An electrical high-voltage bus internal maintenance robot and a bus maintenance terminal

Abstract

The utility model provides a kind of electrical high-voltage busbar internal maintenance robot and busbar maintenance terminal, its robot includes fuselage, walking component, mechanical arm, dust suction component, detection component and control system;Walking component is installed in the both sides of fuselage;Mechanical arm is housed in the inside of fuselage in retracted state, is unfolded to check and clean in the inside of pipeline in operating state;Dust suction component is opened with dust suction port in the bottom of fuselage;Detection component includes sensor terminal for being installed on fuselage and being used for gathering pipeline inside environment information;Control system is connected with each component module communication, for controlling the action executed by robot.The utility model is through the collaborative design of each component module, with the advantages of improving cleaning quality, checking hidden area comprehensively, reducing operation risk, adapting tubular structure and improving maintenance efficiency;To solve the technical problems that existing pipeline robot cannot adapt to the unique tubular structure of high-voltage busbar, leading to the technical problems of insufficient practicability.

Description

Technical Field

[0001] This utility model relates to the field of power equipment maintenance technology, and in particular to an internal maintenance robot and busbar maintenance terminal for high-voltage electrical busbars. Background Technology

[0002] High-voltage busbars are widely used in the power industry, and their installation quality directly affects the safe and stable operation of transmission lines. In critical power facilities such as nuclear power units, insufficient cleanliness or the presence of foreign objects inside the high-voltage busbars can lead to serious faults such as insulator breakage, causing major accidents such as transformer outages. Traditional manual cleaning methods have significant drawbacks: operators need to wear full protective gear, and the preparation process is cumbersome; manual wiping is difficult to ensure cleaning quality and can easily cause secondary pollution; and it is impossible to effectively inspect concealed areas such as the inside of installed insulators, posing safety hazards. Especially in cylindrical busbar structures with conductors fixed in the center of the pipeline, manual cleaning is even more difficult to achieve complete coverage.

[0003] While existing technologies include pipeline robot solutions, they are ill-suited to the unique tubular structure of high-voltage busbars and suffer from significant shortcomings in cleaning capabilities, obstacle recognition, and real-time monitoring. These technological deficiencies lead to prominent problems in high-voltage busbar internal maintenance, such as incomplete cleaning, inadequate inspection, and high operational risks, necessitating the development of maintenance equipment with targeted solutions. Utility Model Content

[0004] This utility model provides an internal maintenance robot and bus maintenance terminal for high-voltage electrical busbars to solve the technical problem that existing pipeline robots cannot adapt to the unique tubular structure of high-voltage busbars, resulting in deficiencies in cleaning functions, obstacle recognition, and real-time monitoring.

[0005] This utility model provides a robot for internal maintenance of high-voltage electrical busbars, comprising a body, a walking component, a robotic arm, a dust collection component, a detection component, and a control system. The walking component is installed on both sides of the body. The robotic arm is installed on the body and located near the conductor side inside the high-voltage electrical busbar pipeline. The robotic arm has a retracted state and an operating state. In the retracted state, the robotic arm is housed inside the body. In the operating state, the robotic arm is extended to inspect and clean the inside of the pipeline. The dust collection component is located inside the body, with its suction port located at the bottom of the body. The detection component includes a sensor terminal installed on the body for collecting and transmitting environmental information inside the pipeline. The control system is communicatively connected to the walking component, robotic arm, dust collection component, and detection component to control the robot's actions.

[0006] In one embodiment of the present invention, the walking assembly includes four independently driven drive wheels, which are arranged at the four corners of the fuselage.

[0007] In one embodiment of the present invention, the rim of the drive wheel is a variable diameter surface, and the wheel diameter on the side of the drive wheel closer to the fuselage is larger than the wheel diameter on the side farther from the fuselage.

[0008] In one embodiment of the present invention, two tires are mounted on the rim of the drive wheel, and the drive wheel contacts the inner wall of the pipe through the two tires.

[0009] In one embodiment of this utility model, the robotic arm has a multi-axis structure and includes multiple joint components, which are linear.

[0010] In one embodiment of the present invention, the robotic arm includes multiple joint components, each joint component having an arc-shaped structure, and the direction of movement of the joint components being the circumferential extension direction of the inner wall of the pipe.

[0011] In one embodiment of the present invention, when the robotic arm is retracted into the body, the outer contour of the robotic arm does not exceed the outer contour of the body.

[0012] In one embodiment of the present invention, a protruding part is provided at the bottom of the body, and the bottom surface of the protruding part is lower than the wheel of the walking component, and the dust suction port is opened on the bottom surface of the protruding part.

[0013] In one embodiment of the present invention, the sensor terminal of the detection component includes multiple cameras, which are respectively arranged around the body and on the robotic arm; the detection component also includes supplementary lights, which are arranged around the body.

[0014] In one embodiment of the present invention, the control system is based on an ARM chip architecture, integrates a vision sensor and a communication module, and is configured to process sensor data and control commands, and has a real-time alarm function.

[0015] In one embodiment of the present invention, a collision sensing component is further included. The collision sensing component is used to detect obstacles around the body and control the execution actions of the walking component and the robotic arm.

[0016] This utility model also provides a busbar maintenance terminal, including the robot described above.

[0017] The beneficial effects of this utility model are as follows: The electrical high-voltage busbar internal maintenance robot and busbar maintenance terminal proposed in this utility model solve the problems of incomplete cleaning, inability to inspect hidden areas, and high operational risks in traditional manual inspection and cleaning through the coordinated design of the robot's body, walking components, robotic arm, dust collection components, detection components, and control system. It has the advantages of improving cleaning quality, comprehensively inspecting hidden areas, reducing operational risks, adapting to tubular structures, and improving maintenance efficiency. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0019] In the attached diagram: Figure 1 This is a structural schematic diagram of a robot from a first-person perspective, provided in an embodiment of the present invention. Figure 2 This is a structural schematic diagram of a robot from a second perspective provided in one embodiment of the present invention; Figure 3 This is a schematic diagram of the robot structure in a pipeline according to one embodiment of the present invention; Figure 4 This is a structural schematic diagram of the robot arm in its deployed state according to one embodiment of the present invention.

[0020] The attached figures are labeled as follows: 10. Body; 20. Walking assembly; 30. Robotic arm; 40. Outward protrusion; 41. Dust suction port; 100. Pipe; 200. Conductor; 300. Insulator. Detailed Implementation

[0021] The following specific examples illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0022] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. The drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components. In actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0023] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the present invention. However, it will be apparent to those skilled in the art that embodiments of the present invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the present invention.

[0024] In existing technologies, the installation quality of high-voltage distribution busbars directly affects the operational safety of the power system. Traditional manual cleaning methods pose a risk of secondary pollution and cannot effectively inspect the inner walls of insulators. Conventional cleaning operations require construction personnel to wear protective equipment and enter the pipeline, which limits the operating space and poses safety hazards. Especially when encountering complex pipeline structures or obstacles in the central conductor, manual operation is difficult to achieve comprehensive cleaning and inspection.

[0025] To address the aforementioned issues, a modular body design is proposed to adapt to the pipe's cross-sectional dimensions by analyzing the spatial distribution characteristics of conductors and insulators within the pipe. A multi-degree-of-freedom robotic arm is also employed to navigate around fixed obstacles. To address the stability issue, a non-planar contact drive structure is designed to enhance adhesion within the pipe, and a control system is constructed incorporating real-time sensing technology.

[0026] Please see Figures 1 to 4 , Figure 1 An embodiment of this utility model provides an electrical high-voltage busbar maintenance robot comprising a body 10, a walking component 20, a robotic arm 30, a dust collection component, a detection component, and a control system. The walking component 20 is mounted on both sides of the body 10, and the robotic arm 30 is mounted on the body 10 and located near the conductor 200 inside the electrical high-voltage busbar pipe 100. The robotic arm 30 has a retracted state and an operating state. In the retracted state, the robotic arm 30 is housed inside the body 10. In the operating state, the robotic arm 30 is extended to inspect and clean the inside of the pipe 100. The dust collection component is located inside the body 10, and its dust collection port 41 is located at the bottom of the body. The detection component is equipped with sensors to collect environmental information, and the control system coordinates the actions of each component.

[0027] In this embodiment of the invention, the robotic arm 30 is retracted and housed within the body 10, facilitating movement within the confined space of the high-voltage electrical busbar pipeline 100 with its relatively small size. Its joint structure in the working state can bypass the conductor 200 and insulator 300 structures within the pipeline 100, meaning that the robotic arm 30 avoids fixed obstacles inside the pipeline 100 during its deployment trajectory planning. This can be achieved using a multi-axis linkage mechanism combined with a drive mechanism, reducing structural complexity through a pre-set motion path. The suction port 41 is located near the bottom of the body 10, close to the inner wall of the pipeline 100, meaning the working end of the suction component is positioned close to the bottom surface of the pipeline 100. This can be achieved using a recessed installation structure, improving cleaning efficiency by shortening the suction distance. The sensor terminal collects environmental information by acquiring internal state data of the pipeline 100 from multiple angles. This can be achieved using a combination of distributed cameras and supplementary lighting devices, eliminating blind spots through multi-view coverage and, in conjunction with temperature and humidity sensors, determining whether the electrical environment meets requirements.

[0028] Specifically, the body 10 serves as a platform integrating various functional component modules. The walking component 20 moves autonomously within the pipe 100 via a drive mechanism. Under the command of the control system, the robotic arm 30 performs localized cleaning by navigating around the conductor 200 along a preset trajectory, while simultaneously covering all areas inside the pipe 100. The vacuuming component simultaneously removes particles along the moving path. The detection component captures the state of the inner wall of the pipe 100 in real time and feeds it back to the control system, forming a dynamic adjustment mechanism for the moving path. When encountering an insulator 300 or a supporting structure, the robotic arm 30 changes its extension direction through arc-shaped joints, completing the work in the target area while avoiding collisions.

[0029] Compared to traditional manual cleaning, which relies on operator experience and cannot avoid secondary pollution, this solution eliminates human intervention by using a dust-collecting component and automated control within the enclosed pipe 100. Existing wheeled robots struggle to move stably within the pipe 100, which is supported by a central conductor 200 and insulators 300. This solution addresses inspection and cleaning issues during maintenance by adapting the retracted and operational states of the robotic arm 30 to the internal structural space of the pipe 100. Conventional detection equipment is limited by a fixed viewing angle; this solution employs multi-angle sensor fusion technology to achieve three-dimensional spatial coverage within the pipe 100.

[0030] Thus, this application achieves full automation of the cleaning operation inside the high-voltage busbar, avoiding the problem of foreign object residue caused by manual operation. The obstacle avoidance function of the robotic arm 30 ensures the continuity of operation in the complex pipeline structure 100, the distributed sensors improve detection accuracy, and the drive structure of the walking component 20 ensures the stability of movement in different pipeline environments 100. The coordinated control of the dust collection component and the walking mechanism improves the work efficiency and can serve as the basis for remote monitoring through the real-time data transmission function of the control system.

[0031] Please see the appendix Figures 1 to 3 In one embodiment, the height and width of the body 10 are smaller than the local space formed between the inner wall of the pipe 100 and the conductor 200 and the insulator 300, and the component modules are stacked along the length of the body 10.

[0032] In this embodiment of the invention, the height and width limitations of the body 10 refer to the requirement that the overall dimensions of the body 10 must be adapted to the gap between the conductor 200, insulator 300, and inner wall of the pipe 100. This can be achieved through a modular structural design, ensuring that the cross-sectional dimension of the body 10 is smaller than the minimum distance between the conductor 200 and the pipe wall. This dimensional limitation ensures that the robot will not interfere with the conductor 200 or insulator 300 when moving within the pipe 100. The stacked arrangement refers to arranging modules such as the walking component 20, robotic arm 30, and dust collection component sequentially along the longitudinal axis of the body 10. This can be achieved using a layered frame structure, with each functional module integrated in series on the main body of the body 10. This layout effectively reduces the lateral space occupied by the body 10 and improves the passage capacity within the narrow spaces of the pipe 100.

[0033] Specifically, by adopting a longitudinally stacked design, the installation positions of each functional module are distributed along the axial direction of the pipe 100, avoiding lateral expansion that would cause the width of the body 10 to exceed the gap between the inner conductor 200 and the pipe wall. For example, the walking component 20 is installed at the front and rear ends of the body 10, the robotic arm 30 module is arranged in the middle section, the dust collection component is located at the bottom, and the detection component is embedded in various parts of the outer side of the body 10 or on the robotic arm 30. This axial arrangement keeps the cross-section of the body 10 compact, allowing it to pass smoothly through the local space between the conductor 200 and the pipe wall when crossing the inner conductor 200 support structure or insulator 300 of the pipe 100. At the same time, the stacked structure optimizes the internal wiring layout, with power lines and signal cables running longitudinally along the body 10, reducing lateral crossing interference.

[0034] Thus, this application solves the problem of robot spatial adaptability within a pipe 100 with a central conductor 200, enabling the robot body 10 to smoothly pass through the narrow area between the conductor 200 and the pipe wall, avoiding obstruction during movement. The longitudinal stacking layout also improves the robot's adaptability to different pipe diameters, ensuring functional integrity while ensuring that the equipment can complete cleaning and inspection operations within a limited space.

[0035] Please see the appendix Figure 1 and Figure 2 In one embodiment, the walking component 20 uses a servo motor as the driving element. The walking component 20 includes four independently driven drive wheels, which are arranged at the four corners of the body.

[0036] In this embodiment of the invention, the servo motor refers to an electric motor that achieves precise control of speed, torque, or position through feedback signals. It can dynamically adjust its output torque according to control commands to adapt to frictional changes within the inner wall of the pipe 100. The four independently driven drive wheels refer to a layout where four wheels share the driving force output, improving the uniformity of the driving force distribution. The four drive wheels are arranged at the four corners of the body 10, meaning each drive wheel is installed near one of the four corners of the body 10. This layout expands the support span of the wheels within the pipe 100, enhancing walking stability. Independent drive and control for each wheel means that each wheel is equipped with an independent servo motor and drive circuit. Specifically, the speed and direction of each motor can be controlled in a time-sharing manner to achieve differential steering or single-sided braking, thereby adapting to the trajectory adjustment requirements of the curved sections of the pipe 100.

[0037] Please see the appendix Figures 1 to 3 In one embodiment, the rim of the drive wheel has a variable diameter surface, with the diameter of the drive wheel on the side closer to the fuselage 10 being larger than the diameter on the side farther from the fuselage 10, and the variable diameter surface of the rim matches the curvature change of the inner wall of the pipe 100. Two tires are mounted on the rim of the drive wheel, and the drive wheel contacts the inner wall of the pipe through the two tires.

[0038] In this embodiment of the invention, the variable diameter surface of the drive wheel rim refers to the wheel exhibiting a tapered geometric shape that gradually tapers outward from the side of the chassis 10 along the axial direction. By changing the wheel diameter distribution to form an inclined rim, the contact surface formed between the traveling assembly 20 and the inner wall of the pipe 100 is not unique. That is, all contact points formed between all wheels in the traveling assembly 20 and the curved surface of the inner wall of the pipe 100 are not coplanar, thus forming a non-unique contact surface. For example, two tires are mounted on the rim of the drive wheel, and the drive wheel contacts the inner wall of the pipe through the two tires. This forms two independent contact areas between a single drive wheel and the inner wall of the pipe 100. By increasing the number of contact points, the movement stability of the chassis 10 within the pipe 100 is improved, and the transmission efficiency of the driving force is enhanced. Matching the variable diameter surface of the rim with the curvature change of the inner wall of the pipe 100 means that the radius of curvature of the rim and the local curvature of the inner wall of the pipe 100 maintain geometric consistency, so that the tread and the inner wall of the pipe 100 form a continuous fit. By optimizing the geometric matching degree of the contact surface, the risk of local stress concentration is reduced. When the pipeline is turning 100 degrees or climbing a slope, the lateral force generated by the tapered tire tread can assist in adjusting the vehicle's attitude.

[0039] Compared to conventional pipeline robots that mostly use cylindrical wheels of equal diameter, which are prone to insufficient contact area or local suspension issues within the complex curved surfaces of pipelines, the variable diameter wheel rim structure, combined with two installed tires, actively adapts to the spatial shape of the pipeline, enabling the wheels to form a more stable contact state in any position, thus improving motion stability within the irregular space of the pipeline.

[0040] Thus, this application effectively solves the problem of unstable movement of robot wheels within irregularly shaped pipes 100 containing conductors 200 and insulators 300. The variable diameter surface structure of the wheel rim enhances the adhesion between the wheel and the inner wall of the pipe 100 by optimizing the contact force distribution, ensuring stable traction performance of the robot during cleaning operations. Simultaneously, the curvature matching design reduces the wear rate between the wheel and the inner wall of the pipe 100, extending the service life of the moving parts.

[0041] Please see the appendix Figure 1 In one embodiment, the robotic arm has a multi-axis structure and includes multiple joints, which are linear.

[0042] In this embodiment of the utility model, the structure of the linear joint means that the segments of the robotic arm 30 are connected in a linear form. Specifically, it can be implemented by a linkage structure, so that the robotic arm 30 can move around the conductor 200 and insulator 300 in the pipe 100 through its multi-axis joint.

[0043] Please refer to the attached diagram. Figure 4 In one embodiment, the robotic arm includes multiple joints, each joint having an arc-shaped structure, and the direction of movement of the joints is the circumferential extension direction of the inner wall of the pipe.

[0044] In this embodiment of the invention, the arc-shaped joint structure refers to the curved connection between the segments of the robotic arm 30. Specifically, it can be implemented using an arc-shaped guide rail structure, allowing the robotic arm 30 to move around the conductor 200 and insulator 300 within the pipe 100. The direction of movement of the joint refers to the joint structure retaining only the ability to move along the cross-sectional direction of the pipe 100. Specifically, it can be implemented using a linear guide rail or a sliding pair structure, thereby reducing the complexity and size of the robotic arm 30 by restricting redundant degrees of freedom.

[0045] Specifically, the telescopic function of the robotic arm 30 is controlled by a motor drive mechanism. The motor converts rotational motion into linear displacement through gear transmission, causing the robotic arm 30 to extend and retract along its axial cross-section. The arc-shaped joint structure allows the robotic arm 30 to bypass the conductor 200 inside the pipe 100 when extended, and its bending trajectory is consistent with the cross-sectional direction of the pipe 100. The single degree of freedom design means that the robotic arm 30 can only move along the cross-sectional direction of the pipe 100. When the body 10 moves along the axial direction of the pipe 100, the end of the robotic arm 30 covers different cleaning areas within the pipe 100 through the coordinated movement of both. For example, when it is necessary to clean the top of the pipe 100, the robotic arm 30 moves upward along the cross-sectional direction, while the body 10 moves forward, allowing the end of the robotic arm 30 to reach the target position.

[0046] Compared to traditional pipe 100 robotic arms 30, which often employ multi-degree-of-freedom joint structures to achieve complex movements, resulting in large size and complex control, making them difficult to adapt to the narrow space of the pipe 100, this embodiment of the solution restricts the joint degrees of freedom and combines them with an arc-shaped structure, which not only meets the need to bypass obstacles but also simplifies the construction of the robotic arm 30, enabling it to achieve efficient movement within a limited space.

[0047] Thus, this application solves the problem of excessive size of the robotic arm 30 due to its complex structure inside the pipe 100. By combining a single degree of freedom with an arc joint, the robotic arm 30 can move flexibly in a narrow space, while reducing the difficulty of control and the failure rate, and ensuring that the dust collection components can fully cover the inner wall of the pipe 100.

[0048] Please see the appendix Figures 1 to 3 In one embodiment, when the robotic arm 30 is retracted into the body 10, the outer contour of the robotic arm 30 does not exceed the outer contour of the body 10.

[0049] In this embodiment of the invention, the retracted state of the robotic arm 30 refers to the working mode in which the robotic arm 30 is folded and stored inside the cavity of the body 10 via a hinge mechanism or sliding track. Specifically, a multi-segment folding structure combined with an electromagnetic locking device can be used to achieve this, allowing the robotic arm 30 to maintain a compact form during non-operational phases. The outer contour not exceeding the outer contour of the body 10 means that after the robotic arm 30 is fully folded, its maximum envelope remains flush with or retracted into the outer shell of the body 10. This can be verified through motion trajectory simulation using 3D modeling to ensure that the range of motion of each joint is constrained by the outer shell of the body 10.

[0050] Specifically, when the robot needs to move a long distance within the pipe 100 or traverse narrow areas, the control system issues a retraction command to drive the joints of the robotic arm 30 to perform a folding motion. The cleaning tool or detection probe at the end of the robotic arm 30 retracts synchronously with the arm body, and the folded robotic arm 30 is completely embedded in the pre-reserved storage slot inside the body 10. In this state, the robot's overall shape remains a regular geometric shape, effectively avoiding interference with the conductor 200, insulator 300, or pipe wall within the pipe 100. When the robot reaches the designated work position, the robotic arm 30 unfolds according to a preset program and performs cleaning or inspection tasks.

[0051] Compared to traditional pipeline inspection robots that often employ external robotic arms (30), which still have protruding parts in their retracted state and are prone to scraping when passing through conductor supports (200) or variable-diameter pipes (100), this solution utilizes a built-in retractable structure and motion trajectory constraint design to strictly control the overall dimensions of the robot in motion, thereby improving the device's ability to navigate complex pipeline environments (100).

[0052] Thus, this application effectively solves the problem of jamming caused by the outward protrusion of the robotic arm 30 when the robot passes through the obstacle of the pipe 100, reduces the risk of collision with the insulator 300 or conductor 200 during the movement of the equipment, and avoids secondary problems caused by the protrusion of the robotic arm 30, thus ensuring the safety and reliability of the internal maintenance operation of the high-voltage busbar.

[0053] Please see the appendix Figure 2 and Figure 3 In one embodiment, the bottom of the body 10 is provided with an outward protrusion 40, the bottom surface of the outward protrusion 40 is lower than the wheel of the walking assembly 20, and the dust suction port 41 is opened on the bottom surface of the outward protrusion 40.

[0054] In this embodiment of the invention, the protruding part 40 refers to a raised structure extending outward from the bottom of the body 10. Specifically, it can be formed by stamping metal sheets or injection molding engineering plastics, and its longitudinal cross-sectional shape can be trapezoidal, arc-shaped, or rectangular. This structure increases the contact area between the bottom of the body 10 and the inner wall of the pipe 100, allowing the suction port 41 to be closer to the cleaning surface. "Bottom surface lower than wheel" means that the vertical distance between the lower end face of the protruding part 40 and the axis of rotation of the wheel is greater than the wheel radius. This can be achieved by adjusting the installation height of the protruding part 40 and its relative position to the wheel bracket. This design ensures that the suction port 41 is always at its lowest position when the wheel is rolling. In this embodiment of the invention, "suction port 41 opening at the bottom surface of the protruding part 40" means that the inlet channel of the negative pressure suction component directly penetrates the housing of the protruding part 40. Specifically, it can adopt a circular or rectangular opening structure, with chamfered edges to reduce airflow resistance. This layout allows the suction port 41 to form the optimal suction distance with the inner wall of the pipe 100.

[0055] Specifically, the protruding part 40 is fixed to the bottom frame of the body 10 by bolts or welding, and the distance between its bottom surface and the inner wall of the curved pipe 100 is closer than that of the wheel end. When the robot moves inside the pipe 100, the dust suction port 41 on the bottom surface of the protruding part 40 creates a negative pressure area in this space, directly sucking the dust particles attached to the inner wall of the pipe 100 into the collection device. Since the bottom surface of the protruding part 40 is lower than the contact surface between the wheel and the inner wall of the pipe 100, the dust capture efficiency is improved. Furthermore, the protruding part 40 lowers the center of gravity of the body 10, enhancing the stability of the robot during movement.

[0056] Compared to the traditional cleaning robot's suction port 41, which cannot effectively reach the bottom cleaning surface of the pipe 100, this embodiment uses an outward protrusion 40 structure to lower the suction port 41 to a position below the wheel, separating the suction working surface from the wheel travel surface. This ensures the optimal working distance between the suction port 41 and the cleaning surface while avoiding secondary dust diffusion caused by wheel rolling.

[0057] Thus, this application achieves a stable fit between the suction port 41 and the inner wall of the pipe 100, improving dust adsorption efficiency and preventing secondary pollution during the cleaning process. The outward protrusion 40 structure also protects the suction port 41, preventing it from directly colliding with the protrusions inside the pipe 100 and extending the service life of the equipment.

[0058] In one embodiment, the sensor terminal of the detection component includes multiple cameras, which are respectively arranged on the circumference of the body 10 and on the robotic arm 30; the detection component also includes supplementary lights, which are arranged around the body 10.

[0059] In this embodiment of the invention, the camera refers to a visual sensor used to collect image information inside the pipe 100. Specifically, it can be implemented using a starlight night vision camera, which has imaging capabilities in low-light environments and can capture the surface conditions of the inner wall of the busbar drum, the conductor 200, and the insulator 300. The supplementary light refers to a light source used to provide auxiliary lighting. Specifically, it can be implemented using an LED array light, which is arranged around the body 10 to form a uniform lighting coverage, solving the problem of image blurring caused by insufficient light inside the pipe 100.

[0060] Specifically, the front camera is used to capture the condition of the inner wall of the pipe 100 along the robot's direction of travel, the rear camera is used to monitor the residue in the cleaned areas, and the camera on the robotic arm 30 moves with the joint structure to reach the top area, achieving coverage of the area around the conductor 200 and the back of the insulator 300. Supplemental lighting is integrated into the outer shell of the robot body 10 in a ring arrangement. When the robot enters an area with insufficient light, the supplemental lighting mode is automatically triggered, eliminating shadow interference inside the pipe 100 through multi-angle illumination. Through the spatially distributed cameras and lighting, a comprehensive monitoring capability without blind spots is achieved in the complex environment of the pipe 100.

[0061] Compared to traditional manual inspections that rely solely on handheld lighting for localized observation, which suffers from limited field of view and incomplete image recording, this solution addresses the limitations of existing cleaning robots that use single-view cameras. These cameras cannot capture real-time images of the conductor 200's back side and the robotic arm 30's work area. This embodiment of the solution significantly improves the completeness and clarity of image acquisition through the synergistic effect of a multi-directional camera layout and an adaptive supplementary lighting system.

[0062] Thus, this application effectively solves the problem of poor image transmission stability inside the high-voltage busbar, ensuring that operators can simultaneously obtain real-time images inside the pipe 100, improving the accuracy of foreign object identification during the operation of the robotic arm 30, and providing a reliable visual basis for confirming the cleaning effect.

[0063] In one embodiment, the control system is based on an ARM chip architecture, integrates a vision sensor and a communication module, and is configured to process sensor data and control commands, and has a real-time alarm function; the control system also includes a remote controller, which is used to wirelessly control the robot's movement, cleaning and imaging functions, and integrates a video display and recording module.

[0064] In this embodiment of the invention, the ARM chip refers to a low-power, high-performance processor architecture with efficient data processing capabilities, capable of real-time analysis of sensor signals and generation of control commands. The vision sensor is a device for acquiring environmental optical information, specifically implemented using a CMOS image sensor in conjunction with an optical lens module. It provides visual feedback to the control system by capturing image data inside the pipe 100. The communication module is a hardware unit for wireless data transmission, specifically implemented using a Wi-Fi or Bluetooth module in conjunction with a radio frequency antenna. It supports bidirectional signal transmission to synchronize control commands and sensor data. The real-time alarm function is an immediate alert mechanism for abnormal states, specifically implemented by triggering a buzzer or LED indicator through a preset threshold. It actively pushes warning information when overheating, communication interruption, or mechanical failure is detected. The remote control is a human-machine interface terminal device, specifically implemented using an embedded touchscreen in conjunction with physical buttons. It integrates a video decoding chip and a storage unit to achieve real-time image display and local recording.

[0065] Specifically, the control system receives image data of the inside of the pipe 100 collected by the vision sensor via an ARM chip. Image processing algorithms identify the cleaning area and obstacle distribution, generating the movement trajectory of the robotic arm 30 and start / stop commands for the vacuum cleaner. The communication module sends control signals to the servo motor of the walking component 20 and the drive unit of the robotic arm 30, while simultaneously transmitting real-time images back to the remote control's display interface. When the sensor detects abnormal temperature rise or mechanical jamming, the ARM chip immediately interrupts the current command and activates the audible and visual alarm device, while simultaneously sending a fault code to the remote control via the communication module. Operators can adjust the robot's path using the remote control's joystick, switch cleaning modes using function buttons, and view high-definition images of the inside of the pipe 100 in real-time via the touchscreen. The recording module automatically stores the operation process video for later analysis.

[0066] In some specific implementations, the video display module of the remote control can be configured in a split-screen mode, for example, displaying detailed images of the insulator 300 captured by the camera of the robotic arm 30 on the left, and a panoramic view of the pipe 100 captured by the forward-looking camera on the right. The communication module can adopt dual-band wireless transmission technology, for example, transmitting control commands in the 2.4GHz band and transmitting high-definition video streams in the 5GHz band to reduce signal interference. The real-time alarm function can be expanded into a multi-level warning mechanism, for example, triggering a primary warning when a decrease in vacuum cleaner power is detected, triggering a secondary warning when the communication delay exceeds a set threshold, and triggering an emergency stop command when the joint torque of the robotic arm 30 is abnormal.

[0067] Compared to traditional pipeline robots that often use general-purpose microcontrollers as their control core, which suffer from limited data processing capabilities leading to low image transmission frame rates and significant control command delays, this solution utilizes the high-efficiency computing power of an ARM chip to achieve real-time encoding and transmission of high-definition video while maintaining the synchronous control precision of multi-axis motors. Existing remote control devices typically only possess basic motion control functions, while this solution integrates video display and recording modules, allowing operators to simultaneously observe cleaning results and retain work records, thereby improving quality control capabilities. Furthermore, traditional solutions lack proactive alarm mechanisms, while the multi-sensor fusion design of this invention can identify potential faults in advance, preventing equipment damage and work interruptions.

[0068] Thus, this application effectively solves the problems of image transmission lag and control response delay in high-voltage busbar cleaning robots, ensuring that operators can monitor the internal condition of the pipeline 100 in real time and accurately control the cleaning operation. The integrated remote control equipment reduces operational complexity, the video recording function provides a reliable basis for quality traceability, and the multi-level alarm mechanism improves equipment operation safety and maintenance efficiency.

[0069] In one embodiment, a collision sensing component is also included, which is used to detect obstacles around the body 10 and control the actions of the walking component 20 and the robotic arm 30.

[0070] In this embodiment of the invention, the collision sensing component refers to an obstacle detection device installed on the outside of the robot. Specifically, it can be implemented using a pressure sensor or an infrared sensor array. It senses the contact or proximity of objects around the robot through contact or non-contact detection methods, triggering a control signal when an obstacle is detected. Circumferential obstacles refer to obstructions located around the robot's body 10 along its path, specifically including protruding structures on the inner wall of the pipe 100, uncleaned foreign objects, or installed insulator 300 components. Such obstacles may hinder the robot's normal movement or cause mechanical damage. Execution actions refer to the responsive operations of the robot's moving parts, specifically including emergency braking of the walking component 20, retraction and return of the robotic arm 30, or path replanning, adjusting the movement trajectory to avoid physical contact with obstacles.

[0071] Specifically, when the robot moves within the high-voltage busbar duct 100, the collision sensing component continuously monitors the distribution of obstacles around the robot body 10. When an obstacle is detected to enter a preset safe distance range, the sensor transmits a signal to the control system. The control system immediately sends a deceleration or stop command to the walking component 20 according to a preset program, while simultaneously controlling the robotic arm 30 to retract to a safe storage state. If an obstacle is located within the working area of ​​the robotic arm 30, the system will prioritize stopping the current movement of the robotic arm 30 and replan the working path to execute an avoidance maneuver.

[0072] This embodiment of the solution integrates multimodal sensors and real-time control algorithms to achieve active obstacle recognition and rapid response, effectively solving the safety protection problem during autonomous robot operation. Thus, this application can achieve autonomous obstacle avoidance in narrow pipe environments, preventing damage to high-pressure equipment or robot malfunctions caused by mechanical collisions, while ensuring the continuity and reliability of cleaning and inspection operations, and completing safe operations under complex conditions without human intervention.

[0073] This utility model embodiment also provides a busbar maintenance terminal, including the robot described above. Specifically, for pipeline structures similar to electrical high-voltage busbars, such as GIL / GIS (Gas-insulated Line / Gas-insulated Switchgear) high-voltage distribution busbars, the robot in this application embodiment can be used as a busbar maintenance terminal. It can move stably within the local space between the internal structures of the busbar pipeline and, relying on modules such as a robotic arm and dust collection components, perform tasks such as inspection and cleaning of the internal space of the busbar pipeline.

[0074] In summary, the electrical high-voltage busbar internal maintenance robot provided by this utility model improves the cleaning quality of the high-voltage busbar pipeline through the collaborative design of the walking component and the robotic arm, realizes a comprehensive inspection of the hidden areas inside the pipeline, reduces operational risks, and improves the maintenance efficiency of the high-voltage busbar pipeline.

[0075] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. A robot for internal maintenance of high-voltage busbars, characterized in that, include: body; A walking assembly, which is mounted on both sides of the fuselage; A robotic arm is mounted on the machine body and located on the conductor side near the electrical high-voltage busbar pipeline. The robotic arm has a retracted state and an operating state. In the retracted state, the robotic arm is housed inside the machine body. In the operating state, the robotic arm is extended to inspect and clean the inside of the pipeline. A vacuuming assembly is disposed inside the body, with its suction port located at the bottom of the body; The detection component includes a sensor terminal mounted on the machine body for collecting and transmitting environmental information inside the pipeline; as well as The control system is communicatively connected to the walking component, the robotic arm, the vacuuming component, and the detection component, and is used to control the robot's actions.

2. The robot according to claim 1, characterized in that, The walking assembly includes four independently driven drive wheels, which are arranged at the four corners of the fuselage.

3. The robot according to claim 2, characterized in that, The rim of the drive wheel is a variable diameter surface, and the diameter of the drive wheel on the side closer to the fuselage is larger than the diameter on the side farther away from the fuselage.

4. The robot according to claim 3, characterized in that, Two tires are mounted on the rim of the drive wheel, and the drive wheel contacts the inner wall of the pipe through the two tires.

5. The robot according to claim 1, characterized in that, The robotic arm has a multi-axis structure and includes multiple joints, which are linear.

6. The robot according to claim 1, characterized in that, The robotic arm includes multiple joints, each joint having an arc-shaped structure, and the direction of movement of the joints is the circumferential extension direction of the inner wall of the pipe.

7. The robot according to claim 5 or 6, characterized in that, When the robotic arm is retracted into the body, the outer contour of the robotic arm does not exceed the outer contour of the body.

8. The robot according to claim 1, characterized in that, The bottom of the body is provided with an outward protrusion, and the bottom surface of the outward protrusion is lower than the wheel of the walking component. The dust suction port is opened on the bottom surface of the outward protrusion.

9. The robot according to claim 1, characterized in that, The sensor terminal of the detection component includes multiple cameras, which are respectively arranged around the body and on the robotic arm; the detection component also includes supplementary lights, which are arranged around the body.

10. The robot according to claim 1, characterized in that, The control system is based on an ARM chip architecture, integrates a vision sensor and a communication module, and is configured to process sensor data and control commands, and has a real-time alarm function.

11. The robot according to claim 1, characterized in that, It also includes a collision sensing component, which is used to detect obstacles around the fuselage and control the movement of the walking component and the robotic arm.

12. A busbar maintenance terminal, characterized in that, Including the robot as described in any one of claims 1-11.

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