Intelligent patrol robot for cable trench of transformer substation and use method of intelligent patrol robot

Abstract

The invention discloses an intelligent patrol robot for a cable trench of a transformer substation and a use method thereof, and belongs to the technical field of patrol robots. Dust and tiny impurities attached to the surface of a lens are cleaned by scraping and brushing the lens through a scraping strip, and meanwhile, a miniature fan is started, so that an adsorption nozzle in an adsorption pipe sucks air from the outside; the group of adsorption nozzles at the edge of the vertical rod can adsorb dust and tiny impurities on the surface of the lens, then the adsorption nozzle in the middle can adsorb residual dust and impurities on the surface of the lens, and meanwhile, the scraping strip on the other side scrapes and brushes the surface of the lens again and cooperates with the adsorption nozzles at the edge for adsorption. The purpose of multi-stage cleaning of the lens is achieved in the single deflection process of the vertical rod, part of impurities are prevented from remaining in fine lines on the surface of the lens, the cleaning effect is improved, dust and the impurities cannot be transferred on the surface of the lens in the scraping process, the situation that a larger area is covered after dirt is scraped is avoided, and the service life of the lens is prolonged. And the inspection effect and fault judgment of the robot are ensured.

Description

Technical Field

[0001] This invention relates to the field of inspection robot technology, specifically to an intelligent inspection robot for substation cable trenches and its usage method. Background Technology

[0002] With the continuous development and intelligent upgrading of the power system, the safe and stable operation of substations, as key nodes in power transmission, is directly related to the reliability of the entire power grid. Cable trenches, as the core area for cable laying, protection and management within substations, bear the important functions of power signal transmission and power distribution. Monitoring and maintenance of their operating status is particularly important. Traditional substation cable trench inspections mainly rely on manual methods, which have low inspection efficiency, are greatly affected by human factors, and are prone to problems such as missed inspections and false inspections. Currently, semi-automatic or simple automated equipment is used for auxiliary inspections. Remote-controlled trolleys carrying detection equipment form robots to inspect local areas of cable trenches. Traditional robots often have difficulty moving smoothly in cable trenches due to uneven ground and crisscrossing cables, which poses certain difficulties for inspection work. Moreover, when using robots to inspect cable trenches, the environment inside the cable trench is special and complex, and dust and microbial impurities easily adhere to the camera lens surface. Existing cleaning methods mostly rely on regular manual maintenance, which has a long cleaning cycle, or use scraping to clean. Simple scraping often cannot completely remove impurities, and some impurities may remain in the fine texture of the lens surface, resulting in incomplete cleaning. In addition, during the scraping process, impurities may be transferred on the lens surface, and the originally concentrated stains are spread out and cover a larger area, which will aggravate the contamination of the lens surface and affect the inspection effect and fault diagnosis. Summary of the Invention

[0003] The purpose of this invention is to provide an intelligent inspection robot for substation cable trenches and its usage method, to solve the problem mentioned in the background art that traditional robots often have difficulty moving smoothly in cable trenches due to uneven ground and crisscrossing cables, which causes certain difficulties for inspection work; existing cleaning methods for inspection cameras mostly rely on manual periodic maintenance, which has a long cleaning cycle, or use scraping to clean, but simple scraping often cannot completely remove the dirt, and some impurities may remain in the fine texture of the mirror surface, resulting in incomplete cleaning. Moreover, during the scraping process, impurities may be transferred on the mirror surface, and the originally concentrated stains are spread out and cover a larger area, which actually aggravates the problem of the mirror surface contamination.

[0004] To achieve the above objectives, the present invention provides the following technical solution: A substation cable trench intelligent inspection robot includes a base, with drive wheels installed at the four corners of the base. Two drive wheels on the same side are fitted with main tracks. An auxiliary transfer assembly is fixedly connected to the end of each drive wheel away from the base. An installation groove is formed in the base, and a fixed seat is fixed to one side of the installation groove. An adjustment assembly is installed on the fixed seat. An inspection camera is located at the end of the adjustment assembly away from the fixed seat. A cover plate is located on the side of the inspection camera away from the adjustment assembly. Two lenses are snapped into the cover plate, and several mounting screws are provided on the edge of the cover plate. The cover plate is fixed to one side of the inspection camera by the mounting screws. A groove is formed at the bottom of the inspection camera, and a drive assembly is fixed to the bottom of the inner wall of the groove. Two ends of the drive assembly penetrate the groove and are fixedly connected to cleaning components. One side of the cleaning components overlaps one side of the cover plate. An extraction component is connected to the top of the two cleaning components and is fixedly installed on the top of the inspection camera.

[0005] As a further embodiment of the present invention, the auxiliary transfer assembly includes a drive wheel and a driven wheel. The diameter of the drive wheel is larger than that of the driven wheel. One end of the drive wheel is fixed to the drive wheel, and a secondary track is sleeved between the drive wheel and the driven wheel. A support shaft is rotatably connected to one side of the driven wheel through a bushing. A vertical plate is fixed to the end of the support shaft away from the driven wheel, and the bottom of the vertical plate is fixed to the base.

[0006] As a further embodiment of the present invention, the adjustment assembly includes two main support rods and two auxiliary support rods. The bottom ends of the two main support rods and the two auxiliary support rods are respectively rotatably connected to a rotating shaft and a deflection shaft. The rotating shaft and the deflection shaft are fixed in a fixed base. The middle part of the two main support rods is rotatably connected to an electro-hydraulic push rod via a pin. The bottom ends of the two electro-hydraulic push rods are rotatably connected to a fixed shaft. The two ends of the fixed shaft are fixed to the front and rear sides inside the base.

[0007] As a further embodiment of the present invention, the main support rod and the secondary support rod are arranged in parallel, and the ends of the two main support rods and the two secondary support rods away from the fixed base are respectively fixed with connecting shafts, and the two connecting shafts are rotatably connected to the rear end of the inspection camera.

[0008] As a further embodiment of the present invention, the driving assembly includes an electric push rod, the bottom end of which is fixed to the bottom of the inner wall of the groove, a top rod fixedly connected to the top end of the electric push rod, toothed plates fixedly connected to both ends of the top rod, protrusions provided at the top and bottom ends of the toothed plates, a deflecting gear meshing in the toothed plates, a rotating column fixed in the middle of the deflecting gear, one end of the rotating column being rotatably connected to the inner side of the groove through a bushing, and the other end of the rotating column penetrating the groove and fixed to the bottom end of the cleaning assembly.

[0009] As a further embodiment of the present invention, the cleaning assembly includes a vertical pole, the bottom end of which is fixed to the bottom end of a rotating column. A scraper is fixed to the side of the vertical pole near the cover plate, and the scraper is of a flexible design with several through holes. An adsorption tube is snapped into the side of the vertical pole away from the scraper. The adsorption tube has three sets of adsorption nozzles that are snapped into the vertical pole. The scraper is located between two adjacent sets of adsorption nozzles. A connecting tube is connected to the top end of the adsorption tube, and the top end of the connecting tube is connected to the extraction assembly.

[0010] As a further embodiment of the present invention, the extraction component includes a miniature fan, the air inlet of the miniature fan is connected to a filter box, the filter box is fixed to the inspection camera, the two sides of the filter box are connected to telescopic hoses, the other end of the telescopic hoses is connected to the top of a connecting pipe, and the air outlet of the miniature fan is connected to a discharge pipe.

[0011] A method for using an intelligent inspection robot for cable trenches in substations, the method comprising the following steps: When using this inspection robot, it is placed in a cable trench and driven by remote control. The drive wheels at the four corners of the base work and drive the two main tracks. The main tracks have a large ground contact area and low pressure, which prevents them from sinking into soft ground or slipping, thus improving the robot's walking stability. The inspection camera works together to inspect the cable trench and transmits the inspection results to an external control terminal. While the drive wheels are working, they also drive the auxiliary transfer component. The active wheel in the auxiliary transfer component rotates synchronously with the drive wheel. The active wheel drives the driven wheel to rotate through the secondary track. The driven wheel is connected to the vertical plate through a bushing and a support shaft, which improves the stability of the secondary track. Moreover, the diameter of the active wheel is larger than that of the driven wheel, so that the secondary track has an inclined angle with the ground. The inclined secondary track will temporarily overlap the edge of the trench to form a transition bridge, preventing the main track from being suspended or stuck. When inspecting different heights in the cable trench, two electro-hydraulic push rods are controlled to extend and push the main support rod to rotate around the rotation axis on the fixed base. The other end of the main support rod pushes the inspection camera to rise through one of the connecting shafts. At the same time, the inspection camera pushes the other connecting shaft, causing the secondary support rod to deflect synchronously with the main support rod. The bottom end of the secondary support rod rotates around the deflection axis. The two connecting shafts rotate at the rear end of the inspection camera. The combination of the two main support rods and the two secondary support rods forms a parallelogram mechanism. During the adjustment of the inspection camera, it is kept horizontal or at a preset angle. By adjusting the angle of the inspection camera, multi-level inspection of the cable trench can be achieved, avoiding blind spots that affect the inspection effect. Lowering the height of the inspection camera also improves the robot's passability in the cable trench. When cleaning the lenses in the inspection camera, the electric push rod is extended and moves the top rod upward. The top rod then moves two toothed plates upward within the groove. As the toothed plates move upward, they also rotate the deflection gear. The middle of the deflection gear then deflects the upright, causing the tops of the two uprights to move the two scrapers and the suction tube away from each other and closer to the two lenses. The scrapers scrape the lenses to clean the dust and small impurities adhering to the lens surface. At the same time, the micro fan is activated. The micro fan draws gas from the suction tube through the filter box and the telescopic hose, allowing the suction nozzles in the suction tube to draw in air from the outside. Since the scraper is located between two adjacent sets of suction nozzles and the suction nozzles penetrate the upright, the set of suction nozzles at the edge of the upright will adsorb the dust and small impurities on the lens surface, preventing dust and impurities from scattering in the air and causing secondary pollution to the lens. The dust and small impurities will enter the filter box through the suction tube and the telescopic hose for filtration. After the dust and impurities are isolated, the gas is discharged from the exhaust pipe at the outlet of the micro fan. As the pole continues to rotate, driving the scraper and multiple suction nozzles, a set of suction nozzles in the middle of the pole will adsorb residual dust and impurities on the lens surface. At the same time, the scraper on the other side will scrape the lens surface again, working in conjunction with a set of suction nozzles at the edge of the pole. This allows the pole to achieve multi-stage cleaning of the lens in a single rotation, preventing some impurities from remaining in the fine textures of the lens surface and improving the cleaning effect. When the pole is adjusted to the initial position by the scraper, the electric push rod is retracted and the top rod pulls the two toothed plates down, causing the two deflection gears to rotate relative to each other and drive the two poles to rotate. This brings the tops of the two poles closer together and away from the two lenses, ensuring that the poles do not interfere with the line of sight of the inspection camera.

[0012] Compared with the prior art, the beneficial effects of the present invention are: This invention cleans the lenses in a surveillance camera by moving the toothed plate upwards, which in turn rotates the deflection gear. The middle of the deflection gear then deflects the upright, causing the tops of the two uprights to move the two scrapers and the suction tube away from each other and closer to the two lenses. The scrapers then scrape the lenses to clean the dust and tiny impurities adhering to their surfaces. Simultaneously, a miniature fan is activated, drawing gas from the suction tube through a filter box and a telescopic hose. This allows the suction nozzles in the suction tube to draw in air from the outside. A set of suction nozzles at the edge of the upright then adsorbs dust and tiny impurities from the lens surface, preventing dust and impurities from scattering in the air. The robot avoids secondary contamination of the lens. As the upright pole drives the scraper and multiple suction nozzles to continue rotating, a set of suction nozzles in the middle of the upright pole will adsorb residual dust and impurities on the lens surface. At the same time, the scraper on the other side will scrape the lens surface again, and together with a set of suction nozzles at the edge of the upright pole, it will adsorb the impurities. This allows the upright pole to achieve multi-stage cleaning of the lens in a single deflection, preventing some impurities from remaining in the fine texture of the lens surface, improving the cleaning effect. Moreover, dust and impurities will not be transferred on the lens surface during the scraping process, avoiding the spread of dirt and covering a larger area, ensuring the inspection effect of the robot and the diagnosis of faults.

[0013] 2. This invention utilizes a drive wheel to operate and propel two main tracks. The main tracks have a large ground contact area and low pressure, preventing the robot from sinking into soft ground or slipping, thus improving its walking stability. In conjunction with a patrol camera, the robot can inspect cable trenches and transmit the inspection results to an external control unit. Simultaneously, the drive wheel operates, activating an auxiliary transfer assembly. The active wheel in the auxiliary transfer assembly rotates synchronously with the drive wheel. The active wheel drives the driven wheel to rotate via the secondary track. The driven wheel is connected to the vertical plate via a bushing and support shaft, further improving the stability of the secondary track. Furthermore, the diameter of the active wheel is larger than that of the driven wheel, creating an angle between the secondary track and the ground. This angled secondary track temporarily overlaps the edge of the trench, forming a transition bridge and preventing the main track from dangling or getting stuck. If the robot moves to a low step in the cable trench, the secondary track will first contact the obstacle, assisting the robot in raising its base and reducing the risk of jamming. Attached Figure Description

[0014] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a three-dimensional structural schematic diagram of the present invention; Figure 2 This is a schematic diagram of the structure of the auxiliary transfer component of the present invention; Figure 3 This is a schematic diagram of the structure of the adjustment component of the present invention; Figure 4 This is a schematic diagram of the inspection camera and lens of the present invention; Figure 5 This is a schematic diagram of the connection between the inspection camera and the driving component of the present invention; Figure 6 This is a schematic diagram of the structure of the driving component of the present invention; Figure 7 This is a schematic diagram of the cleaning component of the present invention; Figure 8 This is a side view of the structure of the pole of the present invention.

[0016] The attached diagram lists the components represented by each number as follows: 1. Base; 2. Drive wheel; 3. Main track; 4. Auxiliary transfer assembly; 401. Drive wheel; 402. Driven wheel; 403. Secondary track; 404. Support shaft; 405. Vertical plate; 5. Mounting slot; 6. Fixed seat; 7. Adjustment assembly; 701. Support main rod; 702. Support secondary rod; 703. Rotation shaft; 704. Deflection shaft; 705. Electro-hydraulic push rod; 706. Fixed shaft; 707. Connecting shaft; 8. Inspection camera; 9. Cover plate; 10. 11. Lens; 12. Mounting screw; 13. Groove; 14. Drive assembly; 15. Electric push rod; 16. Top rod; 17. Tooth plate; 18. Deflection gear; 19. Rotating column; 10. Cleaning assembly; 11. Upright pole; 12. Scraper; 13. Through hole; 14. Adsorption tube; 15. Adsorption nozzle; 16. Connecting tube; 17. Extraction assembly; 18. Miniature fan; 19. Filter box; 10. Telescopic hose; 11. Discharge pipe. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] Please see Figures 1-8 The present invention provides a technical solution: A substation cable trench intelligent inspection robot includes a base 1, with drive wheels 2 installed at the four corners of the base 1. Two drive wheels 2 on the same side are fitted with main tracks 3. An auxiliary transfer component 4 is fixedly connected to the end of the drive wheel 2 away from the base 1. An installation groove 5 is opened in the base 1. A fixed seat 6 is fixed on one side of the installation groove 5. An adjustment component 7 is installed on the fixed seat 6. An inspection camera 8 is provided at the end of the adjustment component 7 away from the fixed seat 6. A cover plate 9 is provided on the side of the inspection camera 8 away from the adjustment component 7. Two lenses 10 are snapped into the cover plate 9. Several mounting screws 11 are provided on the edge of the cover plate 9. The cover plate 9 is fixed to one side of the inspection camera 8 by the mounting screws 11. When removing the lens 10 during operation, the locking between the cover plate 9 and the inspection camera 8 is released by loosening the multiple mounting screws 11 on the edge of the cover plate 9, and the cover plate 9 can be removed. Then, the lens 10 can be taken out from the inside of the cover plate 9, which facilitates the replacement of the lens 10 and the routine maintenance of the inspection camera 8.

[0019] The bottom of the inspection camera 8 has a groove 12. The bottom of the inner wall of the groove 12 is fixed with a drive component 13. The two ends of the drive component 13 pass through the groove 12 and are fixedly connected to a cleaning component 14. One side of the cleaning component 14 overlaps with one side of the cover plate 9. The top of the two cleaning components 14 is connected to an extraction component 15. The extraction component 15 is fixedly installed on the top of the inspection camera 8.

[0020] As a further embodiment of the present invention, the auxiliary transfer assembly 4 includes a drive wheel 401 and a driven wheel 402. The diameter of the drive wheel 401 is larger than the diameter of the driven wheel 402. One end of the drive wheel 401 is fixed to the drive wheel 2, and a secondary track 403 is sleeved between the drive wheel 401 and the driven wheel 402. A support shaft 404 is rotatably connected to one side of the driven wheel 402 through a bushing. A vertical plate 405 is fixed to one end of the support shaft 404 away from the driven wheel 402, and the bottom of the vertical plate 405 is fixed to the base 1. During operation, the main track 3 has a large ground contact area and low pressure, preventing it from sinking into soft ground or slipping, thus improving the robot's walking stability. The drive wheel 401 drives the driven wheel 402 to rotate through the secondary track 403. The driven wheel 402 is connected to the vertical plate 405 through a bushing and a support shaft 404, thereby improving the stability of driving the secondary track 403. Moreover, the diameter of the drive wheel 401 is larger than that of the driven wheel 402, so that the secondary track 403 has an inclined angle with the ground. The inclined secondary track 403 will temporarily overlap the edge of the trench to form a transition bridge, preventing the main track 3 from being suspended or stuck, and reducing the risk of jamming.

[0021] As a further embodiment of the present invention, the adjustment assembly 7 includes two main support rods 701 and two secondary support rods 702. The bottom ends of the two main support rods 701 and the two secondary support rods 702 are respectively rotatably connected to a rotating shaft 703 and a deflection shaft 704. The rotating shaft 703 and the deflection shaft 704 are fixed in the fixed base 6. The middle part of the two main support rods 701 is rotatably connected to an electric hydraulic push rod 705 through a pin. The bottom ends of the two electric hydraulic push rods 705 are rotatably connected to a fixed shaft 706. The two ends of the fixed shaft 706 are fixed to the front and rear sides inside the base 1. During operation, the electro-hydraulic push rod 705 extends and pushes the support rod 701 to rotate around the rotation axis 703 on the fixed seat 6. The other end of the support rod 701 pushes the inspection camera 8 to rise through one of the connecting shafts 707, so as to facilitate the adjustment of the height of the inspection camera 8.

[0022] As a further embodiment of the present invention, the main support rod 701 and the secondary support rod 702 are arranged in parallel, and the ends of the two main support rods 701 and the two secondary support rods 702 away from the fixed base 6 are respectively fixed with connecting shafts 707, and the two connecting shafts 707 are rotatably connected to the rear end of the inspection camera 8. During operation, the inspection camera 8 moves and pushes another connecting shaft 707, causing the support auxiliary rod 702 and the support main rod 701 to deflect synchronously. The bottom end of the support auxiliary rod 702 then rotates around the deflection shaft 704. The two connecting shafts 707 rotate at the rear end of the inspection camera 8. Through the combined use of the two support main rods 701 and the two support auxiliary rods 702, a parallelogram mechanism is formed. During the adjustment of the inspection camera 8, it remains horizontal or at a preset angle, ensuring the stability of the inspection camera 8 during operation. When the height of the inspection camera 8 is lowered, the ends of the main support rod 701 and the secondary support rod 702 that are away from the fixed base 6 will move closer to the base 1, which will significantly reduce the height of the entire robot and improve the robot's passability in cable trenches.

[0023] As a further embodiment of the present invention, the drive assembly 13 includes an electric push rod 131, the bottom end of which is fixed to the bottom of the inner wall of the groove 12. A top rod 132 is fixedly connected to the top end of the electric push rod 131. A toothed plate 133 is fixedly connected to both ends of the top rod 132. The top and bottom ends of the toothed plate 133 are respectively provided with protrusions. A deflection gear 134 is meshed in the toothed plate 133. During rotation, the deflection gear 134 will contact the protrusions at both ends of the toothed plate 133 to prevent the deflection gear 134 from slipping off the toothed plate 133. A rotating column 135 is fixed in the middle of the deflection gear 134. One end of the rotating column 135 is rotatably connected to the inner side of the groove 12 through a bushing, and the other end of the rotating column 135 penetrates the groove 12 and is fixed to the bottom end of the cleaning assembly 14. During operation, the electric push rod 131 extends and drives the push rod 132 to move upward. The push rod 132 then drives the two toothed plates 133 to move upward within the groove 12. As the toothed plates 133 move upward, they drive the deflection gear 134 to rotate. The middle part of the deflection gear 134 drives the two cleaning components 14 to deflect synchronously, so that the cleaning components 14 can automatically clean the lens 10.

[0024] As a further embodiment of the present invention, the cleaning component 14 includes a pole 141, the bottom end of the pole 141 is fixed to the bottom end of the rotating column 135, a scraper 142 is fixed on the side of the pole 141 near the cover plate 9, and the scraper 142 is a flexible design with several through holes 143. An adsorption tube 144 is snapped onto the side of the pole 141 away from the scraper 142. The adsorption tube 144 has three sets of adsorption nozzles 145 and is snapped into the pole 141. The scraper 142 is located between two adjacent sets of adsorption nozzles 145. A connecting tube 146 is connected to the top end of the adsorption tube 144, and the top end of the connecting tube 146 is connected to the extraction component 15. During operation, the scraper 142 scrapes the lens 10 to clean the dust and tiny impurities adhering to the surface of the lens 10. It works in conjunction with the extraction component 15 to vacuum the dust, preventing impurities from being transferred to the surface of the lens 10. At the same time, the scraper 142 on the other side scrapes the surface of the lens 10 again, so that the upright 141 can achieve the purpose of multi-stage cleaning of the lens 10 in a single deflection, preventing some impurities from remaining in the fine texture of the surface of the lens 10 and improving the cleaning effect.

[0025] As a further embodiment of the present invention, the extraction component 15 includes a miniature fan 151, the air inlet of the miniature fan 151 is connected to a filter box 152, the filter box 152 is fixed on the inspection camera 8, and telescopic hoses 153 are connected to both sides of the filter box 152. The telescopic hoses 153 can freely extend or shorten as the pole 141 deflects, ensuring the flow of gas between the connecting pipe 146 and the filter box 152. The other end of the telescopic hose 153 is connected to the top end of the connecting pipe 146, and the air outlet of the miniature fan 151 is connected to an exhaust pipe 154. During operation, the miniature fan 151 draws gas from the adsorption tube 144 through the filter box 152 and the telescopic hose 153, causing the adsorption nozzle 145 in the adsorption tube 144 to draw in air containing dust and fine impurities from the outside. The dust and fine impurities will enter the filter box 152 for filtration through the adsorption tube 144 and the telescopic hose 153. After the dust and impurities are isolated, the gas is discharged from the exhaust pipe 154 at the outlet of the miniature fan 151, preventing dust and impurities from being dispersed in the air and causing secondary pollution to the lens 10.

[0026] A method for using an intelligent inspection robot for substation cable trenches, the method comprising the following steps: When using this inspection robot, it is placed in a cable trench and driven by remote control. The drive wheels 2 at the four corners of the base 1 are activated, driving the two main tracks 3. The main tracks 3 have a large ground contact area and low pressure, preventing them from sinking into soft ground or slipping, thus improving the robot's walking stability. The inspection camera 8 is used to inspect the cable trench and transmit the inspection results to the external control terminal. While the drive wheels 2 are working, they also drive the auxiliary transfer component 4. The active wheel 401 in the auxiliary transfer component 4 rotates synchronously with the drive wheel 2. The active wheel 401 drives the driven wheel 402 to rotate through the secondary track 403. The driven wheel 402 is connected to the upright plate 405 through the bushing and support shaft 404, thereby improving the stability of the secondary track 403. Moreover, the diameter of the active wheel 401 is larger than that of the driven wheel 402, so that the secondary track 403 has an inclined angle with the ground. The inclined secondary track 403 will temporarily overlap the edge of the trench to form a transition bridge, preventing the main track 3 from being suspended or stuck. When inspecting different heights in the cable trench, two electro-hydraulic push rods 705 are controlled to extend and push the main support rod 701 to rotate around the rotation axis 703 on the fixed base 6. The other end of the main support rod 701 pushes the inspection camera 8 to rise through one of the connecting shafts 707. At the same time, the inspection camera 8 pushes the other connecting shaft 707 to drive the secondary support rod 702 to deflect synchronously with the main support rod 701. The bottom end of the secondary support rod 702 then rotates around the deflection axis 704. The two connecting shafts 707 rotate at the rear end of the inspection camera 8. The combination of the two main support rods 701 and the two secondary support rods 702 forms a parallelogram mechanism. During the adjustment of the inspection camera 8, it can be kept horizontal or at a preset angle. By adjusting the angle of the inspection camera 8, multi-level inspection of the cable trench can be achieved, avoiding blind spots that affect the inspection effect. Lowering the height of the inspection camera 8 also improves the robot's passability in the cable trench. When cleaning the lens 10 in the inspection camera 8, the electric push rod 131 is controlled to extend and drive the top rod 132 upward. The top rod 132 then drives the two toothed plates 133 to move upward within the groove 12. As the toothed plates 133 move upward, they drive the deflection gear 134 to rotate. The middle of the deflection gear 134 drives the upright rod 141 to deflect, causing the tops of the two upright plates 405 to move the two scraper strips 142 and the suction tube 144 away from each other and closer to the two lenses 10. The scraper strips 142 scrape the lenses 10 to clean the dust and small impurities attached to the surface of the lenses 10. At the same time, the micro fan 151 is activated. 51 Gas is drawn from the adsorption tube 144 through the filter box 152 and the telescopic hose 153, so that the adsorption nozzle 145 in the adsorption tube 144 draws in air from the outside. Since the scraper 142 is located between two adjacent sets of adsorption nozzles 145 and the adsorption nozzles 145 penetrate the upright 141, a set of adsorption nozzles 145 at the edge of the upright 141 will adsorb dust and small impurities on the surface of the lens 10, preventing dust and impurities from being dispersed in the air and causing secondary pollution to the lens 10. Dust and small impurities will enter the filter box 152 through the adsorption tube 144 and the telescopic hose 153 for filtration. After the dust and impurities are isolated, the gas is discharged from the exhaust pipe 154 at the outlet of the micro fan 151. As the pole 141 drives the scraper 142 and multiple suction nozzles 145 to continue rotating, a set of suction nozzles 145 in the middle of the pole 141 will adsorb residual dust and impurities on the surface of the lens 10. At the same time, the scraper 142 on the other side will scrape the surface of the lens 10 again, and together with a set of suction nozzles 145 at the edge of the pole 141, it will adsorb the impurities. This allows the pole 141 to achieve multi-stage cleaning of the lens 10 in a single deflection, preventing some impurities from remaining in the fine textures on the surface of the lens 10 and improving the cleaning effect. When the pole 141 is adjusted to the initial position by the scraper 142, the electric push rod 131 is retracted and the top rod 132 pulls the two toothed plates 133 down, causing the two deflection gears 134 to rotate relative to each other and drive the two poles 141 to rotate. This makes the tops of the two poles 141 move closer to each other and further away from the two lenses 10, so that the poles 141 will not interfere with the line of sight of the inspection camera 8.

Claims

1. A smart inspection robot for cable trenches in substations, comprising a base (1), characterized in that: Drive wheels (2) are installed at the four corners of the base (1). The two drive wheels (2) on the same side are fitted with main tracks (3). An auxiliary transfer component (4) is fixedly connected to the end of the drive wheel (2) away from the base (1). An installation groove (5) is provided in the base (1). A fixed seat (6) is fixed on one side of the installation groove (5). An adjustment component (7) is installed on the fixed seat (6). A patrol camera (8) is provided at the end of the adjustment component (7) away from the fixed seat (6). A cover plate (9) is provided on the side of the patrol camera (8) away from the adjustment component (7). Two lenses (10) are snapped into the cover plate (9). Furthermore, a number of mounting screws (11) are provided at the edge of the cover plate (9). The cover plate (9) is fixed to one side of the inspection camera (8) by the mounting screws (11). A groove (12) is provided at the bottom of the inspection camera (8). A drive assembly (13) is fixed at the bottom of the inner wall of the groove (12). The two ends of the drive assembly (13) pass through the groove (12) and are fixedly connected to a cleaning assembly (14). One side of the cleaning assembly (14) overlaps one side of the cover plate (9). The tops of the two cleaning assemblies (14) are connected to an extraction assembly (15). The extraction assembly (15) is fixedly installed on the top of the inspection camera (8).

2. The intelligent inspection robot for substation cable trenches according to claim 1, characterized in that: The auxiliary transfer assembly (4) includes a drive wheel (401) and a driven wheel (402). The diameter of the drive wheel (401) is larger than that of the driven wheel (402). One end of the drive wheel (401) is fixed to the drive wheel (2), and a secondary track (403) is sleeved between the drive wheel (401) and the driven wheel (402). A support shaft (404) is rotatably connected to one side of the driven wheel (402) through a bushing. A vertical plate (405) is fixed to the end of the support shaft (404) away from the driven wheel (402), and the bottom of the vertical plate (405) is fixed to the base (1).

3. The intelligent inspection robot for substation cable trenches according to claim 1, characterized in that: The adjustment assembly (7) includes two main support rods (701) and two secondary support rods (702). The bottom ends of the two main support rods (701) and the two secondary support rods (702) are respectively rotatably connected to a rotating shaft (703) and a deflection shaft (704). The rotating shaft (703) and the deflection shaft (704) are fixed in the fixed base (6). The middle part of the two main support rods (701) is rotatably connected to an electric hydraulic push rod (705) through a pin. The bottom ends of the two electric hydraulic push rods (705) are rotatably connected to a fixed shaft (706). The two ends of the fixed shaft (706) are fixed to the front and rear sides inside the base (1).

4. The intelligent inspection robot for substation cable trenches according to claim 3, characterized in that: The main support rod (701) and the secondary support rod (702) are arranged in parallel, and the two main support rods (701) and the two secondary support rods (702) are respectively fixed with connecting shafts (707) at the ends away from the fixed base (6). The two connecting shafts (707) are rotatably connected to the rear end of the inspection camera (8).

5. The intelligent inspection robot for substation cable trenches according to claim 1, characterized in that: The drive assembly (13) includes an electric push rod (131), the bottom end of which is fixed to the bottom of the inner wall of the groove (12). A top rod (132) is fixedly connected to the top end of the electric push rod (131). A toothed plate (133) is fixedly connected to both ends of the top rod (132). The top and bottom ends of the toothed plate (133) are respectively provided with protrusions. A deflection gear (134) is meshed in the toothed plate (133). A rotating column (135) is fixed in the middle of the deflection gear (134). One end of the rotating column (135) is rotatably connected to the inside of the groove (12) through a bushing, and the other end of the rotating column (135) passes through the groove (12) and is fixed to the bottom end of the cleaning assembly (14).

6. The intelligent inspection robot for substation cable trenches according to claim 5, characterized in that: The cleaning component (14) includes a pole (141), the bottom end of which is fixed to the bottom end of a rotating column (135). A scraper (142) is fixed on the side of the pole (141) near the cover plate (9), and the scraper (142) is a flexible design. Several through holes (143) are opened in the scraper (142). An adsorption tube (144) is snapped onto the side of the pole (141) away from the scraper (142). Three sets of adsorption nozzles (145) are provided in the adsorption tube (144) and are snapped into the pole (141). The scraper (142) is located between two adjacent sets of adsorption nozzles (145). A connecting tube (146) is connected to the top end of the adsorption tube (144), and the top end of the connecting tube (146) is connected to the extraction component (15).

7. The intelligent inspection robot for substation cable trenches according to claim 6, characterized in that: The extraction component (15) includes a miniature fan (151), the air inlet of which is connected to a filter box (152), the filter box (152) is fixed on the inspection camera (8), the two sides of the filter box (152) are connected to telescopic hoses (153), the other end of the telescopic hoses (153) is connected to the top of the connecting pipe (146), and the air outlet of the miniature fan (151) is connected to an exhaust pipe (154).

8. A method of using an intelligent inspection robot for substation cable trenches, as described in any one of claims 1-7, characterized in that... The method of use includes the following steps: When using this inspection robot, it is placed in the cable trench and driven by remote control. The drive wheels (2) at the four corners of the base (1) are activated and drive the two main tracks (3). The main tracks (3) have a large ground contact area and low pressure, which prevents them from sinking into soft ground or slipping, thus improving the robot's walking stability. The inspection camera (8) is used to inspect the cable trench and transmits the inspection results to the external control terminal. While the drive wheels (2) are working, they also drive the auxiliary transfer assembly (4), which in turn drives the active wheel (4) in the auxiliary transfer assembly (4). 401) Rotates synchronously with the drive wheel (2). The drive wheel (401) drives the driven wheel (402) to rotate through the secondary track (403). The driven wheel (402) is connected to the vertical plate (405) through the bushing and support shaft (404), thereby improving the stability of the drive secondary track (403) operation. Moreover, the diameter of the drive wheel (401) is larger than the diameter of the driven wheel (402), so that the secondary track (403) has an inclined angle with the ground. The inclined secondary track (403) will temporarily overlap the edge of the trench to form a transition bridge, avoiding the main track (3) from being suspended or stuck.

9. The method of using the intelligent inspection robot for substation cable trenches according to claim 8 further includes the following steps: When inspecting different heights in the cable trench, two electro-hydraulic push rods (705) are controlled to extend and push the main support rod (701) to rotate around the rotation axis (703) on the fixed base (6). The other end of the main support rod (701) pushes the inspection camera (8) to rise through one of the connecting shafts (707). At the same time, the inspection camera (8) pushes the other connecting shaft (707) to drive the secondary support rod (702) to deflect synchronously with the main support rod (701), so that the secondary support rod (702)... The bottom end rotates around the deflection shaft (704), and the two connecting shafts (707) rotate at the rear end of the inspection camera (8). Through the combined use of two main support rods (701) and two secondary support rods (702), a parallelogram mechanism is formed. During the adjustment of the inspection camera (8), the horizontal or preset angle remains unchanged. By adjusting the angle of the inspection camera (8), multi-level inspection of the cable trench can be achieved, avoiding blind spots that affect the inspection effect. Lowering the height of the inspection camera (8) also improves the robot's passability in the cable trench.

10. The method of using the intelligent inspection robot for substation cable trenches according to claim 9 further includes the following steps: When cleaning the lens (10) in the inspection camera (8), the electric push rod (131) is controlled to extend and drive the top rod (132) to move upward. The top rod (132) then drives the two toothed plates (133) to move upward in the groove (12). As the toothed plates (133) move upward, they drive the deflection gear (134) to rotate. The middle part of the deflection gear (134) drives the upright rod (141) to deflect, so that the tops of the two upright plates (405) drive the two scrapers (142) and the suction tube (144) to move away from each other and closer to the two lenses (10). The scrapers (142) scrape the lenses (10) to clean the dust and small impurities attached to the surface of the lenses (10). At the same time, the micro fan (151) is started. (151) Gas is drawn from the adsorption tube (144) through the filter box (152) and the telescopic hose (153), so that the adsorption nozzle (145) in the adsorption tube (144) draws in air from the outside. Since the scraper (142) is located between two adjacent sets of adsorption nozzles (145) and the adsorption nozzles (145) penetrate the upright (141), a set of adsorption nozzles (145) at the edge of the upright (141) will adsorb dust and small impurities on the surface of the lens (10), preventing dust and impurities from floating in the air and causing secondary pollution to the lens (10). Dust and small impurities will enter the filter box (152) through the adsorption tube (144) and the telescopic hose (153) for filtration. After the dust and impurities are isolated, the gas is discharged from the exhaust pipe (154) at the outlet of the micro fan (151).

11. The method of using an intelligent inspection robot for substation cable trenches according to claim 10 further includes the following steps: As the pole (141) drives the scraper (142) and multiple suction nozzles (145) to continue rotating, a set of suction nozzles (145) in the middle of the pole (141) will adsorb residual dust and impurities on the surface of the lens (10). At the same time, the scraper (142) on the other side will scrape the surface of the lens (10) again, and together with a set of suction nozzles (145) at the edge of the pole (141) for adsorption, the pole (141) can achieve the purpose of multi-stage cleaning of the lens (10) in a single deflection, preventing some impurities from remaining on the surface. To improve the cleaning effect in the fine texture of the lens (10), when the pole (141) is adjusted to the initial position by the scraper (142), the electric push rod (131) is controlled to retract and the two toothed plates (133) are pulled down by the top rod (132), so that the two deflection gears (134) will rotate relative to each other and drive the two poles (141) to rotate, so that the tops of the two poles (141) are close to each other and away from the two lenses (10), so that the poles (141) will not interfere with the line of sight of the inspection camera (8).

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