A hanging rail type inspection robot suitable for power plant distribution room

Abstract

The utility model discloses a kind of hanging rail type inspection robots suitable for power plant distribution room, belong to the technical field of inspection robot. Including machine outer body, identification mechanism, power component and turnover mechanism, power component sets up first motor, second motor, rotating column and sleeve, sleeve is coaxially arranged on rotating column outside, turnover mechanism sets up U-shaped frame, first mesh gear, rotating rod, fixed rotating plate and second mesh gear, second motor drives sleeve rotation, sleeve drives U-shaped frame horizontal rotation, first motor drives rotating column rotation, rotating column drives second mesh gear, second mesh gear is engaged with first mesh gear, drives rotating rod. Identification mechanism is connected to rotating rod by fixed rotating plate. The utility model is driven by double motor, realize the left and right rotation and the upper and lower turnover multi-degree-of-freedom motion of identification mechanism, solve the problem that the inspection angle is single, there is blind area, improve the inspection accuracy and comprehensiveness.

Description

Technical Field

[0001] This utility model relates to the field of power inspection robot technology, and in particular to a rail-mounted inspection robot suitable for power plant distribution rooms. Background Technology

[0002] As the core hub of the power system, the safe and stable operation of the equipment in the power plant's substation is of paramount importance. The traditional method of relying on manual, timed inspections is not only labor-intensive and inefficient, but also easily limited by the subjective factors and professional skills of the inspectors, making it difficult to achieve all-weather, full-coverage real-time monitoring and posing risks of missed or false inspections.

[0003] With the development of automation technology, inspection robots have begun to be applied in the daily operation and maintenance of power distribution rooms to replace manual labor in performing repetitive and dangerous inspection tasks. Most existing inspection robots use track-based or wheeled mobile platforms equipped with visible light cameras, infrared thermal imagers, and other detection equipment to collect data and monitor the status of power distribution cabinets, switchgear, and instrument panels. While these robots have improved the automation level of inspections to some extent, they still have limitations in practical applications.

[0004] In complex electrical distribution room environments, equipment is arranged compactly and at varying heights. Many existing inspection robots have relatively simple designs for their identification mechanisms (i.e., cameras and other detection devices). Typically, these mechanisms can only achieve limited pitch adjustment or rotation on a fixed horizontal plane. When a detailed inspection of a tall electrical cabinet from top to bottom is required, or when observing wiring terminals located at complex angles is needed, this single-dimensional adjustment capability becomes inadequate. The robot often needs to frequently adjust its position on the track or raise and lower its overall height to barely align the camera with the target, a tedious and inefficient process. More importantly, due to the limitations of the mechanical structure, many tricky angles cannot be observed at all, creating permanent inspection blind spots. This is extremely detrimental to the timely detection of early safety hazards such as loose screws or slight overheating.

[0005] Therefore, this utility model proposes a rail-mounted inspection robot suitable for power plant power distribution rooms to address the shortcomings of existing technologies. Utility Model Content

[0006] To overcome the above shortcomings, this utility model provides a rail-mounted inspection robot suitable for power plant substations. It aims to improve upon the limitations of existing rail-mounted inspection robots, such as the limited freedom of adjustment of the observation angle of the identification mechanism, making it difficult to perform comprehensive, multi-angle, three-dimensional scanning of complex equipment from a single position. This results in blind spots during inspections and affects the overall accuracy of the detection. This utility model aims to provide a rail-mounted inspection robot with an improved structure that effectively solves the above problems and is suitable for power plant substations.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: a rail-mounted inspection robot suitable for power plant distribution rooms, comprising: an outer body of the robot and an identification mechanism connected to the outer body of the robot and capable of driving or supporting it; as well as a power component and a flipping mechanism.

[0008] The power assembly includes a first motor, a second motor, a rotating column, and a sleeve. The sleeve is coaxially disposed on the outside of the rotating column and is capable of rotating relative to the rotating column.

[0009] The flipping mechanism includes a U-shaped frame, a first meshing gear, a rotating rod, a fixed rotating plate, and a second meshing gear; a first motor drives the rotating column to rotate, and a second motor drives the sleeve to rotate; the U-shaped frame is fixedly connected to the lower end of the sleeve, and the second meshing gear is fixedly connected to the lower end of the rotating column; the first meshing gear is disposed inside the U-shaped frame and meshes with the second meshing gear, and the rotating rod is coaxially fixedly connected to the first meshing gear; the identification mechanism is connected to the rotating rod through the fixed rotating plate.

[0010] Preferably, the rail-mounted inspection robot suitable for power plant distribution rooms further includes a slide rail and a moving mechanism, wherein the moving mechanism is slidably connected to the slide rail and located below the slide rail and connected to the outer body of the machine.

[0011] Preferably, the moving mechanism includes a vehicle body and pulleys mounted on the vehicle body, the vehicle body being embedded in the slide rail and moving on the slide rail via the pulleys.

[0012] Preferably, the outer body of the machine is connected to the moving mechanism via a telescopic rod.

[0013] Preferably, the machine body includes a casing and a connecting plate, the lower end of the telescopic rod is connected to the connecting plate, and the power assembly is housed within the casing.

[0014] Preferably, the identification mechanism includes an identification box, and a high-definition camera and an infrared camera mounted on the observation surface in front of the identification box.

[0015] Preferably, the power assembly further includes a first gear set and a second gear set, wherein the first motor drives the rotating column to rotate through the first gear set, and the second motor drives the sleeve to rotate through the second gear set.

[0016] Preferably, the rail-mounted inspection robot suitable for power plant substations further includes a display screen, which is installed on the exterior of the robot body.

[0017] This utility model has the following beneficial effects: 1. This utility model, by adopting a power component driven independently by dual motors and cooperating with a flipping mechanism, realizes the left and right rotation and up and down tilting of the identification mechanism. It solves the problem that the identification mechanism has limited freedom of adjustment of observation angle in the prior art, making it difficult to achieve all-round, multi-angle three-dimensional scanning from a single position and creating blind spots in inspection. It achieves the technical effect of enabling the identification mechanism to perform flexible three-dimensional scanning, realize all-round, blind-angle coverage, and improve the comprehensiveness and accuracy of detection.

[0018] 2. This utility model, by possessing multi-degree-of-freedom motion capabilities such as rail-mounted movement, vertical lifting of telescopic rods, left-right rotation driven by dual motors, and up-down flipping, solves the problem in the prior art where robots need to frequently adjust their position or height to align with the target, resulting in a cumbersome and inefficient inspection process. It achieves the technical effect of enabling the robot to perform multi-angle scanning from a single position, reducing the need for frequent robot movement and overall posture adjustment, improving inspection efficiency, and reducing human intervention. Attached Figure Description

[0019] Figure 1 This is a perspective view of a rail-mounted inspection robot suitable for power plant distribution rooms, as proposed in this utility model. Figure 2 This utility model presents a schematic diagram of the moving mechanism of a rail-mounted inspection robot suitable for power plant distribution rooms. Figure 3 This is a schematic diagram of the connecting plate structure of a rail-mounted inspection robot suitable for power plant distribution rooms, as proposed in this utility model. Figure 4 This utility model presents a schematic diagram of the power component structure of a rail-mounted inspection robot suitable for power plant distribution rooms. Figure 5 This utility model presents a schematic diagram of the flipping mechanism of a rail-mounted inspection robot suitable for power plant distribution rooms. Figure 6 This is a schematic diagram of the sleeve structure of a rail-mounted inspection robot suitable for power plant distribution rooms, as proposed in this utility model.

[0020] Legend: 1. Slide rail; 2. Moving mechanism; 201. Pulley; 202. Car body; 3. Telescopic rod; 4. Machine body; 401. Box; 402. Connecting plate; 5. Identification mechanism; 501. Identification box; 502. High-definition camera; 503. Infrared camera; 6. Display screen; 7. Power assembly; 701. First motor; 702. Second motor; 703. First gear set; 704. Second gear set; 705. Rotating column; 706. Sleeve; 8. Tilting mechanism; 801. U-shaped frame; 802. First meshing gear; 803. Rotating rod; 804. Fixed rotating plate; 805. Second meshing gear. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] Please refer to Figures 1 to 6 This utility model provides a rail-mounted inspection robot suitable for power plant distribution rooms, aiming to solve the problem that the existing inspection robot's identification mechanism has limited freedom of adjustment of the observation angle, making it difficult to achieve all-round, multi-angle three-dimensional scanning of complex equipment from a single position, thus creating blind spots in inspection and affecting the accuracy and comprehensiveness of detection.

[0023] like Figure 1 and Figure 2 As shown, this rail-mounted inspection robot suitable for power plant substations includes a slide rail 1 and a moving mechanism 2 slidably connected to and located below the slide rail 1. The slide rail 1 serves as the basic path for the robot's movement, providing horizontal support and guidance. The moving mechanism 2 carries the robot body and enables horizontal reciprocating motion along the slide rail 1. The specific structure of the moving mechanism 2 includes a vehicle body 202 and pulleys 201 mounted on the vehicle body 202. The vehicle body 202 is embedded in the slide rail 1 and moves smoothly on the slide rail 1 via the pulleys 201.

[0024] A telescopic rod 3 securely connects a robot body 4 to the lower part of the moving mechanism 2. The telescopic rod 3 is used to adjust the vertical height of the robot body, ensuring that the recognition mechanism can accurately align with the detection target at different heights. The robot body 4 includes a housing 401 and a connecting plate 402. The lower end of the telescopic rod 3 is fixedly connected to the connecting plate 402, and the connecting plate 402 is tightly connected to the housing 401. The robot body 4 mainly protects the internal power and tilting mechanisms and serves as a platform for carrying and displaying information.

[0025] The power assembly 7 includes a first motor 701, a second motor 702, a first gear set 703, a second gear set 704, a rotating column 705, and a sleeve 706. The rotating column 705 is located at the center of the power assembly 7, and the sleeve 706 is coaxially disposed on the outside of the rotating column 705 and can rotate independently relative to the rotating column 705. The output shaft of the first motor 701 is driven to rotate the rotating column 705 through the first gear set 703. When the first motor 701 rotates, it drives the rotating column 705 to rotate through the first gear set 703. The output shaft of the second motor 702 is driven to rotate the sleeve 706 through the second gear set 704. When the second motor 702 rotates, it drives the sleeve 706 to rotate through the second gear set 704.

[0026] The flipping mechanism 8 includes a U-shaped frame 801, a first meshing gear 802, a rotating rod 803, a fixed rotating plate 804, and a second meshing gear 805. The U-shaped frame 801 is fixedly connected to the lower end of the sleeve 706 in the power assembly 7. Therefore, when the sleeve 706 rotates, the U-shaped frame 801 will rotate horizontally. The second meshing gear 805 is fixedly connected to the lower end of the rotating column 705 in the power assembly 7. When the rotating column 705 rotates, the second meshing gear 805 will rotate accordingly. The first meshing gear 802 is disposed inside the U-shaped frame 801 and meshes with the second meshing gear 805. This meshing relationship ensures that the rotation of the second meshing gear 805 can be transmitted to the first meshing gear 802. The rotating rod 803 is coaxially fixedly connected to the first meshing gear 802. When the first meshing gear 802 rotates, the rotating rod 803 will also rotate accordingly. The fixed rotating plate 804 is fixedly connected to the lower end of the rotating rod 803.

[0027] The identification mechanism 5 is connected to the rotating rod 803 via a fixed rotating plate 804, enabling the adjustment of the identification mechanism 5's posture. It includes an identification box 501, and a high-definition camera 502 and an infrared camera 503 mounted on the front observation surface of the identification box 501. The high-definition camera 502 is used to acquire clear visible light images, while the infrared camera 503 is used to detect the heat distribution and temperature anomalies of the equipment. In addition, a display screen 6 is installed on the exterior of the machine body 4 to visually display inspection data and images.

[0028] The power assembly 7 includes a first motor 701, a second motor 702, a first gear set 703, a second gear set 704, a rotating column 705, and a sleeve 706. The rotating column 705 extends through its central region, and the sleeve 706 is coaxially disposed on the outer side of the rotating column 705. The sleeve 706 and the rotating column 705 can maintain relative rotation, ensuring their independent rotation. The output shaft of the first motor 701 is rotatably connected to the upper end of the rotating column 705 through the first gear set 703. When the first motor 701 is working, its rotational power is reduced and amplified by the first gear set 703 and then transmitted to the rotating column 705, driving the rotating column 705 to rotate along its axis. The output shaft of the second motor 702 is rotatably connected to the upper end of the sleeve 706 through the second gear set 704. When the second motor 702 is working, its rotational power is reduced and amplified by the second gear set 704 and then transmitted to the sleeve 706, driving the sleeve 706 to rotate along its axis.

[0029] The flipping mechanism 8 includes a U-shaped frame 801, a first meshing gear 802, a rotating rod 803, a fixed rotating plate 804, and a second meshing gear 805. The U-shaped frame 801 has a U-shaped structure, and its upper part is fixedly connected to the outer side of the lower end of the sleeve 706 in the power assembly 7. Therefore, when the sleeve 706 is driven to rotate by the second motor 702, the U-shaped frame 801 will rotate horizontally accordingly. This mechanism provides the basic motion for the identification mechanism 5 to achieve left and right rotation.

[0030] The second meshing gear 805 is fixedly connected to the lower end of the rotating column 705 in the power assembly 7, with its teeth facing the inside of the U-shaped frame 801. The first meshing gear 802 is located inside the U-shaped frame 801 and meshes with the teeth of the second meshing gear 805. When the rotating column 705 is driven to rotate by the first motor 701, the second meshing gear 805 rotates accordingly and drives the first meshing gear 802 to rotate through meshing. The rotating rod 803 is coaxially fixedly connected to the first meshing gear 802. Therefore, the rotation of the first meshing gear 802 will drive the rotating rod 803 to rotate along its axis. The fixed rotating plate 804 is fixedly connected to the lower end of the rotating rod 803 and has a planar structure, serving as the installation interface of the identification mechanism 5.

[0031] The identification mechanism 5 is connected to the rotating rod 803 via a fixed rotating plate 804. The identification mechanism 5 includes an identification box 501, and a high-definition camera 502 and an infrared camera 503 mounted on the front observation surface of the identification box 501. The identification box 501 is a protective shell. The high-definition camera 502 is used to acquire high-definition visible light images of the device, and the infrared camera 503 is used to detect the temperature distribution and abnormal hot spots on the device surface. By rotating the fixed rotating plate 804, the identification mechanism 5 can achieve vertical tilting and flipping, providing the basic motion for this vertical tilting.

[0032] The second motor 702 drives the sleeve 706, which in turn drives the U-shaped frame 801 and the identification mechanism 5 it carries to rotate left and right. At the same time, the first motor 701 drives the rotating column 705, which in turn drives the second meshing gear 805. Through meshing with the first meshing gear 802, the rotating rod 803 and the fixed rotating plate 804 are driven, which ultimately enables the identification mechanism 5 to tilt and flip up and down. This ingenious combination of independent dual-motor drive and gear transmission allows the identification mechanism 5 to achieve independent and precise movement in both horizontal and vertical directions. This effectively solves the problem of limited observation angle during inspection, enabling the inspection robot to perform all-round, three-dimensional, and blind-spot-free high-precision scanning of the equipment inside the power plant's power distribution room.

[0033] In addition, a display screen 6 is installed on the outer surface of the machine body 4 to display the images, data and inspection status information collected by the recognition mechanism 5 in real time, so as to facilitate intuitive monitoring and management by the operators.

[0034] In a preferred embodiment, the robot also includes a slide rail 1 and a moving mechanism 2. The moving mechanism 2 is located below the slide rail 1 and is slidably connected to the slide rail 1 via its vehicle body 202, ensuring that the robot can move smoothly on the slide rail 1. The moving mechanism 2 is connected to the robot body 4 via a telescopic rod 3, which allows the robot body to move horizontally following the moving mechanism 2.

[0035] In another preferred embodiment, the moving mechanism 2 includes a vehicle body 202 and pulleys 201. The pulleys 201 are mounted on the top of the vehicle body 202, which is designed to be embedded within a T-shaped channel of the slide rail 1. The pulleys 201 roll in contact with the upper edge of the slide rail 1. Through the rolling of the pulleys 201, the vehicle body 202 achieves low-friction, smooth sliding movement within the slide rail 1, providing the basis for the robot's horizontal inspection.

[0036] In another preferred embodiment, the outer body 4 of the machine is connected to the moving mechanism 2 via a telescopic rod 3. The telescopic rod 3 is an adjustable-length rod, with its upper end fixedly connected to the lower part of the vehicle body 202 of the moving mechanism 2, and its lower end fixedly connected to the upper part of the connecting plate 402 of the outer body 4. The telescopic rod 3 adopts an electric telescopic structure, which can precisely adjust the vertical height of the outer body 4 relative to the moving mechanism 2, thereby realizing the lifting function of the identification mechanism 5.

[0037] In another preferred embodiment, the machine body 4 includes a housing 401 and a connecting plate 402. The connecting plate 402 has a plate-like structure, and the lower end of the telescopic rod 3 is fixedly connected to the central area of ​​the connecting plate 402. The housing 401 has a box-like structure, with its bottom tightly connected to the connecting plate 402, and its top open or equipped with an openable and closable cover. The power assembly 7 is housed in a reserved space inside the housing 401, which provides it with external protection and support.

[0038] In another preferred embodiment, the identification mechanism 5 includes an identification box 501, and a high-definition camera 502 and an infrared camera 503 mounted on the observation surface in front of the identification box 501. The identification box 501 is a rectangular box used to integrate and protect the internal camera units. The high-definition camera 502 and the infrared camera 503 are mounted side by side behind the transparent window in front of the identification box 501 to ensure unobstructed image and infrared data acquisition.

[0039] In another preferred embodiment, the power assembly 7 further includes a first gear set 703 and a second gear set 704. The first gear set 703 includes a pair of meshing spur gears, with its driving gear rigidly connected to the output shaft of the first motor 701 and its driven gear rigidly connected to the upper end of the rotating column 705. The second gear set 704 also includes a pair of meshing spur gears, with its driving gear rigidly connected to the output shaft of the second motor 702 and its driven gear rigidly connected to the upper end of the sleeve 706. Through the transmission of the gear sets, the rotational motion of the motor is precisely transmitted to the rotating column 705 and the sleeve 706, while simultaneously achieving speed reduction and torque increase.

[0040] In another preferred embodiment, the robot also includes a display screen 6, which is a liquid crystal display panel mounted on the external side of the robot body 4 via a bracket, facing the operator. The display screen 6 is electrically connected to the robot's internal control system and is used to display inspection images, sensor data, robot status information, and the operating interface in real time.

[0041] Working principle: When the inspection task is started, the mobile mechanism 2 first drives the vehicle body 202 to move horizontally along the slide rail 1, bringing the robot body to the target inspection area. The pulley 201 of the mobile mechanism 2 rolls in contact with the upper edge of the slide rail 1, ensuring that the vehicle body 202 slides smoothly and steadily in the slide rail 1. Subsequently, according to the height requirements of the inspected equipment, the telescopic rod 3 extends and retracts through its internal electric telescopic structure, precisely adjusting the vertical height of the robot body 4, thereby positioning the identification mechanism 5 at the optimal observation point; after completing the horizontal and vertical positioning, the multi-angle flipping function of the identification mechanism 5 begins to function. When the recognition mechanism 5 needs to perform left-right (horizontal) rotation scanning, the second motor 702 is activated. The output shaft of the second motor 702 drives the sleeve 706 to rotate via the second gear set 704. Since the U-shaped frame 801 is fixedly connected to the lower end of the sleeve 706, the rotation of the sleeve 706 directly drives the U-shaped frame 801 to rotate horizontally. The recognition mechanism 5 is supported within the U-shaped frame 801 by components such as the fixed rotating plate 804, rotating rod 803, and first meshing gear 802. Therefore, the entire recognition mechanism 5 will rotate left-right along with the U-shaped frame 801, achieving a wide-range horizontal scan. When the identification mechanism 5 needs to perform vertical tilt and flip scanning, the first motor 701 is activated. The output shaft of the first motor 701 drives the rotating column 705 to rotate via the first gear set 703. The rotation of the rotating column 705 drives the second meshing gear 805, which is fixedly connected to its lower end, to rotate. The teeth of the second meshing gear 805 mesh with the teeth of the first meshing gear 802, which is located inside the U-shaped frame 801, thereby driving the first meshing gear 802 to rotate. The rotation of the first meshing gear 802 drives the rotating rod 803, which is fixedly connected to it on the same axis, to rotate. The rotation of the rotating rod 803 then drives the identification mechanism 5, which is fixedly connected to the fixed rotating plate 804 at its lower end, to perform vertical tilt and flip scanning, achieving precise positioning and scanning in the vertical direction. Through the coordinated operation of left-right rotation driven by the second motor 702 and up-down flipping driven by the first motor 701, the identification mechanism 5 can achieve omnidirectional, multi-angle, and blind-spot-free three-dimensional scanning of the equipment inside the power plant's power distribution room. The high-definition camera 502 and infrared camera 503 in the identification mechanism 5 work synchronously to acquire high-definition images and infrared thermal imaging data of the equipment in real time. All acquired data and robot status are displayed intuitively on the display screen 6 installed on the outside of the robot's body 4.

Claims

1. A rail-mounted inspection robot suitable for power plant substations, comprising a machine body (4) and an identification mechanism (5) connected to the machine body (4) and capable of driving or supporting it, characterized in that, The robot also includes a power unit (7) and a flipping mechanism (8); The power assembly (7) includes a first motor (701), a second motor (702), a rotating column (705), and a sleeve (706). The sleeve (706) is coaxially disposed on the outside of the rotating column (705) and can rotate relative to the rotating column (705). The flipping mechanism (8) includes a U-shaped frame (801), a first meshing gear (802), a rotating rod (803), a fixed rotating plate (804), and a second meshing gear (805). The first motor (701) drives the rotating column (705) to rotate, and the second motor (702) drives the sleeve (706) to rotate; The U-shaped frame (801) is fixedly connected to the lower end of the sleeve (706), and the second meshing gear (805) is fixedly connected to the lower end of the rotating column (705); The first meshing gear (802) is disposed inside the U-shaped frame (801) and meshes with the second meshing gear (805); the rotating rod (803) is coaxially and fixedly connected to the first meshing gear (802). The identification mechanism (5) is connected to the rotating rod (803) via the fixed rotating plate (804).

2. The rail-mounted inspection robot suitable for power plant substations according to claim 1, characterized in that, The robot also includes a slide rail (1) and a moving mechanism (2), the moving mechanism (2) being slidably connected to the slide rail (1) and located below the slide rail (1) and connected to the robot body (4).

3. The rail-mounted inspection robot suitable for power plant substations according to claim 2, characterized in that, The moving mechanism (2) includes a vehicle body (202) and a pulley (201) mounted on the vehicle body (202). The vehicle body (202) is embedded in the slide rail (1) and moves on the slide rail (1) through the pulley (201).

4. The rail-mounted inspection robot suitable for power plant substations according to claim 2, characterized in that, The outer body of the machine (4) is connected to the moving mechanism (2) via a telescopic rod (3).

5. The rail-mounted inspection robot suitable for power plant substations according to claim 4, characterized in that, The machine body (4) includes a housing (401) and a connecting plate (402), the lower end of the telescopic rod (3) is connected to the connecting plate (402), and the power assembly (7) is housed in the housing (401).

6. The rail-mounted inspection robot suitable for power plant substations according to claim 1, characterized in that, The identification mechanism (5) includes an identification box (501), and a high-definition camera (502) and an infrared camera (503) installed on the observation surface in front of the identification box (501).

7. The rail-mounted inspection robot for power plant substations according to claim 1, characterized in that, The power assembly (7) further includes a first gear set (703) and a second gear set (704). The first motor (701) drives the rotating column (705) to rotate through the first gear set (703), and the second motor (702) drives the sleeve (706) to rotate through the second gear set (704).

8. The rail-mounted inspection robot for power plant substations according to claim 1, characterized in that, The robot also includes a display screen (6) which is mounted on the outside of the robot body (4).

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