CN-121973145-A - Intelligent inspection control robot and inspection control method for power equipment

CN121973145ACN 121973145 ACN121973145 ACN 121973145ACN-121973145-A

Abstract

The invention relates to the technical field of inspection robots, in particular to an intelligent inspection control robot for electric equipment and an inspection control method, which comprise a driving shaft, a stabilizing disc, a transverse expansion foot, a negative pressure adsorption column, a moving column and a moving column, wherein the transverse expansion foot is positioned in the side wall of a machine body, the transverse expansion foot is synchronously moved with the stabilizing disc to support the machine body, the negative pressure adsorption column is positioned below the stabilizing disc, a telescopic rotating shaft is positioned in the stabilizing disc and upwards penetrates into the machine body, the moving column is positioned between the telescopic rotating shaft and the driving shaft, and when the moving column moves to the driving shaft terminal, a connecting block of the stabilizing disc and the driving shaft is in contact with and moves upwards to loose the moving column, so that the moving column moves downwards and upwards in a restoring mode, and the problems of sliding and shaking easily occurring when the traditional inspection robot performs mechanical arm operation on smooth ground such as an epoxy terrace or a ceramic tile are effectively solved through the cooperative cooperation of the stabilizing disc, the transverse expansion foot, the negative pressure adsorption column and the auxiliary support foot.

Inventors

SUN JIAFENG
SUN JIASHUN
HUANG XIAOYOU
DOU YONGLEI
HAN QING
Cui Ruipeng
Zheng Fengyue
AN YAJUAN
YIN ZHIHUA

Assignees

唐山市同润电力设备有限公司

Dates

Publication Date: 20260505
Application Date: 20260215

Claims (10)

1. An intelligent inspection control robot for electric equipment comprises a machine body (1), a mechanical arm (11) and a probe piece (12), and is characterized by further comprising, The driving shaft (2) is positioned in the machine body (1) and is connected with an external driving motor (21) to rotate in the forward and reverse directions; a stabilizing disc (3) which is arranged at one side of the bottom of the machine body (1) and is used for downwards moving to contact with the ground; The transverse expanding feet (4) are positioned in the side wall of the machine body (1) and can synchronously move with the stabilizing disc (3) to support the machine body (1); A negative pressure adsorption column (5) is positioned below the stabilizing disc (3); The telescopic rotating shaft (6) is positioned in the stabilizing disc (3) and penetrates into the machine body (1) upwards, and is connected with the negative pressure generating component of the negative pressure adsorption column (5); The movable column (7) is positioned between the telescopic rotating shaft (6) and the driving shaft (2), and when the movable column (7) moves to the terminal of the driving shaft (2), the connecting block (22) of the stabilizing disc (3) and the driving shaft (2) makes contact and upward movement of the movable column (7) so that the movable column (7) moves downwards and moves upwards in a restoring way; When the movable column (7) moves downwards, the telescopic rotating shaft (6) is in rotary transmission connection with the driving shaft (2) so as to carry out negative pressure adsorption on the negative pressure adsorption column (5) and the ground, and when the movable column moves upwards, the transmission between the telescopic rotating shaft (6) and the driving shaft (2) is disconnected.
2. The intelligent inspection control robot for the electric equipment, as set forth in claim 1, is characterized in that the outer wall of the stabilizing disc (3) is provided with a bending connecting rod (31), and the outer wall of the bending connecting rod (31) is provided with auxiliary supporting feet (32); The auxiliary supporting feet (32) are uniformly arranged in four corner areas at the bottom of the machine body (1) through bending connecting rods (31), so that the stability of the machine body (1) during supporting is ensured.
3. The intelligent inspection control robot for the electric equipment, as set forth in claim 2, characterized in that the transverse expansion feet (4) are connected in the machine body (1) through arc-shaped supporting bars (41), the outer arc surfaces of the arc-shaped supporting bars (41) are connected with a transmission gear set (42) in a matched mode, the outer wall of the stabilizing disc (3) is provided with a transmission toothed plate (43), and the transmission toothed plate (43) is meshed with the transmission gear set (42); The pinion of the transmission gear set (42) is meshed with the transmission toothed plate (43), the bull gear of the transmission gear set (42) is meshed with the arc-shaped supporting bar (41) in a transmission way, and according to the set transmission ratio, the transverse expansion feet (4) and the stabilizing disc (3) can be contacted with the ground synchronously and supported.
4. The intelligent inspection control robot for power equipment according to claim 3, wherein the transverse expansion feet (4) are positioned on two sides of the narrow side of the machine body (1) to ensure that the narrow side of the machine body (1) is more stable.
5. The intelligent inspection control robot for the electric equipment, as set forth in claim 4, is characterized in that a negative pressure adsorption column (5) is installed at the bottom of the stabilizing disc (3), a sealing gasket is arranged at the bottom of the negative pressure adsorption column (5), a connecting frame (51) is arranged in the stabilizing disc (3), a piston piece (52) is installed at the bottom of the connecting frame (51), and the piston piece (52) is embedded in the negative pressure adsorption column (5); When the piston piece (52) moves upwards, the negative pressure adsorption column (5) is in contact with the ground, and the negative pressure in the negative pressure adsorption column (5) is firmly adsorbed with the ground due to the movement of the piston piece (52).
6. The intelligent inspection control robot for the electric equipment, as set forth in claim 5, characterized in that a thread groove (61) is formed at the bottom end of the telescopic rotating shaft (6), the bottom end of the telescopic rotating shaft (6) is in transmission connection with the connecting frame (51) through the thread groove (61), the top end of the telescopic rotating shaft (6) is a pentagonal telescopic rod (62), and the pentagonal telescopic rod (62) enables the downward movement of the stabilizing disc (3) not to affect the subsequent rotary transmission action of the telescopic rotating shaft (6).
7. The intelligent inspection control robot for the electric equipment, as set forth in claim 6, characterized in that the driven teeth (63) are installed at the top ends of the pentagonal telescopic rods (62), the driven teeth (63) have an up-and-down movement gap in the machine body (1), the compressed springs (64) arranged above the driven teeth (63) keep the driven teeth (63) at the lowest position, the driving teeth (65) are installed on the outer wall of the driving shaft (2), and the driving teeth (65) are located on one side of the driven teeth (63).
8. The intelligent inspection control robot for power equipment of claim 7, wherein the moving column (7) is located at one side of the driving shaft (2) and is semi-embedded in the connecting block (22), when the stabilizing disc (3) moves downwards to be in contact with the ground, the inner top wall of the connecting block (22) finally touches the moving column (7) to move downwards, the restoring spring (71) is installed at the bottom of the moving column (7), the top end of the moving column (7) is connected with the rocker movable connecting rod (72), the top plate (73) is installed at one end of the rocker movable connecting rod (72), and the top plate (73) is located at the bottom side of the driven tooth (63).
9. The intelligent inspection control robot for the electric equipment, as set forth in claim 8, is characterized in that the driving shaft (2) drives the connecting block (22) through threads, when the connecting block (22) moves to the bottommost unthreaded area, the stabilizing disc (3) moves to the bottommost side, and at the moment, the negative pressure adsorption column (5) of the stabilizing disc (3) is in contact support with the ground; and at the moment, the movable column (7) is pressed by the connecting block (22), the movable column (7) drives the top plate (73) to move upwards through the rocker movable connecting rod (72), and the top plate (73) jacks up the driven teeth (63) to be meshed with the driving teeth (65).
10. An intelligent inspection control method for power equipment, which is applied to the intelligent inspection control robot for power equipment according to any one of claims 1 to 9, is characterized by comprising the following steps: S1, a patrol navigation step, namely controlling the driving wheel (13) to drive the machine body (1) to move along a planned path according to a preset patrol task, collecting pose information of the machine body (1) in real time, and executing positioning and parking when reaching a preset observation point of target power equipment; s2, multi-mode information acquisition, namely controlling the probe to adjust the space attitude, acquiring the running state parameters of the target power equipment through a sensor integrated on the probe, and simultaneously acquiring multi-angle visible light images and infrared thermal imaging images of the target power equipment through the camera; S3, when the abnormal state needing manual intervention is judged to exist, generating an emergency operation instruction containing target space coordinates, and matching a corresponding mechanical arm (11) end effector control strategy according to the abnormal type; and S4, controlling the mechanical arm (11) to move according to the emergency operation instruction, enabling the end effector to reach an abnormal point of the target power equipment, and executing a preset emergency operation action.

Description

Intelligent inspection control robot and inspection control method for power equipment Technical Field The invention relates to the technical field of inspection robots, in particular to an intelligent inspection control robot for power equipment and an inspection control method. Background The normal operation of the power equipment is particularly important, and the defects of abnormal heating, discharging, oil leakage, mechanical loosening and the like of the equipment can be timely found through regular inspection, so that major accidents such as short circuit, explosion, fire and the like are avoided. The Chinese patent network discloses a patent with publication number CN115338889A as an intelligent inspection control robot for 5G power equipment, the robot can be manually controlled to move along a self-defined path along a road surface and move in space along gaps between power equipment or gaps between walls, move up and down, transversely move at a certain height and the like, can be adjusted adaptively according to the size of the gaps, has wider application range, does not need to move along a fixed path, increases the detection range and has higher efficiency. The existing inspection robot often slides or shakes when the mechanical arm controls the power equipment, and the indoor area where the power equipment is located mostly adopts smooth ground (convenient for maintenance and cleaning) such as an epoxy terrace or a ceramic tile, so that the inspection robot is small in size, insufficient in chassis supporting area, and further the defects such as shaking are difficult to avoid, and the shaking affects the safety of the inspection robot during operation, so that the reliability of the inspection robot during use is reduced. Disclosure of Invention This section is intended to outline some aspects of embodiments of the application and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section as well as in the description of the application and in the title of the application, which may not be used to limit the scope of the application. The present invention has been made in view of the above-described problem that the mechanical arm is liable to shake and slip during operation. Therefore, the invention aims to provide an intelligent inspection control robot for power equipment and an inspection control method. In order to solve the technical problems, the invention provides the following technical scheme that the intelligent inspection control robot for the electric power equipment comprises a machine body, a mechanical arm, a probe part and also comprises, The driving shaft is positioned in the machine body and is connected with an external driving motor, and can rotate in the forward and reverse directions; the stabilizing disc is arranged at one side of the bottom of the machine body and is used for downwards moving to contact with the ground; the transverse expansion feet are positioned in the side wall of the machine body and can synchronously move with the stabilizing disc to support the machine body; the negative pressure adsorption column is positioned below the stabilizing disc; The telescopic rotating shaft is positioned in the stabilizing disc and upwards penetrates into the machine body, and is connected with the negative pressure generating component of the negative pressure adsorption column; The movable column is positioned between the telescopic rotating shaft and the driving shaft, and when the movable column moves to the terminal end of the driving shaft, the movable column is contacted with the connecting block of the driving shaft in a contact and pressing way and moves upwards and loosens, so that the movable column moves downwards and returns upwards; When the movable column moves downwards, the telescopic rotating shaft of the movable column is in rotary transmission connection with the driving shaft so as to absorb negative pressure between the negative pressure absorption column and the ground, and when the movable column moves upwards, the telescopic rotating shaft is disconnected from the driving shaft. As a preferable scheme of the intelligent inspection control robot for the electric equipment, the invention comprises that a bending connecting rod is arranged on the outer wall of the stabilizing disc, and auxiliary supporting feet are arranged on the outer wall of the bending connecting rod; The auxiliary supporting feet are uniformly arranged in four corner areas at the bottom of the machine body through bending connecting rods, so that stability of the machine body during supporting is ensured. The intelligent inspection control robot for the electric power equipment is characterized in that the transverse expansion feet are connected in the robot body through arc-shaped supporting bars, the outer cambered surfaces of the arc-shaped supporting bars are connected with a transmission gear set in a matched mode, t