A substation-based visual intelligent detection device for tracked robots

Abstract

The application relates to the technical field of substation maintenance, and discloses a vision intelligent detection device of a tracked robot based on a substation, which comprises a tracked robot body, a mounting rack is fixedly installed at the top of the tracked robot body, a fixing sleeve is fixedly installed at the top of the mounting rack, a connecting plate is installed in the fixing sleeve, a vision detection assembly is installed at the top of the connecting plate, a connecting rod is fixedly installed at the top of the connecting plate, a connecting block is fixedly installed at the top of the connecting rod, a sliding block is fixedly installed at the bottom of the connecting block, a moving plate is slidably installed on the outer wall of the fixing sleeve, and a protective cover is fixedly installed at the top of the moving plate. In the application, when the detection piece at the top of the connecting plate is lifted, the sliding block is driven to move upwards, the protective cover is lifted upwards together with the detection piece below the protective cover, the protective cover can be kept outside the vision detection component, and the vision detection assembly lifting part is protected.

Description

Technical Field

[0001] This invention relates to the field of substation maintenance technology, specifically to a tracked robot visual intelligent inspection device based on substations. Background Technology

[0002] Photovoltaic power plant maintenance involves the inspection, cleaning, maintenance, testing, and troubleshooting of equipment such as photovoltaic modules, inverters, combiner boxes, brackets, cables, and monitoring systems. By identifying problems such as hidden cracks in modules, dust blockage, overheating of joints, and communication abnormalities, the maintenance ensures power generation efficiency and safe and stable operation of the equipment. However, it is impossible to guarantee thorough inspection by personnel alone, and it is also impossible to conduct inspections around the clock. Therefore, a tracked robot equipped with visual intelligent detection is needed to carry out inspections according to a predetermined route and process.

[0003] The tracked robot visual intelligent inspection device uses a tracked mobile platform as its carrier and is equipped with multimodal visual inspection units such as high-definition visible light and infrared thermal imaging. It integrates AI image recognition and autonomous navigation technology, and can autonomously inspect photovoltaic power plants in complex electromagnetic and terrain environments. It can identify appearance defects, determine status, read instrument readings, detect abnormal temperatures, and provide intelligent early warning of potential hazards for various substation equipment. This enables all-weather, high-precision, unmanned intelligent visual inspection of substation equipment, improving inspection efficiency and maintenance safety.

[0004] The equipment inside photovoltaic substations is installed at different locations and heights, requiring tracked robots equipped with lifting devices to raise and lower visual intelligent inspection components. This facilitates the inspection of equipment in different positions. However, when the tracked robot's visual intelligent inspection device is in use, external dust and impurities adhere to the outer surface of the visual intelligent inspection components. When the visual intelligent inspection components are raised, lowered, or stored and not in use, dust enters the device, causing wear or damage to the visual inspection components or lifting components, thus reducing the service life of the tracked robot's visual intelligent inspection components. Therefore, there is an urgent need for a tracked robot visual intelligent inspection device based on substations. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a visual intelligent inspection device for tracked robots based on substations, which solves the problem that external dust can enter the visual inspection components of tracked robots, accelerating the wear or damage of the visual inspection components or lifting components.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a tracked robot visual intelligent inspection device based on a substation, comprising a tracked robot body, a mounting frame fixedly mounted on the top of the tracked robot body, a fixed sleeve fixedly mounted on the top of the mounting frame, a connecting plate installed inside the fixed sleeve, a visual inspection component mounted on the top of the connecting plate, a lifting component installed at the bottom of the connecting plate, a connecting rod fixedly mounted on the top of the connecting plate, a connecting block fixedly mounted on the top of the connecting rod, a groove formed on the outer wall of the fixed sleeve, a slider fixedly mounted on the bottom of the connecting block, the slider slidably mounted inside the groove, a snap-fit ​​block fixedly mounted on the outer wall of the slider, a movable plate slidably mounted on the outer wall of the fixed sleeve, a protective cover fixedly mounted on the top of the movable plate, and an insertion block fixedly mounted on the bottom of the movable plate, the insertion block being inserted into the snap-fit ​​block.

[0007] With the above technical solution, sliders are installed inside both slides, and connecting blocks are installed on the top of both sliders. The two connecting blocks can then be connected to two connecting rods fixedly installed on the top of the connecting plate, so that the connecting plate can drive the connecting rods, connecting blocks and sliders to move upward together. A snap-fit ​​block protruding to the outside of the fixed sleeve is fixedly installed on the side of the slider away from the slide. When the connecting plate drives the top vision inspection component to move upward, it can drive the connecting rods, connecting blocks and sliders to move upward together, so that the protective cover is outside the vision inspection component and rises and falls together for protection.

[0008] Preferably, the lifting assembly includes an electric push rod installed at the bottom of the inner wall of the fixed sleeve, an annular plate is fixedly installed on the top of the output shaft of the electric push rod, a connecting sleeve is fixedly installed on the bottom of the annular plate, a connecting ring is fixedly installed on the outer wall of the connecting sleeve, and an installation sleeve is fixedly installed on the top of the connecting ring.

[0009] Preferably, the top of the mounting sleeve is fixedly connected to the bottom of the connecting plate, and the annular plate and the connecting sleeve are disposed inside the mounting sleeve.

[0010] Preferably, the visual inspection component includes a first drive motor mounted at the bottom of the connecting plate, the output shaft of the first drive motor passing through the connecting plate and having a rotating column mounted thereon, and an inspection element mounted on the top of the rotating column.

[0011] Preferably, the detection element is disposed inside the protective cover, and the top of the protective cover is hinged with a closing cover.

[0012] Preferably, a limiting plate is fixedly installed on the inner wall of the protective cover, and the bottom of the limiting plate is located at the top of the fixed sleeve.

[0013] Preferably, a limiting rod is fixedly installed at the bottom of the limiting plate, and a connecting groove is provided at the top of the fixing sleeve, with the limiting rod slidably inserted into the connecting groove.

[0014] Preferably, a rotating shaft is rotatably mounted on the outer wall of the protective cover, and a first rotating tooth is sleeved on the outer surface of the rotating shaft, with a second rotating tooth meshing at the tip of the first rotating tooth.

[0015] Preferably, a fixing frame is fixedly installed on the outer wall of the protective cover, and a second drive motor is installed inside the fixing frame. The output shaft of the second drive motor is fixedly inserted into the inside of the second rotating gear.

[0016] Preferably, the end of the rotating shaft away from the first rotating tooth extends into the interior of the protective cover and is equipped with a brush disc. There are two first rotating teeth, which are symmetrically distributed outside the second rotating tooth.

[0017] Working principle: When using the tracked robot, the operator opens the closed cover and powers on the robot to start it. The robot then inspects along a predetermined route. During the inspection, the electric push rod is activated, causing the mounting sleeve and connecting plate to rise. When the detection component on the top of the connecting plate rises to the outside of the protective cover, the connecting plate drives the slider to align the locking block with the insertion block. Subsequently, the slider continues to rise, causing the protective cover to move synchronously below the detection component. With the assistance of the moving plate and limit rod, stability is achieved, thus protecting the raised part of the detection component from collisions.

[0018] When it is necessary to inspect equipment in different locations of a photovoltaic substation, the first drive motor starts, driving the rotating column and the detection component to rotate. The lifting component is used to adjust the height and direction of the detection component to complete multi-directional inspection. When storing the test piece, the electric push rod drives the mounting sleeve and connecting plate to descend, and the protective cover moves down simultaneously. When the bottom of the limit plate abuts the top of the fixing sleeve, the protective cover stops moving and the test piece is stored inside it. Closing the cover can prevent dust from contaminating the relevant components. After the test piece is stored, the first drive motor rotates it to a suitable position so that the brush disk fits against its camera lens. The second drive motor starts, driving the second and first rotating teeth to rotate. The brush disk cleans the lens to prevent dust from obstructing the test.

[0019] This invention provides a visual intelligent inspection device for tracked robots based on substations. It has the following beneficial effects:

[0020] 1. In this invention, the electric push rod drives the mounting sleeve and connecting plate to move upward, causing the detection component at the top of the connecting plate to rise. At the same time, the slider rises to connect the snap-fit ​​block and the plug-in block. Furthermore, the upward movement of the slider causes the protective cover, which is located below the detection component, to rise together. This ensures that the protective cover is always outside the visual inspection component, protecting the raised part of the visual inspection component and preventing the rod or cable from bumping into the raised part of the detection component.

[0021] 2. In this invention, when the lifting component moves the detection component downward, the protective cover moves downward along with it. When the bottom of the limiting plate touches the top of the fixing sleeve, the protective cover can no longer move downward, so that the detection component can be stored inside the protective cover and the closing cover is closed on the top of the protective cover, which can prevent dust and other impurities from contaminating the visual detection component or the lifting component.

[0022] 3. In this invention, the second drive motor drives the second rotating tooth and the two first rotating teeth to rotate, so that the brush disk can clean the lens of the camera component of the test piece, and prevent dust from adhering to the outer wall of the test piece, which would cause the lens of the camera component of the test piece to be blocked. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention; Figure 2 This is a schematic cross-sectional view of the fixing sleeve of the present invention; Figure 3 This is a three-dimensional structural diagram of the detection element of the present invention; Figure 4 This is a schematic cross-sectional view of the limiting rod of the present invention; Figure 5 This is a three-dimensional structural diagram of the connecting plate of the present invention; Figure 6 This is a three-dimensional structural diagram of the second drive motor of the present invention.

[0024] The components include: 1. Tracked robot body; 11. Mounting frame; 101. Fixing sleeve; 102. Connecting plate; 103. Connecting rod; 104. Connecting block; 105. Slide groove; 106. Slider; 107. Snap-fit ​​block; 108. Moving plate; 109. Protective cover; 110. Insertion block; 2. Electric push rod; 21. Ring plate; 22. Connecting sleeve; 23. Connecting ring; 24. Mounting sleeve; 3. First drive motor; 31. Rotating column; 32. Detection piece; 4. Closing cover; 5. Limiting plate; 6. Limiting rod; 7. Rotating shaft; 71. First rotating tooth; 72. Second rotating tooth; 8. Fixing frame; 81. Second drive motor; 9. Brush disc. Detailed Implementation

[0025] The technical solution of the present invention will now be clearly and completely described 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.

[0026] Please see the appendix Figure 1 - Appendix Figure 5 This invention provides a visual intelligent inspection device for a tracked robot based on a substation, including a tracked robot body 1. A mounting frame 11 is fixedly installed on the top of the tracked robot body 1. A fixing sleeve 101 is fixedly installed on the top of the mounting frame 11. A connecting plate 102 is installed inside the fixing sleeve 101. A visual inspection component is installed on the top of the connecting plate 102. A lifting component is installed on the bottom of the connecting plate 102. A connecting rod 103 is fixedly installed on the top of the connecting plate 102. A connecting block 104 is fixedly installed. A groove 105 is opened on the outer wall of the fixed sleeve 101. A slider 106 is fixedly installed at the bottom of the connecting block 104. The slider 106 is slidably installed inside the groove 105. A snap-fit ​​block 107 is fixedly installed on the outer wall of the slider 106. A movable plate 108 is slidably installed on the outer wall of the fixed sleeve 101. A protective cover 109 is fixedly installed on the top of the movable plate 108. A plug-in block 110 is fixedly installed at the bottom of the movable plate 108. The plug-in block 110 is plugged into the inside of the snap-fit ​​block 107.

[0027] Specifically, the mounting frame 11 is welded or fixed to the top of the tracked robot body 1 by bolts, and the fixing sleeve 101 can be fixed to the top of the mounting frame 11 by bolts or welding. The connecting plate 102 is slidably installed inside the fixing sleeve 101 against the inner wall of the fixing sleeve 101. The lifting component inside the fixing sleeve 101 can push the connecting plate 102, so that the vision inspection component on the top of the connecting plate 102 can move up and down, which facilitates the up and down adjustment of the vision inspection component to inspect the internal equipment of the photovoltaic power station. Two grooves 105 are formed on the outer wall of the fixed sleeve 101. A slider 106 is installed inside each groove 105. A connecting block 104 is installed on the top of each slider 106. The connecting blocks 104 can then connect to two connecting rods 103 fixedly installed on the top of the connecting plate 102, allowing the connecting plate 102 to move the connecting rods 103, connecting blocks 104, and sliders 106 upwards together. A snap-fit ​​block 107 protruding outwards from the fixed sleeve 101 is fixedly installed on the side of the slider 106 away from the grooves 105. The moving plate 108 is slidably sleeved on the outer wall of the fixed sleeve 101, allowing the bottom of the protective cover 109 to be fixedly installed. The outer wall of the movable plate 108 allows the protective cover 109 to be fitted onto the outside of the vision inspection component, thus protecting the vision inspection component. When the connecting plate 102 moves the top vision inspection component upward, it can move the connecting rod 103, the connecting block 104, and the slider 106 upward together. The upward movement of the slider 106 can cause the locking block 107 to engage with the insertion block 110 at the bottom of the movable plate 108. This ensures that when the connecting plate 102 moves the vision inspection component upward, the protective cover 109 is always outside the vision inspection component, protecting the raised part of the vision inspection component from impacts. It should be noted that tracked robots are intelligent mobile platforms that replace conventional roller-type mobile devices with tracks and adopt tracked walking mechanisms. They have the characteristics of strong obstacle crossing ability, large ground contact area and good stability, and can complete tasks such as inspection, detection and operation in complex terrain and harsh environments.

[0028] First, regarding the question of how the lifting assembly drives the connecting plate 102 to move upward, please refer to the appendix. Figure 2 The lifting assembly includes an electric push rod 2 installed at the bottom of the inner wall of the fixed sleeve 101. An annular plate 21 is fixedly installed on the top of the output shaft of the electric push rod 2. A connecting sleeve 22 is fixedly installed on the bottom of the annular plate 21. A connecting ring 23 is fixedly installed on the outer wall of the connecting sleeve 22. An installation sleeve 24 is fixedly installed on the top of the connecting ring 23.

[0029] The top of the mounting sleeve 24 is fixedly connected to the bottom of the connecting plate 102, and the annular plate 21 and the connecting sleeve 22 are disposed inside the mounting sleeve 24.

[0030] Specifically, the bottom of the electric push rod 2 is fixed to the bottom of the inner wall of the fixed sleeve 101. The top of the output shaft of the electric push rod 2 is fixedly connected to the bottom of the annular plate 21. A connecting sleeve 22 that is sleeved on the outside of the electric push rod 2 is fixedly installed on the bottom of the annular plate 21. A connecting ring 23 is fixedly installed on the bottom of the outer surface of the connecting sleeve 22, which enables the bottom of the mounting sleeve 24 to be fixedly connected to the top of the connecting ring 23, increasing the maximum lifting distance of the mounting sleeve 24. This allows the connecting plate 102 and the vision inspection component on the top of the mounting sleeve 24 to rise to a higher height, facilitating the inspection of equipment at a high position.

[0031] Secondly, regarding the question of how vision inspection components inspect the internal equipment of photovoltaic power plants, please refer to the appendix. Figure 1 Appendix Figure 3 With appendix Figure 5 The visual inspection component includes a first drive motor 3 installed at the bottom of the connecting plate 102. The output shaft of the first drive motor 3 passes through the connecting plate 102 and a rotating column 31 is installed thereon. A detection element 32 is installed on the top of the rotating column 31.

[0032] Specifically, the first drive motor 3 is installed at the bottom of the connecting plate 102. The first drive motor 3 is a servo motor, which can be controlled to start and stop by the controller. The output shaft of the first drive motor 3 can pass through the connecting plate 102 and connect to the rotating column 31. The detection component 32 is installed on the top of the rotating column 31. When the first drive motor 3 is powered on, it can drive the rotating column 31 and the detection component 32 to rotate. With the lifting component, the height of the detection component 32 can be raised and lowered and the direction of rotation can be changed, so as to achieve the effect of detecting the internal equipment of the photovoltaic power station. It is important to note that the inspection component 32 includes equipment such as a visible light camera, an infrared thermal imager, an environmental sensor, and a partial discharge detection module. It can conduct inspections of areas such as photovoltaic zones, transformer substations, inverters, combiner boxes, switchgear, and cable trenches. The visible light camera captures images of equipment appearance, instrument readings, loose connections, foreign objects, damage, corrosion, and other anomalies. The infrared thermal imager detects overheating and abnormal temperature rises in inspection components, terminals, circuit breakers, and cable joints to identify potential heating hazards. Ultrasonic or UHF sensors detect partial discharge signals in switchgear, transformer substations, and cable heads to provide early warnings of insulation defects. Different sensors collect data on temperature, humidity, gas, smoke, and noise within the photovoltaic substation to identify fire, leakage, and abnormal sound risks. Furthermore, the tracked robot 1 relies on lidar, GPS, BeiDou, and visual navigation to achieve autonomous path planning, obstacle avoidance, and fixed-point inspection, completing unmanned inspection operations. During specific inspections, different inspection equipment can be added or modified to achieve the effect of inspecting internal equipment of the photovoltaic substation through the inspection component 32.

[0033] Secondly, considering that the vision inspection component needs to extend outside the protective cover 109 for inspection, please refer to the appendix. Figure 3 - Appendix Figure 5 The detection component 32 is located inside the protective cover 109, and the top of the protective cover 109 is hinged with a closing cover 4.

[0034] A limiting plate 5 is fixedly installed on the inner wall of the protective cover 109, and the bottom of the limiting plate 5 is set at the top of the fixed sleeve 101.

[0035] A limiting rod 6 is fixedly installed at the bottom of the limiting plate 5, and a connecting groove is provided at the top of the fixing sleeve 101. The limiting rod 6 is slidably inserted into the inside of the connecting groove.

[0036] Specifically, a hinged cover 4 that can be opened and closed is connected to the top side of the protective cover 109. One end of the closed cover 4 is equipped with a buckle that can be fastened to the buckle that is fixedly installed on the protective cover 109, thus limiting the connection between the closed cover 4 and the protective cover 109. When the tracked robot body 1 is not in use, the closed cover 4 can be closed to close the protective cover 109, protect the vision inspection component, and prevent dust and other impurities from contaminating the vision inspection component or the lifting component. The limiting plate 5 is fixedly installed on the inner wall of the protective cover 109. A hole is provided in the middle of the limiting plate 5, allowing the mounting sleeve 24 to slide inside the limiting plate 5. The hole in the middle of the limiting plate 5 is smaller than the diameter of the fixing sleeve 101, so that the bottom of the limiting plate 5 can abut against the top of the fixing sleeve 101. The limiting rod 6 is fixedly installed at the bottom of the limiting plate 5, allowing the limiting rod 6 to insert into the connecting groove inside the fixing sleeve 101. When the tracked robot body 1 needs to be used, the operator opens the closing cover 4 and then powers on the tracked robot body 1. The tracked robot body 1 will then perform an inspection along a predetermined route. During the inspection, the lifting assembly is powered on. The kinetic energy drives the mounting sleeve 24 and the connecting plate 102 to move upward. When the detection element 32 at the top of the connecting plate 102 rises to the outside of the protective cover 109, the connecting plate 102 drives the slider 106 to insert the snap-fit ​​block 107 and the plug-in block 110, so that the protective cover 109 is below the detection element 32 and rises together. The moving plate 108 is sleeved on the outer wall of the fixed sleeve 101 and rises together. The limiting rod 6 also slides upward inside the connecting groove. The moving plate 108 and the limiting rod 6 help the protective cover 109 to move up and down stably, so that the protective cover 109 can always be outside the visual inspection component and protect the raised part of the visual inspection component. It should be noted that when the tracked robot body 1 is not in use, the protective cover 109 is pressed against the top of the fixed sleeve 101 by the limiting plate 5, which can prevent the protective cover 109 from moving to the lowest position along with the slider 106 and the snap block 107. This allows the protective cover 109 to provide sleeve protection for the unused vision inspection components, and makes it easy for the closing cover 4 to close on the top of the protective cover 109.

[0037] Finally, considering that dust may adhere to the outer wall of the inspection component 32 after it extends outside the protective cover 109 for inspection, potentially obstructing the camera equipment of the inspection component 32, please refer to the appendix. Figure 4 With appendix Figure 6 The outer wall of the protective cover 109 is rotatably mounted with a rotating shaft 7, and the outer surface of the rotating shaft 7 is sleeved with a first rotating tooth 71, and the tooth end of the first rotating tooth 71 is engaged with a second rotating tooth 72.

[0038] A fixing frame 8 is fixedly installed on the outer wall of the protective cover 109. A second drive motor 81 is installed inside the fixing frame 8. The output shaft of the second drive motor 81 is fixedly inserted into the inside of the second rotating gear 72.

[0039] The end of the rotating shaft 7 away from the first rotating tooth 71 extends into the interior of the protective cover 109 and is equipped with a brush disc 9. There are two first rotating teeth 71, which are symmetrically distributed outside the second rotating tooth 72.

[0040] Specifically, a fixing bracket 8 is fixedly installed on the outer wall of the protective cover 109. The second drive motor 81 can be installed on the inner wall of the fixing bracket 8 for limiting and fixing. A second rotating tooth 72 is sleeved on the outer surface of the output shaft of the second drive motor 81. Two first rotating teeth 71 are symmetrically distributed on both sides of the outer side of the second rotating tooth 72. The tooth ends of the two first rotating teeth 71 mesh with the tooth ends of the second rotating teeth 72. A rotating shaft 7 is fixedly sleeved inside each of the two first rotating teeth 71. The ends of the two rotating shafts 7 away from the first rotating teeth 71 penetrate into the interior of the protective cover 109 and connect to the brush disk 9. The brush disk 9 is away from the first rotating teeth 71. One side of the rotating shaft 7 is attached to the outer wall of the detection component 32. When the tracked robot body 1 is not in use, the detection component 32 is stored inside the protective cover 109 through the lifting component. At this time, the detection component 32 is rotated to a suitable position by the first drive motor 3, so that the brush disk 9 can be attached to the outside of the camera lens of the detection component 32. The second drive motor 81 is powered on and can drive the second rotating tooth 72 and the two first rotating teeth 71 to rotate, so that the brush disk 9 can clean the camera lens of the detection component 32, and prevent dust from adhering to the outer wall of the detection component 32, which would cause the camera lens of the detection component 32 to be blocked. It should be noted that the second drive motor 81 is a servo motor. The second drive motor 81 is also electrically connected to the controller. The controller can power on and start the second drive motor 81. The side of the brush disk 9 closest to the detection piece 32 is set with soft brush, which will not affect the up and down movement of the detection piece 32.

[0041] Workflow: When the tracked robot body 1 needs to be used, the operator opens the closing cover 4 and then powers on the tracked robot body 1. The tracked robot body 1 performs inspections according to the predetermined route. During the inspection, the electric push rod 2 is powered on and drives the mounting sleeve 24 and the connecting plate 102 to move upward. When the detection component 32 on the top of the connecting plate 102 rises to the outside of the protective cover 109, the connecting plate 102 drives the slider 106 to connect the snap-fit ​​block 107 and the plug-in block 110. When the slider 106 rises again, it drives the protective cover 109 to rise together below the detection component 32. The moving plate 108 and the limiting rod 6 help stabilize the up and down movement of the protective cover 109, so that the protective cover 109 can always be outside the vision inspection component, thus protecting the raised part of the vision inspection component and preventing the rod or cable from bumping into the raised part of the detection component 32. When it is necessary to inspect equipment in different locations inside the photovoltaic substation, the first drive motor 3 is powered on and starts to drive the rotating column 31 and the detection component 32 to rotate. With the help of the lifting component, the detection component 32 can be raised and lowered and rotated to achieve the effect of inspecting equipment in different locations inside the photovoltaic substation. When the detection element 32 retracts into the protective cover 109, the drive motor is powered on and starts to move the mounting sleeve 24 and the connecting plate 102 downward. At the same time, the protective cover 109 will move downward along with it. When the bottom of the limiting plate 5 abuts against the top of the fixing sleeve 101, the protective cover 109 can no longer move downward, so that the detection element 32 can be stored inside the protective cover 109 and the closing cover 4 is closed on the top of the protective cover 109, which can prevent dust and other impurities from contaminating the visual detection component or the lifting component. When the detection component 32 is stored inside the protective cover 109 by the lifting assembly, the detection component 32 is rotated to a suitable position by the first drive motor 3, so that the brush disk 9 can fit against the outside of the camera lens of the detection component 32. The second drive motor 81 is powered on and drives the second rotating tooth 72 and the two first rotating teeth 71 to rotate, so that the brush disk 9 can clean the camera lens of the detection component 32, and prevent dust from adhering to the outer wall of the detection component 32, which would cause the camera lens of the detection component 32 to be blocked.

[0042] 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 visual intelligent inspection device for a tracked robot based on a substation, comprising a tracked robot body (1), wherein a mounting frame (11) is fixedly installed on the top of the tracked robot body (1), characterized in that: A fixing sleeve (101) is fixedly installed on the top of the mounting bracket (11). A connecting plate (102) is installed inside the fixing sleeve (101). A vision inspection component is installed on the top of the connecting plate (102). A lifting component is installed on the bottom of the connecting plate (102). A connecting rod (103) is fixedly installed on the top of the connecting plate (102). A connecting block (104) is fixedly installed on the top of the connecting rod (103). A sliding groove (105) is provided on the outer wall of the fixing sleeve (101). The connecting block... A slider (106) is fixedly installed at the bottom of (104). The slider (106) is slidably installed inside the slide groove (105). A snap-fit ​​block (107) is fixedly installed on the outer wall of the slider (106). A movable plate (108) is slidably installed on the outer wall of the fixed sleeve (101). A protective cover (109) is fixedly installed on the top of the movable plate (108). A plug-in block (110) is fixedly installed on the bottom of the movable plate (108). The plug-in block (110) is inserted into the snap-fit ​​block (107).

2. The visual intelligent inspection device for tracked robots based on substations according to claim 1, characterized in that: The lifting assembly includes an electric push rod (2) installed at the bottom of the inner wall of the fixed sleeve (101). An annular plate (21) is fixedly installed on the top of the output shaft of the electric push rod (2). A connecting sleeve (22) is fixedly installed at the bottom of the annular plate (21). A connecting ring (23) is fixedly installed on the outer wall of the connecting sleeve (22). An installation sleeve (24) is fixedly installed on the top of the connecting ring (23).

3. The visual intelligent inspection device for tracked robots based on substations according to claim 2, characterized in that: The top of the mounting sleeve (24) is fixedly connected to the bottom of the connecting plate (102), and the annular plate (21) and the connecting sleeve (22) are disposed inside the mounting sleeve (24).

4. The visual intelligent inspection device for tracked robots based on substations according to claim 1, characterized in that: The visual inspection component includes a first drive motor (3) installed at the bottom of the connecting plate (102), the output shaft of the first drive motor (3) passes through the connecting plate (102) and a rotating column (31) is installed thereon, and an inspection element (32) is installed on the top of the rotating column (31).

5. The visual intelligent inspection device for tracked robots based on substations according to claim 4, characterized in that: The detection element (32) is disposed inside the protective cover (109), and the top of the protective cover (109) is hinged with a closing cover (4).

6. The visual intelligent inspection device for tracked robots based on substations according to claim 1, characterized in that: A limiting plate (5) is fixedly installed on the inner wall of the protective cover (109), and the bottom of the limiting plate (5) is set on the top of the fixing sleeve (101).

7. The visual intelligent inspection device for tracked robots based on substations according to claim 6, characterized in that: The bottom of the limiting plate (5) is fixedly installed with a limiting rod (6), and the top of the fixing sleeve (101) is provided with a connecting groove, and the limiting rod (6) is slidably inserted into the inside of the connecting groove.

8. The visual intelligent inspection device for tracked robots based on substations according to claim 1, characterized in that: The outer wall of the protective cover (109) is rotatably mounted with a rotating shaft (7), and the outer surface of the rotating shaft (7) is sleeved with a first rotating tooth (71), and the tooth end of the first rotating tooth (71) meshes with a second rotating tooth (72).

9. The visual intelligent inspection device for tracked robots based on substations according to claim 8, characterized in that: The outer wall of the protective cover (109) is fixedly installed with a fixing frame (8), and a second drive motor (81) is installed inside the fixing frame (8). The output shaft of the second drive motor (81) is fixedly inserted into the inside of the second rotating gear (72).

10. A visual intelligent inspection device for tracked robots based on substations according to claim 9, characterized in that: The end of the rotating shaft (7) away from the first rotating tooth (71) extends into the interior of the protective cover (109) and is equipped with a brush disc (9). There are two first rotating teeth (71), and the two first rotating teeth (71) are symmetrically distributed outside the second rotating tooth (72).

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