Small foot-arm type detection robot for GIS full-air-chamber operation

Abstract

The invention discloses a small foot arm type detection robot for GIS full air chamber operation, and relates to the field of GIS full air chamber operation related equipment.The small foot arm type detection robot comprises a robot body, a lifting mechanism, a fixing plate, a telescopic mechanism, a camera, a first cleaning mechanism and a second cleaning mechanism, and the top end of the robot body is fixedly connected with a fixing frame; the lifting mechanism is arranged in the fixing frame, the telescopic mechanism is arranged in the fixing plate, the camera is arranged on the telescopic mechanism, the cleaning mechanism is arranged at the bottom end of the fixing plate, and the second cleaning mechanism is arranged at the top end of the fixing plate. By means of the arrangement mode that the lifting mechanism, the fixing plate, the telescopic mechanism, the camera, the first cleaning mechanism and the second cleaning mechanism are matched, the effectiveness of inspection and copying of the camera is guaranteed, and the phenomenon that due to the fact that the number photos obtained after photographing and copying are blurred due to too many stains on the surface, the invalid inspection and copying phenomenon occurs is avoided.

Description

Technical Field

[0001] The present invention relates to the field of equipment related to GIS full-chamber operation, and particularly relates to a small-footed arm-type inspection robot for GIS full-chamber operation. Background Art

[0002] GIS full-chamber is a gas-insulated switchgear that encloses all electrical equipment in a sealed gas chamber filled with insulating gas. The inspection and data transcription of GIS equipment are important parts of the operation and maintenance work of GIS full-chamber, which is related to the safe and reliable operation of GIS equipment. During inspection, inspection robots are mostly used to inspect and transcribe the data of GIS equipment.

[0003] However, for common GIS equipment inspection robots on the market, the high-definition cameras installed on them and the instrument dials of GIS equipment are generally exposed outdoors for a long time, and a large amount of stains are surely adsorbed on their surfaces. There is generally no automatic cleaning function on the robots. If the inspection and photographing and transcription are directly carried out using the high-definition camera without cleaning it, it is difficult to clearly photograph and transcribe the values on the instrument dial. If the pictures of the instrument dial values taken for photographing and transcription are blurred, it will result in ineffective inspection and transcription, greatly affecting the efficiency of the inspection of GIS equipment instruments. Summary of the Invention

[0004] The purpose of the present invention is to provide a small-footed arm-type inspection robot for GIS full-chamber operation to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A small-footed arm-type inspection robot for GIS full-chamber operation, comprising: A robot main body, and a fixed frame is fixedly connected to the top end of the robot main body; A lifting mechanism, and the lifting mechanism is arranged inside the fixed frame; A fixing plate, and the fixing plate makes a vertical displacement along the inner cavity of the fixed frame through the lifting mechanism; A telescopic mechanism, and the telescopic mechanism is arranged inside the fixing plate; A camera, and the camera is arranged on the telescopic mechanism; A first cleaning mechanism, and the cleaning mechanism is arranged at the bottom end of the fixing plate for cleaning GIS equipment; A second cleaning mechanism, and the second cleaning mechanism is arranged at the top end of the fixing plate for cleaning the camera.

[0006] Preferably, the lifting mechanism comprises: A first motor, and the first motor is fixedly installed at the top end of the fixed frame; A screw rod, the end of the screw rod is rotationally inserted and connected to the inner wall of the fixed frame, and the output end of the first motor is drivingly connected to the screw rod; A lifting frame, the lifting frame and the screw rod form a lead screw drive, and the fixed plate is fixedly connected to the outer wall of the lifting frame.

[0007] Preferably, the telescopic mechanism includes: An electric push rod, the electric push rod is fixedly installed inside the fixed plate; A telescopic frame, the output end of the electric push rod is drivingly connected to one end of the telescopic frame, the other end of the telescopic frame is slidably inserted and connected to the inner wall of the fixed plate, and the camera is fixedly installed at the top end of the telescopic frame; An elastic component, the elastic component is arranged on the telescopic frame.

[0008] Preferably, the telescopic mechanism further includes: A rack, a chute is opened at the bottom end of the fixed plate, and the rack is slidably arranged inside the chute; A connecting plate, the connecting plate is symmetrically and fixedly connected to the bottom end of the fixed plate; A rotating frame, the rotating frame is rotatably arranged between the connecting plates through a rotating shaft, and the first cleaning mechanism is arranged on the rotating frame; A gear, the gear is fixedly sleeved outside the rotating shaft, and the gear is meshed with the rack.

[0009] Preferably, the elastic component includes: A sliding rod, grooves are symmetrically opened at one end of the telescopic frame, and the end of the sliding rod is fixedly connected to the inner wall of the groove; A top plate, the top plate is slidably inserted and connected to the sliding rod, the cross section of the top plate is T-shaped, and the top plate cooperates with the second cleaning mechanism; A second compression spring, the second compression spring is sleeved outside the sliding rod, one end of the second compression spring is fixedly connected to the top plate, and the other end of the second compression spring is fixedly connected to the bottom end of the inner wall of the groove.

[0010] Preferably, the first cleaning mechanism includes: A second motor, the second motor is fixedly installed inside the rotating frame; A rotating cylinder, the output end of the second motor is drivingly connected to the rotating cylinder; A telescopic rod, telescopic grooves are equidistantly opened on the outer wall of the rotating cylinder, and the telescopic rod is slidably inserted and connected to the inner cavity of the telescopic groove; A clamping frame, one end of the telescopic rod is fixedly connected to the clamping frame, an injection cavity is opened inside the clamping frame, injection heads communicated with the injection cavity are equidistantly fixedly connected to the outer wall of the clamping frame, and a first one-way valve is arranged inside the injection head; The first cleaning plate, the injection head is slidably inserted and connected to the first cleaning plate; The clamping rod, the clamping rods are equidistantly and fixedly connected to the outer wall of the first cleaning plate, and the clamping holes matching with the clamping rods are equidistantly arranged on the clamping frame; The first compression spring, one end of the first compression spring is fixedly connected to the telescopic rod, and the other end of the first compression spring is fixedly connected to the inner wall of the telescopic groove; The pressing and adding component, the pressing and adding component is arranged inside the rotating cylinder and is used for adding cleaning liquid to the first cleaning plate.

[0011] Preferably, the pressing and adding component includes: The sealing plug, a cavity is arranged inside the rotating cylinder, and the sealing plug is threadedly inserted and connected to the inner cavity of the cavity for storing cleaning liquid; The fixed cylinder, the fixed cylinder is embedded inside the rotating cylinder; The second one-way valve, the second one-way valve is embedded on the fixed cylinder and is used for the one-way entry of cleaning liquid into the inside of the fixed cylinder; The piston rod, the piston rod is slidably arranged inside the fixed cylinder, one end of the piston rod is fixedly connected to the clamping frame, and a through groove communicating with the injection groove is arranged inside the piston rod.

[0012] Preferably, an observation window is embedded on the outer wall of the rotating cylinder, and the observation window is made of a transparent material for observing the remaining amount of cleaning liquid inside the cavity.

[0013] Preferably, the second cleaning mechanism includes: The cleaning frame, the cleaning frame is fixedly connected to the top end of the fixed plate; The sliding plate, a sliding groove is arranged at the top end of the cleaning frame, and the sliding plate is slidably inserted and connected to the inner cavity of the sliding groove; The second cleaning plate, an installation groove is arranged at the bottom end of the sliding plate, and the second cleaning plate is fixedly installed inside the installation groove by bolts; The guiding component, the guiding component is arranged on the sliding plate and is used for guiding the displacement of the second cleaning plate.

[0014] Preferably, the guiding component includes: The guiding rod, guiding grooves are arranged on both side edges of the inner wall of the sliding groove, the cross section of the guiding groove is arc-shaped, and the guiding rods are symmetrically and slidably arranged inside the sliding plate; The third compression spring, the end of the third compression spring is fixedly connected to the guiding rod; The pull rod, a pulling groove is arranged at the bottom end of the sliding plate, the pull rod passes through the pulling groove and is fixedly connected to the guiding rod, a clamping groove is arranged on the outer wall of the pull rod, and the top plate is slidably inserted and connected to the inner cavity of the clamping groove.

[0015] Technical effects and advantages of the present invention: The present invention uses a setting method in which a lifting mechanism, a fixing plate, a telescopic mechanism, a camera, a first cleaning mechanism, and a second cleaning mechanism cooperate with each other. The height of the fixing plate can be adjusted through the lifting mechanism, so that the camera can take pictures and records of instrument dials of devices at different heights. And through the telescoping of the telescopic mechanism, the first cleaning mechanism can clean the instrument dial, and the second cleaning mechanism can clean the camera during the telescoping process, ensuring the effectiveness of the camera's inspection and transcription, avoiding the phenomenon of invalid inspection and transcription caused by blurred numerical photos due to excessive surface stains, and effectively improving the inspection and transcription efficiency of the robot for data in GIS devices; The present invention uses a setting method in which the telescopic mechanism and the first cleaning mechanism cooperate with each other. When the telescopic mechanism is in the retracted state, the first cleaning mechanism can be located in front of the camera, facilitating the operator remotely controlling to accurately control the first cleaning mechanism through the camera, facilitating the cleaning of GIS devices. And when the telescopic mechanism is in the extended state, the camera extends forward, and the first cleaning mechanism will rotate below the camera, without affecting the use of the camera; The present invention uses a setting method in which a second motor, a rotating cylinder, a telescopic rod, a clamping frame, an injection head, a first cleaning plate, a clamping rod, a first compression spring, and a pressing and adding component cooperate with each other. When the telescopic mechanism is in the retracted state, the first cleaning mechanism is in a horizontal state. At this time, the first cleaning plate can be pressed against the outside of the instrument dial of the GIS device by the walking of the robot body. During the pressing process, it can drive the pressing and adding component to squeeze the cleaning liquid into the first cleaning plate, which is beneficial for the first cleaning plate to clean the instrument dial clean, facilitating the subsequent camera to take clear numerical photos; The present invention uses a setting method in which a cleaning frame, a sliding plate, a second cleaning plate, and a guiding component cooperate with each other. When the telescopic mechanism performs an extending action, the guiding component can be used to guide the sliding plate, so that the second cleaning plate cleans the lens of the camera twice, wiping the camera lens successively twice, effectively removing various dirt on the lens surface, ensuring that the camera always maintains good imaging quality. And the cleaning frame shields the camera within a certain range, avoiding the influence of external light on the shooting quality. And when the camera needs to be repaired and maintained, the sliding plate can be pulled out of the cleaning frame by disassembling the guiding component, and the camera can be exposed for repair operations, which is convenient for use. Description of the Drawings

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0017] Figure 2 It is a schematic diagram of the internal structure of the overall side of the present invention.

[0018] Figure 3 Schematic diagram of the internal structure of the side of the fixing plate of the present invention.

[0019] Figure 4 Schematic diagram of the internal structure of the front of the first cleaning mechanism of the present invention.

[0020] Figure 5 For the present invention Figure 2 Enlarged structural diagram of part A in the present invention.

[0021] Figure 6 For the present invention Figure 4 Enlarged structural diagram of part B in the present invention.

[0022] Figure 7 For the present invention Figure 4 Enlarged structural diagram of part C in the present invention.

[0023] Figure 8 Schematic diagram of the internal structure of the front of the second cleaning mechanism of the present invention.

[0024] In the figure: 1, robot main body; 2, fixing frame; 3, lifting mechanism; 31, first motor; 32, screw rod; 33, lifting frame; 4, fixing plate; 5, telescopic mechanism; 51, electric push rod; 52, telescopic frame; 53, elastic component; 531, sliding rod; 532, top plate; 533, second compression spring; 54, rack; 55, connecting plate; 56, rotating frame; 57, gear; 6, camera; 7, first cleaning mechanism; 71, second motor; 72, rotating cylinder; 73, telescopic rod; 74, clamping frame; 75, injection head; 76, first cleaning plate; 77, clamping rod; 78, first compression spring; 79, pressing and adding component; 791, sealing plug; 792, fixed cylinder; 793, second one-way valve; 794, piston rod; 8, second cleaning mechanism; 81, cleaning frame; 82, sliding plate; 83, second cleaning plate; 84, guiding component; 841, guiding rod; 842, third compression spring; 843, pull rod; 9, first one-way valve; 10, observation window. Detailed implementation manners

[0025] 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.

[0026] The present invention provides as Figures 1-8A small foot-arm inspection robot for GIS full-gas chamber operation is shown, comprising a robot body 1, a lifting mechanism 3, a fixed plate 4, a telescopic mechanism 5, a camera 6, a first cleaning mechanism 7 and a second cleaning mechanism 8. The top of the robot body 1 is fixedly connected to a fixed frame 2, the lifting mechanism 3 is arranged inside the fixed frame 2, the fixed plate 4 is vertically displaced along the inner cavity of the fixed frame 2 through the lifting mechanism 3, the telescopic mechanism 5 is arranged inside the fixed plate 4, the camera 6 is arranged on the telescopic mechanism 5, and a fill light is arranged on the camera 6. The camera 6 can not only take pictures and record GIS equipment, but also can transmit real-time video to facilitate remote operation and observation of the internal situation of the GIS full-gas chamber by the staff. The cleaning mechanism is arranged at the bottom end of the fixed plate 4 for cleaning the GIS equipment. The second cleaning mechanism 8 is arranged at the top end of the fixed plate 4 for cleaning the camera 6. The height of the fixed plate 4 can be adjusted by the lifting mechanism 3, so that the camera 6 can take pictures and record the instrument dials of the equipment at different heights. The telescopic mechanism 5 can be extended and retracted to allow the first cleaning mechanism 7 to clean the instrument dial. The camera 6 can also be cleaned by the second cleaning mechanism 8 during the extension and retraction process, thereby ensuring the effectiveness of the inspection and transcription of the camera 6, avoiding the phenomenon of invalid inspection and transcription due to blurry numerical photos taken and transcribed due to excessive surface stains, and effectively improving the inspection and transcription efficiency of the robot for data in the GIS equipment.

[0027] Specifically, the lifting mechanism 3 includes a first motor 31, a screw 32 and a lifting frame 33. The first motor 31 is fixedly installed on the top of the fixed frame 2. The end of the screw 32 is rotatably connected to the inner wall of the fixed frame 2. The output end of the first motor 31 is transmission-connected to the screw 32. The lifting frame 33 and the screw 32 form a lead screw transmission. The fixed plate 4 is fixedly connected to the outer wall of the lifting frame 33. The first motor 31 is controlled to start and stop by an external controller. The electric screw 32 of the first motor 31 rotates in different directions, so that the lifting frame 33 can be moved back and forth in the vertical direction under the restriction of the inner wall of the fixed frame 2, so that the horizontal height of the camera 6 on the fixed plate 4 can be adjusted, so that different GIS equipment can be photographed, and the first cleaning mechanism 7 can also clean different GIS equipment.

[0028] Specifically, the telescopic mechanism 5 includes an electric push rod 51, a telescopic frame 52, an elastic component 53, a rack 54, a connecting plate 55, a rotating frame 56 and a gear 57. The electric push rod 51 is fixedly installed inside the fixed plate 4. The output end of the electric push rod 51 is drivingly connected to one end of the telescopic frame 52. The other end of the telescopic frame 52 is slidably inserted and connected to the inner wall of the fixed plate 4. The camera 6 is fixedly installed at the top end of the telescopic frame 52. The electric push rod 51 is controlled to start and stop through an external controller, so as to drive the telescopic frame 52 to move horizontally, enabling the camera 6 to move, facilitating changing the shooting angle as needed. The elastic component 53 is arranged on the telescopic frame 52. A chute is opened at the bottom end of the fixed plate 4. The rack 54 is slidably arranged inside the chute. The connecting plates 55 are symmetrically and fixedly connected to the bottom end of the fixed plate 4. The rotating frame 56 is rotatably arranged between the connecting plates 55 through a rotating shaft. The first cleaning mechanism 7 is arranged on the rotating frame 56. The gear 57 is fixedly sleeved outside the rotating shaft. The gear 57 is meshed with the rack 54. The rack 54 is fixedly connected to the bottom end of the telescopic frame 52. When the telescopic frame 52 moves, the rack 54 can drive the gear 57 to rotate, so that the rotating frame 56 can drive the first cleaning mechanism 7 to turn over. When cleaning is required, the camera 6 can be retracted to the rear, facilitating the camera 6 to be at an angle convenient for observing the cleaning situation. When shooting is required, the camera 6 can be extended to the front. At this time, the first cleaning mechanism 7 rotates to the lower part along with the rotating frame 56, which does not interfere with shooting and enables the camera 6 to be closer to the GIS device, making the shooting clearer.

[0029] Further, the elastic component 53 includes a slide rod 531, a top plate 532 and a second compression spring 533. Grooves are symmetrically opened at one end of the telescopic frame 52. The end of the slide rod 531 is fixedly connected to the inner wall of the groove. The top plate 532 is slidably inserted and connected to the slide rod 531. The cross-section of the top plate 532 is T-shaped. The top plate 532 cooperates with the second cleaning mechanism 8. The second compression spring 533 is sleeved outside the slide rod 531. One end of the second compression spring 533 is fixedly connected to the top plate 532. The other end of the second compression spring 533 is fixedly connected to the bottom end of the inner wall of the groove. The second compression spring 533 is always in a compressed state, so as to provide a stable elastic force to the top plate 532, and thus enable the top plate 532 to provide a stable elastic force to the second cleaning mechanism 8.

[0030] Specifically, the first cleaning mechanism 7 includes a second motor 71, a rotating cylinder 72, a telescopic rod 73, a clamping frame 74, a first cleaning plate 76, a clamping rod 77, a first compression spring 78, and a pressing and adding component 79. The second motor 71 is fixedly installed inside the rotating frame 56. The output end of the second motor 71 is in transmission connection with the rotating cylinder 72. The outer wall of the rotating cylinder 72 is equidistantly provided with telescopic grooves. The telescopic rod 73 is slidably inserted into the inner cavity of the telescopic groove. One end of the telescopic rod 73 is fixedly connected to the clamping frame 74. An injection cavity is provided inside the clamping frame 74. The outer wall of the clamping frame 74 is equidistantly fixedly connected with injection heads 75 communicating with the injection cavity. A first one-way valve 9 is arranged inside the injection head 75. The setting of the first one-way valve 9 facilitates that the cleaning liquid inside will not flow out when the first cleaning plate 76 is not squeezed, which is convenient for use. The injection head 75 is slidably inserted into the first cleaning plate 76. The injection head 75 can inject the cleaning liquid onto the first cleaning plate 76 comprehensively and evenly. The first cleaning plate 76 is made of sponge material, which can make the cleaning effect better. The clamping rods 77 are equidistantly fixedly connected to the outer wall of the first cleaning plate 76. The clamping frame 74 is equidistantly provided with clamping holes matching the clamping rods 77. The first cleaning plate 76 can be disassembled and assembled through the clamping rods 77, which is convenient for replacement at any time to maintain the cleaning quality. One end of the first compression spring 78 is fixedly connected to the telescopic rod 73, and the other end of the first compression spring 78 is fixedly connected to the inner wall of the telescopic groove. The first compression spring 78 is always in a compressed state, so that a stable elastic force can be provided to the clamping frame 74 through the telescopic rod 73, enabling the first cleaning plate 76 to closely adhere to the GIS device, thereby cleaning the instrument panel thereon. The pressing and adding component 79 is arranged inside the rotating cylinder 72 and is used to add cleaning liquid to the first cleaning plate 76. The cleaning liquid can be glass water or other liquids used for cleaning glass lenses.

[0031] Further, the pressing and adding component 79 includes a sealing plug 791, a fixing cylinder 792, a second one-way valve 793 and a piston rod 794. A cavity is formed inside the rotating cylinder 72. The sealing plug 791 is threadedly inserted into the inner cavity of the cavity for storing the cleaning liquid. The fixing cylinder 792 is embedded inside the rotating cylinder 72. The second one-way valve 793 is embedded on the fixing cylinder 792 for the one-way entry of the cleaning liquid into the inside of the fixing cylinder 792. The piston rod 794 is slidably arranged inside the fixing cylinder 792. One end of the piston rod 794 is fixedly connected to the clamping frame 74. A through groove communicating with the injection groove is formed inside the piston rod 794. When the first cleaning plate 76 abuts against the instrument panel of the GIS device, it can continue to move so that the first cleaning plate 76 can drive the piston rod 794 to displace inside the fixing cylinder 792, thereby squeezing the cleaning liquid inside the fixing cylinder 792 into the injection cavity formed in the clamping frame 74 and injecting it equidistantly onto various parts of the first cleaning plate 76 through the injection head 75, so that the first cleaning plate 76 can be fully wetted by the cleaning liquid, and then better clean the instrument panel of the GIS device, improve the cleaning effect, ensure the cleanliness and tidiness of the surface of the instrument panel. And when not cleaning, it can be reset again under the elastic force of the first compression spring 78, and the cleaning liquid inside the cavity is pumped into the inside of the fixing cylinder 792 again through the second one-way valve 793 for the next use.

[0032] Further, an observation window 10 is embedded on the outer wall of the rotating cylinder 72. The observation window 10 is made of a transparent material and is used to observe the remaining amount of the cleaning liquid inside the cavity, so that the stock of the cleaning liquid can be understood at any time, avoiding interruption of the operation due to exhaustion of the cleaning liquid during the cleaning process, which affects the cleaning efficiency and effect.

[0033] Specifically, the second cleaning mechanism 8 includes a cleaning frame 81, a sliding plate 82, a second cleaning plate 83 and a guiding component 84. The cleaning frame 81 is fixedly connected to the top end of the fixing plate 4. A sliding groove is formed at the top end of the cleaning frame 81. The sliding plate 82 is slidably inserted into the inner cavity of the sliding groove. An installation groove is formed at the bottom end of the sliding plate 82. The second cleaning plate 83 is fixedly installed inside the installation groove by bolts. The guiding component 84 is arranged on the sliding plate 82 and is used to guide the displacement of the second cleaning plate 83. When the telescopic frame 52 performs a horizontal displacement, the sliding plate 82 can be driven to displace through the guiding component 84, so that the second cleaning plate 83 can clean the lens of the camera 6 during the extension process. The second cleaning plate 83 is made of sponge material, which can not only clean but also will not damage the mirror surface of the camera 6.

[0034] Furthermore, the guide assembly 84 includes a guide rod 841, a third compression spring 842 and a pull rod 843. Guide grooves are provided on both sides of the inner wall of the sliding groove. The cross section of the guide groove is arc-shaped. The guide rod 841 is symmetrically slidably arranged inside the sliding plate 82. The end of the third compression spring 842 is fixedly connected to the guide rod 841. A pull groove is provided at the bottom end of the sliding plate 82. The pull rod 843 passes through the pull groove and is fixedly connected to the guide rod 841. A clamping groove is provided on the outer wall of the pull rod 843. The top plate 532 is slidably connected to the inner cavity of the clamping groove. The third compression spring 842 is always in a compressed state. Thereby, the guide rod 841 can be stably inserted into the interior of the guide groove, so that it can descend and rise under the arc limit, so that the second cleaning plate 83 can perform a reciprocating cleaning on the camera 6, ensuring that the camera 6 always maintains a good imaging quality, and the cleaning frame 81 blocks the camera 6 to a certain extent to prevent external light from affecting the quality of shooting, and when the camera 6 needs to be inspected and maintained, the guide rod 841 can be disengaged from the guide groove by pulling the pull rod 843, and the sliding plate 82 can be pulled out of the cleaning frame 81, exposing the camera 6 for inspection and maintenance operations, which is easy to use.

[0035] Working principle of the present invention: When the robot body 1 walks in the GIS full air chamber and needs to take photos and record the dashboard values of the GIS equipment, if the dashboard is found to be dirty, the electric push rod 51 can be remotely started to move the camera 6 back to the rear. The first cleaning mechanism 7 is in a horizontal state driven by the rotating frame 56. At this time, the camera 6 can observe the position of the first cleaning plate 76. The height of the lifting frame 33 is adjusted by the displacement of the robot body 1 and the rotation of the first motor 31. The first cleaning plate 76 can be aligned with the dashboard, and the robot body 1 continues to move, squeeze and press the adding component 79, so that the cleaning liquid inside the drum 72 can be evenly injected into the first On the cleaning plate 76, the second motor 71 can be started at this time so that the first cleaning plate 76 can clean the outer wall of the instrument panel. After the cleaning is completed, the electric push rod 51 can be started again to push the camera 6 to the front. At this time, the first cleaning mechanism 7 is located below the camera 6 as the rotating frame 56 rotates, which does not affect its normal photo recording. In the process of horizontal displacement of the camera 6, the guide rods 841 on both sides of the sliding plate 82 can descend and rise under the limit of the arc-shaped guide groove, so that the second cleaning plate 83 can perform a reciprocating cleaning of the camera 6 to ensure that the camera 6 always maintains a good imaging quality.

[0036] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not intended 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 within the protection scope of the present invention.

Claims

1. A small-footed arm-type inspection robot for GIS full-chamber operation, characterized in that Including: A robot main body (1), at the top of which a fixing frame (2) is fixedly connected; A lifting mechanism (3), which is arranged inside the fixing frame (2); A fixing plate (4), which moves vertically along the inner cavity of the fixing frame (2) through the lifting mechanism (3); A telescopic mechanism (5), which is arranged inside the fixing plate (4); A camera (6), which is arranged on the telescopic mechanism (5); A first cleaning mechanism (7), which is arranged at the bottom end of the fixing plate (4) for cleaning GIS equipment; A second cleaning mechanism (8), which is arranged at the top end of the fixing plate (4) for cleaning the camera (6).

2. The small-footed arm type inspection robot for GIS full-chamber operation according to claim 1, characterized in that The lifting mechanism (3) includes: A first motor (31), which is fixedly installed at the top of the fixing frame (2); A screw rod (32), the end of which is rotatably inserted into the inner wall of the fixing frame (2), and the output end of the first motor (31) is in transmission connection with the screw rod (32); A lifting frame (33), which forms a lead screw drive with the screw rod (32), and the fixing plate (4) is fixedly connected to the outer wall of the lifting frame (33).

3. The small-footed arm-type inspection robot for GIS full-chamber operation according to claim 1, characterized in that The telescopic mechanism (5) includes: An electric push rod (51), which is fixedly installed inside the fixing plate (4); A telescopic frame (52), the output end of the electric push rod (51) is in transmission connection with one end of the telescopic frame (52), the other end of the telescopic frame (52) is slidably inserted into the inner wall of the fixing plate (4), and the camera (6) is fixedly installed at the top end of the telescopic frame (52); An elastic component (53), which is arranged on the telescopic frame (52).

4. The small-foot-arm type inspection robot for GIS full-chamber operation according to claim 3, characterized in that, The telescopic mechanism (5) further includes: A rack (54), a chute is opened at the bottom end of the fixing plate (4), and the rack (54) is slidably arranged inside the chute; Connecting plates (55), which are symmetrically and fixedly connected to the bottom end of the fixing plate (4); A rotating frame (56), which is rotatably arranged between the connecting plates (55) through a rotating shaft, and the first cleaning mechanism (7) is arranged on the rotating frame (56); A gear (57), which is fixedly sleeved on the outside of the rotating shaft, and the gear (57) is meshed with the rack (54).

5. The small-foot-arm type inspection robot for full gas chamber operation in GIS according to claim 3, characterized in that The elastic component (53) includes: A sliding rod (531), grooves are symmetrically opened at one end of the telescopic frame (52), and the end of the sliding rod (531) is fixedly connected to the inner wall of the groove; A top plate (532), which is slidably inserted into the sliding rod (531), the cross section of the top plate (532) is T-shaped, and the top plate (532) cooperates with the second cleaning mechanism (8); The second compression spring (533) is sleeved outside the sliding rod (531). One end of the second compression spring (533) is fixedly connected to the top plate (532), and the other end of the second compression spring (533) is fixedly connected to the bottom end of the inner wall of the groove.

6. The small-foot-arm type inspection robot for GIS full-chamber operation according to claim 4, characterized in that The first cleaning mechanism (7) includes: A second motor (71) fixedly installed inside the rotating frame (56); A rotating cylinder (72), and the output end of the second motor (71) is in transmission connection with the rotating cylinder (72); A telescopic rod (73). Telescopic grooves are equidistantly formed on the outer wall of the rotating cylinder (72), and the telescopic rod (73) is slidably inserted into the inner cavity of the telescopic groove; A clamping frame (74). One end of the telescopic rod (73) is fixedly connected to the clamping frame (74). An injection cavity is formed inside the clamping frame (74). Injection heads (75) communicating with the injection cavity are equidistantly fixedly connected to the outer wall of the clamping frame (74). A first one-way valve (9) is arranged inside the injection head (75); A first cleaning plate (76), and the injection head (75) is slidably inserted into the first cleaning plate (76); Clamping rods (77) are equidistantly fixedly connected to the outer wall of the first cleaning plate (76), and clamping holes matching the clamping rods (77) are equidistantly formed on the clamping frame (74); A first compression spring (78). One end of the first compression spring (78) is fixedly connected to the telescopic rod (73), and the other end of the first compression spring (78) is fixedly connected to the inner wall of the telescopic groove; A pressing and adding component (79) is arranged inside the rotating cylinder (72) and is used for adding cleaning liquid to the first cleaning plate (76).

7. A small-footed arm-type inspection robot for full gas chamber operation in GIS, characterized in that The pressing and adding component (79) includes: A sealing plug (791). A cavity is formed inside the rotating cylinder (72), and the sealing plug (791) is threadedly inserted into the inner cavity of the cavity for storing cleaning liquid; A fixed cylinder (792) embedded inside the rotating cylinder (72); A second one-way valve (793) embedded on the fixed cylinder (792) for allowing the cleaning liquid to enter the inside of the fixed cylinder (792) unidirectionally; A piston rod (794) slidably arranged inside the fixed cylinder (792). One end of the piston rod (794) is fixedly connected to the clamping frame (74), and a through groove communicating with the injection groove is formed inside the piston rod (794).

8. The small-foot-arm type inspection robot for GIS full-chamber operation according to claim 6, characterized in that, An observation window (10) is embedded on the outer wall of the rotating cylinder (72). The observation window (10) is made of a transparent material and is used for observing the remaining amount of the cleaning liquid inside the cavity.

9. The small-foot-arm inspection robot for full-gas-chamber operation in GIS according to claim 5, characterized in that, The second cleaning mechanism (8) includes: A cleaning frame (81) fixedly connected to the top end of the fixing plate (4); A sliding plate (82). A sliding groove is formed at the top end of the cleaning frame (81), and the sliding plate (82) is slidably inserted into the inner cavity of the sliding groove; The second cleaning plate (83), an installation groove is formed at the bottom end of the sliding plate (82), and the second cleaning plate (83) is fixedly installed inside the installation groove by bolts; The guiding assembly (84), the guiding assembly (84) is arranged on the sliding plate (82) and is used for guiding the displacement of the second cleaning plate (83).

10. A small-footed and arm-type inspection robot for GIS full-chamber operation according to claim 9, characterized in that, The guiding assembly (84) includes: The guiding rods (841), guiding grooves are formed on both sides of the inner wall of the sliding groove, the cross section of the guiding groove is arc-shaped, and the guiding rods (841) are symmetrically and slidably arranged inside the sliding plate (82); The third compression spring (842), the end of the third compression spring (842) is fixedly connected to the guiding rod (841); The pull rod (843), a pulling groove is formed at the bottom end of the sliding plate (82), the pull rod (843) passes through the pulling groove and is fixedly connected to the guiding rod (841), a clamping groove is formed on the outer wall of the pull rod (843), and the top plate (532) is slidably inserted into the inner cavity of the clamping groove.

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