Intelligent inspection robot based on 5G communication technology and inspection method thereof

Abstract

The invention relates to the technical field of manipulators, in particular to an intelligent inspection robot based on the 5G communication technology and an inspection method thereof.The intelligent inspection robot comprises a robot body and a visual perception holder arranged in the robot body and further comprises a walking mechanism used for driving the robot body to move; a rotary table is arranged at the tail end of the mechanical arm; the clamping jaw assembly is installed on the rotary table through a connecting base, and the clamping jaw assembly comprises clamping jaws used for clamping and a power torque mechanism driving the multiple clamping jaws to rotate; the position adjusting mechanism is used for adjusting the distance between the clamping jaws, and the position adjusting mechanism comprises screw blocks installed among the multiple clamping jaws; the detection module comprises a composite probe movably arranged on the clamping jaw and a transmission mechanism for driving the composite probe to make contact with pressure, and an ultrasonic probe is integrated in the composite probe; the cleaning assembly comprises an exhaust cavity formed in the clamping jaw, a side air hole communicating with the exhaust cavity, and a plug column arranged in the exhaust cavity and used for switching gas to be exhausted through the exhaust cavity or the side air hole.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to an intelligent inspection robot based on 5G communication technology and its inspection method. Background Technology

[0002] In critical infrastructure sectors such as energy, chemicals, and transportation, equipment inspection is a fundamental task for ensuring the safe and stable operation of systems. Traditional manual inspection methods have long faced multiple challenges: inspection personnel frequently need to enter high-risk working environments such as high pressure, high temperature, and strong electromagnetic radiation, posing significant personal safety risks; the inspection process relies heavily on individual experience, leading to subjective judgment differences and potential for missed or incorrect inspections; paper records and manual reports result in fragmented data, making it difficult to create a continuous picture of equipment status; especially in structurally complex areas such as substations and switch rooms, the efficiency of manual inspection is limited, failing to achieve high-frequency, comprehensive, and refined monitoring, and resulting in time lags in responding to sudden hazards. To overcome these bottlenecks, inspection robot technology has gradually developed and been applied in industrial settings.

[0003] For example, patent document CN211440001U provides an inspection robot and inspection system, belonging to the field of robot manufacturing technology. The inspection robot includes a mobile platform, an imaging device, and a robotic arm; the imaging device is mounted on the mobile platform via the robotic arm and is used to acquire images of the inspection target. The inspection system includes the aforementioned inspection robot. The purpose of this patent document is to provide an inspection robot and inspection system that can replace manual inspection, improve inspection efficiency, save manpower in power grid inspections, and improve the safety of workers during operation.

[0004] While existing inspection robots can replace manual labor in routine inspection tasks, improving work efficiency and personnel safety, their detection capabilities primarily rely on visual sensors. For faults such as loose joints, since there are usually no obvious external deformations, displacements, or color changes in the early stages of loosening, image analysis alone is insufficient for effective identification. Manual inspections can sense the movement or gaps of connectors through touch. Robots, lacking tactile interaction and mechanical feedback mechanisms, cannot replicate this physical diagnostic behavior, leading to the easy omission of hidden dangers and hindering the reliability of inspection results and the timeliness of maintenance warnings. Therefore, this application proposes an intelligent inspection robot and its inspection method based on 5G communication technology. Summary of the Invention

[0005] The purpose of this invention is to provide an intelligent inspection robot and its inspection method based on 5G communication technology, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an intelligent inspection robot based on 5G communication technology, comprising a body and a visual perception gimbal installed therein, and further comprising: The traveling mechanism is used to drive the movement of the machine body; The robotic arm is located on the top of the machine body, and a turntable is installed at its end. The gripper assembly is mounted on the turntable via a connecting seat. The gripper assembly includes grippers for clamping and a power torque mechanism for driving the multiple grippers to rotate. An adjusting mechanism for adjusting the spacing between the grippers, the adjusting mechanism including a wire block installed between multiple grippers; The detection module includes a composite probe movably mounted on a gripper and a transmission mechanism for driving the composite probe to contact pressure, wherein an ultrasonic probe is integrated within the composite probe. The cleaning assembly includes an exhaust chamber opened in the gripper, a side air hole communicating with the exhaust chamber, and a plug disposed in the exhaust chamber for switching gas out through the exhaust chamber or the side air hole. The gripper is provided with a gas supply mechanism for supplying gas into the exhaust chamber.

[0007] Preferably, the power torque mechanism includes a mounting plate for supporting multiple grippers, a rotary motor for driving the mounting plate to rotate is fixedly connected inside the connecting seat, and a strain gauge torque sensor is provided on the side of the mounting plate near the output end of the rotary motor.

[0008] Preferably, the adjusting mechanism further includes multiple cranks rotatably connected to the outer surface of the wire block, with the middle end of the cranks rotatably connected to the gripper. A motor is fixedly connected to one side of the mounting plate, and a lead screw threadedly connected to the wire block is fixedly connected to the output end of the motor. Multiple slide rails are fixedly connected to one side of the mounting plate, and a slide seat fixedly connected to the gripper is slidably connected to the outer surface of the slide rails.

[0009] Preferably, the transmission mechanism includes a rocker arm rotatably connected to the gripper, one end of the rocker arm being fixedly connected to a connecting sleeve for supporting the composite probe, the other end of the rocker arm being rotatably connected to a connecting handle, a slide bar being fixedly connected to the side of the gripper, an arc-shaped seat being rotatably connected to the outer surface of the slide bar and rotatably connected to the connecting handle, and a ball bearing being rotatably connected to one end of the crank arm and abutting against the side of the arc-shaped seat.

[0010] Preferably, the gas delivery mechanism includes a gas delivery cylinder and a piston rod slidably connected to one end of the gas delivery cylinder. An auxiliary rod fixedly connected to the piston rod is fixedly connected to one side of the arc-shaped seat. One end of the gas delivery cylinder is connected to the exhaust chamber through a gas delivery pipe. A return spring for driving the piston rod to return to its original position is fixedly connected inside the gas delivery cylinder.

[0011] Preferably, the exhaust chamber is internally connected to a plurality of narrowing cylinders, and the side air holes are opened inside the narrowing cylinders. The exhaust chamber is internally provided with a misaligned groove for the piston to move, and the outer surface of the piston is fixedly connected to a plurality of spring plates that are fixedly connected to the inner wall of the misaligned groove.

[0012] Preferably, a battery box is installed on the top of the machine body, and the bottom of the robotic arm is fixedly connected to the machine body via a gimbal.

[0013] Preferably, the walking mechanism includes a tire and a drive motor that drives the tire to rotate. A support arm is installed on the side of the machine body, and an auxiliary arm for supporting the tire is installed on one side of the support arm. An adjustment motor is installed inside the auxiliary arm, and the adjustment motor can drive the tire to lift to achieve obstacle crossing.

[0014] Preferably, the visual perception gimbal integrates a high-definition visible light zoom camera, an infrared thermal imager, and an ultraviolet corona detector.

[0015] This invention also provides an intelligent inspection method based on 5G communication technology, comprising the following steps: S1. Perform a large-scale non-contact scan of the device using a visual perception PTZ to initially locate abnormal areas; S2. The robotic arm and turntable are used to position the gripper assembly to the equipment interface, and the gripper is tightened by the adjustment mechanism for clamping. S3. The clamps are rotated by the power torque mechanism to tighten the interface bolts, and the torque is detected by the strain gauge torque sensor. At the same time, the movement of the adjustment mechanism drives the composite probe to contact the surface of the equipment through the transmission mechanism, and performs ultrasonic flaw detection and dynamic dielectric response detection under pressure. S4. Before the composite probe contacts the detection point, the action of the transmission mechanism synchronously triggers the cleaning component, generating a pulsed airflow that is ejected from the side air hole to locally blow and clean the detection point. S5. When it is necessary to perform large-area dehumidification or dust removal on the surface of the equipment, the control power torque mechanism drives the gripper to rotate continuously, opens the exhaust chamber inlet through centrifugal force, and controls the adjustment mechanism to reciprocate, driving the cleaning component to generate a continuous airflow that is axially ejected from the exhaust chamber for cleaning.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. The walking mechanism, through the coordination of the support arm, auxiliary arm, and adjusting motor, achieves dynamic tire height adjustment, significantly improving the robot's obstacle-crossing ability and travel stability on unstructured terrains such as steps and ditches in substations, ensuring full coverage of the inspection path; the visual perception gimbal integrates a high-definition visible light zoom camera, an infrared thermal imager, and an ultraviolet corona detector to complete synchronous non-contact scanning of equipment appearance, temperature field distribution, and corona discharge, efficiently completing large-scale anomaly screening and target localization; the gripper assembly, as the core detection terminal, uses an adjustment mechanism to achieve stepless and precise adjustment of the gripper spacing, reliably adapting to bolt interfaces of different specifications; the power torque mechanism drives the mounting plate through a rotary motor, combined with a strain gauge torque sensor to capture the torque and angle response characteristics during micro-rotation in real time, transforming the degree of joint looseness into quantifiable mechanical diagnostic evidence; a miniature hyperspectral camera simultaneously acquires the micro-area temperature distribution of the connection point, accurately identifying hidden hot spots caused by abnormal contact resistance.

[0017] 2. The detection module integrates an ultrasonic probe and impedance analysis electrode into a composite probe. Under the progressive mechanical stress applied by the grippers, it achieves stress-assisted dielectric response detection of insulating materials. When insulation aging leads to microcracks or air gaps, the abnormal fluctuations in dielectric parameters caused by stress are captured in real time, significantly improving the sensitivity of early insulation aging detection. At the same time, the transmission mechanism cleverly utilizes the crank swing action of the adjustment mechanism to automatically trigger the composite probe to press down and contact the cable, so that stress application and detection are completed synchronously without the need for an additional drive unit. The cleaning component switches the airflow path in the misalignment groove through the plug, realizing dual-mode self-maintenance: the blowing mode directionally removes dirt from the cable surface and eliminates detection interference; the suction mode uses the Venturi effect to suck up condensation and dust from the cabinet through the side air holes, and the rotary motor drives the grippers to rotate at high speed, effectively removing the fogging problem of the observation window. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a schematic diagram of the fuselage structure in this invention; Figure 3 This is a schematic diagram of the robotic arm in this invention; Figure 4 This is a schematic diagram of the gripper structure in this invention; Figure 5 This is a schematic diagram of the structure of the present invention with part of the gripper removed; Figure 6 For the present invention Figure 5 Enlarged structural diagram at point A; Figure 7 This is a schematic diagram of the structure of the miniature hyperspectral camera in this invention; Figure 8 This is a schematic diagram of the composite probe in this invention; Figure 9 This is a schematic cross-sectional view of the gripper structure in this invention; Figure 10 For the present invention Figure 9 Enlarged structural diagram at point B; Figure 11 This is a schematic cross-sectional view of the side vent structure in this invention.

[0019] In the diagram: 100, Body; 101, Battery Box; 102, Visual Perception Gimbal; 103, Support Arm; 104, Auxiliary Arm; 105, Adjustment Motor; 106, Tire; 107, Drive Motor; 200, Gripper; 201, Robotic Arm; 202, Mounting Gimbal; 203, Turntable; 204, Connecting Mount; 205, Rotary Motor; 206, Mounting Plate; 207, Strain Gauge Torque Sensor; 208, Slide Rail; 209, Slide Base; 210, Motor; 211, Lead Screw; 212. Wire block; 213. Crank; 214. Miniature hyperspectral camera; 300. Composite probe; 301. Connecting sleeve; 302. Rocker; 303. Slider; 304. Arc seat; 305. Connecting handle; 306. Ball bearing; 400. Exhaust chamber; 401. Narrowing cylinder; 402. Side air hole; 403. Air supply cylinder; 404. Air supply pipe; 405. Return spring; 406. Auxiliary rod; 407. Piston rod; 408. Plug; 409. Spring plate; 410. Misalignment groove. Detailed Implementation

[0020] 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.

[0021] Example 1: Please refer to Figure 1 - Figure 11 This invention provides a technical solution: an intelligent inspection robot based on 5G communication technology, including a body 100 and a visual perception gimbal 102 installed therein. The visual perception gimbal 102 integrates a high-definition visible light zoom camera, an infrared thermal imager, and an ultraviolet corona detector, which are used for equipment appearance recognition, instrument reading, temperature field distribution monitoring, and corona discharge detection, respectively, to achieve non-contact wide-area initial screening. It also includes: The walking mechanism is used to drive the body 100 to move. The walking mechanism includes a tire 106 and a drive motor 107 that drives the tire 106 to rotate. A support arm 103 is installed on the side of the body 100. An auxiliary arm 104 for supporting the tire 106 is installed on one side of the support arm 103. An adjustment motor 105 is installed in the auxiliary arm 104. The adjustment motor 105 can drive the tire 106 to lift to overcome obstacles and achieve all-terrain adaptation.

[0022] The robotic arm 201 is located on the top of the body 100, and a turntable 203 is provided at its end. The bottom of the robotic arm 201 is fixedly connected to the body 100 via a gimbal 202. A battery box 101 is installed on the top of the body 100.

[0023] The gripper assembly is mounted on the turntable 203 via a connecting seat 204. The gripper assembly includes grippers 200 for clamping and a power torque mechanism for driving multiple grippers 200 to rotate. By setting the power torque mechanism, multiple grippers 200 can be driven to rotate to detect the looseness of the clamped bolt, thereby determining whether it is a normal looseness.

[0024] The adjusting mechanism is used to adjust the distance between each jaw 200. The adjusting mechanism includes a screw block 212 installed between multiple jaws 200. By setting the adjusting mechanism, the distance between each jaw 200 can be controlled, thereby adapting to interface bolts of different specifications.

[0025] The power torque mechanism includes a mounting plate 206 for supporting multiple grippers 200. A rotary motor 205 for driving the mounting plate 206 to rotate is fixedly connected in the connecting seat 204. A strain gauge torque sensor 207 is provided on the side of the mounting plate 206 near the output end of the rotary motor 205. The strain gauge torque sensor 207 senses the shear deformation of the drive shaft of the mounting plate 206 in real time, converts the resistance change into a voltage signal through a Wheatstone bridge, and outputs an electrical signal proportional to the torque value. The bolt loosening status and degree are determined based on the torque and angle response curves.

[0026] Furthermore, the adjustment mechanism also includes multiple cranks 213 rotatably connected to the outer surface of the wire block 212, with the middle end of the cranks 213 rotatably connected to the gripper 200. A motor 210 is fixedly connected to one side of the mounting plate 206, and a lead screw 211 threadedly connected to the wire block 212 is fixedly connected to the output end of the motor 210. Multiple slide rails 208 are fixedly connected to one side of the mounting plate 206, and a slide seat 209 fixedly connected to the gripper 200 is slidably connected to the outer surface of the slide rails 208. A miniature hyperspectral camera 214 is fixedly connected to one end of the lead screw 211. By driving the wire block 212 to move, the tilt rotation of the cranks 213 is changed, thereby changing the position of the gripper 200. The cooperation between the slide rails 208 and the slide seat 209 can effectively improve the stability of the movement of the gripper 200. Since the loose joint will generate abnormal heat due to increased contact resistance, the miniature hyperspectral camera 214 can draw a fine temperature distribution map and accurately locate tiny hot spots.

[0027] The robot performs autonomous inspections using its walking mechanism, while the visual perception gimbal 102 completes a wide-area scan. After locating the target bolt, the robotic arm 201 and the turntable 203 work together to adjust the posture of the gripper assembly. The positioning mechanism adjusts the spacing of the grippers 200 to complete the clamping. The power torque mechanism applies a micro-rotational force and collects torque signals, while the miniature hyperspectral camera 214 simultaneously acquires thermal distribution data.

[0028] The strain gauge torque sensor 207 can generate a small shear deformation when the drive shaft of the mounting plate 206 rotates and is subjected to resistance, such as when tightening a bolt. The strain gauge attached to the shaft is stretched or compressed accordingly, and its resistance value changes slightly. The Wheatstone bridge set inside converts the resistance change into a voltage signal change. This voltage signal is proportional to the magnitude of the torque on the shaft, thereby determining the change in the magnitude of the torque and thus the change in the bolt torque.

[0029] Specifically, the visual perception gimbal 102 integrates a high-definition visible light zoom camera for appearance inspection and instrument reading. It also integrates an infrared thermal imager for temperature field monitoring and overheat fault diagnosis, and an ultraviolet corona detector for discharge detection, enabling large-area, non-contact preliminary scanning. The drive motor 107 rotates the tire 106 for inspection. When encountering obstacles or steps, the height of the tire 106 can be raised by activating the adjustment motor 105 to overcome them. Furthermore, the robotic arm 201 and turntable 203 can be operated to adjust the position of the connecting seat 204, positioning multiple grippers 200 at the interface bolts. 210 drives the lead screw 211 to rotate, adjusting the position of the lead block 212, which in turn drives the crank 213 to change the angle and change the position of the gripper 200, thereby tightening the position of multiple grippers 200 to clamp the interface. Because the loose joint will generate abnormal heat due to increased contact resistance, the miniature hyperspectral camera 214 can draw a detailed temperature distribution map to accurately locate tiny hot spots. At the same time, the rotary motor 205 is turned on, which drives the mounting plate 206 to rotate through the strain gauge torque sensor 207, causing the multiple grippers 200 to rotate and apply rotational force to the interface bolts to tighten them. The strain gauge torque sensor 207 can detect the torque on the bolts during tightening.

[0030] In summary, the walking mechanism, through the coordination of the support arm 103, auxiliary arm 104, and adjusting motor 105, achieves dynamic height adjustment of the tires 106, significantly improving the robot's obstacle-crossing ability and stability on unstructured terrains such as steps and ditches in the substation, ensuring full coverage of the inspection path; the visual perception gimbal 102 integrates a high-definition visible light zoom camera, an infrared thermal imager, and an ultraviolet corona detector to complete synchronous non-contact scanning of the equipment's appearance, temperature field distribution, and corona discharge, efficiently completing large-scale anomaly screening and target localization; the gripper assembly, as the core detection terminal, uses an adjustment mechanism to achieve stepless and precise adjustment of the gripper spacing 200, reliably adapting to bolt interfaces of different specifications; the power torque mechanism drives the mounting plate 206 through a rotary motor 205, combined with a strain gauge torque sensor 207 to capture the torque-angle response characteristics during micro-rotation in real time, transforming the degree of joint looseness into quantifiable mechanical diagnostic evidence; the miniature hyperspectral camera 214 simultaneously acquires the micro-area temperature distribution of the connection point, accurately identifying hidden hot spots caused by abnormal contact resistance.

[0031] Example 2: Please refer to Figure 1 - Figure 11 The present invention also provides a technical solution, which differs from the technical solution of Embodiment 1 as follows: an intelligent inspection robot based on 5G communication technology, further comprising: The detection module includes a composite probe 300 movably mounted on the gripper 200 and a transmission mechanism that drives the composite probe 300 to contact the pressure. The composite probe 300 integrates an ultrasonic probe. By setting the composite probe 300, insulation testing of the interface cable can be performed to determine whether the insulation is aging. Non-destructive testing can be performed by releasing ultrasonic waves by using the composite probe 300 to contact the cable.

[0032] The cleaning assembly includes an exhaust chamber 400 formed within the gripper 200, a side vent 402 communicating with the exhaust chamber 400, and a plug 408 disposed within the exhaust chamber 400 for switching between exhausting gas through the exhaust chamber 400 and the side vent 402. The gripper 200 is provided with a gas supply mechanism for supplying gas into the exhaust chamber 400. By providing the exhaust chamber 400, gas can be discharged from the end face of the gripper 200, while the side vent 402 allows gas to be discharged from the side of the gripper 200, thus achieving exhaust operation in different directions. The plug 408 can control the gas outflow position, and the gas supply mechanism can generate a continuous airflow.

[0033] Furthermore, the transmission mechanism includes a rocker plate 302 rotatably connected within the gripper 200. One end of the rocker plate 302 is fixedly connected to a connecting sleeve 301 for supporting the composite probe 300, and the other end of the rocker plate 302 is rotatably connected to a connecting handle 305. A slide bar 303 is fixedly connected to the side of the gripper 200, and an arc-shaped seat 304 rotatably connected to the outer surface of the slide bar 303 and rotatably connected to the connecting handle 305. One end of the crank 213 is rotatably connected to a ball bearing 306 that abuts against the side of the arc-shaped seat 304. By setting the cooperation between the ball bearing 306 and the side of the arc-shaped seat 304, the arc-shaped seat 304 can be pushed to move when the crank 213 is rotated under force. Subsequently, the connecting handle 305 pushes one end of the rocker plate 302 to move, causing the composite probe 300 to press down and protrude from the gripper 200 to abut against the cable.

[0034] Furthermore, the gas delivery mechanism includes a gas delivery cylinder 403 and a piston rod 407 slidably connected to one end of the gas delivery cylinder 403. An auxiliary rod 406 fixedly connected to the piston rod 407 is fixedly connected to one side of the arc-shaped seat 304. One end of the gas delivery cylinder 403 is connected to the exhaust chamber 400 through a gas delivery pipe 404. A return spring 405 for driving the piston rod 407 to reset is fixedly connected inside the gas delivery cylinder 403. By setting the piston end position of the piston rod 407 to slide inside the gas delivery cylinder 403, the gas inside the gas delivery cylinder 403 can be pushed to flow, forming an airflow that enters the exhaust chamber 400 through the gas delivery pipe 404.

[0035] Furthermore, multiple narrowing cylinders 401 are fixedly connected inside the exhaust chamber 400, and side air holes 402 are opened inside the narrowing cylinders 401. A misalignment groove 410 for the movement of the plug 408 is provided inside the exhaust chamber 400. Multiple spring plates 409 are fixedly connected to the outer surface of the plug 408 and to the inner wall of the misalignment groove 410. By cooperating with the narrowing cylinders 401 and the side air holes 402, the plug 408 can block the exhaust chamber 400. When the end face is open, the gas is discharged unidirectionally through the side air hole 402 and blown onto the cable surface. When the plug 408 swings and misaligns with the misalignment groove 410, it will not be able to block the end face of the exhaust chamber 400. At this time, when the airflow passes through the exhaust chamber 400, it will flow through each narrowing cylinder 401. Due to its narrowing characteristics, the side air hole 402 will generate negative pressure, thereby drawing the external gas from the side air hole 402 into the exhaust chamber 400, and then passing unidirectionally through the end face of the exhaust chamber 400.

[0036] The outer layer of the composite probe 300 uses high-strength, high-insulation engineering ceramics or special polymers as a protective and dielectric layer. The inner layer embeds a miniature multi-frequency impedance analysis electrode, which can form a non-destructive capacitive coupling with the surface of the insulating material being tested. Its internal circuit integrates a miniature impedance analysis chip, which can generate weak test signals of various frequencies and measure their response.

[0037] It actively alters the dielectric response test conditions of the cable by utilizing the stress generated when the grippers 200 perform their inherent mechanical actions (such as pressing and clamping), thereby obtaining richer and more sensitive aging information than static testing. Without additional mechanical stress, its internal impedance analysis chip automatically scans a frequency range, measuring the cable's complex capacitance and loss factor to establish a baseline spectrum of "frequency and dielectric characteristics." Slight aging (such as moisture or oxidation) can cause a drift in the characteristic frequencies of the spectrum.

[0038] While applying stress, the instantaneous changes in the dielectric parameters of the cable can be measured simultaneously and at high speed. Healthy, dense cables show minimal changes in dielectric parameters under slight stress. However, materials that have aged (such as those with internal microcracks, delamination, or air gaps) will experience minute displacements or interface polarization changes in their internal structure under stress, resulting in abnormal, detectable fluctuations or steps in dielectric loss.

[0039] Specifically, when the crank 213 is tilted under force, it will drive the ball 306 at one end to move, thereby driving the arc-shaped seat 304 to slide on the surface of the slide bar 303. This causes the arc-shaped seat 304 to drive the connecting handle 305 to move, which in turn drives the rocker 302 to tilt. This causes the composite probe 300 to move down and protrude from the gripper 200 to contact the surface of the cable. The composite probe 300 integrates an ultrasonic probe to detect flaws in the circuit. At the same time, the gripper 200 can apply gradually increasing pressure to the cable, thereby cooperating with the ultrasonic probe to actively change the dielectric response test conditions of the insulation material, thereby obtaining richer and more sensitive aging information than static testing.

[0040] Simultaneously, before the composite probe 300 tests the cable, the movement of the arc-shaped seat 304 synchronously drives the auxiliary rod 406 to move, causing the piston end of the piston rod 407 to move inside the air supply cylinder 403. This compresses the gas inside the air supply cylinder 403 and delivers it through the air supply pipe 404 to the interior of the exhaust chamber 400. The gas is then discharged through multiple side air holes 402 and blown onto the cable surface, achieving pre-test cleaning and eliminating interference from dirt on the dielectric response. To address issues such as condensation on the cabinet surface or decreased light transmittance of the window, the rotary motor 20 can be turned on. 5. The continuous rotation drives multiple grippers 200 to rotate. Under the action of centrifugal force, the drive plunger 408 swings and squeezes the spring plate 409, causing the plunger 408 to move in the misalignment groove 410 and fail to block the exhaust chamber 400. Simultaneously, the motor 210 is turned on to rotate in both directions, causing the crank 213 to swing back and forth, allowing the arc-shaped seat 304 to move up and down. This causes the gas to flow continuously in the exhaust chamber 400 and be discharged through the exhaust chamber 400 to blow away the window or cabinet. At the same time, the gas is further blown away by water vapor condensation under the action of centrifugal force.

[0041] In summary, the detection module, through the integrated ultrasonic probe and impedance analysis electrode of the composite probe 300, achieves stress-assisted dielectric response detection of insulating materials under the progressive mechanical stress applied by the gripper 200. When insulation aging leads to microcracks or air gaps, the abnormal fluctuations in dielectric parameters caused by stress are captured in real time, significantly improving the sensitivity of early insulation aging detection. At the same time, the transmission mechanism cleverly utilizes the swinging motion of the crank 213 of the adjustment mechanism to automatically trigger the composite probe 300 to press down and contact the cable, so that the stress application and detection process are completed synchronously without the need for an additional drive unit. The cleaning component switches the airflow path in the misalignment groove 410 through the plug 408 to achieve dual-mode self-maintenance: the blowing mode directionally removes dirt from the cable surface and eliminates detection interference; the suction mode utilizes the Venturi effect to suck up condensation and dust from the cabinet through the side air hole 402, and in conjunction with the rotary motor 205 driving the gripper 200 to rotate at high speed, it efficiently removes the fogging problem of the observation window.

[0042] Example 3: Please refer to Figure 1 - Figure 11The present invention also provides a technical solution, which differs from the technical solution of Embodiment 1 as follows: an intelligent inspection method based on 5G communication technology, comprising the following steps: S1. The visual perception gimbal 102 integrates a high-definition visible light zoom camera for appearance inspection and instrument reading. The visual perception gimbal 102 also integrates an infrared thermal imager for temperature field monitoring and overheating fault diagnosis, and an ultraviolet corona detector for discharge detection, realizing a large-area, non-contact preliminary scan. The drive motor 107 drives the tire 106 to rotate for inspection. When encountering obstacles or steps, the height of the tire 106 can be raised by activating the adjustment motor 105 to achieve overcoming. S2. Further operable robotic arm 201 and turntable 203 adjust the position of connecting seat 204 so that multiple grippers 200 are located at the interface bolt. The operating motor 210 drives the lead screw 211 to rotate and adjust the position of the lead block 212, which in turn drives the crank 213 to change the angle and change the position of the grippers 200, thereby tightening the position of multiple grippers 200 and clamping the interface. Since the loose joint will generate abnormal heat due to increased contact resistance, the miniature hyperspectral camera 214 can draw a fine temperature distribution map and accurately locate the tiny hot spots. At the same time, the rotary motor 205 is turned on to drive the mounting plate 206 to rotate through the strain gauge torque sensor 207, so that the multiple grippers 200 rotate and apply rotational force to the interface bolt to tighten it. The strain gauge torque sensor 207 can detect the torque on the bolt when tightening. S3. When the crank 213 is tilted under force, it will drive the ball 306 at one end to move, thereby driving the arc-shaped seat 304 to slide on the surface of the slide bar 303. This causes the arc-shaped seat 304 to drive the connecting handle 305 to move, which in turn drives the rocker 302 to tilt. This causes the composite probe 300 to move down and protrude from the gripper 200 to contact the surface of the cable. The composite probe 300 integrates an ultrasonic probe to detect flaws in the circuit. At the same time, the gripper 200 can apply gradually increasing pressure to the cable, thereby cooperating with the ultrasonic probe to actively change the dielectric response test conditions of the insulation material, thereby obtaining richer and more sensitive aging information than static testing. S4. Simultaneously, before the composite probe 300 tests the cable, the movement of the arc-shaped seat 304 will synchronously drive the auxiliary rod 406 to move, causing the piston end of the piston rod 407 to move inside the air supply cylinder 403, thereby squeezing the gas inside the air supply cylinder 403 and delivering it to the interior of the exhaust chamber 400 through the air supply pipe 404. Then, it is discharged through multiple side air holes 402 and blown onto the surface of the cable, realizing the cleaning work before testing and eliminating the interference of dirt on the dielectric response. S5. When dealing with water vapor condensation on the cabinet surface or a decrease in the light transmittance of the window, the rotary motor 205 can be turned on continuously to drive multiple grippers 200 to rotate. Under the action of centrifugal force, the plunger 408 is driven to swing and squeeze the spring plate 409, so that the plunger 408 moves in the misalignment groove 410 and cannot block the exhaust chamber 400. Simultaneously, the motor 210 is turned on to rotate in both directions, so that the crank 213 swings back and forth and the arc-shaped seat 304 moves up and down. This allows the gas to flow continuously in the exhaust chamber 400 and be discharged through the exhaust chamber 400 to blow away the window or cabinet. At the same time, the gas is discharged and further blows away water vapor condensation under the action of centrifugal force.

[0043] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0044] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A smart inspection robot based on 5G communication technology, comprising a body (100) and a visual perception gimbal (102) disposed therein, characterized in that, Also includes: A traveling mechanism for driving the body (100) to move; The robotic arm (201) is located on the top of the body (100), and a turntable (203) is provided at its end. The gripper assembly is mounted on the turntable (203) via a connecting seat (204). The gripper assembly includes grippers (200) for gripping and a power torque mechanism for driving the multiple grippers (200) to rotate. An adjustment mechanism for adjusting the spacing between the grippers (200), the adjustment mechanism comprising a wire block (212) installed between the plurality of grippers (200). The detection module includes a composite probe (300) movably mounted on a gripper (200) and a transmission mechanism for driving the composite probe (300) to contact pressure, wherein an ultrasonic probe is integrated within the composite probe (300). The cleaning assembly includes an exhaust chamber (400) opened in the gripper (200), a side air hole (402) communicating with the exhaust chamber (400), and a plug (408) disposed in the exhaust chamber (400) for switching gas out through the exhaust chamber (400) or the side air hole (402). The gripper (200) is provided with a gas supply mechanism for supplying gas to the exhaust chamber (400).

2. The intelligent inspection robot based on 5G communication technology according to claim 1, characterized in that: The power torque mechanism includes a mounting plate (206) for supporting multiple grippers (200), a rotary motor (205) for driving the mounting plate (206) to rotate is fixedly connected in the connecting seat (204), and a strain gauge torque sensor (207) is provided on the side of the mounting plate (206) near the output end of the rotary motor (205).

3. The intelligent inspection robot based on 5G communication technology according to claim 2, characterized in that: The adjustment mechanism also includes multiple cranks (213) rotatably connected to the outer surface of the wire block (212), and the middle end of the cranks (213) is rotatably connected to the gripper (200). A motor (210) is fixedly connected to one side of the mounting plate (206), and a lead screw (211) threadedly connected to the wire block (212) is fixedly connected to the output end of the motor (210). Multiple slide rails (208) are fixedly connected to one side of the mounting plate (206), and a slide seat (209) fixedly connected to the gripper (200) is slidably connected to the outer surface of the slide rail (208).

4. The intelligent inspection robot based on 5G communication technology according to claim 3, characterized in that: The transmission mechanism includes a rocker plate (302) rotatably connected to the gripper (200). One end of the rocker plate (302) is fixedly connected to a connecting sleeve (301) for supporting the composite probe (300). The other end of the rocker plate (302) is rotatably connected to a connecting handle (305). A slide bar (303) is fixedly connected to the side of the gripper (200). An arc-shaped seat (304) rotatably connected to the outer surface of the slide bar (303) is rotatably connected to the connecting handle (305). One end of the crank (213) is rotatably connected to a ball bearing (306) that abuts against the side of the arc-shaped seat (304).

5. The intelligent inspection robot based on 5G communication technology according to claim 4, characterized in that: The gas delivery mechanism includes a gas delivery cylinder (403) and a piston rod (407) slidably connected to one end of the gas delivery cylinder (403). An auxiliary rod (406) fixedly connected to the piston rod (407) is fixedly connected to one side of the arc-shaped seat (304). One end of the gas delivery cylinder (403) is connected to the exhaust chamber (400) through the gas delivery pipe (404). A reset spring (405) for driving the piston rod (407) to reset is fixedly connected inside the gas delivery cylinder (403).

6. The intelligent inspection robot based on 5G communication technology according to claim 1, characterized in that: The exhaust chamber (400) is fixedly connected to a plurality of narrowing cylinders (401), and a side air hole (402) is opened in the narrowing cylinder (401). The exhaust chamber (400) is provided with a misaligned groove (410) for the piston (408) to move. The outer surface of the piston (408) is fixedly connected to a plurality of spring plates (409) that are fixedly connected to the inner wall of the misaligned groove (410).

7. The intelligent inspection robot based on 5G communication technology according to claim 1, characterized in that: A battery box (101) is installed on the top of the body (100), and the bottom of the robotic arm (201) is fixedly connected to the body (100) by a gimbal (202).

8. The intelligent inspection robot based on 5G communication technology according to claim 1, characterized in that: The walking mechanism includes a tire (106) and a drive motor (107) for driving the tire (106) to rotate. A support arm (103) is installed on the side of the body (100). An auxiliary arm (104) for supporting the tire (106) is installed on one side of the support arm (103). An adjustment motor (105) is installed inside the auxiliary arm (104). The adjustment motor (105) can drive the tire (106) to lift to achieve obstacle crossing.

9. The intelligent inspection robot based on 5G communication technology according to claim 1, characterized in that: The visual perception gimbal (102) integrates a high-definition visible light zoom camera, an infrared thermal imager, and an ultraviolet corona detector.

10. A smart inspection method based on 5G communication technology, employing a smart inspection robot based on 5G communication technology as described in any one of claims 1-9, characterized in that, Includes the following steps: S1. Perform a large-scale non-contact scan of the device using a visual perception gimbal (102) to initially locate abnormal areas; S2. The robotic arm (201) and the turntable (203) are used to position the gripper assembly to the equipment interface, and the gripper (200) is tightened by the adjustment mechanism for clamping. S3. The clamp (200) is driven to rotate by the power torque mechanism to tighten the interface bolts, and the torque is detected by the strain gauge torque sensor (207). At the same time, the action of the adjustment mechanism drives the composite probe (300) to contact the surface of the equipment through the transmission mechanism, and performs ultrasonic flaw detection and dynamic dielectric response detection under pressure. S4. Before the composite probe (300) contacts the detection point, the action of the transmission mechanism synchronously triggers the cleaning component, generating a pulsed airflow that is ejected from the side air hole (402) to locally blow and clean the detection point. S5. When it is necessary to perform large-area dehumidification or dust removal on the surface of the equipment, the control power torque mechanism drives the gripper (200) to rotate continuously, opens the inlet of the exhaust chamber (400) through centrifugal force, and controls the adjustment mechanism to reciprocate, driving the cleaning component to generate a continuous airflow that is axially ejected from the exhaust chamber (400) for purging.

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