Power distribution room inspection robot

Abstract

The utility model relates to the technical field of inspection equipment, and discloses a power distribution room inspection robot which comprises a moving trolley and a mechanical arm, an installation base is fixedly installed on the upper side of the moving trolley, a rotating column is rotationally installed on the upper side of the installation base, and an installation cross beam is fixedly installed at the top end of the rotating column. A supporting rod is inserted into the end, away from the rotating column, of the mounting beam. A monitoring camera is fixedly mounted at the top end of the supporting rod. The mechanical arm comprises a first arm rod, a second arm rod, an electric telescopic rod and a connecting base plate, and a detection camera is fixedly installed on the connecting base plate. According to the inspection robot for the power distribution room, the mounting cross beam is arranged, the mechanical arm and the monitoring camera are arranged at the two ends of the mounting cross beam correspondingly, and when the mechanical arm drives the detection camera or the detection assembly to detect detected equipment, the monitoring camera has a wide enough visual field to observe actions of the mechanical arm, so that collision of the mechanical arm is prevented; therefore, the effect of conveniently controlling the mechanical arm to act is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection equipment, in particular to a power distribution room inspection robot. Background Technique

[0002] The power distribution room is an important facility in power production and supply, and there are many potential hazards, such as electric shock and leakage of toxic and harmful substances. Using an inspection robot to replace manual inspection greatly reduces the labor intensity and work risk. For example, the patent document with the publication number of CN208663818U in the prior art discloses a wheeled intelligent inspection robot for power distribution rooms. A driving wheel assembly for driving the movement chassis to displace is provided in the movement chassis. A functional housing mating with the movement chassis is provided on the upper part of the movement chassis. A front collision device is provided at the low end of the head of the functional housing. A front anti-collision photoelectric device is provided in the head of the functional housing. An autonomous charging interface is provided at the tail of the functional housing. A power switch is provided at the side end of the functional housing. A sound outlet of a pick-up voice intercom device is provided on the upper part of the functional housing. A mechanical arm that can extend upward is provided on the upper part of the functional housing. A visible light camera and an infrared thermal imager are provided at the top of the mechanical arm. A temperature and humidity sensor, a two-dimensional code camera and an SF6 gas sensor are provided at the bottom of the movement chassis. A controller is provided in the functional housing. A wheeled intelligent inspection robot for power distribution rooms has a compact structure and improves the use performance.

[0003] This type of inspection robot has the characteristics of flexible movement. However, when controlling the movement of the mechanical arm and making the mechanical arm drive the detection instrument close to the device to be detected, due to the lack of monitoring and assistance from the third perspective, it is difficult to control the distance and avoid obstacles. Collisions between the mechanical arm and the device to be detected often occur, resulting in difficult remote control operation and inconvenience in use. Based on this, the existing inspection robots have the defect of lacking third-perspective monitoring. How to set up third-perspective monitoring to assist remote control operation is urgently needed to be solved. Content of the Utility Model

[0004] The purpose of the utility model is to provide a power distribution room inspection robot to solve the problems put forward in the above background technique.

[0005] To achieve the above purpose, the utility model provides the following technical solution: A power distribution room inspection robot, including a mobile trolley and a mechanical arm. An installation base is fixedly installed on the upper side of the mobile trolley. A rotating column is rotatably installed on the upper side of the installation base. An installation cross beam is fixedly installed at the top of the rotating column. A support rod is inserted at one end of the installation cross beam away from the rotating column. A monitoring camera is fixedly installed at the top of the support rod.

[0006] The robotic arm includes a first arm rod, a second arm rod, an electric telescopic rod, and a connection base plate. One end of each of the first arm rod and the second arm rod is rotatably connected to the mounting cross beam, and the other end of each of the first arm rod and the second arm rod is rotatably connected to the connection base plate. The bottom end of the electric telescopic rod is rotatably connected to the rotating column, and the telescopic end of the electric telescopic rod is rotatably connected to the first arm rod. A detection camera is fixedly installed on the connection base plate. The monitoring camera is separately arranged from the detection camera, with a sufficient distance between them. The monitoring camera has a sufficiently wide field of view to observe the movement of the robotic arm and prevent the robotic arm from colliding with the device to be detected, thereby achieving the effect of facilitating the control of the movement of the robotic arm.

[0007] In some embodiments, a connecting shaft is rotatably installed inside the mounting base. The top end of the connecting shaft is fixedly connected to the bottom end of the rotating column. A worm gear disc is fixedly installed on the surface of the connecting shaft. A worm is rotatably installed inside the mounting base. The worm meshes with the worm gear disc for transmission. A rotating motor is fixedly installed on the surface of the mounting base. The rotating motor drives the worm to rotate, enabling the rotating column to rotate to a certain angle and remain stationary, achieving the effect of facilitating the adjustment of the direction of the robotic arm.

[0008] In some embodiments, the mounting cross beam has an L-shaped structure. An insertion hole penetrating up and down is formed in the upper end of the mounting cross beam. The support rod is slidably inserted into the insertion hole. A locking bolt is threadedly installed on the side surface of the mounting cross beam. The end of the locking bolt presses against the surface of the support rod, enabling the installation angle and height of the monitoring camera to be adjustable.

[0009] In some embodiments, the mobile trolley includes a vehicle frame. Two driving wheels and two steering wheels are respectively rotatably installed on both sides of the vehicle frame. A traveling motor is fixedly installed inside the vehicle frame. The traveling motor drives the driving wheels to rotate. A steering gear is fixedly installed inside the vehicle frame. A transmission plate is fixedly installed at the rotating end of the steering gear. A transmission rod is rotatably installed on the surface of the transmission plate. Two steering seats are rotatably installed on the lower side of the vehicle frame. The two transmission rods are respectively rotatably connected to the two steering seats. The steering wheels on both sides are respectively rotatably connected to the two steering seats.

[0010] The mounting base is fixedly installed on the upper surface of the vehicle frame. A load-carrying area is reserved on the upper surface of the vehicle frame. The mobile trolley can be used to transport maintenance tools.

[0011] In some embodiments, the first arm rod and the second arm rod are equal in length and are arranged in parallel. Yielding grooves are formed in both the horizontal section of the mounting cross beam and the upper end of the rotating column. When the first arm rod and the second arm rod swing up and down, they can extend into the yielding grooves. The first arm rod and the second arm rod flip synchronously up and down, keeping the connection base plate in a vertical state and translating up and down, so as to adjust the height of the detection camera.

[0012] In some embodiments, a detection component is further installed on the surface of the connection substrate, and the detection component includes a temperature and humidity sensor, an infrared thermal imager, a noise collector, or a harmful gas detector.

[0013] Advantageous Effects

[0014] The present utility model provides a power distribution room inspection robot, which has the following advantageous effects:

[0015] 1. For this power distribution room inspection robot, by providing an installation crossbeam, with the robotic arm and the monitoring camera respectively arranged at both ends of the installation crossbeam, when the robotic arm drives the detection camera or the detection component to detect the device to be detected, the monitoring camera has a sufficiently wide field of view to observe the movement of the robotic arm and prevent the robotic arm from colliding, thereby achieving the effect of facilitating the control of the movement of the robotic arm.

[0016] 2. For this power distribution room inspection robot, by providing a robotic arm, the first arm rod and the second arm rod of the robotic arm flip up and down synchronously, keeping the connection substrate in a vertical state and translating up and down, which can adjust the height of the detection camera or the detection component. Since the robotic arm can rotate together with the rotating column, the detection orientation can be adjusted, that is, the length direction of the installation crossbeam and the advancing direction of the mobile trolley form a cross-shaped angle, which is convenient for the mobile trolley to move forward while using the detection camera or the detection component on the robotic arm to detect the devices to be detected on the side, improving the inspection efficiency. Description of the Drawings

[0017] Figure 1 It is a three-dimensional structure schematic diagram (one) of the present utility model;

[0018] Figure 2 It is a three-dimensional structure schematic diagram (one) of the present utility model;

[0019] Figure 3 It is a side-sectional structure schematic diagram of the installation base;

[0020] Figure 4 It is a mobile detection schematic diagram (top view angle) of this inspection robot.

[0021] In the figure: 1 installation base, 2 rotating column, 3 installation crossbeam, 4 support rod, 5 monitoring camera, 6 first arm rod, 7 second arm rod, 8 electric telescopic rod, 9 connection substrate, 10 detection camera, 11 connection shaft, 12 worm gear disk, 13 worm, 14 rotation motor, 15 locking bolt, 16 vehicle frame, 17 drive wheel, 18 steering wheel, 19 steering gear, 20 transmission plate, 21 transmission rod, 22 steering seat, 23 load area, 24 relief groove, 25 detection component, 26 device to be detected, 27 traveling motor. Detailed Embodiments

[0022] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0023] Please refer to Figures 1-4 , the present invention provides a technical solution: a power distribution room inspection robot, including a mobile trolley and a robotic arm. The mobile trolley includes a vehicle frame 16. Two driving wheels 17 and two steering wheels 18 are respectively rotatably installed on both sides of the vehicle frame 16. A traveling motor 27 is fixedly installed inside the vehicle frame 16, and the traveling motor 27 drives the driving wheels 17 to rotate. A steering gear 19 is fixedly installed inside the vehicle frame 16. A transmission plate 20 is fixedly installed at the rotating end of the steering gear 19. A transmission rod 21 is rotatably installed on the surface of the transmission plate 20. Two steering seats 22 are rotatably installed on the lower side of the vehicle frame 16. The two transmission rods 21 are respectively rotatably connected to the two steering seats 22. The steering wheels 18 on both sides are respectively rotatably connected to the two steering seats 22. A PLC controller is arranged inside the vehicle frame 16 to respectively control the start and stop of the traveling motor 27 and the steering gear 19, so as to enable the mobile trolley to move forward along a preset inspection path. This belongs to the conventional setting of the prior art and will not be elaborated here.

[0024] An installation base 1 is fixedly installed on the upper side of the mobile trolley. The installation base 1 is fixedly installed on the upper surface of the vehicle frame 16. A load-carrying area 23 is reserved on the upper surface of the vehicle frame 16, and maintenance tools can be transported by using the mobile trolley.

[0025] A rotating column 2 is rotatably installed on the upper side of the installation base 1. Specifically, a connecting shaft 11 is rotatably installed inside the installation base 1. The top end of the connecting shaft 11 is fixedly connected to the bottom end of the rotating column 2. A worm gear disk 12 is fixedly installed on the surface of the connecting shaft 11. A worm 13 is rotatably installed inside the installation base 1. The worm 13 is in meshing transmission with the worm gear disk 12. A rotating motor 14 is fixedly installed on the surface of the installation base 1, and the rotating motor 14 drives the worm 13 to rotate.

[0026] An installation cross beam 3 is fixedly installed at the top end of the rotating column 2. A support rod 4 is inserted into one end of the installation cross beam 3 away from the rotating column 2. A monitoring camera 5 is fixedly installed at the top end of the support rod 4. Among them, the installation cross beam 3 has an L-shaped structure. An insertion hole penetrating up and down is opened at the upper end of the installation cross beam 3. The support rod 4 is slidably inserted into the insertion hole. A locking bolt 15 is threadedly installed on the side surface of the installation cross beam 3, and the end of the locking bolt 15 presses against the surface of the support rod 4, so that the installation angle and height of the monitoring camera 5 can be adjusted.

[0027] The robotic arm includes a first arm rod 6, a second arm rod 7, an electric telescopic rod 8, and a connecting base plate 9. One ends of the first arm rod 6 and the second arm rod 7 are both rotatably connected to the mounting cross beam 3, and the other ends of the first arm rod 6 and the second arm rod 7 are both rotatably connected to the connecting base plate 9. The bottom end of the electric telescopic rod 8 is rotatably connected to the rotating column 2, and the telescopic end of the electric telescopic rod 8 is rotatably connected to the first arm rod 6. The first arm rod 6 and the second arm rod 7 are equal in length and arranged in parallel. Relief grooves 24 are provided in the horizontal section of the mounting cross beam 3 and the upper end of the rotating column 2. When the first arm rod 6 and the second arm rod 7 swing up and down, they can extend into the relief grooves 24.

[0028] A detection camera 10 and a detection component 25 are fixedly installed on the connecting base plate 9. The detection component 25 includes a temperature and humidity sensor, an infrared thermal imager, a noise collector, a harmful gas detector, etc. The real-time video information of the operation of each device in the power distribution room can be collected by using the detection camera 10, and various safety information of the power distribution room can be collected by using the detection component 25.

[0029] The first arm rod 6 and the second arm rod 7 of the robotic arm flip up and down synchronously, keeping the connecting base plate 9 in a vertical state and translating up and down, which can adjust the height of the detection camera 10 or the detection component 25. Since the robotic arm can rotate together with the rotating column 2, the detection orientation can be adjusted. As Figure 4 shown, the length direction of the mounting cross beam 3 and the advancing direction of the mobile trolley form a cross-shaped angle, which is convenient for the mobile trolley to move forward while using the detection camera 10 or the detection component 25 on the robotic arm to detect the device 26 to be detected on the side, improving the inspection efficiency.

[0030] For this power distribution room inspection robot, by setting the mounting cross beam 3, the robotic arm and the monitoring camera 5 are respectively arranged at both ends of the mounting cross beam 3. When the robotic arm drives the detection camera 10 or the detection component 25 to detect the device 26 to be detected, the monitoring camera 5 has a sufficiently wide field of view to observe the movement of the robotic arm and prevent the robotic arm from colliding with the device 26 to be detected, thereby achieving the effect of facilitating the control of the movement of the robotic arm and making the inspection robot safer and more convenient to use.

[0031] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A power distribution room inspection robot, comprising a mobile vehicle and a mechanical arm, characterized in that: A mounting base (1) is fixedly mounted on the upper side of the mobile vehicle, a rotating column (2) is rotatably mounted on the upper side of the mounting base (1), a mounting crossbeam (3) is fixedly mounted on the top of the rotating column (2), a support rod (4) is inserted at one end of the mounting crossbeam (3) away from the rotating column (2), and a monitoring camera (5) is fixedly mounted on the top of the support rod (4); The mechanical arm comprises a first arm (6), a second arm (7), an electric telescopic rod (8) and a connecting base plate (9); one end of the first arm (6) and the second arm (7) are both rotatably connected to the mounting crossbeam (3); the other ends of the first arm (6) and the second arm (7) are both rotatably connected to the connecting base plate (9); the bottom end of the electric telescopic rod (8) is rotatably connected to the rotating column (2); the telescopic end of the electric telescopic rod (8) is rotatably connected to the first arm (6); and a detection camera (10) is fixedly mounted on the connecting base plate (9).

2. A power distribution room inspection robot according to claim 1, characterized in that: A connecting shaft (11) is rotatably mounted inside the mounting base (1), the top end of the connecting shaft (11) is fixedly connected to the bottom end of the rotating column (2), a worm wheel (12) is fixedly mounted on the surface of the connecting shaft (11), a worm (13) is rotatably mounted inside the mounting base (1), the worm (13) is meshed with the worm wheel (12) for transmission, and a rotating motor (14) is fixedly mounted on the surface of the mounting base (1), the rotating motor (14) drives the worm (13) to rotate.

3. A power distribution room inspection robot according to claim 2, characterized in that: The mounting crossbeam (3) is of an L-shaped structure, and an insertion hole extending vertically through the mounting crossbeam (3) is provided at the upper end thereof, and the support rod (4) is slidably inserted into the insertion hole. A locking bolt (15) is threadedly mounted on the side surface of the mounting crossbeam (3), and the end of the locking bolt (15) is pressed against the surface of the support rod (4).

4. A power distribution room inspection robot according to claim 3, characterized in that: The mobile vehicle comprises a frame (16), two driving wheels (17) and two steering wheels (18) are rotatably mounted on both sides of the frame (16), a travel motor (27) is fixedly mounted inside the frame (16), and the travel motor (27) drives the driving wheel (17) to rotate.

5. A power distribution room inspection robot according to claim 4, characterized in that: A steering gear (19) is fixedly installed inside the vehicle frame (16), a transmission plate (20) is fixedly installed at the rotating end of the steering gear (19), a transmission rod (21) is rotatably installed on the surface of the transmission plate (20), two steering seats (22) are rotatably installed on the lower side of the vehicle frame (16), the two transmission rods (21) are rotatably connected to the two steering seats (22), and the steering wheels (18) on both sides are rotatably connected to the two steering seats (22).

6. A power distribution room inspection robot according to claim 5, characterized in that: The mounting base (1) is fixedly mounted on the upper surface of the vehicle frame (16), and a loading area (23) is reserved on the upper surface of the vehicle frame (16).

7. A power distribution room inspection robot according to claim 6, characterized in that: The first arm (6) and the second arm (7) are of equal length and are arranged in parallel. The horizontal section of the mounting crossbeam (3) and the upper end of the rotating column (2) are both provided with a clearance groove (24). The first arm (6) and the second arm (7) can extend into the clearance groove (24) when they swing up and down.

8. A power distribution room inspection robot according to any one of claims 1 to 7, characterized in that: A detection component (25) is also installed on the surface of the connecting substrate (9).

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