Power grid maintenance inspection robot

Abstract

The invention relates to the technical field of power grid robots, in particular to a power grid maintenance inspection robot. Comprising a plurality of power grid supporting columns, power grid supporting frames are arranged above the power grid supporting columns, the power grid supporting frames fix wires, a pair of track lines is arranged on one sides of the power grid supporting columns, track supporting seats are fixedly connected to the power grid supporting columns, and the track supporting seats and the track lines are located on the same side; a rail positioning sleeve matched with a rail line is arranged on the rail supporting seat; a robot base is arranged on the track line, and two pairs of first stabilizing mechanisms matched with the track line are arranged on the side face of the robot base; two pairs of track wheels matched with the track line are arranged below the robot base; a first running mechanism matched with the track wheels is arranged in the robot base; the problem of limitation of manual inspection in the prior art is effectively solved, and meanwhile the problems that an inspection robot is single in function, insufficient in obstacle crossing ability and insufficient in cruising ability are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of power grid robots, and specifically to a power grid maintenance and inspection robot. Background Art

[0002] With the continuous expansion of the scale of the power system, the safe and stable operation of power grid equipment has put forward higher requirements for the inspection and maintenance of transmission lines; currently, power grid inspection mainly relies on manual operation and traditional automation equipment, and there are the following technical defects; 1. Limitations of manual inspection. Traditional manual inspection requires high-altitude workers to climb poles or use insulated boom trucks for close-range detection, which has safety hazards such as falling from heights and electric shock. At the same time, the manual detection efficiency is low, and it is easy to miss inspections due to personnel experience.

[0003] 2. Defects of single-function equipment. Most existing inspection robots adopt a single-function design. For example, the track-type detection device disclosed in patent CN20XX123456A is only equipped with an infrared sensor and cannot perform equipment maintenance operations. The maintenance robot described in patent US9876543B1 lacks a real-time detection module, and repeated disassembly and assembly of tools result in a reduction in operation efficiency of more than 40%.

[0004] 3. Insufficient obstacle-crossing ability. Most existing track-type robots adopt a fixed wheel-rail structure. When crossing obstacles, additional transition tracks need to be installed, resulting in a single obstacle-crossing time exceeding 15 minutes; especially in complex terrains such as corner towers, existing equipment cannot achieve continuous three-dimensional movement, so large-area operations cannot be realized.

[0005] 4. The existing inspection robots have insufficient battery life. Generally, inspection personnel operate them to replace humans for inspection on the power grid. The battery power carried by the robots themselves is limited and they cannot operate for a long time.

[0006] Therefore, there is an urgent need for a power grid maintenance and inspection robot to solve the above problems. Summary of the Invention

[0007] To achieve the above object, the present invention proposes a power grid maintenance and inspection robot, which effectively solves the problem of the limitations of manual inspection in the prior art, and also solves the problems of single function, insufficient obstacle-crossing ability and insufficient battery life of inspection robots; in addition, intelligent operation and maintenance support allows staff to view the power grid situation at any time.

[0008] To solve the above problems, the present invention proposes the following technical solutions: A power grid maintenance inspection robot, including a plurality of power grid pillars, with a power grid support frame arranged above each power grid pillar. The power grid support frame fixes the electric wires. On one side of each power grid pillar, there is a pair of track lines, and a track support seat is fixedly connected to each power grid pillar. The track support seat and the track line are on the same side; a track positioning sleeve that cooperates with the track line is arranged on the track support seat; a robot base is arranged on the track line, and on the side of the robot base, there are two pairs of first stabilizing mechanisms that cooperate with the track line; below the robot base, there are two pairs of track wheels that cooperate with the track line; a first operating mechanism that cooperates with the track wheels is arranged inside the robot base; a support rotating platform is rotatably connected to the robot base, and a pair of fixed connection seats are arranged on the support rotating platform. A first maintenance robotic arm is rotatably connected to one fixed connection seat, the other end of the first maintenance robotic arm is rotatably connected to a second maintenance robotic arm, the other end of the second maintenance robotic arm is rotatably connected to a first control block, a universal control console is arranged above the first control block, and a first universal mechanism that cooperates with the universal control console is arranged inside the first control block; a maintenance electric drill is arranged on the universal control console; a first lower support arm is rotatably connected to the other fixed connection seat, the other end of the first lower support arm is rotatably connected to a second lower support arm, the other end of the second lower support arm is rotatably connected to a first connection platform, a first rotating platform is rotatably connected to the first connection platform, a first upper support arm is rotatably connected to the first rotating platform, the other end of the first upper support arm is rotatably connected to a second upper support arm, and the other end of the second upper support arm is rotatably connected to a tree-shaped support column; a plurality of inspection control blocks are fixedly connected to the tree-shaped support column, and the inspection control blocks respectively cooperate with the corresponding electric wires; a camera and a laser gun are arranged inside the tree-shaped support column; a temperature detection module and a current detection module are arranged inside the inspection control block, which can detect the temperature and current of the electric wires; on both sides of the inspection control block, a pair of cooperating positioning cards are slidably connected, and a first positioning mechanism that cooperates with the positioning cards is arranged inside the inspection control block; a wireless information processor is arranged inside the robot base, and the wireless information processor can collect information and control the camera, the laser gun, the temperature detection module, the current detection module, the first stabilizing mechanism, the first operating mechanism, the first universal mechanism, and the first positioning mechanism; the wireless information processor can perform remote information interaction with other mobile devices.

[0009] Further: The first operating mechanism includes a first control large gear rotatably connected inside the robot base, and a pair of first control small gears rotatably connected inside the robot base. The first control small gears are symmetrically arranged on both sides of the first control large gear and are both meshed with the first control large gear. The first control small gears are coaxially fixedly connected with first control worms, and a pair of first control worm wheels are rotatably connected below the robot base. The first control worm wheels are coaxially fixedly connected with the corresponding track wheels respectively; the first control worm wheels are respectively meshed with the corresponding first control worms.

[0010] Furthermore: The first stabilizing mechanism includes a pair of stabilizing rotating plates rotatably connected to the robot base. The stabilizing rotating plates are symmetrically arranged. A first stabilizing link is rotatably connected to each stabilizing rotating plate. A first stabilizing slide rod is slidably connected inside the robot base. The first stabilizing links are rotatably connected to the first stabilizing slide rod. A first stabilizing screw rod that is screwed to the first stabilizing slide rod is rotatably connected inside the robot base.

[0011] Furthermore: The first universal mechanism includes a plurality of first connecting gears rotatably connected inside the first control block. The first connecting gears are arranged in a coaxial array. A plurality of first driving gears are rotatably connected inside the robot base. The first driving gears are respectively meshed with the corresponding first connecting gears. A first rotating right-angle rod is coaxially fixed to each first connecting gear. An angle control link is rotatably connected to the other end of each first rotating right-angle rod. The angle control links are arranged in an array on the side of the universal control console.

[0012] Furthermore: The first positioning mechanism includes a double-wheel screw rod rotatably connected inside the inspection control block. A pair of first positioning slide rods are slidably connected inside the inspection control block. The first positioning slide rods are respectively meshed with the double-wheel screw rod. The first positioning slide rods are respectively fixed to the corresponding positioning clamping plates.

[0013] Furthermore: Matching arc surfaces are provided on both the positioning clamping plate and the stabilizing rotating plate. Movable steel balls are arranged inside the arc surfaces.

[0014] Furthermore: A pair of extension frames are fixed to the track support base. The extension frames are respectively located below the track line. The extension frames are respectively located on both sides of the track support base. The track positioning sleeves are respectively fixed to different extension frames.

[0015] Furthermore: Both ends of the track positioning sleeve are conical.

[0016] Furthermore: A photovoltaic base station is provided on the power grid pillar. The photovoltaic base station and the track support base are respectively located on both sides of the power grid pillar.

[0017] Furthermore: A detachable cutter head is provided on the maintenance electric drill.

[0018] Compared with the prior art, the gain effect of the present invention is as follows: 1. The efficiency of multi-task collaborative operation is improved. The wireless information processor, camera, laser gun, temperature detection module and current detection module cooperate with each other. At the same time, the setting that the wireless information processor can perform remote information interaction with other mobile devices enables the staff to grasp the operation status of the power grid, greatly improving the efficiency and accuracy of inspection. The setting of the laser gun can effectively solve the problem of obstacles such as bird nests on the wires.

[0019] 2. Due to the setting of the position of the track positioning sleeve on the track support base and the design of the tapered ends of the track positioning sleeve, the first operating mechanism can pass through the track positioning sleeve unobstructed. At the same time, the setting of the first stabilizing mechanism first ensures the stability of the robot base when running on the track line. When the robot crosses the grid pillar, when the first stabilizing mechanism is about to move to the position of the track positioning sleeve, the stabilizing rotating plate engaged with the track positioning sleeve will be opened first, and then closed after crossing the track positioning sleeve; the stabilizing rotating plates at other positions will perform this operation in sequence, and this process can effectively ensure the stability of the robot when crossing the grid pillar.

[0020] 3. The setting of the first control block realizes the maintenance of individual loose screws in the grid. When the camera recognizes that a screw is loose, the support rotating table, the first maintenance robotic arm, the second maintenance robotic arm, and the first universal mechanism will move in coordination to adjust the position and angle of the universal control console and the maintenance electric drill, so as to realize the maintenance of the loose part; the setting of the inspection control block realizes the monitoring of various data of the grid, and the setting of the first positioning mechanism ensures the stability between the inspection control block and the wire, avoiding the deviation of monitoring data caused by the undulation of local wires. When the robot crosses the grid pillar, the first positioning mechanism will be opened first, and then the support rotating table, the tree-shaped support column, the first lower support arm, the second lower support arm, the first connecting table, the first rotating table, the first upper support arm, and the second upper support arm will move in coordination with each other to lower and rotate the tree-shaped support column and the inspection control block, so that the tree-shaped support column and the inspection control block are first separated from the wire, and then turned to avoid collision with the grid pillar.

[0021] 4. The setting of the photovoltaic base station ensures the battery life of the inspection robot. After the photovoltaic power generation on the photovoltaic base station, the inspection robot can be charged through the track line. Description of the Drawings

[0022] Figure 1 It is a three-dimensional view of the present invention.

[0023] Figure 2 It is a side view of the present invention.

[0024] Figure 3 It is a partial three-dimensional view of the present invention.

[0025] Figure 4 It is a partial structural diagram of the present invention.

[0026] Figure 5 It is a three-dimensional view of the first operating mechanism of the present invention.

[0027] Figure 6 It is a three-dimensional view of the first stabilizing mechanism of the present invention.

[0028] Figure 7 It is a state diagram of the first stabilizing mechanism of the present invention.

[0029] Figure 8 This is a partially enlarged view of the present invention.

[0030] Figure 9 This is a perspective view of the first positioning mechanism of the present invention.

[0031] Figure 10 This is a perspective view of the first universal mechanism of the present invention.

[0032] Figure 11 This is a partially enlarged view of the local structure of the present invention.

[0033] Figure 12 This is a state diagram of the present invention during spanning.

[0034] Figure 13 This is a state diagram of the present invention after spanning.

[0035] In the figure: 1. Robot base, 2. Support rotating table, 3. First control block, 4. Tree-shaped support column, 5. Inspection control block, 6. Power grid support column, 7. Track support base, 8. Photovoltaic base station, 9. Power grid support frame, 10. Fixed connection base, 11. First maintenance robotic arm, 12. Second maintenance robotic arm, 13. First lower support arm, 14. Second lower support arm, 15. First connection platform, 16. First rotating table, 17. First upper support arm, 18. Second upper support arm, 19. Positioning card board, 20. Track wheel, 21. Track line, 22. First control worm gear, 23. First control worm, 24. Stable rotating plate, 25. First stable connecting rod, 26. First stable sliding rod, 27. First control large gear, 28. First control small gear, 29. First stable screw rod, 30. First positioning sliding rod, 31. Double-wheel screw rod, 32. First driving gear, 33. First connecting gear, 34. First rotating right-angle rod, 35. Angle control connecting rod, 36. Universal control console, 37. Maintenance electric drill, 38. Track positioning sleeve, 39. Camera, 40. Laser gun. Specific embodiments

[0036] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. 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. Embodiment 1

[0037] A power grid maintenance inspection robot includes multiple power grid support columns 6. Above each power grid support column 6, there is a power grid support frame 9 which fixes the electric wires. On one side of the power grid support column 6, there is a pair of track lines 21. On each power grid support column 6, there is a fixedly connected track support base 7, and the track support base 7 and the track line 21 are on the same side. On the track support base 7, there is a track positioning sleeve 38 which cooperates with the track line 21. On the track line 21, there is a robot base 1. On the side of the robot base 1, there are two pairs of first stabilizing mechanisms which cooperate with the track line 21. Below the robot base 1, there are two pairs of track wheels 20 which cooperate with the track line 21. Inside the robot base 1, there is a first operating mechanism which cooperates with the track wheels 20. On the robot base 1, there is a support rotating platform 2 rotatably connected. On the support rotating platform 2, there are a pair of fixedly connected seats 10. On one fixedly connected seat 10, there is a first maintenance robotic arm 11 rotatably connected. At the other end of the first maintenance robotic arm 11, there is a second maintenance robotic arm 12 rotatably connected. At the other end of the second maintenance robotic arm 12, there is a first control block 3. Above the first control block 3, there is a universal control console 36. Inside the first control block 3, there is a first universal mechanism which cooperates with the universal control console 36. On the universal control console 36, there is a maintenance electric drill 37. On the other fixedly connected seat 10, there is a first lower support arm 13 rotatably connected. At the other end of the first lower support arm 13, there is a second lower support arm 14 rotatably connected. At the other end of the second lower support arm 14, there is a first connecting platform 15. On the first connecting platform 15, there is a first rotating platform 16 rotatably connected. On the first rotating platform 16, there is a first upper support arm 17 rotatably connected. At the other end of the first upper support arm 17, there is a second upper support arm 18 rotatably connected. At the other end of the second upper support arm 18, there is a tree-shaped support column 4. On the tree-shaped support column 4, there are multiple inspection control blocks 5 fixedly connected, and the inspection control blocks 5 cooperate with the corresponding electric wires respectively. Inside the tree-shaped support column 4, there are a camera 39 and a laser gun 40. Inside the inspection control block 5, there are a temperature detection module and a current detection module, which can detect the temperature and current of the electric wires. On both sides of the inspection control block 5, there are a pair of cooperating positioning clamping plates 19 slidably connected. Inside the inspection control block 5, there is a first positioning mechanism which cooperates with the positioning clamping plates 19. Inside the robot base 1, there is a wireless information processor which can collect information from the camera 39, laser gun 40, temperature detection module, current detection module, first stabilizing mechanism, first operating mechanism, first universal mechanism and first positioning mechanism and control them. The wireless information processor can perform remote information interaction with other mobile devices.

[0038] The first operating mechanism includes a first control large gear 27 rotatably connected inside the robot base 1. A pair of first control small gears 28 are rotatably connected inside the robot base 1. The first control small gears 28 are symmetrically arranged on both sides of the first control large gear 27. The first control small gears 28 are both meshed with the first control large gear 27. The first control small gears 28 are both coaxially fixed with a first control worm 23. A pair of first control worm wheels 22 are rotatably connected below the robot base 1. The first control worm wheels 22 are respectively coaxially fixed with the corresponding track wheels 20. The first control worm wheels 22 are respectively meshed with the corresponding first control worms 23.

[0039] The first stabilizing mechanism includes a pair of stabilizing rotating plates 24 rotatably connected on the robot base 1. The stabilizing rotating plates 24 are symmetrically arranged. A first stabilizing link 25 is rotatably connected on each of the stabilizing rotating plates 24. A first stabilizing slide bar 26 is slidably connected inside the robot base 1. The first stabilizing links 25 are both rotatably connected with the first stabilizing slide bar 26. A first stabilizing screw 29 that is screwed with the first stabilizing slide bar 26 is rotatably connected inside the robot base 1.

[0040] The first universal mechanism includes a plurality of first connecting gears 33 rotatably connected inside the first control block 3. The first connecting gears 33 are arranged in a coaxial array. A plurality of first driving gears 32 are rotatably connected inside the robot base 1. The first driving gears 32 are respectively meshed with the corresponding first connecting gears 33. The first connecting gears 33 are both coaxially fixed with a first rotating right-angle rod 34. The other ends of the first rotating right-angle rods 34 are both rotatably connected with an angle control link 35. The angle control links 35 are arranged in an array on the side of the universal control console 36.

[0041] The first positioning mechanism includes a double-threaded screw 31 rotatably connected inside the inspection control block 5. A pair of first positioning slide bars 30 are slidably connected inside the inspection control block 5. The first positioning slide bars 30 are both meshed with the double-threaded screw 31. The first positioning slide bars 30 are respectively fixed with the corresponding positioning clamping plates 19.

[0042] The positioning clamping plates 19 and the stabilizing rotating plates 24 are both provided with matching arc surfaces, and movable steel balls are arranged inside the arc surfaces.

[0043] The maintenance electric drill 37 is provided with a detachable cutter head.

[0044] Such as Figure 1 、 2As shown in Figures 3, 4, 5, 6, 8 and 10: When the inspection robot conducts inspections between the power grid poles 6, at this time, the first running mechanism drives the whole to move on the track line 21. During this process, the rotation of the first control large gear 27 can drive the first control small gears 28 on both sides to rotate. The rotation of the first control small gear 28 will drive the first control worm gear 22 to rotate through the first control worm 23. The rotation of the first control worm gear 22 will drive the whole robot to move through the track wheels 20. At this time, the first stabilizing mechanism will engage with the track line 21, and the inspection control block 5 above the robot base 1 will detect the wire. At this time, the first positioning mechanism will engage with the wire to ensure the accuracy of the detection. When the camera detects that there are loose screws on the power grid, it will adjust the position of the maintenance electric drill 37 through the robotic arm and the first universal mechanism to maintain the power grid. The detachable cutter head on the maintenance electric drill 37 meets the maintenance requirements for different screws. During this process, the corresponding motor will drive the corresponding first driving gear 32 to rotate. The rotation of the first driving gear 32 will drive the corresponding first rotating right-angle rod 34 and the angle control connecting rod 35 to rotate through the first connecting gear 33, so as to realize the universal adjustment of the universal control console 36 and the maintenance electric drill 37. The arrangement of movable steel balls in the arc surface reduces the resistance during the operation of the inspection robot. The mutual cooperation of the wireless information processor, the camera 39, the laser gun 40, the temperature detection module and the current detection module; at the same time, the setting that the wireless information processor can perform remote information interaction with other mobile devices realizes the staff's grasp of the operation status of the power grid, greatly improving the efficiency and accuracy of the inspection. It effectively solves the problem of the limitations of manual inspection in the prior art, and also solves the problems of single function, insufficient obstacle-crossing ability and insufficient battery life of the inspection robot. In addition, the intelligent operation and maintenance support allows the staff to view the power grid situation at any time. Embodiment 2

[0045] A power grid maintenance inspection robot, including a plurality of power grid poles 6. Power grid support frames 9 are arranged above the power grid poles 6, and the power grid support frames 9 fix the wires. A pair of track lines 21 are arranged on one side of the power grid poles 6. Track support seats 7 are fixedly connected to the power grid poles 6, and the track support seats 7 and the track lines 21 are on the same side. A track positioning sleeve 38 that cooperates with the track line 21 is arranged on the track support seat 7. A robot base 1 is arranged on the track line 21. Two pairs of first stabilizing mechanisms that cooperate with the track line 21 are arranged on the side of the robot base 1. Two pairs of track wheels 20 that cooperate with the track line 21 are arranged below the robot base 1. A first running mechanism that cooperates with the track wheels 20 is arranged in the robot base 1. A support rotating platform 2 is rotatably connected to a robot base 1. A pair of fixed connection seats 10 are arranged on the support rotating platform 2. A first maintenance robotic arm 11 is rotatably connected to one fixed connection seat 10. The other end of the first maintenance robotic arm 11 is rotatably connected to a second maintenance robotic arm 12. The other end of the second maintenance robotic arm 12 is rotatably connected to a first control block 3. A universal control console 36 is arranged above the first control block 3. A first universal mechanism that cooperates with the universal control console 36 is arranged in the first control block 3; a maintenance electric drill 37 is arranged on the universal control console 36; a first lower support arm 13 is rotatably connected to the other fixed connection seat 10. The other end of the first lower support arm 13 is rotatably connected to a second lower support arm 14. The other end of the second lower support arm 14 is rotatably connected to a first connection platform 15. A first rotating platform 16 is rotatably connected to the first connection platform 15. A first upper support arm 17 is rotatably connected to the first rotating platform 16. The other end of the first upper support arm 17 is rotatably connected to a second upper support arm 18. The other end of the second upper support arm 18 is rotatably connected to a tree-shaped support column 4; a plurality of inspection control blocks 5 are fixedly connected to the tree-shaped support column 4. The inspection control blocks 5 cooperate with the corresponding electric wires respectively; a camera 39 and a laser gun 40 are arranged in the tree-shaped support column 4; a temperature detection module and a current detection module are arranged in the inspection control blocks 5, which can detect the temperature and current of the electric wires; a pair of cooperating positioning clamping plates 19 are slidably connected to both sides of the inspection control blocks 5. A first positioning mechanism that cooperates with the positioning clamping plates 19 is arranged in the inspection control blocks 5; A wireless information processor is arranged in the robot base 1. The wireless information processor can collect information from the camera 39, the laser gun 40, the temperature detection module, the current detection module, the first stabilizing mechanism, the first operating mechanism, the first universal mechanism and the first positioning mechanism and control them; the wireless information processor can perform remote information interaction with other mobile devices.

[0046] The first operating mechanism includes a first control large gear 27 rotatably connected in the robot base 1. A pair of first control small gears 28 are rotatably connected in the robot base 1. The first control small gears 28 are symmetrically arranged on both sides of the first control large gear 27. The first control small gears 28 are both meshed with the first control large gear 27. The first control small gears 28 are both coaxially fixedly connected with a first control worm 23. A pair of first control worm wheels 22 are rotatably connected below the robot base 1. The first control worm wheels 22 are respectively coaxially fixedly connected with the corresponding track wheels 20; the first control worm wheels 22 are respectively meshed with the corresponding first control worms 23.

[0047] The first stabilizing mechanism includes a pair of stabilizing rotating plates 24 rotatably connected to the robot base 1. The stabilizing rotating plates 24 are symmetrically arranged, and a first stabilizing link 25 is rotatably connected to each of the stabilizing rotating plates 24. A first stabilizing slide rod 26 is slidably connected inside the robot base 1, and the first stabilizing links 25 are rotatably connected to the first stabilizing slide rod 26 respectively. A first stabilizing screw rod 29 that is screwed to the first stabilizing slide rod 26 is rotatably connected inside the robot base 1.

[0048] The first universal mechanism includes a plurality of first connecting gears 33 rotatably connected inside the first control block 3. The first connecting gears 33 are arranged in a coaxial array. A plurality of first driving gears 32 are rotatably connected inside the robot base 1, and the first driving gears 32 are respectively meshed with the corresponding first connecting gears 33. A first rotating right-angle rod 34 is coaxially fixed to each of the first connecting gears 33. The other ends of the first rotating right-angle rods 34 are rotatably connected to an angle control link 35, and the angle control links 35 are arranged in an array on the side of the universal control console 36.

[0049] The first positioning mechanism includes a double-threaded screw rod 31 rotatably connected inside the inspection control block 5. A pair of first positioning slide rods 30 are slidably connected inside the inspection control block 5. The first positioning slide rods 30 are respectively meshed with the double-threaded screw rod 31, and the first positioning slide rods 30 are respectively fixed to the corresponding positioning clamping plates 19.

[0050] The positioning clamping plates 19 and the stabilizing rotating plates 24 are both provided with matching arc surfaces, and movable steel balls are arranged inside the arc surfaces.

[0051] A pair of extension frames are fixed to the track support base 7. The extension frames are respectively located below the track line 21 and on both sides of the track support base 7. The track positioning sleeves 38 are respectively fixed to different extension frames.

[0052] Both ends of the track positioning sleeve 38 are conical.

[0053] The maintenance electric drill 37 is provided with a detachable cutter head.

[0054] Such as Figure 7 、 8As shown in FIGS. 9, 11, 12 and 13: On the basis of the first embodiment, when the inspection robot needs to cross the power grid support column 6, when the robot crosses the power grid support column 6, the first positioning mechanism will be opened first. During this process, the rotation of the double-wheel screw 31 can drive the first positioning slide bar 30 to slide, thereby driving the positioning clamping plate 19 to slide in the opposite direction on the inspection control block 5, so as to open the wire; then the support rotating platform 2, the tree-shaped support column 4, the first lower support arm 13, the second lower support arm 14, the first connecting platform 15, the first rotating platform 16, the first upper support arm 17 and the second upper support arm 18 cooperate with each other to lower and rotate the tree-shaped support column 4 and the inspection control block 5, so that the tree-shaped support column 4 and the inspection control block 5 are first separated from the wire, and then turned to avoid collision with the power grid support column 6. The support rotating platform 2, the first maintenance robotic arm 11, the second maintenance robotic arm 12 and the first universal mechanism will adjust the universal control console 36 and the maintenance electric drill 37 to the appropriate positions. When the robot crosses the power grid support column 6, when the first stabilizing mechanism is about to move to the position of the track positioning sleeve 38, the stabilizing rotating plate 24 engaged with the track positioning sleeve 38 will be opened first, and then closed after crossing the track positioning sleeve 38. Since the track positioning sleeves 38 are respectively located on both sides of the track support base 7, only one first stabilizing mechanism can be opened at a time, and the three first stabilizing mechanisms can ensure the stable passage of the inspection robot. At the same time, the tapered design at both ends of the track positioning sleeve 38 can make the track wheels 20 run smoothly on the track line 21; thus ensuring the stability of the inspection robot during crossing; during this process, the rotation of the first stabilizing screw 29 will drive the first stabilizing slide bar 26 to slide in the robot base 1, and the sliding of the first stabilizing slide bar 26 will drive the stabilizing rotating plate 24 to rotate through the first stabilizing connecting rod 25, so as to realize the cooperation and opening of the stabilizing rotating plate 24 and the track line 21. Embodiment 3

[0055] A power grid maintenance inspection robot includes a plurality of power grid support columns 6. Above each power grid support column 6, a power grid support frame 9 is provided. The power grid support frame 9 fixes the wires. On one side of the power grid support column 6, a pair of track lines 21 are provided. On each power grid support column 6, a track support base 7 is fixedly connected. The track support base 7 and the track line 21 are on the same side; on the track support base 7, a track positioning sleeve 38 matching the track line 21 is provided; on the track line 21, a robot base 1 is provided. On the side of the robot base 1, two pairs of first stabilizing mechanisms matching the track line 21 are provided; below the robot base 1, two pairs of track wheels 20 matching the track line 21 are provided; inside the robot base 1, a first running mechanism matching the track wheels 20 is provided. A support rotating platform 2 is rotatably connected to a robot base 1. A pair of fixed connection seats 10 are arranged on the support rotating platform 2. A first maintenance robotic arm 11 is rotatably connected to one fixed connection seat 10. The other end of the first maintenance robotic arm 11 is rotatably connected to a second maintenance robotic arm 12. The other end of the second maintenance robotic arm 12 is rotatably connected to a first control block 3. A universal control console 36 is arranged above the first control block 3. A first universal mechanism that cooperates with the universal control console 36 is arranged in the first control block 3; a maintenance electric drill 37 is arranged on the universal control console 36; a first lower support arm 13 is rotatably connected to the other fixed connection seat 10. The other end of the first lower support arm 13 is rotatably connected to a second lower support arm 14. The other end of the second lower support arm 14 is rotatably connected to a first connection platform 15. A first rotating platform 16 is rotatably connected to the first connection platform 15. A first upper support arm 17 is rotatably connected to the first rotating platform 16. The other end of the first upper support arm 17 is rotatably connected to a second upper support arm 18. The other end of the second upper support arm 18 is rotatably connected to a tree-shaped support column 4; a plurality of inspection control blocks 5 are fixedly connected to the tree-shaped support column 4. The inspection control blocks 5 cooperate with the corresponding electric wires respectively; a camera 39 and a laser gun 40 are arranged in the tree-shaped support column 4; a temperature detection module and a current detection module are arranged in the inspection control blocks 5, and can detect the temperature and current of the electric wires; a pair of cooperating positioning card plates 19 are slidably connected to both sides of the inspection control blocks 5. A first positioning mechanism that cooperates with the positioning card plates 19 is arranged in the inspection control blocks 5; A wireless information processor is arranged in the robot base 1. The wireless information processor can collect information of the camera 39, the laser gun 40, the temperature detection module, the current detection module, the first stabilizing mechanism, the first operating mechanism, the first universal mechanism and the first positioning mechanism and control them; the wireless information processor can perform remote information interaction with other mobile devices.

[0056] The first operating mechanism includes a first control large gear 27 rotatably connected in the robot base 1. A pair of first control small gears 28 are rotatably connected in the robot base 1. The first control small gears 28 are symmetrically arranged on both sides of the first control large gear 27. The first control small gears 28 are both meshed with the first control large gear 27. The first control small gears 28 are both coaxially fixedly connected with a first control worm 23. A pair of first control worm wheels 22 are rotatably connected below the robot base 1. The first control worm wheels 22 are respectively coaxially fixedly connected with the corresponding track wheels 20; the first control worm wheels 22 are respectively meshed with the corresponding first control worms 23.

[0057] The first stabilizing mechanism includes a pair of stabilizing rotating plates 24 rotatably connected to the robot base 1. The stabilizing rotating plates 24 are symmetrically arranged, and a first stabilizing link 25 is rotatably connected to each of the stabilizing rotating plates 24. A first stabilizing slide bar 26 is slidably connected within the robot base 1, and the first stabilizing links 25 are rotatably connected to the first stabilizing slide bar 26. A first stabilizing screw 29 that is screwed to the first stabilizing slide bar 26 is rotatably connected within the robot base 1.

[0058] The first universal mechanism includes a plurality of first connecting gears 33 rotatably connected within the first control block 3. The first connecting gears 33 are arranged in a coaxial array. A plurality of first driving gears 32 are rotatably connected within the robot base 1, and the first driving gears 32 are respectively meshed with the corresponding first connecting gears 33. A first rotating right-angle rod 34 is coaxially fixed to each of the first connecting gears 33. An angle control link 35 is rotatably connected to the other end of each of the first rotating right-angle rods 34, and the angle control links 35 are arranged in an array on the side of the universal control console 36.

[0059] The first positioning mechanism includes a double-threaded screw 31 rotatably connected within the inspection control block 5. A pair of first positioning slide bars 30 are slidably connected within the inspection control block 5. The first positioning slide bars 30 are respectively meshed with the double-threaded screw 31, and the first positioning slide bars 30 are respectively fixed to the corresponding positioning clamping plates 19.

[0060] Cooperating arc-shaped surfaces are provided on both the positioning clamping plate 19 and the stabilizing rotating plate 24, and movable steel balls are provided within the arc-shaped surfaces.

[0061] A pair of extension frames are fixed to the track support base 7. The extension frames are respectively located below the track line 21 and on both sides of the track support base 7. The track positioning sleeves 38 are respectively fixed to different extension frames.

[0062] Both ends of the track positioning sleeve 38 are conical.

[0063] A photovoltaic base station 8 is provided on the power grid pillar 6. The photovoltaic base station 8 and the track support base 7 are respectively located on both sides of the power grid pillar 6.

[0064] A detachable cutter head is provided on the maintenance electric drill 37.

[0065] As shown in Figure 1 、 12 and 13: On the basis of the second embodiment, the setting of the photovoltaic base station 8 realizes power generation using sunlight, thereby charging the inspection robot, effectively ensuring the battery life function of the robot.

[0066] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0067] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements; for those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Claims

1. A power grid maintenance inspection robot, comprising a plurality of power grid pillars (6), each of which is provided with a power grid support frame (9), the power grid support frame (9) fixing electric wires, characterized in that: A pair of track lines (21) are arranged on one side of the power grid pillar (6); a track support seat (7) is fixedly connected to each of the power grid pillars (6); the track support seat (7) and the track line (21) are located on the same side; a track positioning sleeve (38) matching the track line (21) is arranged on the track support seat (7); a robot base (1) is arranged on the track line (21); two pairs of first stabilizing mechanisms matching the track line (21) are arranged on the side of the robot base (1); two pairs of track wheels (20) matching the track line (21) are arranged below the robot base (1); and a first operating mechanism matching the track wheels (20) is arranged inside the robot base (1); A supporting rotating platform (2) is rotatably connected to a robot base (1), a pair of fixed connecting seats (10) are provided on the supporting rotating platform (2), a first maintenance mechanical arm (11) is rotatably connected to one of the fixed connecting seats (10), the other end of the first maintenance mechanical arm (11) is rotatably connected to a second maintenance mechanical arm (12), the other end of the second maintenance mechanical arm (12) is rotatably connected to a first control block (3), a universal control console (36) is provided above the first control block (3), a first universal mechanism matching the universal control console (36) is provided inside the first control block (3); a maintenance electric drill (37) is provided on the universal control console (36); a first lower support arm (13) is rotatably connected to the other fixed connecting seat (10), the other end of the first lower support arm (13) is rotatably connected to a second lower support arm (14), the other end of the second lower support arm (14) is rotatably connected to a first A connecting platform (15), a first connecting platform (15) is rotatably connected to a first rotating platform (16), a first upper supporting arm (17) is rotatably connected to the first rotating platform (16), the other end of the first upper supporting arm (17) is rotatably connected to a second upper supporting arm (18), and the other end of the second upper supporting arm (18) is rotatably connected to a tree-shaped supporting column (4); a plurality of inspection control blocks (5) are fixedly connected to the tree-shaped supporting column (4), and the inspection control blocks (5) are respectively matched with corresponding electric wires; a camera (39) and a laser gun (40) are arranged in the tree-shaped supporting column (4); a temperature detection module and a current detection module are arranged in the inspection control block (5), and the temperature and current of the electric wire can be detected; a pair of matching positioning card plates (19) are slidably connected to both sides of the inspection control block (5), and a first positioning mechanism matched with the positioning card plates (19) is arranged in the inspection control block (5); A wireless information processor is provided in the robot base (1), and the wireless information processor can collect information from and control the camera (39), the laser gun (40), the temperature detection module, the current detection module, the first stabilizing mechanism, the first operating mechanism, the first universal mechanism, and the first positioning mechanism; The wireless information processor can exchange remote information with other mobile devices.

2. The power grid maintenance inspection robot according to claim 1, characterized in that: The first operating mechanism comprises a first control gear (27) rotatably connected in the robot base (1); a pair of first control pinions (28) rotatably connected in the robot base (1); the first control pinions (28) are symmetrically arranged on both sides of the first control gear (27); the first control pinions (28) are meshed with the first control gear (27); the first control pinions (28) are coaxially fixedly connected with a first control worm (23); a pair of first control worm wheels (22) are rotatably connected below the robot base (1); the first control worm wheels (22) are coaxially fixedly connected with corresponding track wheels (20); and the first control worm wheels (22) are meshed with corresponding first control worms (23).

3. The power grid maintenance inspection robot according to claim 1, characterized in that: The first stabilizing mechanism comprises a pair of stabilizing rotating plates (24) rotatably connected to the robot base (1); the stabilizing rotating plates (24) are symmetrically arranged; each stabilizing rotating plate (24) is rotatably connected to a first stabilizing connecting rod (25); a first stabilizing sliding rod (26) is slidably connected inside the robot base (1); each first stabilizing connecting rod (25) is rotatably connected to the first stabilizing sliding rod (26); and a first stabilizing screw rod (29) screwed to the first stabilizing sliding rod (26) is rotatably connected inside the robot base (1).

4. The power grid maintenance inspection robot according to claim 1, characterized in that: The first universal mechanism comprises a plurality of rotatably connected first connecting gears (33) in a first control block (3), the first connecting gears (33) being in a coaxial array; a plurality of first driving gears (32) being rotatably connected in a robot base (1), the first driving gears (32) respectively meshing with corresponding first connecting gears (33); the first connecting gears (33) are all coaxially fixedly connected with first rotating right-angle rods (34); the other ends of the first rotating right-angle rods (34) are all rotatably connected with angle control connecting rods (35), the angle control connecting rods (35) being arranged in an array on the side of the universal control console (36).

5. The power grid maintenance inspection robot according to claim 3, characterized in that: The first positioning mechanism comprises a double-wheel screw (31) rotatably connected in the inspection control block (5), a pair of first positioning slide bars (30) slidably connected in the inspection control block (5), the first positioning slide bars (30) are meshed with the double-wheel screw (31), and the first positioning slide bars (30) are respectively fixed to corresponding positioning clamping plates (19).

6. The power grid maintenance inspection robot according to claim 5, characterized in that: The positioning clamping plate (19) and the stabilizing rotating plate (24) are both provided with matching arc surfaces, and movable steel balls are both provided in the arc surfaces.

7. The power grid maintenance inspection robot according to claim 1, characterized in that: A pair of extension frames are fixedly connected to the track support seat (7), the extension frames are respectively located below the track line (21), the extension frames are respectively located on both sides of the track support seat (7), and the track positioning sleeves (38) are respectively fixedly connected to different extension frames.

8. The power grid maintenance inspection robot according to claim 1 or 7, characterized in that: Both ends of the track positioning sleeve (38) are tapered.

9. The power grid maintenance inspection robot according to claim 1, characterized in that: A photovoltaic base station (8) is arranged on the power grid pillar (6), and the photovoltaic base station (8) and the track support seat (7) are respectively located on both sides of the power grid pillar (6).

10. The power grid maintenance inspection robot according to claim 1, characterized in that: The maintenance electric drill (37) is provided with a detachable cutter head.

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