Electric power inspection trolley

Abstract

The embodiment of the invention provides an electric power inspection trolley. Relates to the technical field of power inspection. The electric power inspection trolley comprises a rack, a detection assembly, a walking assembly, a lifting assembly and a control assembly, and the detection assembly is arranged on the rack; the walking assembly is arranged on the rack and used for driving the rack to move. The lifting assembly is arranged on the rack, and the lifting assembly is configured to lift the rack and swing the rack towards one side of the lifting assembly so as to move the rack; the control assembly is arranged on the rack and electrically connected with the detection assembly, the walking assembly and the lifting assembly. According to the electric power inspection trolley, the adaptability to terrains such as steps is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power inspection, and in particular to a power inspection trolley. BACKGROUND

[0002] With the rapid development of intelligent technology, indoor intelligent inspection systems have been widely applied in many fields, especially in complex environments such as power grids, buildings, and factories. The demand for intelligent inspection equipment is constantly rising. Intelligent inspection systems use intelligent devices such as robots and drones to achieve automated inspection, detection, and maintenance of indoor environments, effectively improving inspection efficiency, reducing labor costs, and improving the accuracy and safety of operation and maintenance management.

[0003] In related technologies, intelligent inspection trolleys, as important inspection equipment, have begun to attract widespread attention and application. Intelligent inspection trolleys typically include sensor modules, drive devices, communication modules, and control units. The sensor module is used to collect environmental data, the drive device drives the trolley to move, the communication module realizes data transmission, and the control unit coordinates the work of each part.

[0004] However, in actual working environments, complex terrains such as steps, thresholds, and uneven ground are often encountered, which often hinder the normal movement of the inspection trolley, causing it to fail to reach the designated inspection area smoothly. SUMMARY

[0005] The embodiments of the present application provide a power inspection trolley to solve the problem of complex terrains such as steps, thresholds, and uneven ground hindering the movement of the inspection trolley.

[0006] The embodiments of the present application provide a power inspection trolley, comprising: a rack;

[0007] a detection assembly disposed on the rack;

[0008] a walking assembly disposed on the rack, the walking assembly being configured to drive the rack to move;

[0009] a lifting assembly disposed on the rack, the lifting assembly being configured to lift the rack and swing the rack towards one side of the lifting assembly to move the rack;

[0010] a control assembly disposed on the rack, the control assembly being electrically connected to the detection assembly, the walking assembly, and the lifting assembly, respectively.

[0011] In a possible implementation, the lifting assembly comprises a support plate, a telescopic rod, a connecting rod and a swing member, the connecting rod is rotationally arranged on the frame, the telescopic rod is connected with the connecting rod, the swing member is arranged on the frame, the swing member is connected with the connecting rod, and the swing member is configured to drive the connecting rod to rotate so as to drive the telescopic rod to swing.

[0012] The telescopic rod is rotationally connected with the support plate, and the telescopic rod is configured to extend the telescopic rod, so that the telescopic rod drives the support plate to abut against the ground, and the walking assembly is separated from the ground.

[0013] In a possible implementation, the swing member comprises a worm wheel, a worm and a driver, the worm wheel is sleeved on the connecting rod, the worm is rotationally arranged on the frame, the worm is engaged with the worm wheel, and the driver is arranged on the frame and connected with the worm to drive the worm to rotate.

[0014] In a possible implementation, the telescopic rod, the connecting rod and the worm wheel of the same lifting assembly are all arranged in two, the worm is arranged as a double-head worm, and the double-head worm is engaged with two worm wheels respectively to drive the two connecting rods to rotate synchronously.

[0015] In a possible implementation, a plurality of connecting ribs are arranged on the support plate, the connecting ribs are arranged on the support plate in a uniform manner, and the telescopic rod is rotationally connected with any one of the connecting ribs.

[0016] In a possible implementation, the walking assembly comprises a driving member, a track belt and a plurality of pulleys, the pulleys are rotationally arranged on the frame, the pulleys are arranged in a triangular shape, the track belt is arranged around the pulleys, and the driving member is connected with the pulleys to drive the pulleys to rotate.

[0017] In a possible implementation, the electric power inspection trolley further comprises an electric shock protection assembly, the electric shock protection assembly is arranged on the frame, and the electric shock protection assembly is configured to conduct electric energy of the frame to the ground.

[0018] In a possible implementation, the electric shock protection assembly comprises a conductive disc, a conductive tip and a grounding chain, the conductive disc is arranged at the bottom of the frame close to the walking assembly, the conductive tip is opposite to the conductive disc, the grounding chain is connected with the conductive tip, and the grounding chain is configured to contact the ground.

[0019] In a possible implementation, the frame is provided with a support rib, the support rib is connected with the walking assembly, and the conductive disc is connected with the support rib.

[0020] In a possible implementation, the detection assembly comprises an eye camera and a distance sensor, the eye camera is arranged on the rack to take pictures of the object to be detected, and the distance sensor is arranged on the rack to detect the distance between the rack and the object in front.

[0021] The power inspection trolley provided by the embodiment of the application comprises a detection assembly, a walking assembly, a lifting assembly and a control assembly. The walking assembly is used to drive the rack to move. The lifting assembly is used to lift the rack and swing the rack towards one side of the lifting assembly to move the rack. The control assembly is used to control the rack. The walking assembly ensures efficient movement of the trolley in a flat area. The lifting assembly controls the lifting and lateral swinging of the rack to resolve the movement obstacles caused by steps, doorsteps and uneven ground, realize flexible crossing and stable moving in complex terrain, and improve the passability and adaptability of the inspection trolley in complex terrain conditions. BRIEF DESCRIPTION OF DRAWINGS

[0022] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and serve to explain the principles of the application together with the specification.

[0023] Figure 1 A structural schematic diagram of the power inspection trolley provided by the application is shown in the figure.

[0024] Figure 2 A structural schematic diagram of the power inspection trolley provided by the application is shown in the figure.

[0025] Figure 3 A partial enlarged schematic diagram of the walking assembly of the power inspection trolley provided by the application is shown in the figure.

[0026] Figure 4 A partial enlarged schematic diagram of the lifting assembly of the power inspection trolley provided by the application is shown in the figure.

[0027] Figure 5 A top view of the power inspection trolley provided by the application is shown in the figure.

[0028] Figure 6 A structural schematic diagram of the power inspection trolley provided by the application is shown in the figure.

[0029] Figure 7 A structural exploded schematic diagram of the eye camera of the power inspection trolley provided by the application is shown in the figure.

[0030] Explanation of reference signs:

[0031] 100, rack; 110, support rib; 111, plastic screw; 120, mounting layer; 130, fixed plate; 140, first fixed pin; 150, mounting seat; 160, right-angle fixed cylinder;

[0032] 200, detection assembly; 210, compound eye camera; 211, bottom shell; 212, photosensitive sheet; 213, perovskite nanowire; 214, fixed ring; 215, hemispherical alumina film; 216, pinhole shell; 220, distance sensor;

[0033] 300, walking assembly; 310, driving piece; 311, second motor; 320, track; 330, belt wheel;

[0034] 400, lifting assembly; 410, support plate; 411, connecting rib; 420, telescopic rod; 430, connecting rod; 440, swing piece; 441, worm gear; 442, worm; 443, driver; 4431, first motor; 4432, first gear; 4433, second gear;

[0035] 500, control assembly;

[0036] 600, electric shock protection assembly; 610, conductive disc; 620, conductive tip; 630, grounding chain; 640, mounting beam; 650, fixed support.

[0037] The specific embodiments have been shown and described in the foregoing drawings and specification, it is to be understood that the application is not limited to the embodiments disclosed, but instead can be practiced with the exclusions and modifications within the scope of the claims. Indeed, the examples set forth herein are presented by way of example only and should not be taken as limiting. Numerous variations on the examples described herein will be readily apparent to those skilled in the art and the general principles defined herein can be applied to other examples and combinations thereof without departing from the scope of the application. Accordingly, the application is not to be restricted except in the spirit of the claims. DETAILED DESCRIPTION

[0038] The exemplary embodiments are described herein with reference to particular embodiments for purposes of description and explanation. The description and explanation are not intended to limit the scope of the application to the particular embodiments described. The description and explanation are intended to describe and explain the exemplary embodiments, which are presented by way of example only. The exemplary embodiments described herein are not intended to be exhaustive or to be limited to the precise forms disclosed. Many modifications and variations are possible in light of this disclosure. It is intended that the scope of the application be defined by the claims.

[0039] With the rapid development of intelligent technology, indoor intelligent inspection systems have been widely applied in many fields, especially in complex environments such as power grids, buildings, and factories. The demand for intelligent inspection equipment is constantly rising. For example, in power grid substations, intelligent inspection systems can monitor the operating status of equipment in real time and detect potential faults in a timely manner. In large factories, intelligent inspection systems can periodically inspect production equipment to ensure the continuity and safety of the production process. Intelligent inspection systems use intelligent devices such as robots and drones to automatically patrol, detect, and maintain indoor environments, effectively improving inspection efficiency, reducing labor costs, and improving the accuracy and safety of operation and maintenance management.

[0040] However, in actual working environment, often encounter steps, thresholds, uneven ground and other complex terrain, which often hinder the normal movement of the inspection trolley, resulting in its inability to smoothly reach the designated inspection area. For example, in the substation, there may be steps or thresholds between the equipment area and the control room, which will hinder the passage of the trolley, causing some key areas to be unable to be timely inspected. In the factory workshop, the ground may become uneven due to long-term use, and the trolley may be stalled or overturned when passing through these areas, affecting the smooth progress of the inspection task. These problems not only reduce the inspection efficiency, but also may cause equipment failure to be unable to be timely discovered, increasing the operation and maintenance risk.

[0041] The power inspection trolley provided by the present application comprises a detection assembly, a walking assembly, a lifting assembly and a control assembly arranged on the rack, the walking assembly is used to drive the rack to move, the lifting assembly is used to lift the rack and swing the rack towards one side of the lifting assembly to move the rack, and the control assembly is used to control. The walking assembly ensures efficient movement of the trolley in flat areas. The lifting assembly controls the lifting and lateral swinging of the rack, resolves the movement obstacles caused by steps, thresholds and uneven ground, realizes flexible crossing and stable moving in complex terrain, and improves the passability and adaptability of the inspection trolley in complex terrain conditions.

[0042] The technical solutions of the present application and how the technical solutions of the present application solve the above technical problems will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of the present application will be described below with reference to the accompanying drawings.

[0043] The power inspection trolley provided by the present application comprises a detection assembly, a walking assembly, a lifting assembly and a control assembly arranged on the rack, the walking assembly is used to drive the rack to move, the lifting assembly is used to lift the rack and swing the rack towards one side of the lifting assembly to move the rack, and the control assembly is used to control. The walking assembly ensures efficient movement of the trolley in flat areas. The lifting assembly controls the lifting and lateral swinging of the rack, resolves the movement obstacles caused by steps, thresholds and uneven ground, realizes flexible crossing and stable moving in complex terrain, and improves the passability and adaptability of the inspection trolley in complex terrain conditions. Figure 1 and Figure 2 The power inspection trolley comprises a rack 100, a detection assembly 200, a walking assembly 300, a lifting assembly 400 and a control assembly 500.

[0044] The detection assembly 200 is arranged on the rack 100. The walking assembly 300 is arranged on the rack 100, and the walking assembly 300 is used to drive the rack 100 to move. The lifting assembly 400 is arranged on the rack 100, and the lifting assembly 400 is configured to lift the rack 100 and swing the rack 100 towards one side of the lifting assembly 400 to move the rack 100. The control assembly 500 is arranged on the rack 100, and the control assembly 500 is electrically connected with the detection assembly 200, the walking assembly 300 and the lifting assembly 400 respectively.

[0045] The control assembly 500 is electrically connected with the detection assembly 200 to acquire the features of the environment around the inspection trolley, and then the control assembly 500 controls the cooperation of the walking assembly 300 and the lifting assembly 400, so as to resolve the moving obstacles caused by the steps, the thresholds and the uneven ground, realize the flexible crossing and stable moving in the complex terrain, and improve the passability and adaptability of the inspection trolley in the complex terrain.

[0046] For example, the walking assembly 300 and the lifting assembly 400 are both provided with two, and the two walking assemblies 300 and the two lifting assemblies 400 are symmetrically installed on the two sides of the rack 100 to realize the moving and lifting of the rack 100.

[0047] In a possible implementation, referring to Figure 1 , Figure 4 and Figure 5 , the lifting assembly 400 includes a support plate 410, an extension rod 420, a connecting rod 430 and a swing piece 440, the connecting rod 430 is rotationally arranged on the rack 100, the extension rod 420 is connected with the connecting rod 430, the swing piece 440 is arranged on the rack 100, the swing piece 440 is connected with the connecting rod 430, and the swing piece 440 is used to drive the connecting rod 430 to rotate to drive the extension rod 420 to swing.

[0048] The extension rod 420 is rotationally connected with the support plate 410, and the extension rod 420 is configured to extend the extension rod 420, so that the extension rod 420 drives the support plate 410 to abut against the ground, and the walking assembly 300 is separated from the ground.

[0049] For example, one end of the connecting rod 430 is rotationally connected with the rack 100, the other end of the connecting rod 430 extends to the outside of the rack 100, and the top end of the extension rod 420 is fixed on the end of the connecting rod 430 located outside the rack 100. The extension rod 420 is vertically arranged with the connecting rod 430, so that the extension rod 420 swings in the vertical plane. The bottom of the extension rod 420 is rotationally connected with the support plate 410.

[0050] Exemplarily, the telescopic rod 420 can be an electric push rod. The telescopic rod 420 is fixed on the rack 100 through the support plate 410, and can realize telescopic action in the vertical direction, thereby increasing the passability of the trolley. The connecting rod 430 is rotationally arranged on the rack 100, and one end thereof is connected with the telescopic rod 420 and the other end thereof is connected with the swing piece 440, thereby playing a role of force transmission. When the telescopic rod 420 is in the retracted state, the support plate 410 is separated from the ground, and the support plate 410 is lifted by the telescopic rod 420 to be hung in the air, thereby avoiding affecting the walking of the inspection trolley. When the telescopic rod 420 is in the extended state, the telescopic rod 420 pushes the support plate 410 to move downward and abut against the ground, thereby lifting the whole rack 100, and swinging the position of the rack 100 through the swing piece 440, that is, moving the whole rack 100 above or below the steps, thereby realizing the obstacle crossing of the inspection trolley and improving the passability and adaptability of the inspection trolley under complex terrain conditions.

[0051] In other examples, the telescopic rod 420 can also be a hydraulic rod, a starting push rod, etc.

[0052] In a possible implementation, the swing piece 440 includes a worm gear 441, a worm 442 and a driver 443. The worm gear 441 is sleeved on the connecting rod 430, the worm 442 is rotationally arranged on the rack 100, the worm 442 is engaged with the worm gear 441, and the driver 443 is arranged on the rack 100 and connected with the worm 442 to drive the worm 442 to rotate.

[0053] The worm gear 441 is fixedly sleeved on the connecting rod 430 to drive the connecting rod 430 to rotate, the worm 442 is engaged with the worm gear 441, and the driver 443 drives the worm 442 to rotate, thereby driving the worm gear 441 and the connecting rod 430 to rotate, and realizing the swinging of the telescopic rod 420. This makes the trolley, when encountering steps, thresholds or uneven ground, can flexibly adjust the position of the rack 100 through the telescopic action of the telescopic rod 420 and the swinging of the connecting rod 430, cross the obstacles, and ensure the smooth progress of the inspection task. The flexible lifting and swinging of the rack 100 are realized, and the passability of the trolley in complex terrain is effectively improved.

[0054] Exemplarily, the driver 443 can further include a first motor 4431, a first gear 4432 and a second gear 4433. The first motor 4431 is installed on the rack 100, the first gear 4432 is fixedly sleeved on the output shaft of the first motor 4431, and the second gear 4433 is fixedly sleeved on the worm 442. The second gear 4433 is engaged with the first gear 4432 to drive the worm 442 to rotate.

[0055] In some other examples, the driver 443 can be an electric motor, which is connected with the worm 442 to drive the worm 442 to rotate.

[0056] In a possible implementation, the telescopic rods 420, the connecting rods 430 and the worm gears 441 of the same lifting assembly 400 are all provided as two, and the worm 442 is provided as a double-headed worm 442, which is engaged with the two worm gears 441 respectively to drive the two connecting rods 430 to rotate synchronously.

[0057] The two telescopic rods 420 can provide support forces simultaneously to ensure the balance and stability of the rack 100 during lifting. The synchronous rotation of the two connecting rods 430 ensures uniform force on the rack 100 during swinging, avoiding the tilting or shaking of the rack 100 due to uneven force on one side. The design of the double-headed worm 442 not only simplifies the driving system, but also ensures the synchronous movement of the two worm gears 441, further enhancing the coordination and stability of the entire system. The shaking caused by uneven terrain or obstacles is effectively reduced, thereby improving the stability and safety of the trolley when crossing steps, thresholds or uneven ground.

[0058] For example, the second gear 443 is sleeved on the middle part of the double-headed worm 442 to drive the double-headed worm 442 to rotate. The two ends of the worm 442 are rotatably connected to the rack 100 through bearing seats.

[0059] For example, in order to facilitate the installation of the connecting rods 430, two placing grooves can also be formed on the rack 100. One end of each of the two connecting rods 430 is rotatably connected in the corresponding installation groove, and the two worm gears 441 are rotatably arranged in the corresponding installation grooves and connected with the connecting rods 430. The two worm gears 441 are engaged with one end of the double-headed worm 442 respectively, and the connecting rods 430 are connected with the corresponding telescopic rods 420 respectively. The two telescopic rods 420 are connected to the same support plate 410.

[0060] In a possible implementation, a plurality of connecting ribs 411 are arranged on the support plate 410, and the connecting ribs 411 are evenly arranged on the support plate 410. The telescopic rods 420 are rotatably connected to any one of the connecting ribs 411.

[0061] For example, the connecting ribs 411 are provided as four, and the four connecting ribs 411 are evenly arranged on the upper surface of the support plate 410 in a rectangular distribution. The two telescopic rods 420 are rotatably connected to the two connecting ribs 411 on the side of the support plate 410 close to the rack 100 through the rotating shafts. By arranging four connecting ribs 411, the weight of the support plate 410 can be balanced, and the stability of the support plate 410 can be improved.

[0062] For example, handles are further arranged at the two ends of the support plate 410 for the operator to carry.

[0063] In a possible implementation, with reference to Figure 1 and Figure 3The walking assembly 300 comprises a driving member 310, a track 320 and a plurality of pulleys 330, the pulleys 330 are rotationally arranged on the frame 100, the plurality of pulleys 330 are arranged in a triangle, the track 320 is arranged around the pulleys 330, and the driving member 310 is connected with the pulleys 330 to drive the pulleys 330 to rotate.

[0064] The pulleys 330 are rotationally arranged on the frame 100 and arranged in a triangle, the track 320 is arranged around the pulleys 330, and the driving member 310 is connected with the pulleys 330 to drive the pulleys 330 to rotate. This design effectively disperses the tension of the track 320 through the triangular arrangement of the pulleys 330, enhances the structural stability, prevents the track 320 from sliding or derailing, and increases the contact area with the ground through the use of the track 320, reduces the unit area pressure, improves the passing ability of the trolley on soft or muddy ground, reduces the impact caused by the uneven ground, and improves the moving stability. The direct connection between the driving member 310 and the pulleys 330 ensures efficient power transmission and provides sufficient torque to overcome obstacles.

[0065] For example, the pulleys 330 are arranged in six, of which five pulleys 330 are arranged in a row at the bottom of the frame 100, and one pulley 330 is arranged at the top of the frame 100, so that the six pulleys 330 are arranged in a triangle, and the five pulleys 330 at the bottom are closely arranged to improve the walking ability of the trolley.

[0066] For example, the three pulleys 330 at the ends of the track 320 are driven by separate driving members 310, and the pulleys 330 in the middle are driven by the same driving member.

[0067] For example, the driving member 310 can be a second motor 311, and the second motor 311 is a stepping motor, which is connected with the pulleys 330 to drive the pulleys 330 to rotate.

[0068] For example, a steering structure is arranged between the second motor 311 and the pulleys 330. The steering structure can be a universal joint, which is a prior art and will not be described in detail here. Through the arrangement of the steering structure, the walking assembly 300 can also have the ability to turn while walking, further improving the adaptability of the trolley.

[0069] Exemplarily, the middle located pulley 330 is rotationally connected to the rack 100, the driving member includes a third motor, three third gears and two fourth gears, the third motor is installed on the rack 100 and the third gears are uniformly sleeved on the middle located pulley 330, the two fourth gears are rotationally connected to the rack 100, the fourth gears are located between two adjacent third gears and are engaged with the third gears on both sides, the third motor is connected with one of the third gears, so as to drive the pulley 330 to rotate through the third gears, and the synchronous and same direction rotation of the three driving members is realized through the mutual cooperation between the fourth gears and the third gears.

[0070] In some other examples, the pulleys 330 can be driven by separate motors.

[0071] Exemplarily, the rack 100 is provided with a mounting layer 120, and the second motor 311 is installed on the mounting layer 120. The mounting layer 120 is located at the bottom of the rack 100. The mounting layer 120 is provided with a fixing plate 130, and the fixing plate 130 is provided with a first fixing pin 140, which is fixedly connected with the rack 100 through the fixing plate 130, so as to fix the mounting layer 120.

[0072] Exemplarily, the mounting layer 120 is provided with two, and the two walking assemblies 300 are respectively installed on the two mounting layers 120, and the two mounting layers 120 have a gap therebetween.

[0073] In a possible implementation, with reference to Figure 1 and Figure 6 The electric shock protection assembly 600 is arranged on the rack 100, and is used to conduct the electric energy of the rack 100 to the ground.

[0074] Through the arrangement of the electric shock protection assembly 600, the safety and reliability of the trolley in the high-voltage environment of the power grid are improved. The electric shock protection assembly 600 is installed on the rack 100, and its core function is to safely conduct the electric energy that may accumulate on the rack 100 to the ground, thereby effectively preventing the risk of electric shock caused by the accumulation of electric energy. Not only protects the trolley itself from high-voltage damage, but also ensures the safety of the operator and the surrounding equipment during the inspection process. Through reliable grounding measures, the electric shock protection assembly 600 provides a solid guarantee for the stable operation of the trolley in the complex and changeable power environment, so that it can safely perform the inspection task near the high-voltage and high-risk power grid facilities, reduce the probability of electric shock accidents, and improve the safety and stability of the entire power inspection system.

[0075] In one possible implementation, the electric shock prevention assembly 600 includes an electrically conductive disc 610, an electrically conductive tip 620, and a grounding chain 630. The electrically conductive disc 610 is arranged at the bottom of the rack 100 near the walking assembly 300. The electrically conductive tip 620 is directly opposite the electrically conductive disc 610. The grounding chain 630 is connected to the electrically conductive tip 620 and is used to contact the ground.

[0076] By utilizing the principle of tip discharge, the trolley is effectively protected from high-voltage electricity. The electrically conductive disc 610 is installed at the bottom of the rack 100 near the walking assembly 300 to collect and concentrate the electric energy on the rack 100 and the walking assembly 300. The electrically conductive tip 620 is directly opposite the electrically conductive disc 610. The grounding chain 630 is connected to the electrically conductive tip 620 and extends to the ground, ensuring good contact with the ground.

[0077] When the trolley operates in a high-voltage environment, the electrically conductive disc 610 will accumulate electric charges. According to the principle of tip discharge, the electric charges will concentrate at the electrically conductive tip 620, forming a high electric field strength, which will prompt the electric charges to be quickly released through the tip to the grounding chain 630. The grounding chain 630 safely conducts these electric charges to the ground, effectively preventing the accumulation of electric charges on the rack 100 and avoiding the discharge phenomenon that may be caused by the accumulation of electric charges, thereby protecting the electronic devices and mechanical components of the trolley from high-voltage electricity. This design not only improves the safety of the trolley in a high-voltage environment, but also ensures its stable operation in complex power facilities, reduces the risk of electric shock accidents, and enhances the reliability of the entire power inspection system.

[0078] For example, the bottom of the rack 100 is provided with a mounting beam 640, the electrically conductive tip 620 is arranged on the mounting beam 640, the mounting beam 640 is a metal conductive beam, one end of the grounding chain 630 is connected to the mounting beam 640, and the other end is dragged and placed on the ground to contact the ground, thereby releasing electric energy.

[0079] For example, the bottom of the rack 100 is provided with a U-shaped fixed support 650, a second fixed pin is connected to the fixed support 650, and the fixed pin passes through the mounting beam 640 and the fixed support to achieve the fixation of the mounting beam 640.

[0080] For example, four electrically conductive discs 610 are arranged, two by two on both sides of the walking assembly 300 of the rack 100, and four electrically conductive tips 620 are also arranged, with the mounting beam 640 located between the two mounting layers 120, and the four electrically conductive tips 620 are fixed on the mounting beam 640.

[0081] In one possible implementation, the rack 100 is provided with a support rib 110, the support rib 110 is connected to the walking assembly 300, and the electrically conductive disc 610 is connected to the support rib 110.

[0082] Exemplarily, the support ribs 110 are arranged in a triangular shape, and plastic screws 111 are arranged on the support ribs 110, and the support ribs 110 are fixed to the rack 100 through the plastic screws 111. The belt wheel 330 of the walking assembly 300 is connected to the support ribs 110, and the steering structure of the belt wheel 330 is located on the side of the support ribs 110 close to the belt wheel 330, so as to avoid the influence of the support ribs 110 on the deflection and steering of the belt wheel 330.

[0083] Exemplarily, the conductive disc 610 is fixedly connected with a conductive rod, one end of the conductive rod is fixed to the conductive disc 610, and the other end of the conductive rod is connected to the support rib 110.

[0084] In a possible implementation, referring to Figure 1 and Figure 7 The detection assembly 200 includes an eye camera 210 and a distance sensor 220, the eye camera 210 is arranged on the rack 100 to be used for shooting the detection piece, and the distance sensor 220 is arranged on the rack 100 to be used for detecting the distance between the rack 100 and the front object.

[0085] Exemplarily, the upper surface of the rack 100 is provided with a mounting seat 150 and a right-angle fixing cylinder 160, the mounting seat 150 is bolted to the rack 100, one end of the right-angle fixing cylinder 160 is fixed to the mounting seat 150, and the eye camera 210 is mounted at the other end of the right-angle fixing cylinder 160. So that the eye camera 210 faces the front of the inspection trolley.

[0086] Exemplarily, the compound eye camera 210 includes a bottom shell 211, a photosensitive sheet 212, perovskite nanowires 213, a fixed ring 214, a hemispherical alumina film 215, and a pinhole shell 216. The bottom shell 211 serves as a basic support structure, and the photosensitive sheet 212 is installed inside. The photosensitive sheet 212 is uniformly distributed with perovskite nanowires 213 on the surface. These nanowires serve as photosensitive materials that can efficiently absorb light and generate photo-generated carriers. The fixed ring 214 is installed on the top of the bottom shell 211 to fix the hemispherical alumina film 215 and ensure its stable position. The inner surface of the hemispherical alumina film 215 is covered with a plurality of tiny pinholes, which serve as imaging sub-apertures, with each pinhole corresponding to a sub-eye. The pinhole shell 216 is installed outside the hemispherical alumina film 215, and its surface is designed with a plurality of tiny pinholes that are aligned with the pinholes inside the hemispherical alumina film 215, ensuring that light can accurately pass through the pinholes into the imaging cavity. After the light passes through the pinholes into the imaging cavity, it is focused on the perovskite nanowires 213 on the photosensitive sheet 212, generating photo-generated carriers that are captured by the photosensitive sheet 212 and converted into electrical signals. These signals are transmitted to the external circuit through the conductive connecting lines and are spliced through image processing algorithms to form a high-resolution image with a large field of view. This structural design not only achieves a large field of view and high-resolution imaging effect, but also improves the sensitivity and resolution of imaging through the high-efficiency photosensitive performance of perovskite nanowires 213, while ensuring the stability and reliability of the imaging process. It can accurately position indoors.

[0087] Exemplarily, the distance sensor 220 is an infrared distance sensor 220, which has a synchronous input end to realize synchronous measurement of multiple sensors, thereby accurately fusing sensor data and achieving efficient fusion positioning. It has a wide measurement range and extremely short response time, which can significantly improve the reaction speed and overall performance of the machine, ensuring fast and accurate operation in complex environments, and providing strong support for stable operation and efficient work of the machine.

[0088] Exemplarily, the power inspection trolley further includes a battery system installed in the rack 100, which is electrically connected with the control assembly 500, the walking assembly 300, the detection assembly 200, and the lifting assembly 400 to provide electric energy for them respectively. The battery system has an energy storage battery to provide a mobile power supply. The rack 100 is provided with a charging port for charging the energy storage battery.

[0089] Exemplarily, the control assembly 500 includes a controller having an electric adjustment unit, a control unit, an image recognition unit, and a signal receiving unit. The organic combination of vehicle path planning and remote control is realized. The electric adjustment unit is responsible for efficiently converting the electric energy of the battery into the power required by the motor, accurately controlling the speed and torque of the motor, and thus driving the movement of the inspection vehicle. The control unit, as the brain of the inspection vehicle, on the one hand receives real-time environmental information from the image recognition unit, plans the optimal driving path through calculation and analysis; on the other hand, it also receives remote instructions from the operator through the signal receiving unit, combines these instructions with the autonomously planned path, and realizes remote control. The image recognition unit is like the eyes of the inspection vehicle, which can capture image information of the surrounding environment in real time, and recognize the road, obstacles and other key elements through image processing technology, providing decision basis for the control unit. The signal receiving unit is responsible for receiving instruction signals from the remote control end and detecting information of the detection assembly 200, ensuring that the operator can control the inspection vehicle in real time. The remote control of the inspection vehicle in complex environment is realized, the flexibility and adaptability of the inspection vehicle are improved, and it can be widely used in various complex task scenarios.

[0090] The power inspection vehicle provided by the embodiment of the present application is provided with the detection assembly 200, the walking assembly 300, the lifting assembly 400 and the control assembly 500 on the rack 100. The walking assembly 300 is used to drive the rack 100 to move. The lifting assembly 400 is used to lift the rack 100 and swing the rack 100 towards one side of the lifting assembly 400 to move the rack 100, and the control assembly 500 is used for control. The walking assembly 300 ensures the efficient movement of the vehicle in the flat area. The lifting assembly 400 controls the lifting and lateral swinging of the rack 100, resolves the movement obstacles caused by the steps, thresholds and uneven ground, realizes the flexible crossing and stable moving in the complex terrain, and improves the passability and adaptability of the inspection vehicle in the complex terrain conditions.

[0091] Finally, it should be noted that: other embodiments of the present application will be easily conceived by those skilled in the art after considering the specification and practicing the application disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application that follow the general principles of the present application and include known or customary technical means in the art not disclosed herein, and is not limited to the precise structures described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the present application is only limited by the appended claims.

Claims

1. An electric power inspection trolley, characterized in that, The utility model relates to a lifting mechanism of a walking mechanism, and a detection assembly is arranged on the frame (100), the walking assembly (300) is arranged on the frame (100), and the walking assembly (300) is used to drive the frame (100) to move, the lifting assembly (400) is arranged on the frame (100), and the lifting assembly (400) is configured as, lifts the frame (100), and swings the frame (100) towards the side of lifting assembly (400) to move the frame (100), the control assembly (500) is arranged on the frame (100), and the control assembly (500) is electrically connected with detection assembly (200), walking assembly (300) and lifting assembly (400) respectively. The lifting assembly (400) includes a support plate (410), a telescopic rod (420), a connecting rod (430) and a swing piece (440), the connecting rod (430) is rotatably arranged on the frame (100), the telescopic rod (420) is connected with the connecting rod (430), the swing piece (440) is arranged on the frame (100), the swing piece (440) is connected with the connecting rod (430), and the swing piece (440) is used to drive the connecting rod (430) to rotate to drive the telescopic rod (420) to swing. The telescopic rod (420) is rotatably connected on the support plate (410), and the telescopic rod (420) is configured to extend the telescopic rod (420), so that the support plate (410) is driven to abut against the ground, and the walking assembly (300) is separated from the ground. The swing piece (440) includes a worm wheel (441), a worm (442) and a driver (443), the worm wheel (441) is sleeved on the connecting rod (430), the worm (442) is rotatably arranged on the frame (100), the worm (442) is engaged with the worm wheel (441), the driver (443) is arranged on the frame (100), and the driver (443) is connected with the worm (442) to drive the worm (442) to rotate. The telescopic rod (420), the connecting rod (430) and the worm wheel (441) of the same lifting assembly (400) are all arranged as two, the worm (442) is arranged as a double-end worm (442), the double-end worm (442) is engaged with two worm wheels (441) respectively to drive two connecting rods (430) to rotate synchronously. The support plate (410) is provided with a plurality of connecting ribs (411), the connecting ribs (411) are uniformly arranged on the support plate (410), and the telescopic rod (420) is rotatably connected on any one connecting rib (411).

2. The electric power inspection trolley according to claim 1, characterized in that, ​ ​ 3. The electric power inspection trolley according to claim 2, characterized in that, ​ 4. The electric power inspection trolley according to claim 3, characterized in that, ​ 5. The electric power inspection trolley of claim 2, wherein, ​ 6. The electric power patrol trolley of claim 1, wherein, The walking assembly (300) comprises a driving member (310), a track (320) and a plurality of carrier wheels (330), the carrier wheels (330) are rotationally arranged on the frame (100), the plurality of carrier wheels (330) are arranged in a triangular shape, the track (320) is arranged around the carrier wheels (330), and the driving member (310) is connected with the carrier wheels (330) to drive the carrier wheels (330) to rotate.

7. The electric power inspection trolley according to any one of claims 1-6, characterized in that, Further comprising an electric shock protection assembly (600), the electric shock protection assembly (600) is arranged on the frame (100), and the electric shock protection assembly (600) is used for conducting electric energy of the frame (100) to the ground.

8. The electric power patrol trolley of claim 7, wherein, The electric shock protection assembly (600) comprises a conductive disc (610), a conductive tip (620) and a grounding chain (630), the conductive disc (610) is arranged at the bottom of the frame (100) close to the walking assembly (300), the conductive tip (620) is opposite to the conductive disc (610), the grounding chain (630) is connected with the conductive tip (620), and the grounding chain (630) is used for contacting the ground.

9. The electric power patrol trolley of claim 8, wherein, The frame (100) is provided with a support rib (110), the support rib (110) is connected with the walking assembly (300), and the conductive disc (610) is connected with the support rib (110).

10. The electric power inspection trolley according to any one of claims 1-6, characterized in that, The detection assembly (200) comprises a compound eye camera (210) and a distance sensor (220), the compound eye camera (210) is arranged on the frame (100) and used for shooting a to-be-detected member, and the distance sensor (220) is arranged on the frame (100) and used for detecting a distance between the frame (100) and a front object.

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