Rail-mounted electric power inspection robot

Abstract

The utility model relates to the technical field of inspection robots, and discloses a track type electric inspection robot which comprises a robot body installed below an inspection track, a walking assembly is connected to the bottom of the inspection track, a lifting assembly is connected to the bottom of the walking assembly, and a balance plate is connected to the lower portion of the lifting assembly. The bottom of the balance plate is connected with an inspection tour assembly, and the robot body is located below the balance plate and connected with the inspection tour assembly. According to the rail type electric power inspection robot, the height of the balance plate and the robot body can be simultaneously lowered downwards through the lifting assembly, and the inspection assembly drives the robot body to inspect the position close to the ground or the bottom of electric power equipment, so that the problem that faults at the bottom of the electric power equipment cannot be found is solved; and the polling range of the polling robot is expanded.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection robots, in particular to an orbital power inspection robot. Background Art

[0002] The inspection of substation equipment plays an extremely important role in ensuring the safe production and reliable operation of the power system. When substation equipment is in a long-term operating state, in order to ensure the safe and stable operation of electrical equipment, timely discover equipment defects or hidden dangers, and accumulate original data for condition-based maintenance, it is often required to regularly or irregularly inspect on-site equipment or use infrared temperature measurement means to monitor the equipment status; since each piece of equipment in the substation is in a specific position for a long time and is inconvenient to move, in the substation, an orbital power inspection robot is commonly used to inspect the internal power equipment.

[0003] For example, the patent with the publication number CN220561543U discloses an orbital power inspection robot, including an orbital body, a moving frame is connected to the side wall of the orbital body in a rolling manner, a driving component is fixedly connected to the side wall of the moving frame, an adjusting mechanism is fixedly connected to the top of the moving frame, the adjusting mechanism includes a positioning shaft fixed at the center of the bottom of the moving frame, and a positioning gear is fixedly connected to the outer wall of the positioning shaft. By arranging an inspection robot on the orbit, it can quickly inspect the distribution cabinets that need to be regularly inspected, improve the inspection operation efficiency of the distribution cabinets, and at the same time, a multi-angle adjusting mechanism is arranged inside the inspection robot, so that it can reasonably adjust the angle during the inspection to effectively inspect the distribution cabinets, and a quick snap connection structure is arranged between the angle adjusting mechanism and the inspection robot, which is convenient for quickly installing the inspection robot and performing disassembly and maintenance later.

[0004] However, the inspection robot in the above technology still has the following problems:

[0005] Although the inspection direction of the inspection robot can be adjusted through the multi-angle adjusting structure, since the installation position of the orbit of the orbital robot is usually at a relatively high position and the inspection robot is at a relatively high position, it makes the inspection robot unable to effectively inspect the power equipment at a lower position or the bottom of the power equipment, and the inspection range has certain limitations. Summary of the Utility Model

[0006] Aiming at the deficiencies of the prior art, the utility model provides an orbital power inspection robot, for example: the inspection robot can be lifted, so as to facilitate the inspection of the bottom of the power equipment and improve the inspectable range of the inspection robot.

[0007] To achieve the above object, the present utility model provides the following technical solution: An orbital power inspection robot, comprising a robot body installed below an inspection track, a walking component is connected to the bottom of the inspection track, a lifting component is connected to the bottom of the walking component, a balance plate is connected below the lifting component, a inspection component is connected to the bottom of the balance plate, and the robot body is located below the balance plate and is connected to the inspection component.

[0008] Further, the walking component includes a U-shaped plate and four walking wheels. The four walking wheels are respectively located in the sliding grooves on both sides of the inspection track. The four walking wheels are all rotatably connected to the inner walls of both sides of the U-shaped plate through rotating shafts. A walking motor is fixedly connected to the outer wall of one side of the U-shaped plate. The output shaft of the walking motor penetrates the U-shaped plate and is fixedly connected to the rotating shaft of one of the walking wheels. The lifting component is connected to the side of the U-shaped plate away from the inspection track.

[0009] Further, the lifting component includes two symmetrically arranged support plates. The two support plates are respectively fixedly connected to both sides of the bottom of the U-shaped plate. Two symmetrically arranged rotating rods are connected between the two support plates. One end of each of the two rotating rods is rotatably connected to one of the support plates. The other ends of the two rotating rods both penetrate the other support plate and are connected to a driving mechanism. Two symmetrically arranged winding rollers are connected to the outer walls of the two rotating rods. The four winding rollers are respectively sleeved on the two rotating rods and are fixedly connected to the rotating rods. Steel cables are wound inside the four winding rollers. One end of each of the four steel cables is fixedly connected to each of the four winding rollers, and the other ends are respectively fixedly connected to the four corners of the balance plate.

[0010] Further, the two winding rollers on the rotating rod are respectively located at both ends of the rotating rod.

[0011] Further, the driving mechanism includes a winding motor, a driving gear and two driven gears. The ends of the two rotating rods penetrating the support plate are respectively fixedly connected to the two driven gears. The driving gear is located between the two driven gears and meshes with both of the two driven gears at the same time. The outer wall of the winding motor is fixedly connected to a motor seat, the motor seat is fixedly connected to the U-shaped plate, and the output shaft of the winding motor is fixedly connected to the driving gear.

[0012] Further, one ends of the four steel cables close to the balance plate extend downward from the same side of the four winding rollers.

[0013] Further, the inspection component includes an inspection motor and a reinforcement mechanism. The inspection motor is fixedly connected to the middle position of the top of the balance plate. The output shaft of the inspection motor penetrates the balance plate and is connected to the reinforcement mechanism. The other end of the reinforcement mechanism is connected to the robot body.

[0014] Further, the reinforcement mechanism includes a reinforcement sleeve and a T-shaped rotating block. One end of the reinforcement sleeve is fixedly connected to the middle position of the bottom of the balance plate. A rotating groove is formed on the side of the reinforcement sleeve close to the balance plate. The T-shaped rotating block is located in the rotating groove and is rotatably connected to the rotating groove. The thicker end of the T-shaped rotating block is fixedly connected to the output shaft of the inspection motor, and the thinner end of the T-shaped rotating block penetrates through the bottom of the reinforcement sleeve and is fixedly connected to the middle position of the top of the robot body.

[0015] Compared with the prior art, the present utility model has the following beneficial effects:

[0016] For this kind of rail-type power inspection robot, the lifting assembly can lower the balance plate and the robot body simultaneously, and the inspection assembly drives the robot body to inspect the bottom of the power equipment close to the ground or the bottom of the power equipment, thereby avoiding the problem that faults at the bottom of the power equipment cannot be detected and improving the inspectable range of the inspection robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall external connection structure of the present utility model;

[0018] Figure 2 It is a schematic diagram of the connection structure of the walking assembly of the present utility model;

[0019] Figure 3 It is a schematic diagram of the connection structure of the lifting assembly of the present utility model;

[0020] Figure 4 It is a schematic diagram of the connection structure of the lifting assembly from another angle of the present utility model;

[0021] Figure 5 It is an exploded schematic diagram of the connection structure between the balance plate and the robot body of the present utility model;

[0022] Figure 6 Based on Figure 5 Partial connection structure cross-sectional view.

[0023] In the figure: 1, inspection track; 2, robot body; 3, balance plate; 4, U-shaped plate; 5, walking wheel; 6, walking motor; 7, support plate; 8, rotating rod; 9, winding roller; 10, steel cable; 11, winding motor; 12, driving gear; 13, driven gear; 14, motor base; 15, inspection motor; 16, reinforcement sleeve; 17, T-shaped rotating block; 101, rotating groove. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments.

[0025] Please refer to Figure 1 - Figure 6 , an orbital power inspection robot, including a robot body 2 installed below an inspection track 1. A traveling component is connected to the bottom of the inspection track 1, a lifting component is connected to the bottom of the traveling component, a balance plate 3 is connected below the lifting component, a inspection component is connected to the bottom of the balance plate 3, and the robot body 2 is located below the balance plate 3 and is connected to the inspection component.

[0026] As Figure 1 - Figure 6 shown, an orbital power inspection robot in the present utility model is similar in structure to the existing orbital power inspection robots. For example, an orbital power inspection robot disclosed in the patent with the publication number CN220561543U. The main improvement of the present utility model is that the robot body 2 can be lifted, which is convenient for inspecting the bottom of the power equipment in the power station and improving the inspectable range. As Figures 1 to 6 shown, when the orbital power inspection robot in the present utility model is in use, the balance plate 3 and the robot body 2 installed at the bottom of the balance plate 3 can be lifted and lowered below the traveling component through the lifting component. When it is necessary to inspect the bottom of the power equipment, the traveling component is moved to the position of the power equipment on the inspection track 1, and then the balance plate 3 and the robot body 2 are lowered by the lifting component, and the robot body 2 is lowered to a position where it can inspect the bottom of the power equipment. At this time, the inspection component can drive the robot body 2 to rotate and inspect at a lower position, so as to inspect the bottom of the power equipment around the location, avoiding the problem that the bottom of the power equipment cannot be observed due to faults or sundries, and improving the inspection effect. It should be noted that the power equipment usually has support legs installed at the bottom, and the height of the robot body 2 only needs to be lowered below the bottom of the equipment, and the state of the bottom of the equipment can be inspected through the gaps between the support legs.

[0027] As Figure 1 - Figure 2 shown, the traveling component includes a U-shaped plate 4 and four traveling wheels 5. The four traveling wheels 5 are respectively located in the slideways on both sides of the inspection track 1. The four traveling wheels 5 are all rotatably connected to the inner walls of both sides of the U-shaped plate 4 through rotating shafts. A traveling motor 6 is fixedly connected to the outer wall of one side of the U-shaped plate 4. The output shaft of the traveling motor 6 penetrates the U-shaped plate 4 and is fixedly connected to the rotating shaft of one of the traveling wheels 5. The lifting component is connected to the side of the U-shaped plate 4 away from the inspection track 1. When traveling, by driving the traveling wheel 5 fixed to it by the traveling motor 6 to rotate, the U-shaped plate 4 can drive the other three traveling wheels 5 to roll forward in the slideways on both sides of the inspection track 1, and then drive the robot body 2 at the bottom of the U-shaped plate 4 to walk along the inspection track 1.

[0028] AsFigure 1 - Figure 6 As shown, the lifting assembly includes two symmetrically arranged support plates 7, and the two support plates 7 are respectively fixedly connected to the two sides of the bottom of the U-shaped plate 4, and two symmetrically arranged rotating rods 8 are connected between the two support plates 7, one end of the two rotating rods 8 is rotatably connected to one of the support plates 7, and the other ends of the two rotating rods 8 pass through the other support plate 7 and are connected to a driving mechanism, and the outer walls of the two rotating rods 8 are connected to two symmetrically arranged winding rollers 9, and the four winding rollers 9 are respectively sleeved with two rotating rods 8 and fixedly connected to the rotating rods 8, and steel cables 10 are wound inside the four winding rollers 9, one ends of the four steel cables 10 are respectively fixedly connected to the four winding rollers 9, and the other ends are respectively fixedly connected to the four corners of the balance plate 3. When the robot body 2 is driven to move to the side of the power equipment by the walking assembly, the two rotating rods 8 are driven to rotate by the driving mechanism, and the four winding rollers 9 can be driven to rotate at the same time, so that the steel cable 10 wound on the winding roller 9 is released downward, and then the balance board 3 at the end of the steel cable 10 is lowered, and the robot body 2 can be lowered to the specified position to inspect the bottom of the power equipment. After the inspection is completed, the two rotating rods 8 are driven to rotate in the opposite direction by the driving mechanism, and the steel cable 10 can be retracted upward by the winding roller 9, and then the balance board 3 and the robot body 2 at the bottom are driven to rise upward, and the balance board 3 is pressed against the two support plates 7. At this time, the driving mechanism is in a locked state, so as to avoid the small robot body from shaking when walking on the inspection track 1 later, and then the walking assembly continues to inspect along the inspection track, wherein the four steel cables 10 are respectively fixed to the four corners of the balance board 3, so that the balance board 3 can be subjected to a more uniform upward pulling force, and at the same time, the four steel cables 10 can reduce the swing amplitude of the balance board 3 when hoisting, so that the lifting and lowering of the robot body 2 is more stable.

[0029] like Figure 1 - Figure 4 As shown, the two winding rollers 9 on the rotating rod 8 are respectively located at the two ends of the rotating rod 8. The two winding rollers 9 on the rotating rod 8 are fixed at the two ends of the rotating rod 8, so that the distance between the two winding rollers 9 is relatively large, and the distance between the four steel cables 10 is relatively large in combination with the other two winding rollers 9, so that when the four steel cables 10 are hanging the balance board 3, the weight of the robot body 1 at the bottom makes the force directions of the four sides of the balance board 3 extend to the surroundings respectively, thereby reducing the swing amplitude of the balance board 3, making the patrol of the robot body 2 more stable.

[0030] like Figure 1 - Figure 4As shown in the figure, the driving mechanism includes a winding motor 11, a driving gear 12 and two driven gears 13. One end of two rotating rods 8 passes through the support plate 7 and is fixedly connected to the two driven gears 13 respectively. The driving gear 12 is located between the two driven gears 13 and meshes with the two driven gears 13 at the same time. The outer wall of the winding motor 11 is fixedly connected with a motor base 14, the motor base 14 is fixedly connected with the U-shaped plate 4, and the output shaft of the winding motor 11 is fixedly connected with the driving gear 12. When the winding motor 11 is started to drive the driving gear 12 to rotate, when the driving gear 12 rotates, it drives the two driven gears 13 to rotate simultaneously through meshing, and then synchronously drives the two rotating rods 8 to rotate.

[0031] As Figure 1 - Figure 4 shown in the figure, one end of the four steel cables 10 close to the balance plate 3 extends downward from the same side of the four winding rollers 9. The four steel cables 10 extend downward from the same side of the four winding rollers 9 and are fixed to the balance plate 3, so that when the winding motor 11 drives the two rotating rods 8 to rotate synchronously, the rotating directions of the four winding rollers 9 are kept consistent, thus completing the lifting operation of the robot body 2.

[0032] As Figure 5 and Figure 6 shown in the figure, the inspection component includes an inspection motor 15 and a reinforcement mechanism. The inspection motor 15 is fixedly connected to the middle position at the top of the balance plate 3. The output shaft of the inspection motor 15 passes through the balance plate 3 and is connected to the reinforcement mechanism, and the other end of the reinforcement mechanism is connected to the robot body 2. When the inspection motor 15 is started, through the reinforcement mechanism at the bottom, it drives the robot body 2 to rotate horizontally below, and the surrounding of the robot body 2 can be inspected.

[0033] As Figure 5 and Figure 6 shown in the figure, the reinforcement mechanism includes a reinforcement sleeve 16 and a T-shaped rotating block 17. One end of the reinforcement sleeve 16 is fixedly connected to the middle position at the bottom of the balance plate 3. A rotating groove 101 is opened on one side of the reinforcement sleeve 16 close to the balance plate 3. The T-shaped rotating block 17 is located in the rotating groove 101 and is rotatably connected to the rotating groove 101. The thicker end of the T-shaped rotating block 17 is fixedly connected to the output shaft of the inspection motor 15, and the thinner end of the T-shaped rotating block 17 passes through the bottom of the reinforcement sleeve 16 and is fixedly connected to the middle position at the top of the robot body 2. When the inspection motor 15 is started, it drives the T-shaped rotating block 17 to rotate in the rotating groove 101 in the reinforcement sleeve 16, and the rotating T-shaped rotating block 17 is fixedly connected to the middle position at the top of the inspection robot 2 through the bottom passing through the reinforcement sleeve 16, which can drive the robot body 2 to rotate more stably at the bottom of the balance plate 3. The reinforcement sleeve 16 and the T-shaped rotating block 17 can provide lifting support for the robot body 2, avoiding the damage of the inspection motor 15 caused by the direct connection of the motor shaft of the inspection motor 15 to the robot body 2 to bear the weight.

[0034] Although the embodiments of the present utility model have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present utility model.

Claims

1. A track-type electric power inspection robot, comprising a robot body (2) installed below an inspection track (1), characterized in that: The bottom of the inspection track (1) is connected to a walking component, the bottom of the walking component is connected to a lifting component, the bottom of the lifting component is connected to a balance board (3), the bottom of the balance board (3) is connected to a patrol component, and the robot body (2) is located below the balance board (3) and is connected to the patrol component.

2. A rail-type power inspection robot according to claim 1, characterized in that: The walking assembly comprises a U-shaped plate (4) and four walking wheels (5), the four walking wheels (5) are respectively located in slideways on both sides of the inspection track (1), the four walking wheels (5) are rotatably connected to the inner walls on both sides of the U-shaped plate (4) through rotating shafts, a walking motor (6) is fixedly connected to the outer wall of one side of the U-shaped plate (4), the output shaft of the walking motor (6) passes through the U-shaped plate (4) and is fixedly connected to the rotating shaft of one of the walking wheels (5), and the lifting assembly is connected to a side of the U-shaped plate (4) away from the inspection track (1).

3. A rail-type electric power inspection robot according to claim 2, characterized in that: The lifting assembly comprises two symmetrically arranged support plates (7), the two support plates (7) are respectively fixedly connected to the two sides of the bottom of the U-shaped plate (4), two symmetrically arranged rotating rods (8) are connected between the two support plates (7), one end of the two rotating rods (8) is rotatably connected to one of the support plates (7), the other ends of the two rotating rods (8) penetrate the other support plate (7) and are connected to a driving mechanism, the outer walls of the two rotating rods (8) are connected to two symmetrically arranged winding rollers (9), the four winding rollers (9) are respectively sleeved with the two rotating rods (8) and are fixedly connected to the rotating rods (8), the four winding rollers (9) are each wound with a steel cable (10), one end of the four steel cables (10) is respectively fixedly connected to the four winding rollers (9), and the other end is respectively fixedly connected to the four corners of the balance plate (3).

4. The rail-type electric power inspection robot according to claim 3, characterized in that: The two winding rollers (9) on the rotating rod (8) are respectively located at two ends of the rotating rod (8).

5. A rail-type power inspection robot according to claim 3 or 4, characterized in that: The driving mechanism comprises a winding motor (11), a driving gear (12) and two driven gears (13); one end of two rotating rods (8) passing through the support plate (7) is fixedly connected to the two driven gears (13) respectively; the driving gear (12) is located between the two driven gears (13) and meshes with the two driven gears (13) at the same time; the outer wall of the winding motor (11) is fixedly connected to a motor seat (14); the motor seat (14) is fixedly connected to the U-shaped plate (4); and the output shaft of the winding motor (11) is fixedly connected to the driving gear (12).

6. A rail-type electric power inspection robot according to claim 3 or 4, characterized in that: One end of the four steel cables (10) close to the balance plate (3) extends downward from the same side of the four winding rollers (9).

7. A rail-type power inspection robot according to claim 1, 2, 3 or 4, characterized in that: The patrol assembly comprises a patrol motor (15) and a reinforcement mechanism, wherein the patrol motor (15) is fixedly connected to the middle position of the top of the balance board (3), the output shaft of the patrol motor (15) passes through the balance board (3) and is connected to the reinforcement mechanism, and the other end of the reinforcement mechanism is connected to the robot body (2).

8. The rail-type electric power inspection robot according to claim 7, characterized in that: The reinforcement mechanism comprises a reinforcement sleeve (16) and a T-shaped rotating block (17); one end of the reinforcement sleeve (16) is fixedly connected to the middle position of the bottom of the balance plate (3); a rotation groove (101) is provided on the side of the reinforcement sleeve (16) close to the balance plate (3); the T-shaped rotating block (17) is located in the rotation groove (101) and is rotationally connected to the rotation groove (101); a thicker end of the T-shaped rotating block (17) is fixedly connected to the output shaft of the patrol motor (15); and a thinner end of the T-shaped rotating block (17) passes through the bottom of the reinforcement sleeve (16) and is fixedly connected to the middle position of the top of the robot body (2).

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