the sensing end of the vibration sensor is in contact with the outer surface of the high-voltage line, thereby facilitating the detection of the vibration condition of the high-voltage line, identifying potential loosening or damage, and further making the inspection aspect of the inspection robot more comprehensive and playing a role in further improving the versatility of the inspection robot. Description of the Drawings

[0030] Figure 1 Is a perspective view of the drone wing of the present invention;

[0031] Figure 2 Is a bottom perspective view of the protective cover of the present invention;

[0032] Figure 3 Is a bottom perspective view of the robot main body of the present invention;

[0033] Figure 4 Is a perspective view of the adjustment motor of the present invention;

[0034] Figure 5 Is a perspective view of the infrared camera of the present invention;

[0035] Figure 6 Is a bottom perspective view of the sound sensor of the present invention;

[0036] Figure 7 Is a perspective view of the limit slider of the present invention;

[0037] Wherein: 1. Robot main body; 2. Over-temperature detection mechanism; 201. Extension frame; 202. Mounting frame; 203. Adjustment motor; 204. Adjustment rotating rod; 205. Connecting block; 206. Infrared camera; 3. Vibration and acoustic detection mechanism; 301. Extension electric push rod; 302. Extension push plate; 303. Mounting plate; 304. Sound sensor; 305. Sliding block; 306. Vibration sensor; 307. Sliding groove; 308. Storage groove; 4. Sliding positioning mechanism; 401. Limit sliding groove; 402. Limit slider; 403. Limit bolt; 404. Extrusion ring; 405. Torsion disk; 406. Torsion buckle; 5. Drone wing; 6. Rotating fan blade; 7. First stable bearing; 8. Support leg; 9. Support plate; 10. Reinforcing ring; 11. Protective cover; 12. Reinforcing frame; 13. High-definition camera; 14. Lidar; 15. Second stable bearing; 16. Storage mounting block. Detailed implementation manners

[0038] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0039] Embodiment 1

[0040] Please refer to Figure 1-7, including a robot body 1, a temperature over - detection mechanism 2 is arranged on the front of the robot body 1, a vibration - acoustic detection mechanism 3 is jointly arranged inside the robot body 1 and below the robot body 1, a sliding positioning mechanism 4 is arranged below the robot body 1. The temperature over - detection mechanism 2 includes two extension frames 201. The backs of the two extension frames 201 are fixedly connected to the front of the robot body 1. An adjustment rotating rod 204 is rotatably connected inside the two extension frames 201. A mounting frame 202 is fixedly connected to the left side of one of the extension frames 201. An adjustment motor 203 is fixedly connected to the inner wall of the mounting frame 202. The output end of the adjustment motor 203 is fixedly connected to the left end of the adjustment rotating rod 204. A connecting block 205 is fixedly connected to the outer surface of the adjustment rotating rod 204. An infrared camera 206 is fixedly connected to the front of the connecting block 205. The infrared camera 206 is a machine that uses infrared rays to collect images. The infrared camera 206 is signal - connected to the adjustment motor 203 through a PLC controller, and the infrared camera 206 is data - connected to the robot body 1 through a wire. By setting the temperature over - detection mechanism 2, it is possible to conveniently install the adjustment motor 203 on one side of the extension frame 201 through the mounting frame 202 by means of the extension frame 201 fixed on one side of the robot body 1. By controlling the adjustment motor 203, it is possible to conveniently drive the adjustment rotating rod 204 to rotate inside the extension frame 201, so that the connecting block 205 can be driven by the adjustment rotating rod 204 to rotate, thereby adjusting the angle of the infrared camera 206. By using the infrared camera 206, the temperature of the high - voltage line can be monitored to find over - heated parts, making the inspection aspect of this inspection robot more comprehensive.

[0041] Drone wings 5 arranged at equal distances are fixedly connected to the outer surface of the robot body 1. The output end of each drone wing 5 is fixedly connected to a rotating fan blade 6. Through the power supply inside the robot body 1, the drone wings 5 are driven to drive the rotating fan blades 6 to rotate, thus facilitating the control of the flight inspection of this inspection robot.

[0042] A first stable bearing 7 is fixedly connected to the outer surface of each rotating fan blade 6. The outer rings of several first stable bearings 7 are respectively fixedly connected to the inner walls of several drone wings 5. By using the first stable bearing 7, the rotating fan blade 6 can rotate stably inside the drone wing 5, thereby improving the flight stability of this inspection robot.

[0043] Second stable bearings 15 are fixedly connected to the mutually - remote side surfaces of the two extension frames 201. The inner ring of each second stable bearing 15 is fixedly connected to the outer surface of the adjustment rotating rod 204. By using the second stable bearing 15, the rotational stability of the adjustment rotating rod 204 inside the two extension frames 201 can be improved, thus facilitating the stable adjustment of the angle of the infrared camera 206.

[0044] The specific implementation of this embodiment is as follows: When in use, first connect the robot body 1, the adjustment motor 203, the infrared camera 206 and the drone wing 5 to the power supply inside the robot body 1. When it is necessary to use this inspection robot to inspect high-voltage lines, first drive the drone wing 5 through the power supply inside the robot body 1 to drive the rotating fan blade 6 to rotate, so as to facilitate controlling the flight inspection of this inspection robot. By using the first stabilizing bearing 7, the rotating fan blade 6 can rotate stably inside the drone wing 5, thereby improving the flight stability of this inspection robot. And it is possible to conveniently install the adjustment motor 203 on one side of the extension frame 201 through the mounting frame 202 by means of the extension frame 201 fixed on one side of the robot body 1. By controlling the adjustment motor 203, it is possible to conveniently drive the adjustment rotating rod 204 to rotate inside the extension frame 201, so that the connecting block 205 can be driven to rotate by the adjustment rotating rod 204 to adjust the angle of the infrared camera 206. By using the second stabilizing bearing 15, the rotating stability of the adjustment rotating rod 204 inside the two extension frames 201 can be achieved, so as to conveniently and stably adjust the angle of the infrared camera 206. And by using the infrared camera 206, the temperature of the high-voltage line can be monitored to find overheated parts.

[0045] Embodiment 2

[0046] Please refer to Figure 1-7, the vibration and acoustics detection mechanism 3 includes an extended electric push rod 301. A storage groove 308 is formed on the bottom surface of the robot main body 1. The upper surface of the extended electric push rod 301 is fixedly connected to the inner top wall of the storage groove 308. The telescopic end of the extended electric push rod 301 is fixedly connected to an extended push plate 302. The bottom surface of the extended push plate 302 is fixedly connected to a mounting plate 303. The bottom surface of the mounting plate 303 is fixedly connected to two groups of sound sensors 304. The sound sensor 304 is a sensor used to receive sound waves, display the vibration image of sound, but cannot measure the intensity of noise. Each group of sound sensors 304 is data-connected to the robot main body 1 through a wire. A sliding groove 307 is formed on the bottom surface of the mounting plate 303. A number of sliding blocks 305 are slidably connected inside the sliding groove 307. The bottom surface of each sliding block 305 is fixedly connected to a vibration sensor 306. The vibration sensor 306 is a sensor that converts the parameters of engineering vibration into mechanical signals, and then measures and records them after being amplified by a mechanical system. Each vibration sensor 306 is data-connected to the robot main body 1 through a wire. By setting the vibration and acoustics detection mechanism 3, the extended electric push rod 301 fixed in the storage groove 308 can be used to push the extended push plate 302 to extend downward until the sound sensor 304 fixed under the mounting plate 303 can be conveniently close to the high-voltage line to detect abnormal noise in the line, such as arc discharge, etc. A sliding groove 307 is formed on the bottom surface of the mounting plate 303 to facilitate the sliding of the sliding block 305 in the sliding groove 307, so that the position of the vibration sensor 306 fixed to the bottom surface of the sliding block 305 can be adjusted, and the sensing end of the vibration sensor 306 can be brought into contact with the outer surface of the high-voltage line, thereby facilitating the detection of the vibration condition of the high-voltage line and identifying potential looseness or damage, further making the inspection aspect of this inspection robot more comprehensive.

[0047] A protective cover 11 is fixedly connected to the bottom surface of the robot main body 1. The protective cover 11 is communicated with the storage groove 308. By means of the protective cover 11 fixed to the bottom surface of the robot main body 1, it is convenient to store and protect the extended push plate 302 and the mounting plate 303, thus facilitating the protection of this inspection robot.

[0048] Two reinforcing frames 12 are fixedly connected to the upper surface of the protective cover 11. The side surfaces of the two reinforcing frames 12 close to each other are respectively fixedly connected to the two side surfaces of the robot main body 1. By means of the two reinforcing frames 12, the protective cover 11 can be firmly fixed to the bottom surface of the robot main body 1, thereby improving the installation stability of this inspection robot.

[0049] The telescopic end of the extended electric push rod 301 is fixedly connected with a storage and installation block 16. The bottom surface of the storage and installation block 16 is fixedly connected with the upper surface of the extended push plate 302. By using the storage and installation block 16, it is convenient to store the storage and installation block 16 inside the storage groove 308 and improve the connection stability between the telescopic end of the extended electric push rod 301 and the extended push plate 302.

[0050] The specific implementation manner of this embodiment is as follows: When in use, first connect the extended electric push rod 301, the sound sensor 304, and the vibration sensor 306 to the power supply inside the robot main body 1. When it is necessary to use this inspection robot to inspect high-voltage lines, first, the extended electric push rod 301 fixed in the storage groove 308 can be used to push the extended push plate 302 to extend downward. By using the storage and installation block 16, it is convenient to store the storage and installation block 16 inside the storage groove 308 and improve the connection stability between the telescopic end of the extended electric push rod 301 and the extended push plate 302 until the sound sensor 304 fixed under the installation plate 303 is close to the high-voltage line to detect abnormal noises of the line, such as arc discharge, etc. A sliding groove 307 is opened on the bottom surface of the installation plate 303 to facilitate the sliding of the sliding block 305 in the sliding groove 307, so as to adjust the position of the vibration sensor 306 fixed to the bottom surface of the sliding block 305, make the sensing end of the vibration sensor 306 contact the outer surface of the high-voltage line, and then it is convenient to detect the vibration condition of the high-voltage line and identify potential looseness or damage. Through the protective cover 11 fixed to the bottom surface of the robot main body 1, it is convenient to store and protect the extended push plate 302 and the installation plate 303, thus facilitating the protection of this inspection robot. By using the two reinforcing frames 12, the protective cover 11 can be firmly fixed to the bottom surface of the robot main body 1, thereby improving the installation stability of this inspection robot.

[0051] Embodiment III

[0052] Please refer to Figure 1-7, the sliding positioning mechanism 4 includes a plurality of limit sliders 402. The bottom surfaces of the plurality of limit sliders 402 are respectively fixedly connected to the upper surfaces of the plurality of sliding blocks 305. Each limit slider 402 is slidably connected to the inside of the sliding groove 307. Limit sliding grooves 401 are provided on both the front and the back of the mounting plate 303. Each limit sliding groove 401 communicates with the sliding groove 307. A limit bolt 403 is slidably connected to the inside of each limit slider 402. Each limit bolt 403 is slidably connected to the inside of the two limit sliding grooves 401. An extrusion ring 404 is sleeved on the outer surface of each limit bolt 403. The back surface of each extrusion ring 404 is in contact with the front surface of the mounting plate 303. A torsion disc 405 is fixedly connected to one end of each limit bolt 403 close to the extrusion ring 404. A torsion buckle 406 is fixedly connected to the front surface of each torsion disc 405. By providing the sliding positioning mechanism 4, and by manually twisting the limit bolt 403 in the limit sliding groove 401, due to the limit slider 402 fixed on the sliding block 305, the extrusion of the mounting plate 303 by the extrusion ring 404 can be utilized to position the limit slider 402 in the limit sliding groove 401, so that the vibration sensor 306 can be stably arranged below the mounting plate 303, facilitating the detection of the vibration condition of the high-voltage line, identifying potential looseness or damage, and further making the inspection aspect of this inspection robot more comprehensive.

[0053] Two support legs 8 are fixedly connected to both the front and the back of the robot main body 1. The bottom end of each group of support legs 8 is fixedly connected to a support plate 9. By using the two groups of support legs 8, it is convenient to support the robot main body 1, and by using the support plate 9, the support stability of the robot main body 1 is improved.

[0054] A reinforcing ring 10 is fixedly connected to the outer surface of each group of support legs 8. The bottom surface of each group of reinforcing rings 10 is fixedly connected to the upper surface of the support plate 9. Through the reinforcing ring 10, the connection between the support leg 8 and the support plate 9 can be fixed, thereby improving the connection stability between the support leg 8 and the support plate 9.

[0055] High-definition cameras 13 and lidars 14 arranged at equal distances are fixedly connected to the outer surface of the robot main body 1. The high-definition camera 13 refers to a camera of HD1080P or HD960P or HD720P. The lidar 14 is a radar system that detects the position, speed and other characteristic quantities of a target by emitting laser beams. Each high-definition camera 13 and each lidar 14 are data-connected to the robot main body 1 through wires. By using the high-definition camera 13, the physical state of the line, such as wire slack and insulator damage, can be detected by using a high-resolution camera and image recognition technology. By using the lidar 14, this inspection robot can avoid obstacles and achieve precise positioning and navigation.

[0056] The specific implementation manner of this embodiment is as follows: When in use, first connect the high-definition camera 13 and the lidar 14 to the power supply inside the robot main body 1. When it is necessary to use this inspection robot to inspect high-voltage lines, through the high-definition camera 13, the physical state of the lines, such as wire slack and insulator damage, can be detected by using a high-resolution camera and image recognition technology. And by using the lidar 14, this inspection robot can avoid obstacles and achieve precise positioning and navigation. First, manually turn the limit bolt 403 in the limit chute 401. Due to the limit slider 402 fixed on the sliding block 305, the limit slider 402 in the limit chute 401 can be positioned by the extrusion of the extrusion ring 404 on the mounting plate 303, so that the vibration sensor 306 can be stably arranged below the mounting plate 303, which is convenient for detecting the vibration of the high-voltage line and identifying potential looseness or damage, further making the inspection aspect of this inspection robot more comprehensive. When this multi-functional inspection robot for high-voltage line inspection lands, the two sets of support legs 8 can be used to conveniently support the robot main body 1, and the support plate 9 is used to improve the support stability of the robot main body 1. And through the reinforcement ring 10, it can be fixed at the connection between the support leg 8 and the support plate 9, thereby improving the connection stability between the support leg 8 and the support plate 9.

[0057] The working principle of the present invention is as follows: When in use, first connect the robot body 1, the adjustment motor 203, the infrared camera 206, and the drone wing 5 to the power supply inside the robot body 1. When it is necessary to use this inspection robot to inspect high-voltage lines, first drive the drone wing 5 through the power supply inside the robot body 1 to drive the rotating fan blade 6 to rotate, so as to conveniently control the flight inspection of this inspection robot. By using the first stabilizing bearing 7, the rotating fan blade 6 can be stably rotated inside the drone wing 5, thereby improving the flight stability of this inspection robot. And it is possible to conveniently install the adjustment motor 203 on one side of the extension frame 201 through the mounting frame 202 by means of the extension frame 201 fixed on one side of the robot body 1. By controlling the adjustment motor 203, it is possible to conveniently drive the adjustment rotating rod 204 to rotate inside the extension frame 201, so that the connecting block 205 can be driven to rotate by the adjustment rotating rod 204 to adjust the angle of the infrared camera 206. By using the second stabilizing bearing 15, the rotation stability of the adjustment rotating rod 204 inside the two extension frames 201 can be achieved, thus conveniently and stably adjusting the angle of the infrared camera 206. And by using the infrared camera 206, the temperature of the high-voltage line can be monitored to find overheated parts. When in use, first connect the extension electric push rod 301, the sound sensor 304, and the vibration sensor 306 to the power supply inside the robot body 1. When it is necessary to use this inspection robot to inspect high-voltage lines, first use the extension electric push rod 301 fixed in the storage groove 308 to push the extension push plate 302 to extend downward. By using the storage mounting block 16, it is possible to conveniently store the storage mounting block 16 inside the storage groove 308 and improve the connection stability between the telescopic end of the extension electric push rod 301 and the extension push plate 302 until the sound sensor 304 fixed under the mounting plate 303 can be conveniently brought close to the high-voltage line to detect abnormal noises of the line, such as arc discharge, etc. A sliding groove 307 is opened on the bottom surface of the mounting plate 303 to conveniently enable the sliding block 305 to slide inside the sliding groove 307, so that the position of the vibration sensor 306 fixed on the bottom surface of the sliding block 305 can be adjusted to make the sensing end of the vibration sensor 306 contact the outer surface of the high-voltage line, and further conveniently detect the vibration condition of the high-voltage line to identify potential looseness or damage. Through the protective cover 11 fixed on the bottom surface of the robot body 1, it is possible to conveniently store and protect the extension push plate 302 and the mounting plate 303, thereby conveniently protecting this inspection robot. By using the two reinforcing frames 12, the protective cover 11 can be firmly fixed on the bottom surface of the robot body 1, thereby improving the installation stability of this inspection robot. When in use, first connect the high-definition camera 13 and the lidar 14 to the power supply inside the robot body 1. When it is necessary to use this inspection robot to inspect high-voltage lines, through the high-definition camera 13, the physical state of the line, such as wire slack and insulator breakage, etc., can be detected by using a high-resolution camera and image recognition technology. And by using the lidar 14,The inspection robot can avoid obstacles and achieve precise positioning and navigation. First, manually turn the limit bolt 403 in the limit chute 401. Since the limit slider 402 fixed on the slider 305 can use the extrusion ring 404 to extrude the mounting plate 303 to position the limit slider 402 in the limit chute 401, the vibration sensor 306 can be stably arranged below the mounting plate 303, which is convenient for detecting the vibration of the high-voltage line, identifying potential looseness or damage, and further making the inspection aspect of the inspection robot more comprehensive. When the multi-functional inspection robot for high-voltage lines lands, the two sets of support legs 8 can be used to conveniently support the robot body 1, and the support plate 9 can be used to improve the support stability of the robot body 1. And through the reinforcement ring 10, it can be fixed at the connection between the support leg 8 and the support plate 9, thereby improving the connection stability between the support leg 8 and the support plate 9.

[0058] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device.

[0059] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A multifunctional inspection robot for high-voltage line inspection, comprising a robot body (1), characterized in that: An over-temperature detection mechanism (2) is provided on the front of the robot body (1); a vibration acoustic detection mechanism (3) is provided inside the robot body (1) and below the robot body (1); a sliding positioning mechanism (4) is provided below the robot body (1); the over-temperature detection mechanism (2) comprises two extension frames (201); the backs of the two extension frames (201) are fixedly connected to the front of the robot body (1); the insides of the two extension frames (201) are jointly rotatably connected to an adjustment rotating rod (204); one of the extension frames (201) is A mounting frame (202) is fixedly connected to the left side, an adjustment motor (203) is fixedly connected to the inner wall of the mounting frame (202), an output end of the adjustment motor (203) is fixedly connected to the left end of an adjustment rotating rod (204), a connection block (205) is fixedly connected to the outer surface of the adjustment rotating rod (204), an infrared camera (206) is fixedly connected to the front of the connection block (205), the infrared camera (206) is connected to the adjustment motor (203) by signal through a PLC controller, and the infrared camera (206) is connected to the robot body (1) by data through a wire; The vibroacoustic detection mechanism (3) comprises an extended electric push rod (301), a storage groove (308) is provided on the bottom surface of the robot body (1), the upper surface of the extended electric push rod (301) is fixedly connected to the inner top wall of the storage groove (308), the telescopic end of the extended electric push rod (301) is fixedly connected to an extended push plate (302), the bottom surface of the extended push plate (302) is fixedly connected to a mounting plate (303), and the bottom surface of the mounting plate (303) is fixedly connected to Two groups of sound sensors (304), each group of the sound sensors (304) is connected to the robot body (1) through a wire, a sliding groove (307) is provided on the bottom surface of the mounting plate (303), a plurality of sliding blocks (305) are slidably connected inside the sliding groove (307), a vibration sensor (306) is fixedly connected to the bottom surface of each sliding block (305), and each vibration sensor (306) is connected to the robot body (1) through a wire; The sliding positioning mechanism (4) comprises a plurality of limit sliding blocks (402), the bottom surfaces of the plurality of limit sliding blocks (402) are respectively fixedly connected to the upper surfaces of the plurality of sliding blocks (305), each of the limit sliding blocks (402) is slidably connected to the inside of the sliding groove (307), the front side of the mounting plate (303) and the back side of the mounting plate (303) are both provided with a limit sliding groove (401), each of the limit sliding grooves (401) is connected to the sliding groove (307), and the inside of each limit sliding block (402) is slidably connected to the inside of the sliding groove (307). The movable connection includes a limit bolt (403), each of which is slidably connected to the inside of the two limit sliding grooves (401), the outer surface of each of the limit bolts (403) is sleeved with an extrusion ring (404), the back of each of the extrusion rings (404) is in contact with the front of the mounting plate (303), one end of each of the limit bolts (403) close to the extrusion ring (404) is fixedly connected to a torsion disk (405), and the front of each of the torsion disks (405) is fixedly connected to a torsion buckle (406).

2. A multifunctional inspection robot for high-voltage line inspection according to claim 1, characterized in that: The outer surface of the robot body (1) is fixedly connected to drone wings (5) arranged at equal distances, and the output end of each drone wing (5) is fixedly connected to a rotating fan blade (6).

3. A multifunctional inspection robot for high-voltage line inspection according to claim 2, characterized in that: The outer surface of each rotating fan blade (6) is fixedly connected to a first stable bearing (7), and the outer rings of a plurality of the first stable bearings (7) are respectively fixedly connected to the inner walls of a plurality of drone wings (5).

4. The multifunctional inspection robot for high-voltage line inspection according to claim 1, characterized in that: Two support legs (8) are fixedly connected to the front side of the robot body (1) and the back side of the robot body (1), and a support plate (9) is fixedly connected to the bottom end of each group of support legs (8).

5. A multifunctional inspection robot for high-voltage line inspection according to claim 4, characterized in that: The outer surface of each group of support legs (8) is fixedly connected to a reinforcement ring (10), and the bottom surface of each group of reinforcement rings (10) is fixedly connected to the upper surface of the support plate (9).

6. The multifunctional inspection robot for high-voltage line inspection according to claim 1, characterized in that: A protective cover (11) is fixedly connected to the bottom surface of the robot body (1), and the protective cover (11) is in communication with the storage groove (308).

7. A multifunctional inspection robot for high-voltage line inspection according to claim 6, characterized in that: Two reinforcement frames (12) are fixedly connected to the upper surface of the protective cover (11), and the side surfaces of the two reinforcement frames (12) close to each other are respectively fixedly connected to the two side surfaces of the robot body (1).

8. The multifunctional inspection robot for high-voltage line inspection according to claim 1, characterized in that: The outer surface of the robot body (1) is fixedly connected with high-definition cameras (13) and laser radars (14) arranged at equal distances, and each of the high-definition cameras (13) and each of the laser radars (14) is data-connected to the robot body (1) via a wire.

9. The multifunctional inspection robot for high-voltage line inspection according to claim 1, characterized in that: The side surfaces of the two extension frames (201) that are away from each other are both fixedly connected with a second stable bearing (15), and the inner ring of each of the second stable bearings (15) is fixedly connected to the outer surface of the adjustment rotating rod (204).

10. The multifunctional inspection robot for high-voltage line inspection according to claim 1, characterized in that: The telescopic end of the extended electric push rod (301) is fixedly connected to a storage and mounting block (16), and the bottom surface of the storage and mounting block (16) is fixedly connected to the upper surface of the extended push plate (302).

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