Power plant safety inspection robot

Abstract

The invention discloses a power plant safety inspection robot, and relates to the technical field of power plant safety, and the power plant safety inspection robot comprises an unmanned travelling vehicle, and a control box and a control system arranged on the unmanned travelling vehicle; the fixed end of the horizontal rotating assembly is arranged on the unmanned traveling vehicle; and the fixed end of the vertical rotating assembly is connected with the rotating end of the horizontal rotating assembly. The beneficial effects are that through cooperation of the horizontal rotation assembly and the vertical rotation assembly, omnidirectional dead-corner-free rotation of the monitoring equipment is realized, and the comprehensiveness and accuracy of routing inspection are greatly improved; through innovative combination of the lifting assembly and the linear assembly, self-adaptive adjustment of the monitoring height is achieved, and the environmental adaptability of the robot is enhanced; by integrating the automatic dust-shielding cleaning assembly, the camera lens can be automatically cleaned after inspection is finished, physical protection is provided in a non-working state, and the definition of a monitoring picture and the service life of equipment are effectively guaranteed.

Description

Technical Field

[0001] This invention relates to the field of power plant safety technology, and in particular to a power plant safety inspection robot. Background Technology

[0002] Power plants, especially thermal power plants and substations, have complex internal structures and numerous pieces of equipment, posing potential dangers such as high temperatures, high pressures, and electromagnetic radiation. Regular and continuous safety inspections of production equipment are crucial. Traditional manual inspection methods suffer from high labor intensity, low efficiency, susceptibility to subjective factors, and threats to personnel safety in hazardous environments. Furthermore, they struggle to achieve digital management and real-time analysis of inspection data.

[0003] Currently, some inspection robots have emerged on the market, but they still face some technical bottlenecks in their application: First, there are blind spots in the monitoring perspective, making it impossible to conduct detailed observations of equipment from all angles; second, the robot's optical lenses are easily contaminated with dust and oil in the complex power plant environment, which seriously affects the image quality and makes cleaning and maintenance inconvenient; third, many robots have a fixed monitoring height, which cannot flexibly adapt to the observation needs of equipment at different heights, resulting in insufficient flexibility. Summary of the Invention

[0004] In view of the above-mentioned problems in the prior art, the present invention is proposed.

[0005] The purpose of this invention is to provide a power plant safety inspection robot, which aims to solve the problems of existing inspection robots, such as blind spots in monitoring, lenses that are easily contaminated and difficult to clean, and fixed observation heights that cannot flexibly adapt to different equipment.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a power plant safety inspection robot, comprising an unmanned vehicle, and a control box and control system mounted on the unmanned vehicle; further comprising: a horizontal rotation component, the fixed end of which is mounted on the unmanned vehicle; a vertical rotation component, the fixed end of which is connected to the rotating end of the horizontal rotation component; a safety monitoring camera and an infrared thermal imager, which are connected to the rotating end of the vertical rotation component; the horizontal rotation component and the vertical rotation component cooperate to drive the safety monitoring camera and the infrared thermal imager to perform multi-degree-of-freedom rotation.

[0007] As a preferred embodiment of the power plant safety inspection robot of the present invention, the horizontal rotation component includes: a first motor, which is fixedly installed in the control box; a rotating disk, which is fixedly connected to the output shaft of the first motor; a limiting disk, which is fixedly disposed on the top of the control box and rotatably connected to the rotating disk; a connecting disk, which is fixedly connected to the top of the rotating disk, and the fixed end of the vertical rotation component is installed on the connecting disk.

[0008] As a preferred embodiment of the power plant safety inspection robot of the present invention, the vertical rotation component includes: a mounting box, which is fixedly mounted on the connecting plate; a second motor, which is fixedly mounted inside the mounting box; a transmission gear, which is fixedly connected to the output end of the second motor; a driven gear, which meshes with the transmission gear; and a rotating rod, which is fixedly connected to the driven gear.

[0009] Two connecting arms are fixed to the two ends of the rotating rod, and the safety monitoring camera and infrared thermal imager are respectively mounted on the two connecting arms.

[0010] As a preferred embodiment of the power plant safety inspection robot of the present invention, the two ends of the rotating rod are connected to the connecting arm through connecting ends, the outer wall of the rotating rod is provided with a non-cylindrical limiting block, the connecting end is provided with a limiting groove adapted to the limiting block, and the connecting end is fastened to the end of the rotating rod by bolts.

[0011] The connecting arm is detachably fixed to the connecting end by screws.

[0012] As a preferred embodiment of the power plant safety inspection robot of the present invention, wherein: the fixed end of the horizontal rotation component is mounted on the unmanned vehicle via a lifting unit, the lifting unit comprising: a linear component, which is fixedly mounted on the unmanned vehicle, including a slide rail and a slider that slides with the slide rail; a lifting component, which is fixedly mounted on the slider, including a fixed plate, a lifting plate, and a tension spring, the fixed end of the horizontal rotation component is disposed on the lifting plate, a column is fixed on the fixed plate, the lifting plate is slidably connected to the column, and the tension spring is connected between the fixed plate and the lifting plate; and a lifting block, which is fixedly mounted on the unmanned vehicle and located on the moving path of the lifting component, the lifting block having a guide arc surface;

[0013] When the slider moves the lifting assembly above the lifting block, the lifting plate is pushed up along the column by the lifting block, stretching the tension spring.

[0014] As a preferred embodiment of the power plant safety inspection robot of the present invention, it further includes a pushing component; the pushing component includes a drive cylinder fixedly installed on the unmanned vehicle, and a push plate fixedly connected to the output end of the drive cylinder, the push plate being fixedly connected to the fixed plate.

[0015] As a preferred embodiment of the power plant safety inspection robot of the present invention, it further includes a dust-shielding component; the dust-shielding component includes: a base; fixedly installed on the top of the unmanned vehicle; a sponge extending from the top of the base; and a driving component disposed within the base for driving the sponge to rotate.

[0016] The horizontal rotation component and the vertical rotation component can drive the security monitoring camera and the infrared thermal imager to rotate so that their lenses face the sponge, and can move the lenses to contact and compress the sponge. The driving component can drive the sponge to rotate to clean the lenses.

[0017] As a preferred embodiment of the power plant safety inspection robot of the present invention, the driving component includes a third motor fixedly installed in the inner cavity of the base, and a rotating plate fixedly connected to the output end of the third motor, wherein the sponge is fixedly connected to the rotating plate.

[0018] In a preferred embodiment of the power plant safety inspection robot of the present invention, the base of the dust-covering component is fixedly installed on the unmanned vehicle and located on the moving path of the horizontal rotation component.

[0019] As a preferred embodiment of the power plant safety inspection robot of the present invention, it further includes: a traveling environment monitoring camera, which is installed on the side of the control box.

[0020] The beneficial effects of the power plant safety inspection robot of this invention are as follows: through the cooperation of horizontal and vertical rotation components, omnidirectional rotation of the monitoring equipment without blind spots is achieved, greatly improving the comprehensiveness and accuracy of the inspection; through the innovative combination of lifting and linear components, adaptive adjustment of the monitoring height is achieved, enhancing the robot's environmental adaptability; by integrating an automatic dust-proofing and cleaning component, the lens can be automatically cleaned after the inspection and physical protection is provided in the non-working state, effectively ensuring the clarity of the monitoring image and the service life of the equipment. Attached Figure Description

[0021] 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 accompanying 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.

[0022] Figure 1 This is a schematic diagram of the structure of the present invention.

[0023] Figure 2 This is a schematic diagram of the top structure of the unmanned vehicle in this invention.

[0024] Figure 3 This is a multi-angle cross-sectional view of the horizontal rotation component in this invention.

[0025] Figure 4 This is an exploded view of the vertical rotation component in this invention.

[0026] Figure 5 This is a cross-sectional view of the vertical rotation component in this invention.

[0027] Figure 6 This is a schematic diagram of the lifting component in this invention.

[0028] Figure 7 This is an exploded view of the lifting component in this invention.

[0029] Figure 8 This is a multi-angle cross-sectional view of the dust-shielding component in this invention.

[0030] In the diagram: 1. Unmanned vehicle; 2. Control box; 3. Safety monitoring camera; 4. Infrared thermal imager; 5. Horizontal rotation assembly; 501. First motor; 502. Rotating disk; 503. Limiting disk; 504. Connecting disk; 6. Vertical rotation assembly; 601. Mounting box; 602. Second motor; 603. Transmission gear; 604. Driven gear; 605. Rotating rod; 606. Connecting arm; 607. Connecting end; 608 7. Limiting block; 8. Linear component; 9. Slide rail; 10. Slider; 11. Lifting component; 12. Fixing plate; 13. Lifting plate; 14. Tension spring; 15. Column; 16. Lifting block; 17. Pushing component; 18. Drive cylinder; 19. Push plate; 10. Dustproof component; 11. Base; 11. Sponge; 12. Third motor; 13. Rotating plate; 14. Moving environment monitoring camera. Detailed Implementation

[0031] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0032] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0033] Secondly, the term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places throughout this specification does not necessarily refer to the same embodiment, nor is it a single embodiment or an embodiment selectively excluded from other embodiments.

[0034] Reference Figures 1 to 8 This is the first embodiment of the present invention, which provides a power plant safety inspection robot, including an unmanned vehicle 1, and a control box 2 and a control system mounted on the unmanned vehicle 1; it also includes: a horizontal rotation component 5, the fixed end of which is mounted on the unmanned vehicle 1; a vertical rotation component 6, the fixed end of which is connected to the rotating end of the horizontal rotation component 5; a safety monitoring camera 3 and an infrared thermal imager 4, which are connected to the rotating end of the vertical rotation component 6; the horizontal rotation component 5 and the vertical rotation component 6 cooperate to drive the safety monitoring camera 3 and the infrared thermal imager 4 to perform multi-degree-of-freedom rotation.

[0035] It should be noted that both the horizontal rotation component 5 and the vertical rotation component 6 are controlled by the control system. The two cooperate with each other to drive the safety monitoring camera 3 and the infrared thermal imager 4 to rotate in multiple degrees of freedom in the horizontal and vertical directions.

[0036] In operation, the control system first plans the inspection path and drives the unmanned vehicle 1 along the predetermined route. When it reaches the vicinity of the equipment monitoring point, the control system coordinates the control of the horizontal rotation component 5 and the vertical rotation component 6 according to the preset program or background instructions. For example, the horizontal rotation component 5 can drive the monitoring equipment to perform a 360° horizontal scan, while the vertical rotation component 6 simultaneously adjusts the pitch angle of the monitoring equipment. Through this composite motion, the safety monitoring camera 3 can capture visible light images of the equipment's appearance, instrument readings, and leakage conditions from multiple angles. At the same time, the infrared thermal imager 4 can perform all-round temperature measurement on equipment joints, transformer bushings, distribution cabinets, and other parts at different heights, generating thermal distribution images, making it difficult for any local overheating defects to escape detection. All data is transmitted to the central control room in real time via a wireless network.

[0037] In summary, the coordinated operation of the two core motion units, horizontal rotation component 5 and vertical rotation component 6, constitutes a monitoring platform with omnidirectional spatial coverage. This eliminates the blind spots that exist with a single fixed camera or single-dimensional rotation, enabling comprehensive monitoring of complex equipment groups in the power plant without blind spots and significantly improving the probability of defect detection and the comprehensiveness of inspections.

[0038] like Figure 3As shown, in one optional embodiment, the horizontal rotation assembly 5 includes: a first motor 501, which is fixedly installed inside the control box 2; a rotating disk 502, which is fixedly connected to the output shaft of the first motor 501; a limiting disk 503, which is fixedly installed on the top of the control box 2 and rotatably connected to the rotating disk 502; and a connecting disk 504, which is fixedly connected to the top of the rotating disk 502, with the fixed end of the vertical rotation assembly 6 installed on the connecting disk 504.

[0039] It should be noted that the first motor 501 is fixedly installed inside the control box 2, with its output shaft extending upwards. The rotating disk 502 is fixedly connected to the output shaft of the first motor 501 and can be directly driven to rotate by the first motor 501. The limit disk 503 is fixedly installed on the top of the control box 2 and is rotatably connected to the rotating disk 502 through bearings. The connecting disk 504 is fixedly connected to the top of the rotating disk 502.

[0040] In use, the control system sends a signal to the first motor 501, which precisely drives the rotating disk 502 to rotate a specific angle according to the instruction. During this process, the fixed limit disk 503 bears the main radial and axial forces, ensuring that the rotating disk 502 rotates stably only in the horizontal plane without tilting or shaking. The connecting disk 504 serves as a sturdy mounting platform, smoothly transmitting the rotational motion to the vertical rotating assembly 6 above.

[0041] In summary, the cooperation between the limiting disk 503 and the rotating disk 502 provides a stable and reliable support structure for horizontal rotation, enhances the smoothness and accuracy of horizontal rotation, avoids image blurring or thermal image jitter caused by shaking, and provides a high-quality data foundation for subsequent image recognition and temperature analysis.

[0042] like Figures 4 to 5 As shown, in one optional embodiment, the vertical rotation assembly 6 includes: a mounting box 601, which is fixedly mounted on the connecting plate 504; a second motor 602, which is fixedly mounted inside the mounting box 601; a transmission gear 603, which is fixedly connected to the output end of the second motor 602; a driven gear 604, which meshes with the transmission gear 603; a rotating rod 605, which is fixedly connected to the driven gear 604; and two connecting arms 606, which are respectively fixed to the two ends of the rotating rod 605, with the safety monitoring camera 3 and the infrared thermal imager 4 respectively mounted on the two connecting arms 606.

[0043] It should be noted that the mounting box 601 is fixedly mounted on the connecting plate 504. The second motor 602 is fixedly mounted inside the mounting box 601. The transmission gear 603 is fixedly connected to the output end of the second motor 602. The driven gear 604 meshes with the transmission gear 603. The rotating rod 605 is fixedly connected to the driven gear 604 via a key. The two connecting arms 606 are respectively fixed to both ends of the rotating rod 605.

[0044] In use, the control system controls the second motor 602 to rotate in both directions. The output torque of the second motor 602 is transmitted to the large driven gear 604 through the small-sized transmission gear 603, forming a gear pair that reduces speed and increases torque. The driven gear 604 drives the rotating rod 605 and the connecting arms 606 at both ends to perform pitch motion together. Since the safety monitoring camera 3 and the infrared thermal imager 4 are respectively installed on the two connecting arms 606, they can achieve synchronous pitch motion and simultaneously aim at the target.

[0045] In summary, the transmission between the two connecting arms 606 driven by a single rotating rod 605 is precise and efficient, eliminating the slippage error that may exist in belt drives. At the same time, the symmetrical design of the two connecting arms 606 ensures that the pitch movements of the two monitoring devices are completely synchronized. The structure is compact, the power is concentrated, and the consistency and reliability of the monitoring actions are guaranteed.

[0046] like Figure 5 As shown, in one optional embodiment: the two ends of the rotating rod 605 are connected to the connecting arm 606 through the connecting end 607. The outer wall of the rotating rod 605 is provided with a non-cylindrical limiting block 608. The connecting end 607 is provided with a limiting groove that matches the limiting block 608, and the connecting end 607 is fastened to the end of the rotating rod 605 by bolts.

[0047] The connecting arm 606 is detachably fixed to the connecting end 607 by screws.

[0048] It should be noted that the outer wall of the rotating rod 605 is provided with a non-cylindrical limiting block 608. Correspondingly, the connecting end 607 is provided with a limiting groove that matches the limiting block 608. During assembly, the limiting groove of the connecting end 607 is aligned with the limiting block 608 and inserted, and then the connecting end 607 is fastened to the end of the rotating rod 605 with bolts. The connecting arm 606 is detachably fixed to the connecting end 607 with screws.

[0049] In use, when the rotating rod 605 rotates, the torque is transmitted to the connecting end 607 without loss through the cooperation of the limiting block 608 and the limiting groove. Then, the connecting arm 606 connected by screws finally drives the monitoring equipment to rotate. Due to the presence of the limiting block 608, the relative rotation between the connecting end 607 and the rotating rod 605, i.e., "slippage", is completely eliminated. When a monitoring device needs to be replaced or repaired, the entire monitoring assembly can be removed simply by unscrewing the screw between the connecting arm 606 and the connecting end 607. There is no need to disassemble the entire rotating rod 605, making the operation very simple.

[0050] In summary, the combination of the connecting end 607, the limiting block 608, and the bolts forms a non-slip, easily disassembled connection interface, which not only ensures the absolute reliability of power transmission but also realizes the modular design of the monitoring equipment, greatly facilitating on-site maintenance and replacement work and reducing operation and maintenance costs and time.

[0051] like Figures 6 to 7 As shown, in one optional embodiment: the fixed end of the horizontal rotation component 5 is mounted on the unmanned vehicle 1 via a lifting unit, the lifting unit comprising:

[0052] The linear component 7, which is fixedly installed on the unmanned vehicle 1, includes a slide rail 701 and a slider 702 that slides in cooperation with the slide rail 701;

[0053] The lifting assembly 8 is fixedly mounted on the slider 702 and includes a fixed plate 801, a lifting plate 802, and a tension spring 803. The fixed end of the horizontal rotation assembly 5 is set on the lifting plate 802. A column 804 is fixed on the fixed plate 801. The lifting plate 802 is slidably connected to the column 804. The tension spring 803 is connected between the fixed plate 801 and the lifting plate 802.

[0054] The lifting block 9 is fixedly installed on the unmanned vehicle 1 and located on the moving path of the lifting assembly 8. The lifting block 9 has a guide arc surface.

[0055] When the slider 702 moves the lifting component 8 above the lifting block 9, the lifting plate 802 is pushed up along the column 804 by the lifting block 9, stretching the tension spring 803.

[0056] It should be noted that the lifting unit includes a linear component 7, a lifting component 8, and a lifting block 9. The linear component 7 is fixedly installed on the unmanned vehicle 1, and includes a slide rail 701 and a slider 702 as a preferred embodiment. The slider 702 is an electric slider. The lifting component 8 is fixedly installed on the slider 702 and includes a fixed plate 801, a lifting plate 802, a column 804, and a tension spring 803. The control box 2 of the horizontal rotation component 5 is located on the lifting plate 802. The column 804 is fixed to the fixed plate 801, and the lifting plate 802 is slidably connected to the column 804. The tension spring 803 is connected between the fixed plate 801 and the lifting plate 802. The lifting block 9 is fixedly installed on the unmanned vehicle 1, and its upper surface is a guide arc surface.

[0057] In use, when it is necessary to observe equipment at a higher position, the control system commands the slider 702 to move along the slide rail 701 toward the lifting block 9. When the structure fixed to the bottom of the lifting plate 802 contacts the guide arc surface of the lifting block 9, under the continuous thrust, the lifting plate 802 is forced to slide upward along the column 804, thereby lifting the entire monitoring system. During this process, the tension spring 803 is stretched and stores potential energy. When the monitoring is completed and the slider 702 moves away from the lifting block 9, the lifting plate 802, under the restoring force of the tension spring 803, smoothly descends along the column 804 and returns to its initial low position.

[0058] In summary, this embodiment transforms horizontal movement into vertical lifting by using the arc surface of the lifting block 9, and achieves automatic reset using the tension spring 803. This effectively solves the problem of limited field of view caused by the limited height of the robot body, and enhances the adaptability to equipment of different heights.

[0059] like Figure 6 As shown, as an optional embodiment, it also includes a push component 10; the push component 10 includes a drive cylinder 1001 fixedly installed on the unmanned vehicle 1, and a push plate 1002 fixedly connected to the output end of the drive cylinder 1001, the push plate 1002 being fixedly connected to the fixing plate 801.

[0060] It should be noted that the slider 702 is a conventional slider. Driving the conventional slider 702 through the driving cylinder 1001 can avoid the asynchronous movement that may occur with the electric slider. The pushing component 10 includes a driving cylinder 1001, such as a pneumatic cylinder or an electric cylinder, which is fixedly installed on the unmanned vehicle 1, and a push plate 1002 which is fixedly connected to the output end of the driving cylinder 1001. The push plate 1002 is fixedly connected to the fixing plate 801 of the lifting component 8.

[0061] In use, the control system drives the push plate 1002 to move linearly by precisely controlling the extension and retraction stroke of the drive cylinder 1001. The push plate 1002 directly pushes or pulls the entire lifting assembly 8 and its monitoring system, making it move forward or backward precisely along the slide rail 701, thereby realizing automated control of the lifting and lowering process.

[0062] In summary, the pushing assembly 10, composed of the drive cylinder 1001 and the push plate 1002, provides automated and precisely controllable power for the lifting unit.

[0063] like Figure 8 As shown, in one optional embodiment, it also includes a dust-shielding assembly 11; the dust-shielding assembly 11 includes:

[0064] Base 1101; fixedly installed on the top of the unmanned vehicle 1;

[0065] Sponge 1102 extends beyond the top of base 1101;

[0066] A driving component, which is disposed inside the base 1101, is used to drive the sponge 1102 to rotate;

[0067] The horizontal rotation component 5 and the vertical rotation component 6 can drive the security monitoring camera 3 and the infrared thermal imager 4 to rotate so that their lenses face the sponge 1102, and can move the lenses to contact and compress the sponge 1102. The driving component can drive the sponge 1102 to rotate to clean the lenses.

[0068] It should be noted that the base 1101 is fixedly installed on the top of the unmanned vehicle 1, the sponge 1102 is vertically set with its top extending out of the top of the base 1101, and the driving component is set inside the base 1101 to drive the sponge 1102 to rotate.

[0069] During use, after each inspection task is completed, the control system initiates a cleaning program. First, it controls the horizontal rotation component 5 and the vertical rotation component 6 to precisely rotate the lenses of the security monitoring camera 3 and the infrared thermal imager 4 so that they are vertically downward and facing the sponge 1102. Then, the security monitoring camera 3 and the infrared thermal imager 4 move to contact and compress the sponge 1102. At this time, the drive component is activated, causing the sponge 1102 to rotate. The rotating sponge 1102 uses its elastic deformation to apply uniform pressure to the curved surface of the lens and, through its porous adsorption properties, wipes away dust, oil, water droplets, and other contaminants from the lens surface.

[0070] In summary, by incorporating the sponge 1102 and the driving component, an automatic cleaning station integrated into the main body is constructed. This station can automatically clean the optical lens during inspection intervals or after a task is completed, effectively preventing and removing dirt, ensuring that the acquired images and thermal images are always clear and reliable, while reducing frequent manual maintenance work.

[0071] like Figure 8 As shown, in one optional embodiment, the driving component includes a third motor 1103 fixedly installed in the inner cavity of the base 1101, and a rotating plate 1104 fixedly connected to the output end of the third motor 1103, with the sponge 1102 fixedly connected to the rotating plate 1104.

[0072] When in use, once the lens is in position, the control system sends a command to the third motor 1103, which directly drives the rotating plate 1104 to rotate, thereby causing the entire sponge 1102 fixed on it to rotate at a constant speed.

[0073] In summary, by directly driving the rotating plate 1104 with the third motor 1103, the system achieves a short transmission chain, compact structure, and low energy loss. It also enables precise control of the sponge's rotation speed, thus adapting to different levels of stain cleaning needs and achieving the best cleaning effect while avoiding damage to the lens coating.

[0074] like Figure 2 As shown, as an optional embodiment, the base 1101 of the dust-covering assembly 11 is fixedly installed on the unmanned vehicle 1 and is located on the moving path of the horizontal rotation assembly 5.

[0075] In use, this positioning plan ensures that when performing a cleaning procedure, the monitoring system can accurately move to the top of the dust-covering component 11 by simply moving horizontally or in combination with lifting, to achieve precise alignment and contact with the sponge 1102. The entire cleaning process is seamlessly integrated with the robot's movement path.

[0076] In summary, by placing the dust-covering component 11 at a specific location on the movement path, the cleaning function and robot navigation are integrated into one, eliminating the need for additional complex mechanisms or motion trajectories for the cleaning function. This simplifies system control and path planning, and ensures the reliability and repeatability of the cleaning process.

[0077] like Figure 1 As shown, as an optional embodiment, it also includes a travel environment monitoring camera 12, which is installed on the side of the control box 2.

[0078] It should be noted that the travel environment monitoring camera 12 is installed on the side of the control box 2, and its optical axis mainly points in front of the robot's travel direction.

[0079] During use, the environmental monitoring camera 12 continuously works while the robot is moving, capturing real-time information on road conditions, door status, obstacles such as tools, debris, and personnel, ensuring the robot's safety and the continuity and reliability of the inspection task.

[0080] Importantly, the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A power plant safety inspection robot, characterized by: The utility model relates to an electric power plant safety inspection robot, including, The utility model discloses an unmanned vehicle (1) and control box (2) and control system arranged on the unmanned vehicle (1), further including: Horizontal rotation component (5), its fixed end is arranged on the unmanned vehicle (1); Vertical rotation component (6), its fixed end is connected with the rotation end of horizontal rotation component (5); Safety monitoring camera (3) and infrared thermal imager (4) are connected with the rotation end of vertical rotation component (6); Horizontal rotation component (5) and vertical rotation component (6) cooperate and drive safety monitoring camera (3) and infrared thermal imager (4) to rotate with multiple degrees of freedom.

2. The power plant safety inspection robot of claim 1, wherein: Horizontal rotation component (5) includes: First motor (501), it is fixedly installed in control box (2); Rotating disc (502), it is fixedly connected with the output shaft of first motor (501); Limiting disc (503), it is fixedly arranged at the top of control box (2), and is rotationally connected with rotating disc (502); Connecting disc (504), it is fixedly connected at the top of rotating disc (502), and the fixed end of vertical rotation component (6) is installed on connecting disc (504).

3. The power plant safety inspection robot of claim 2, wherein: Vertical rotation component (6) includes: Mounting box (601), it is fixedly installed on connecting disc (504); Second motor (602), it is fixedly installed in mounting box (601); Transmission gear (603), it is fixedly connected with the output end of second motor (602); Driven gear (604), it is engaged with transmission gear (603); Rotating rod (605), it is fixedly connected with driven gear (604); Two connecting arms (606), it is respectively fixed to the both ends of rotating rod (605), and safety monitoring camera (3) and infrared thermal imager (4) are respectively installed on two connecting arms (606).

4. The electric power plant safety inspection robot of claim 3, wherein: Both ends of the rotating rod (605) are connected with the connecting arm (606) through the connecting end (607), and the outer wall of the rotating rod (605) is provided with a non-cylindrical limiting block (608), a limiting groove matched with the limiting block (608) is formed in the connecting end (607), and the connecting end (607) is fastened to the end of the rotating rod (605) through bolts; The connecting arm (606) is detachably fixedly connected with the connecting end (607) through screws.

5. The electric power plant safety inspection robot of claim 1, wherein: The fixed end of the horizontal rotation component (5) is arranged on the unmanned vehicle (1) through a lifting unit, and the lifting unit includes: Linear component (7), it is fixedly installed on the unmanned vehicle (1), and includes slide rail (701) and sliding block (702) slidably matched with the slide rail (701); A lifting assembly (8) is fixedly installed on the sliding block (702), comprising a fixed plate (801), a lifting plate (802), and a tension spring (803), a fixed end of the horizontal rotation assembly (5) is arranged on the lifting plate (802), a stand (804) is fixed on the fixed plate (801), the lifting plate (802) is in sliding connection with the stand (804), and the tension spring (803) is connected between the fixed plate (801) and the lifting plate (802); A lifting block (9) is fixedly installed on the unmanned traveling vehicle (1) and located on a moving path of the lifting assembly (8), and the lifting block (9) has a guide arc surface; When the sliding block (702) drives the lifting assembly (8) to move above the lifting block (9), the lifting plate (802) is pushed upward along the stand (804) by the lifting block (9) and stretches the tension spring (803).

6. The power plant safety tour robot of claim 5, wherein: A pushing assembly (10) is further included; The pushing assembly (10) comprises a driving cylinder (1001) fixedly installed on the unmanned traveling vehicle (1) and a push plate (1002) fixedly connected with an output end of the driving cylinder (1001), and the push plate (1002) is fixedly connected with the fixed plate (801).

7. The power plant safety tour robot of claim 1, wherein: A dust shielding assembly (11) is further included; the dust shielding assembly (11) comprises: a base (1101) fixedly installed on a top of the unmanned traveling vehicle (1); a sponge (1102) extending out of a top of the base (1101); a driving member arranged in the base (1101) and used for driving the sponge (1102) to rotate; The horizontal rotation assembly (5) and the vertical rotation assembly (6) can drive the safety monitoring camera (3) and the infrared thermal imager (4) to rotate to a state that lenses thereof face the sponge (1102), and can drive the lenses to contact and compress the sponge (1102) by moving, and the driving member can drive the sponge (1102) to rotate to clean the lenses.

8. The power plant safety inspection robot according to claim 7, characterized in that: the driving member comprises a third motor (1103) fixedly installed in a cavity of the base (1101) and a rotating plate (1104) fixedly connected with an output end of the third motor (1103), and the sponge (1102) is fixedly connected with the rotating plate (1104).

9. The power plant safety inspection robot according to claim 8, characterized in that: the base (1101) of the dust shielding assembly (11) is fixedly installed on the unmanned traveling vehicle (1) and located on a moving path of the horizontal rotation assembly (5).

10. The power plant safety tour robot of claim 1, wherein: Further comprising: a traveling environment monitoring camera (12) installed on a side of the control box (2).

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