A substation inspection robot

Abstract

This utility model relates to the field of inspection robot technology and discloses a substation inspection robot. It solves the problem that existing substation inspection robots' lidar lenses lack self-cleaning functionality, and in complex substation environments, the lenses are easily contaminated with dust and dirt, affecting the robot's judgment of equipment status. The robot includes a main body, with a support frame fixedly mounted on the top of the main body. A lidar is fixedly mounted on the top of the support frame, and a support base is fixedly mounted inside the support frame. A servo motor is fixedly mounted on the inner bottom of the support base, and a transmission component is provided at the output end of the servo motor. Two support arms are fixedly mounted on the front end of the lidar. This substation inspection robot can quickly and effectively clean the lidar lens, preventing dust and dirt from obstructing and causing deviations in measurement data, ensuring the robot's judgment of equipment status, and improving the accuracy and reliability of inspections.

Description

Technical Field

[0001] This utility model belongs to the field of inspection robot technology, specifically a substation inspection robot. Background Technology

[0002] Substation inspection robots are automated inspection devices specifically designed for power systems. They integrate multiple sensor systems, including infrared thermal imagers and lidar, and support remote control or fully autonomous operation modes. Their applications are wide-ranging, capable of replacing manual labor in comprehensive inspections of critical equipment in 110kV and above substations, including monitoring the operational status of transformers, circuit breakers, and other equipment, diagnosing faults, and detecting environmental parameters. Furthermore, the robots can operate 24 / 7 in harsh environments such as high temperatures, rain, snow, and strong electromagnetic interference, capturing equipment anomalies in real time and issuing alarms. In addition, their autonomous navigation and path optimization functions improve inspection efficiency and reduce the labor intensity and safety risks of manual inspections, making them an important technological means to promote the intelligent and unmanned operation and maintenance of substations. The lidar lenses of existing substation inspection robots lack self-cleaning capabilities. In complex substation environments, the lenses are easily contaminated with dust and dirt, leading to deviations in measurement data, affecting the robot's judgment of equipment status, reducing the accuracy and reliability of inspections, and threatening the safe operation of substations. Utility Model Content

[0003] In order to overcome the shortcomings of the prior art, this utility model provides a substation inspection robot, which effectively solves the problem that the lidar lens of the existing substation inspection robot lacks self-cleaning function and is prone to dust and dirt in complex substation environments, affecting the robot's judgment of equipment status.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a substation inspection robot, comprising an inspection robot body, a support frame fixedly mounted on the top of the inspection robot body, a laser radar fixedly mounted on the top of the support frame, a support base fixedly mounted inside the support frame, a servo motor fixedly mounted on the inner bottom of the support base, a transmission component provided at the output end of the servo motor, two support arms fixedly mounted on the front end of the top of the laser radar, an arc-shaped strip fixedly mounted between one end of the two support arms, a limit groove opened on the front side of the arc-shaped strip, a limit block slidably mounted inside the limit groove, a connecting rod rotatably mounted on the front end of the limit block, a dust-free brush fixedly mounted on the end of the connecting rod away from the limit block, and a transmission component drivingly connected to the dust-free brush. When the servo motor operates, it drives the dust-free brush to reciprocate through the transmission component, thereby achieving the function of cleaning the laser radar lens.

[0005] Preferably, the transmission assembly includes a driving bevel gear fixedly installed at the output end of the servo motor. A driven bevel gear is meshed with one side of the surface of the driving bevel gear. One side of the driven bevel gear is rotatably connected to one side of the support base via a rotating shaft. A shaft is fixedly installed on the other side of the driven bevel gear. A bushing is rotatably installed on the surface of the shaft. Both sides of the bushing are fixedly connected to the inner walls of both sides of the support frame via fixing strips.

[0006] Preferably, a rotating disk is fixedly installed at the end of the shaft away from the driven bevel gear, a pin is rotatably installed on one side of the rotating disk, a swing bar is sleeved on the surface of the pin, and the upper end of the swing bar is fixedly connected to the dust-free brush.

[0007] Preferably, a connecting seat is fixedly installed at the bottom of the swing bar, a shaft seat is fixedly installed on one side of the connecting seat, a positioning seat is rotatably installed at the end of the shaft seat away from the connecting seat, the bottom of the positioning seat is fixedly connected to the inside of the support frame, a rotating frame is rotatably installed on the side of the connecting seat away from the shaft seat, and the bottom of the rotating frame is fixedly connected to the front end of the top of the inspection robot body.

[0008] Compared with the prior art, the beneficial effects of this utility model are as follows: When in use, the operator controls the servo motor to drive the active bevel gear to rotate. The active bevel gear drives the shaft to rotate inside the bushing through the driven bevel gear. When the shaft rotates, it drives the pin to rotate inside the swing bar through the rotating disk, thereby driving the swing bar to swing back and forth. When the swing bar swings back and forth, the connecting seat verifies the rotation of the shaft seat and the rotating frame, ensuring the stability of the swing bar when swinging back and forth. The reciprocating swing of the oscillating bar drives the dust-free brush to reciprocate, thereby cleaning dust and dirt from the lidar lens. Simultaneously, the dust-free brush, via a connecting rod, causes a limit block to slide along the limit groove on the arc-shaped bar, increasing the stability of the brush's swing and ensuring effective cleaning. This allows the substation inspection robot to quickly and effectively clean the lidar lens, preventing dust and dirt from obstructing measurement data and ensuring the robot's accurate assessment of equipment status, thus improving inspection accuracy and reliability. Attached Figure Description

[0009] The accompanying drawings are provided to further understand the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation thereof.

[0010] In the attached diagram: Figure 1 This is a schematic diagram of the substation inspection robot of this utility model. Figure 1 ; Figure 2 This is a schematic diagram of the substation inspection robot of this utility model. Figure 2 ; Figure 3 This is a schematic diagram of the internal structure of the support frame of this utility model; Figure 4 This utility model Figure 3 Enlarged structural diagram at point A in the middle; Figure 5 This utility model Figure 2 Enlarged structural diagram at point B; In the diagram: 1. Main body of the inspection robot; 2. Support frame; 3. LiDAR; 4. Support base; 5. Servo motor; 6. Dust-free brush; 7. Support arm; 8. Arc-shaped strip; 9. Limiting groove; 10. Limiting block; 11. Connecting rod; 12. Driving bevel gear; 13. Driven bevel gear; 14. Rotating shaft; 15. Shaft; 16. Bushing; 17. Fixing strip; 18. Rotating disk; 19. Pin; 20. Connecting base; 21. Shaft seat; 22. Positioning seat; 23. Rotating frame; 24. Swing bar. Detailed Implementation

[0011] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.

[0012] Depend on Figures 1 to 5 The present invention includes an inspection robot body 1, a support frame 2 fixedly mounted on the top of the inspection robot body 1, the support frame 2 having an internally hollow trapezoidal structure, a laser radar 3 fixedly mounted on the top of the support frame 2, a lens mounted on the front end of the laser radar 3, a support base 4 for mounting equipment fixedly mounted inside the support frame 2, a servo motor 5 fixedly mounted on the inner bottom of the support base 4, a transmission component provided at the output end of the servo motor 5, two support arms 7 fixedly mounted on the front end of the top of the laser radar 3, an arc-shaped strip 8 fixedly mounted between one end of the two support arms 7, and a limit groove 9 formed on the front side of the arc-shaped strip 8. A limiting block 10 is slidably installed inside the limiting groove 9, allowing the limiting block 10 to move along the inside of the limiting groove 9. A connecting rod 11 is rotatably installed at the front end of the limiting block 10, allowing the limiting block 10 to verify the rotation of the end of the connecting rod 11, thus improving the smoothness of the limiting block 10 when moving inside the limiting groove 9. A dust-free brush 6 that does not get dirty is fixedly installed at the end of the connecting rod 11 away from the limiting block 10. The dust-free brush 6 can prevent sweeping contamination. The transmission component is connected to the dust-free brush 6. When the servo motor 5 is running, it drives the dust-free brush 6 to swing back and forth through the transmission component, thereby achieving the function of cleaning the lens of the laser radar 3.

[0013] In use, the operator controls the servo motor 5 to drive the transmission component. When the transmission component is running, it drives the dust-free brush 6 to swing back and forth, thereby cleaning the dust and dirt on the lens of the lidar 3. While the dust-free brush 6 is swinging back and forth, it also drives the limit block 10 to slide along the limit groove 9 on the arc-shaped strip 8 through the connecting rod 11, which increases the stability of the dust-free brush 6 when swinging, thereby ensuring the cleaning effect. This allows the substation inspection robot to quickly and effectively clean the lens of the lidar 3, preventing the obstruction of measurement data by dust and dirt, ensuring the robot's judgment of the equipment status, and improving the accuracy and reliability of the inspection.

[0014] The transmission assembly includes a drive bevel gear 12 fixedly installed at the output end of the servo motor 5. A driven bevel gear 13 is meshed with one side of the surface of the drive bevel gear 12. One side of the driven bevel gear 13 is rotatably connected to one side of the support base 4 via a rotating shaft 14. A shaft 15 is fixedly installed on the other side of the driven bevel gear 13. A bushing 16 is rotatably installed on the surface of the shaft 15. Both sides of the bushing 16 are fixedly connected to the inner walls of both sides of the support frame 2 via fixing strips 17.

[0015] The operator controls the servo motor 5 to drive the active bevel gear 12 to rotate, and the active bevel gear 12 drives the shaft 15 to rotate inside the bushing 16 through the driven bevel gear 13.

[0016] A rotating disk 18 is fixedly installed at the end of the shaft 15 away from the driven bevel gear 13. A pin 19 is rotatably installed on one side of the rotating disk 18. A swing bar 24 is sleeved on the surface of the pin 19. The upper end of the swing bar 24 is fixedly connected to the dust-free brush 6.

[0017] When the shaft 15 rotates, it drives the pin 19 to rotate inside the swing bar 24 through the rotating disk 18, thereby driving the swing bar 24 to swing back and forth. When the swing bar 24 swings back and forth, it drives the dustless brush 6 to swing back and forth to clean the lens of the lidar 3.

[0018] A connecting seat 20 is fixedly installed at the bottom of the swing bar 24. A shaft seat 21 is fixedly installed on one side of the connecting seat 20. A positioning seat 22 is rotatably installed at the end of the shaft seat 21 away from the connecting seat 20. The bottom of the positioning seat 22 is fixedly connected to the inside of the support frame 2. A rotating frame 23 is rotatably installed on the side of the connecting seat 20 away from the shaft seat 21. The bottom of the rotating frame 23 is fixedly connected to the front end of the top of the inspection robot body 1.

[0019] When the swing bar 24 swings back and forth, the rotation of the shaft seat 21 and the rotating frame 23 is verified by the connecting seat 20 to ensure the stability of the swing bar 24 during the reciprocating swing.

Claims

1. A substation inspection robot comprising an inspection robot body (1), characterized in that: The inspection robot body (1) is fixedly mounted with a support frame (2) on top, and a laser radar (3) is fixedly mounted on top of the support frame (2). A support base (4) is fixedly mounted inside the support frame (2). A servo motor (5) is fixedly mounted on the bottom of the support base (4). A transmission component is provided at the output end of the servo motor (5). Two support arms (7) are fixedly mounted on the front end of the top of the laser radar (3). An arc strip (8) is fixedly mounted between one end of the two support arms (7). A limit groove (9) is opened on the front side of the arc strip (8). A limit block (10) is slidably mounted inside the limit groove (9). A connecting rod (11) is rotatably mounted on the front end of the limit block (10). A dust-free brush (6) is fixedly mounted on the end of the connecting rod (11) away from the limit block (10). The transmission component is connected to the dust-free brush (6) for transmission. When the servo motor (5) is running, it drives the dust-free brush (6) to swing back and forth through the transmission component, thereby achieving the function of cleaning the lens of the laser radar (3).

2. The substation inspection robot of claim 1, wherein: The transmission assembly includes an active bevel gear (12) fixedly installed at the output end of the servo motor (5). A driven bevel gear (13) is meshed on one side of the surface of the active bevel gear (12). One side of the driven bevel gear (13) is rotatably connected to one side of the support base (4) via a rotating shaft (14). A shaft (15) is fixedly installed on the other side of the driven bevel gear (13). A bushing (16) is rotatably installed on the surface of the shaft (15). Both sides of the bushing (16) are fixedly connected to the inner walls of both sides of the support frame (2) via fixing strips (17).

3. The substation inspection robot of claim 2, wherein: A rotating disk (18) is fixedly installed at the end of the shaft (15) away from the driven bevel gear (13). A pin (19) is rotatably installed on one side of the rotating disk (18). A swing bar (24) is sleeved on the surface of the pin (19). The upper end of the swing bar (24) is fixedly connected to the dust-free brush (6).

4. The substation inspection robot of claim 3, wherein: A connecting seat (20) is fixedly installed at the bottom of the swing bar (24). A shaft seat (21) is fixedly installed on one side of the connecting seat (20). A positioning seat (22) is rotatably installed at the end of the shaft seat (21) away from the connecting seat (20). The bottom of the positioning seat (22) is fixedly connected to the inside of the support frame (2). A rotating frame (23) is rotatably installed on the side of the connecting seat (20) away from the shaft seat (21). The bottom of the rotating frame (23) is fixedly connected to the front end of the top of the inspection robot body (1).

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