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CN-121990065-A - Obstacle-avoidance type inspection electric robot

CN121990065ACN 121990065 ACN121990065 ACN 121990065ACN-121990065-A

Abstract

The invention discloses a barrier-avoiding type inspection power robot, which particularly relates to the technical field of robots, and comprises a machine bottom frame, wherein travelling mechanisms are arranged at four corners of the machine bottom frame, steering mechanisms are arranged between the travelling mechanisms and the machine bottom frame, a machine middle frame is arranged at the top end of the machine bottom frame, a machine top frame is arranged at the top end of the machine middle frame, a mounting frame is fixedly arranged at one side of the top end of the machine top frame, and a visible light imaging camera and an infrared imaging camera are fixedly arranged at the top end of the mounting frame.

Inventors

  • WANG YONG
  • CHEN YUQIANG
  • GUO KAIMING
  • Bai Xianyang
  • Xin Chengbo
  • GE CHENGYONG
  • LIU HONGXIN
  • WANG JIANYE
  • WANG GUOWEI
  • LV HUI
  • ZHANG YUZHONG
  • WANG MINGYANG
  • GAO FENG

Assignees

  • 吉林电力股份有限公司四平第一热电公司

Dates

Publication Date
20260508
Application Date
20240322

Claims (10)

  1. 1. The obstacle-avoidance type inspection power robot comprises a machine underframe (1) and is characterized in that travelling mechanisms (2) are arranged at four corners of the machine underframe (1), steering mechanisms (3) are arranged between the travelling mechanisms (2) and the machine underframe (1), a machine center (4) is arranged at the top end of the machine underframe (1), a machine top frame (5) is arranged at the top end of the machine center (4), an installation frame (6) is fixedly installed on one side of the top end of the machine top frame (5), a visible light imaging camera (61) and an infrared imaging camera (62) are fixedly installed at the top end of the installation frame (6), and an auxiliary mechanism (7) is fixedly installed at one side, far away from the installation frame (6), of the top end of the machine top frame (5).
  2. 2. The obstacle avoidance type inspection electric robot according to claim 1, wherein the travelling mechanism (2) comprises a U-shaped frame (21), travelling pieces are movably clamped in the U-shaped frame (21), each travelling piece comprises two driving outer frames (22) which are symmetrically distributed, a connecting frame (221) is fixedly arranged between the two driving outer frames (22), a plurality of moving shafts (23) which are uniformly distributed are rotatably arranged between the two driving outer frames (22), crawler wheels (231) are fixedly arranged in the middle of the outer sides of the moving shafts (23), the crawler wheels (231) are positioned between the two driving outer frames (22), travelling crawler wheels (232) are connected to the outer sides of the crawler wheels (231) in a meshed mode, transmission chain wheels (24) are fixedly arranged at the two ends of the same side, transmission chain (241) are connected to the outer sides of the plurality of the transmission chain wheels (24), a rotating shaft (222) is fixedly arranged on one side, close to the end position, of one driving outer frame (22), of the other driving outer frame (22) is close to the end position, a rotating shaft (222) is fixedly arranged on one side, a rotating shaft (223) is rotatably inserted into one end portion, which is rotatably inserted into the rotating shaft (223) of the rotating shaft (223), one end of the driving shaft (25) extends into the driving outer frame (22), and one end of the driving shaft (25) and one end of the corresponding moving shaft (23) are fixedly installed.
  3. 3. The obstacle avoidance type inspection power robot according to claim 2, wherein a first worm wheel (26) is fixedly sleeved on the outer side of the rotary pipe (223), a first worm (261) is connected to the bottom of the first worm wheel (26) in a meshed mode, the first worm (261) is rotatably installed in a U-shaped frame (21), a first motor (262) is fixedly installed on one side, close to the first worm (261), of the U-shaped frame (21), and the driving end of the first motor (262) and the first worm (261) are fixedly installed.
  4. 4. The obstacle avoidance type inspection power robot according to claim 2, wherein one end of the driving shaft (25) far away from the moving shaft (23) extends out of the end of the rotating pipe (223), one end of the driving shaft (25) far away from the moving shaft (23) is fixedly sleeved with a second worm wheel (27), the bottom of the second worm wheel (27) is connected with a second worm (271) in a meshed mode, the second worm (271) is rotatably installed in a U-shaped frame (21), a second motor (272) is fixedly installed on one side, close to the second worm (271), of the U-shaped frame (21), and the driving end of the second motor (272) and the second worm (271) are fixedly installed.
  5. 5. The obstacle-avoidance type inspection electric robot according to claim 2, wherein the steering mechanism (3) comprises a first rotating frame (31), the first rotating frame (31) is fixedly arranged at one corner of the machine underframe (1) close to the travelling mechanism (2), a first rotating frame (32) is movably clamped in the middle of the first rotating frame (31), one side of the first rotating frame (32) far away from the first rotating frame (31) and one end, close to a rotating shaft (222), of the U-shaped frame (21) in the travelling mechanism (2) are close to one end of the first rotating frame (32), a first shaft (33) is fixedly arranged at one end, close to the first rotating frame (31), of the first shaft (33) is rotatably arranged on the first rotating frame (31), a third worm (34) is fixedly arranged at the top of the first shaft (33), the side end of the third rotating frame (34) is in meshed connection with a third worm (35), the third worm wheel (35) is rotatably arranged on one end, close to the first worm wheel (31), of the third worm wheel (35) is fixedly arranged on the first worm wheel (36), and the third worm (35) is fixedly arranged on the first side (36).
  6. 6. The obstacle avoidance type inspection electric robot according to claim 1, wherein a rotating column (41) is fixedly arranged in the middle of the bottom end of the machine middle frame (4), the rotating column (41) is rotatably arranged in the middle of the machine bottom frame (1), the bottom of the rotating column (41) extends into the machine bottom frame (1), a fourth worm wheel (42) is fixedly arranged at the bottom of the rotating column (41), a fourth worm (43) is connected with the side end of the fourth worm wheel (42) in a meshed mode, the fourth worm (43) is rotatably arranged in the machine bottom frame (1), a fourth motor (44) is fixedly arranged on one side, close to the fourth worm (43), of the machine bottom frame (1), and the driving end of the fourth motor (44) and the fourth worm (43) are fixedly arranged.
  7. 7. The obstacle avoidance type inspection power robot according to claim 1, wherein two second rotating frames (51) which are symmetrically distributed are fixedly arranged on one side of the bottom end of the machine top frame (5), a second rotating frame (52) is movably sleeved at the bottom of each second rotating frame (51), the second rotating frames (52) are fixedly arranged on one side of the top end of the machine middle frame (4), second shafts (53) are fixedly arranged at the bottoms of the two second rotating frames (51), the second shafts (53) are rotatably arranged on the top of each second rotating frame (52), fifth worm gears (54) are fixedly arranged at the ends of the second shafts (53), fifth worms (55) are connected with one side ends of the fifth worm gears (54) in a meshed mode, a fifth motor (56) is fixedly arranged on one side, close to each fifth worm (55), of the bottom end of each machine top frame (5), far away from the bottom end of each second rotating frame (51), of each second rotating frame (55) is fixedly arranged on one side, close to each driving end of each fifth worm (55), and the two supporting seats (57) are fixedly arranged on one side, far away from the bottom end of each second rotating frame (57).
  8. 8. The obstacle avoidance type inspection power robot according to claim 1, wherein the auxiliary mechanism (7) comprises a mounting base (71), the mounting base (71) is fixedly arranged on one side of the top end of the machine top frame (5) far away from the mounting frame (6), a fixed frame (751) is fixedly arranged on the top end of the mounting base (71), a universal mechanical arm (73) is detachably arranged on the fixed frame (72), a mounting frame (74) is fixedly arranged at the driving end of the universal mechanical arm (73), a mounting column (741) is detachably arranged on the mounting frame (74), a movable sliding frame (75) is fixedly arranged on one side of the mounting column (741) far away from the mounting frame (74), two movable sliding frames (76) which are symmetrically distributed are slidably clamped on one side of the movable sliding frame (75) far away from the mounting column (741), a double-headed screw (751) is fixedly arranged on the top end of the movable sliding frame (75), two movable sliding frames (76) are detachably arranged on the screw (751), two opposite side clamping frames (77) of the movable sliding frame (76) are fixedly arranged on opposite side clamping frames (77), two opposite side clamping frames (77) are fixedly arranged on two opposite side clamping frames (77), two opposite side clamping frames (77) are fixedly arranged on the opposite side clamping frames (77), the end part of the plugging cylinder (78) is integrally provided with a plugging frame (781), the plugging frame (781) is magnetically clamped in the corresponding magnetic clamping strip (771), and sealing strips (782) are fixedly arranged on the opposite sides of the plugging frame (781).
  9. 9. The obstacle avoidance type inspection power robot according to claim 8, wherein a sixth motor (752) is fixedly arranged at the top end of the movable sliding frame (75), and the driving end of the sixth motor (752) and the top end of the double-headed screw (751) are fixedly arranged.
  10. 10. The obstacle avoidance type inspection power robot as set forth in claim 9, wherein a protective cover (753) is fixedly installed at the top end of the movable sliding frame (75), and the sixth motor (752) is located in the protective cover (753).

Description

Obstacle-avoidance type inspection electric robot Technical Field The invention relates to the technical field of robots, in particular to an obstacle-avoidance type inspection power robot. Background The inspection power robot is a robot capable of automatically inspecting power equipment and circuits, is generally provided with various sensors and cameras, can monitor the running state and the environment condition of the power equipment in real time, detect potential faults and potential safety hazards, can inspect various equipment in a transformer substation, can improve inspection efficiency, reduce personnel injury risk, discover problems in time and ensure safe and stable operation of a power system through the use of the robot; The traditional inspection power robot still has some problems when in use, most of the traditional inspection power robot adopts a straight-running chassis structure, only can walk on a flat road surface, and needs to turn to avoid obstacles when encountering lower obstacles, and secondly, needs to lean backwards when climbing to cause toppling, and needs to be manually carried when encountering stairs, so that the power inspection using effect of the whole robot is affected. Disclosure of Invention The invention aims to provide an obstacle-avoidance type inspection power robot so as to solve the problems in the background technology. The technical scheme is that the obstacle-avoidance type inspection power robot comprises a machine underframe, travelling mechanisms are arranged at four corners of the machine underframe, steering mechanisms are arranged between the travelling mechanisms and the machine underframe, a machine center frame is arranged at the top end of the machine underframe, a machine top frame is arranged at the top end of the machine center frame, a mounting frame is fixedly arranged at one side of the top end of the machine top frame, a visible light imaging camera and an infrared imaging camera are fixedly arranged at the top end of the mounting frame, and an auxiliary mechanism is fixedly arranged at one side of the top end of the machine top frame away from the mounting frame. Preferably, the travelling mechanism comprises a U-shaped frame, travelling parts are movably clamped in the U-shaped frame, each travelling part comprises two driving outer frames which are symmetrically distributed, a connecting frame is fixedly arranged between the two driving outer frames, a plurality of moving shafts which are uniformly distributed are rotatably arranged between the two driving outer frames, crawler wheels are fixedly arranged in the middle of the outer sides of the moving shafts, the crawler wheels are positioned between the two driving outer frames, the outer sides of the crawler wheels are in meshed connection with travelling crawler belts, driving chain wheels are fixedly arranged at the two ends of the moving shafts, a driving chain is connected with the outer sides of the driving chain wheels in meshed connection with one side of the driving outer frames, a rotating shaft is fixedly arranged at one side, close to the end part, of the driving outer frames, a rotating pipe is fixedly arranged at one end part of the U-shaped frame in a rotating mode, a driving shaft is movably inserted in the middle of the rotating pipe, one end part of the driving shaft extends into the driving outer frames, and one end part of the driving shaft is fixedly arranged at one end part of the corresponding moving shaft. Preferably, the outside fixed cover of swivelling tube is equipped with first worm wheel, the bottom meshing of first worm wheel is connected with first worm, first worm rotates to be installed in the U type frame, one side fixed mounting that is close to first worm in the U type frame has first motor, drive end and first worm fixed mounting of first motor. Preferably, one end of the driving shaft far away from the moving shaft extends out of the end of the rotating tube, one end of the driving shaft far away from the moving shaft is fixedly sleeved with a second worm gear, the bottom of the second worm gear is connected with a second worm in a meshed mode, the second worm is rotatably installed in a U-shaped frame, a second motor is fixedly installed on one side, close to the second worm, of the U-shaped frame, and the driving end of the second motor and the second worm are fixedly installed. Preferably, the steering mechanism comprises a first rotating frame, the first rotating frame is fixedly arranged at one corner of the machine underframe, which is close to the travelling mechanism, a first rotating frame is movably clamped at the middle part of the first rotating frame, one side, which is far away from the first rotating frame, of the first rotating frame and one end, which corresponds to the travelling mechanism, of the U-shaped frame, which is close to the rotating shaft, are fixedly arranged at one end, which is close to the first rotating frame, of t