CN-121989196-A - Multi-terrain adaptive wheel type inspection robot

CN121989196ACN 121989196 ACN121989196 ACN 121989196ACN-121989196-A

Abstract

The invention discloses a multi-terrain adaptive wheel type inspection robot which comprises a mounting frame and power inspection equipment arranged on the upper surface of the mounting frame, wherein driving equipment is arranged at two ends of the mounting frame and comprises side support frames rotatably arranged at two ends of the mounting frame, an adjusting component is arranged between the side support frames and can synchronously drive the side support frames at two sides to rotate at the same angle in different directions, driving wheels are rotatably arranged at two sides of the lower end of the side support frames, a plurality of groups of anti-slip strips are uniformly arranged on the surfaces of the driving wheels, and a plurality of groups of protection brackets are uniformly arranged on the outer surface of one side of the driving wheels, which is far away from the side support frames,.

Inventors

GENG GUODONG
WANG FENG
Liu Cefeng
BAI ZHIYONG
WANG LIHUI
ZHANG BO
Wei Chaohong
LI HAO
ZHANG QING

Assignees

国家电投集团宁夏能源铝业有限公司临河发电分公司
西安华控智能系统工程有限公司

Dates

Publication Date: 20260508
Application Date: 20241108

Claims (8)

1. The multi-terrain adaptive wheel type inspection robot comprises an installation frame (1) and electric inspection equipment arranged on the upper surface of the installation frame (1), and is characterized in that driving equipment is arranged at two ends of the installation frame (1), and the driving equipment comprises: The side support frames (3) are rotatably arranged at two ends of the mounting frame (1), an adjusting component is arranged between the side support frames (3), and the adjusting component can synchronously drive the side support frames (3) at two sides to rotate by the same angle in different directions; The device comprises a side support frame (3), a driving wheel (8) arranged at two sides of the lower end of the side support frame (3) in a rotating mode, a plurality of groups of anti-slip strips are uniformly arranged on the surface of the driving wheel (8), a plurality of groups of protective supports are uniformly arranged on the outer surface of one side, far away from the side support frame (3), of the driving wheel (8), and sharp cutting edges are arranged on the surface of each protective support to cut shielding branches at two advancing sides of the driving wheel (8); the cleaning assembly is fixedly arranged on the upper surface of the side support frame (3), and can automatically clean the outer side of the driving wheel (8) and the connecting gap between the driving wheel (8) and the side support frame (3).
2. The multi-terrain adaptive wheel type inspection robot according to claim 1, wherein the lower surfaces of the side support frames (3) are respectively and rotatably connected with a rotating seat (30), roller shafts (29) are respectively and rotatably arranged in the rotating seats (30), two ends of each roller shaft (29) are respectively and fixedly connected with the driving wheel (8), and a driving motor is arranged in each rotating seat (30) and can drive the corresponding roller shaft (29) to rotate.
3. The multi-terrain adaptive wheeled inspection robot of claim 1, wherein the cleaning assembly comprises: The mounting seat (10) is fixedly arranged on the side supporting frame (3), and a double-shaft motor is arranged in the mounting seat (10); Upper mounting shafts (11) rotatably connected to both sides of the mounting base (10), and the biaxial motor is capable of driving the upper mounting shafts (11) on both sides to rotate; The cutting disc (15) is fixedly arranged at one end, far away from the mounting seat (10), of the upper mounting shaft (11), a plurality of groups of cross cutters (25) are fixedly arranged at one side, far away from the upper mounting shaft (11), of the cutting disc (15), and the cross cutters (25) can crush and cut sundries to be wound on the roller shafts (29); the cleaning device comprises a threaded rod (20) which is rotatably connected below a mounting seat (10), cleaning pieces are arranged at two ends of the threaded rod (20), the upper end of each cleaning piece can be abutted against the upper end of a driving wheel (8), the lower end of each cleaning piece can be abutted against the upper end of a roller shaft (29), and the cleaning pieces can slide on an upper mounting shaft (11); The transmission assembly is arranged between the threaded rod (20) and the upper mounting shaft (11), and can drive the threaded rod (20) to continuously rotate positively and negatively while the upper mounting shaft (11) continuously rotates, so that the cleaning piece continuously reciprocates on the upper mounting shaft (11).
4. The multi-terrain adaptive wheel type inspection robot according to claim 3, wherein the cleaning member comprises an upper connecting frame (12), the upper connecting frame (12) is connected with one end of the upper mounting shaft (11) far away from the mounting seat (10) in a sliding manner, a cleaning brush (13) is fixedly arranged at the upper end of the upper connecting frame (12), the cleaning brush (13) can be abutted against the surface of the driving wheel (8), a lower connecting frame (27) is fixedly arranged at the lower end of the upper connecting frame (12), the lower end of the lower connecting frame (27) penetrates through the side supporting frame (3) to extend to the outer portion of the side supporting frame and is fixedly provided with a lower cutter (28), the lower end of the lower cutter (28) can be abutted against the surface of the roller shaft (29), and a limiting groove (26) is formed in the position of the side supporting frame (3) corresponding to the lower connecting frame (27).
5. The multi-terrain adaptive wheel type inspection robot according to claim 1, wherein the transmission assembly comprises driven gears (18), the driven gears (18) are provided with two groups and are fixedly installed at positions, close to the installation seat (10), of the threaded rod (20), a first half-width gear (19) and a second half-width gear (21) are rotatably installed on two sides of the installation seat (10), and tooth parts of the first half-width gear (19) and the second half-width gear (21) can be meshed with the driven gears (18).
6. A multi-terrain adaptive wheel type inspection robot according to claim 5, characterized in that an upper gear (16) is fixedly mounted on a group of upper mounting shafts (11) close to the first half-width gear (19), a lower gear (17) is fixedly mounted on the first half-width gear (19), the lower gear (17) is meshed with the upper gear (16), an upper driving wheel (24) is fixedly mounted on a group of upper mounting shafts (11) close to the second half-width gear (21), a lower driving wheel (22) is fixedly mounted on the second half-width gear (21), and a driving belt (23) is sleeved outside the lower driving wheel (22) and the upper driving wheel (24).
7. The multi-terrain adaptive wheel type inspection robot according to claim 6, wherein the adjusting assembly comprises a side mounting shaft (14), the side mounting shaft (14) is fixedly mounted at the upper end of the side supporting frame (3), the side mounting shaft (14) is rotatably mounted at two ends of the mounting frame (1), a side gear (6) is fixedly mounted on the side mounting shaft (14), an intermediate gear (5) is rotatably mounted on the mounting frame (1) corresponding to one side of the side gear (6), the intermediate gear (5) is meshed with the side gear (6), a transmission gear (2) is fixedly mounted on the other group of side mounting shafts (14) and the intermediate gear (5), and a side transmission chain (4) is externally adjusted by the transmission gear (2).
8. The multi-terrain adaptive wheel type inspection robot according to claim 7, wherein the upper surface of the mounting frame (1) is fixedly provided with a protection frame (7), and the upper surfaces of the lower ends of the side support frames (3) are fixedly provided with protection curved plates (9).

Description

Multi-terrain adaptive wheel type inspection robot Technical Field The invention relates to the technical field of electric power inspection, in particular to a multi-terrain adaptive wheel type inspection robot. Background The transformer substation is a core part of a power grid, and power equipment in the transformer substation needs to be inspected irregularly so as to ensure normal operation of the transformer substation. For the electric cabinet in city and indoor, ordinary drive wheel just can drive to patrol and examine the robot and accomplish the inspection to the electric cabinet, but when the electric cabinet is patrolled and examined to the robot in the ordinary drive wheel of being in outdoor complicated topography (such as mountain region forest etc.), debris on road surface and the uneven topography of fluctuation all can disturb the drive wheel and continue the operation, need regularly twine debris on the drive wheel and clear up to patrol and examine and can last efficient going on, especially when the road surface of uneven topography, the machine chassis height is difficult to pass through inadequately. Based on the above, the invention designs a multi-terrain adaptive wheel type inspection robot to solve the problems. Disclosure of Invention The invention aims to provide a multi-terrain adaptive wheel type inspection robot so as to provide inspection equipment capable of adjusting the height of a driving wheel and the distance between the driving wheels according to the situation of terrain, so that the inspection equipment can run more stably, sundries on a rotating shaft of the driving wheel can be automatically cleaned in the running process, the trouble of manual cleaning is avoided, and the device can be ensured to run continuously. In order to achieve the above purpose, the present invention provides the following technical solutions: The utility model provides a wheeled robot of patrolling and examining of many topography adaptation, includes the mounting bracket and installs the electric power equipment of patrolling and examining at the mounting bracket upper surface, the both ends of mounting bracket all are provided with actuating device, actuating device includes: The side support frames are rotatably arranged at two ends of the mounting frame, an adjusting assembly is arranged between the side support frames, and the adjusting assembly can synchronously drive the side support frames at two sides to rotate by the same angle in different directions; The driving wheels are rotatably arranged at two sides of the lower end of the side supporting frame, a plurality of groups of anti-slip strips are uniformly arranged on the surface of the driving wheels, a plurality of groups of protective supports are uniformly arranged on the outer surface of one side of the driving wheels, which is far away from the side supporting frame, and sharp cutting edges are arranged on the surfaces of the protective supports so as to cut the shielding branches at two sides of the driving wheels; the cleaning assembly is fixedly arranged on the upper surface of the side support frame, and the cleaning assembly can automatically clean the outer side of the driving wheel and the connecting gap between the driving wheel and the side support frame. Preferably, the lower surface of side support frame all rotates and is connected with the rotation seat, all rotate in the rotation seat and install the roller shaft, the both ends of roller shaft all with drive wheel fixed connection, be provided with driving motor in the rotation seat, driving motor can drive the roller shaft and rotate. Preferably, the cleaning assembly comprises: the mounting seat is fixedly arranged on the side support frame, and a double-shaft motor is arranged in the mounting seat; The upper mounting shafts are rotatably connected to the two sides of the mounting seat, and the biaxial motor can drive the two upper mounting shafts to rotate; the cutting disc is fixedly arranged at one end, far away from the mounting seat, of the upper mounting shaft, a plurality of groups of cross cutters are fixedly arranged at one side, far away from the upper mounting shaft, of the cutting disc, and the cross cutters can crush and cut sundries to be wound on the roller shaft; A threaded rod connected below the mounting seat is rotated, cleaning pieces are arranged at two ends of the threaded rod, the upper end of the cleaning piece can be abutted against the upper end of the driving wheel, the lower end of the cleaning piece can be abutted against the upper end of the roller shaft, and the cleaning piece can slide on the upper mounting shaft; The transmission assembly is arranged between the threaded rod and the upper mounting shaft, and can drive the threaded rod to continuously rotate positively and negatively while the upper mounting shaft continuously rotates, so that the cleaning piece continuously reciprocates on the upper mounting shaft. Prefera