CN112549051B - Intelligent inspection robot - Google Patents

Abstract

The invention provides an intelligent inspection robot which comprises a guide rail, a main body mechanism and a detection device, wherein the guide rail comprises a lower suspension rail, guide wheel rails are arranged on two sides of the lower suspension rail, a guide groove is formed in the lower side of the lower suspension rail, the main body mechanism comprises a telescopic guide mechanism, the telescopic guide mechanism comprises a guide mechanism, a telescopic driving mechanism and a motor driving mechanism, the guide mechanism comprises an upper plate, guide wheel groups and guide spheres, the guide wheel groups are positioned on two sides of the upper plate, the guide wheel groups comprise driving wheels, the driving wheels are tightly attached to the guide wheel rails, the upper ends of the guide spheres are clamped in the guide grooves and can rotate relative to the guide grooves, the telescopic driving mechanism is connected with a telescopic sleeve, a fixed support is arranged at the bottom end of the telescopic sleeve, and the detection device is arranged on the fixed support. The intelligent inspection robot is convenient to install, good in guidance quality, capable of driving to stretch and retract, compact in overall structure, small in size, low in relative cost and wide in application range.

Description

An intelligent inspection robot

Technical field

The invention relates to the technical field of robots, and in particular to an intelligent inspection robot.

Background technique

With the rapid development of infrastructure in major, medium and small cities, and the continuous improvement of the intelligentization rate of network information, the operating status of various indoor equipment, information statistics, intelligent storage, etc. need to be checked, counted and updated in a timely manner, which now mainly relies on manpower. , Inspection inspections conducted through human subjective consciousness are costly, and data accuracy and information timeliness cannot be fully guaranteed.

The power system is a basic resource related to the national economy and people's livelihood, and is the master switch for social and economic operations. Therefore, once the power system fails, the fault point and fault problems cannot be discovered in time, which will inevitably increase a large amount of power outage time and give people normalcy. Living and factory units are affected to a great extent.

Therefore, it is necessary to design a robot that can automatically detect indoor equipment, especially the equipment in the power system, to ensure the normal and stable operation of the power system.

Existing intelligent inspection robots are also constantly being developed. There are inspection robots suitable for tunnels. However, due to the limitations of their detection range, they are not suitable for inspection of various indoor equipment; they are also used for tunnel inspections. Because the robot requires very high stability, it needs to set up multiple guide mechanisms, and its overall cost is relatively high.

Contents of the invention

The purpose of the present invention is to overcome the above-mentioned shortcomings of the prior art and provide an intelligent inspection robot that is easy to install, has good guidance, can also be driven and retracted, has a very compact overall structure, is small in size, is relatively low in cost, and has a wide range of applications.

To achieve the above-mentioned objectives, the present invention proposes an intelligent inspection robot, including a guide rail, a main body mechanism and a detection device, the guide rail including an upper auxiliary mounting rail, a lower hanging rail and a connecting piece connecting the upper auxiliary mounting rail and the lower hanging rail, the upper auxiliary mounting rail is provided with two mounting grooves, guide wheel rails are provided on both sides of the lower hanging rail, and a guide groove is provided on the lower side, the main body mechanism includes a telescopic guide mechanism, the telescopic guide mechanism includes a guide mechanism, a telescopic driving mechanism and a motor driving mechanism, the motor driving mechanism drives the movement of the guide mechanism and the telescopic driving mechanism respectively, the guide mechanism includes an upper plate, a guide wheel group and a guide ball located on both sides of the upper plate, the guide wheel group includes a driving wheel, the driving wheel is tightly fitted with the guide wheel rail, the guide ball is vertically arranged with the driving wheel, the upper end of the guide ball is stuck in the guide groove and can rotate relative to the guide groove, and also includes a telescopic sleeve, the telescopic driving mechanism is connected to the telescopic sleeve, the bottom end of the telescopic sleeve is provided with a fixed bracket, and the detection device is provided on the fixed bracket.

Compared with the existing technology, the innovative point of the present invention is: on the one hand, through the mutual cooperation between the guide rail and the main body mechanism, the driving wheel of the guide wheel set is closely fitted to the guide wheel rail of the guide rail, and the guide ball is located on the lower side of the guide rail. The rotary connection in the groove realizes the straight-line walking and free turning of the main body of the present invention; on the other hand, by setting up the guide mechanism and the telescopic driving mechanism, the telescopic driving mechanism is connected with the telescopic sleeve through the pulling wire, so as to realize the automatic telescopic expansion and contraction of the telescopic sleeve. A detection device is installed on the fixed bracket at the lower end of the casing, which realizes the dual functions of horizontal and vertical movement, expands the inspection field of view and detection range of the inspection robot, and makes the detection data more accurate; at the same time, the guide rail, main body mechanism and detection device The connection between them is stable and reliable, easy to install and disassemble, and highly practical.

Preferably, the motor drive mechanism includes two motors and bevel gears arranged side by side. The two motors drive the movement of the guide mechanism and the telescopic drive mechanism respectively through the cooperation of the bevel gears. The guide wheel set also includes a transmission shaft, The transmission shaft is located below the lower plate, and the two motors are arranged close to the transmission shaft. The telescopic driving mechanism is sleeved on the transmission shaft through a bearing, and is driven to rotate by one of the motors. The telescopic driving mechanism includes a reel. and the movable pulley assembly. The reel is sleeved on the transmission shaft through a bearing. The movable pulley assembly is fixed on the lower plate of the upper end of the telescopic sleeve. The telescopic sleeve is connected to the reel by passing the pulley wire through the movable pulley assembly. The length of the motor is extended and contracted, and the other motor is rotationally connected to the transmission shaft through the cooperation of the bevel teeth to realize the rotation of the guide wheel set.

Compared with the existing technology, the innovative point of the present invention is that it not only realizes straight driving, free turning, horizontal and vertical walking, and expands the detection range, but also through the side-by-side layout of the motors of the guide mechanism and the telescopic drive mechanism, the roll The wire wheels and bevel gears are all arranged on the transmission shaft, using the limited space to maximize the rotational connection of the guide and the connection of the telescopic drive. The structure is very compact and the volume is small. At the same time, the cooperation between the various components is very stable, and the required The space is not large and it is suitable for environmental testing of various indoor equipment.

Preferably, the guide mechanism also includes a clamping device, which is located on the upper plate and on the outside of the guide ball. The clamping device includes a driven shaft and two clamping seats symmetrically arranged with each other. The driven shaft is provided with a driven wheel. The clamping seat includes a fixed block and a clamping block. The fixed block and the clamping block are connected by a spring. The two clamping blocks are connected by the driven shaft. Clamping grooves are also provided on both sides of the lower end of the lower suspension rail and are located on both sides of the guide groove. The driven wheel is clamped in the clamping groove to achieve clamping and fixing. During the inspection process, the present invention has good stability in the connection with the guide rail, does not require load-bearing, and reduces the overall weight. Through the mutual cooperation of the clamping device, the main shaft wheel group and the guide ball, it has good shock resistance, small movement resistance, and is easy to install and disassemble.

Preferably, it also includes a power-taking device, which is fixed on the upper plate. The power-taking device includes a power-taking part and an insulating shell, which is fixed on the upper plate. The connecting piece is provided with a power-taking groove, and a busbar is provided in the power-taking groove. The busbar is a double busbar, and the power-taking part contacts the double busbar to take power. By arranging the power-taking device on the upper plate, the structure is compact and the volume is small. At the same time, the power-taking part of the power-taking device contacts the busbar to achieve power taking while moving, thereby providing power supply for various components of the present invention. Such an arrangement will not cause insufficient power supply, thereby ensuring the stable operation of the present invention.

Preferably, it also includes a ratchet and a pawl, the ratchet is coaxially arranged with the large bevel teeth and the reel, the pawl and the ratchet are arranged in cooperation, the pawl is fixed on the lower side of the upper plate through a pawl fixing bracket, An electromagnet is provided above one end of the pawl, and the electromagnet and the pawl attract each other. An electromagnetic lock is provided below one end of the pawl. The electromagnetic lock can be retracted; through the cooperation of the ratchet pawl and the electromagnet setting, the rotation of the reel can be controlled to realize the free expansion and contraction of the telescopic sleeve; through the mutual cooperation of the ratchet pawl, electromagnet and electromagnetic lock, the insufficient attraction of the electromagnet is avoided, and the electromagnetic lock is extended to give the pawl The upward thrust at one end provides the braking stability of the ratchet pawl, realizes the stable expansion and contraction of the telescopic sleeve, and improves the accuracy and stability of detection.

Preferably, it also includes a spool assembly and a wire guide. A front plate is provided on one side of the lower plate. The front plate is also provided with a spool assembly and a wire guide. The pull wire is passed through in sequence after coming off the reel. The over-pressure spool assembly, wire pulley, and moving pulley assembly are connected to the telescopic sleeve; by setting the pressure spool and the wire pulley, the pull wire is pressed and guided. The tightness of the pull wire is good, and the telescopic sleeve has good expansion and contraction control performance.

Preferably, it also includes a limit switch and an encoder 1, side panels are provided on both sides of the upper plate, a driver is connected to the outer side of the side panel, a limit switch is connected to the upper end of the driver, a groove is provided in the middle of the upper plate, the encoder 1 is fixed in the groove by bolts, and is electrically connected to the motor that drives the guide shaft to rotate; such a setting has a compact structure and is easy to install and disassemble; at the same time, the cooperation between the limit switch and the encoder can accurately position the robot and realize all-round measurement of data.

Preferably, the detection device includes a rotating device, a partial discharge sensor, a camera and a thermal imager, and a position sensor. The rotating device includes a rotating device one and a rotating device two. The rotating end of the rotating device one is provided with a connecting bracket one. , the connecting bracket one is connected to the partial discharge sensor, the two ends of the connecting bracket are also provided with position sensors, the rotating end of the rotating device two is provided with a connecting bracket two, one side of the connecting bracket is connected with camera, with a thermal imaging camera attached to the other side.

Compared with the existing technology, the innovative point of the present invention is that it not only realizes detection in the horizontal and vertical directions, but also sets up a rotating device to improve multi-angle testing on different planes, with higher testing accuracy and wider coverage. longer, the measurement data is more accurate.

Preferably, the rotating device includes a rotating motor and a rotating bracket, the rotating bracket includes an upper bracket and a lower bracket, the upper bracket and the lower bracket are connected through bearings, the lower bracket is provided with an inner cavity, and the inner cavity is A plurality of gears are provided, and the rotary motor is connected and rotates with one of the gears. A toothed disc is provided around the left side of the upper bracket. The gears and the toothed disc cooperate with each other to drive the upper bracket to rotate and connect. It also includes a pressing plate and a fixed plate, the pressing plate is clamped with the upper bracket, the fixed plate is stuck in the hollow of the pressing plate, and the fixed plates on both sides are fixedly connected to the connecting bracket one and the connecting bracket two respectively, realizing the rotation device 360 The degree of free rotation further expands the detection field of view, improves practicality and detection accuracy, and has a wide range of applications and strong practicability.

Preferably, the inner cavity of the lower bracket is also provided with a limit seat, and the upper bracket is provided with a limit strip on the outer periphery. The limit strip corresponds to the limit seat. It also includes an encoder 2 and a circuit board. The encoder Device two is fixed on the outside of the lower bracket, the circuit board is located in the inner cavity of the lower bracket, two electromagnets are provided on both sides of the circuit board, electromagnets two are provided on the upper bracket, and electromagnet one and electromagnet 2 attract each other; encoder 2 records the number of revolutions of the rotating motor to facilitate control of the rotation of the rotating motor and achieve stable control of multi-angle measurement. At the same time, the limit strip and the limit are set in conjunction with each other to mechanically control the rotation of the rotating device. Limit; electromagnet one and electromagnet two are set in cooperation with each other to position the starting point of forward and reverse rotation of the rotating motor to improve accuracy.

The beneficial effects of the present invention are as follows: the present invention realizes the easy installation and disassembly of the robot through the mutual cooperation of the guide rail, the main body mechanism and the detection device; at the same time, the mutual cooperation of the guide mechanism, the guide ball, the clamping device and the guide rail, the mutual cooperation of the telescopic drive mechanism and the detection device are set, the linear walking motor and the vertical upgrading motor arranged side by side are arranged side by side, the winding wheel, the bevel gear and the ratchet are coaxially arranged, and the detection device is provided with a rotating mechanism, which realizes 360-degree free rotation in the horizontal and vertical directions and the same horizontal direction, maximizes the detection field of view and detection range, improves the detection accuracy, and makes the detection timely and convenient. At the same time, the structural arrangement of each component is compact, the overall volume is small, the applicable scenes are less restricted, and the practicability is strong.

The features and advantages of the present invention will be described in detail through the embodiments and the accompanying drawings.

Description of drawings

FIG1 is a schematic diagram of the overall structure of the present invention.

FIG. 2 is a schematic diagram of the structure of point A in FIG. 1 .

Figure 3 is a schematic structural diagram of the main mechanism.

Figure 4 is a schematic diagram of the exploded structure of the main mechanism.

FIG. 5 is a schematic structural diagram of an upper plate assembly.

Figure 6 is a schematic structural diagram of the rotating mechanism.

Figure 7 is a schematic structural diagram of circuit board six.

Figure 8 is a schematic diagram of the explosion structure of the detection device.

In the picture: 1-upper plate, 21-drive shaft bearing seat, 2-drive shaft, 3-small pulley, 41-drive shaft bearing seat, 4-drive roller shaft, 5-drive wheel, 6-large pulley, 7- Belt, 8-motor holder, 9-small bevel gear, 10-motor one, 11-motor two, 12-large bevel gear one, 13-guide rail, 131-guide wheel rail, 14-guide ball, 15-pressure Device, 132-guide groove, 151-driven shaft, 152-driven wheel, 153-fixed block, 154-pressing block, 155-spring, 133-pressing groove, 16-power taking device, 161-power taking part , 162-insulated shell, 134-sliding contact line, 17-driver, 171-limit switch, 18-encoder one, 111-groove one, 135-upper auxiliary mounting rail, 136-connector, 137-lower suspension Rail, 138-installation slot, 19-telescopic sleeve, 20-winding wheel, 21-pressing spool assembly, 22-guide wheel, 23-large bevel tooth two, 24-front plate, 25-rear plate, 26-bottom Plate, 27-moving pulley, 271-moving pulley seat, 28-fixed bracket, 29-rotating device, 45-partial discharge sensor, 46-camera, 47-thermal imager, 48-ratchet, 49-pawl, 50-electromagnet , 51-electromagnetic lock, 491-pawl fixed bracket, 281-card slot, 291-rotating motor, 292-upper bracket, 293-lower bracket, 2931-bearing seat, 2932-limit seat, 2921-limit bar, 2933-gear, 2934-encoder two, 2935-circuit board five, 2922-gear plate, 2923-electromagnetic two, 2924-clamp, 2936-circuit board six, 2937-electromagnetic one, 30-pressure plate, 31- Fixed plate, 301-pressure card slot, 32-connection bracket one, 321-main bracket, 322-side bracket, 33-connection bracket two, 34-position sensor, 35-heat sink one, 36-heat sink two, 37 -Small bracket, 371-switch mounting base, 38-network switch, 39-power supply one, 40-circuit board one, 41-circuit board four, 42-circuit board three, 43-power supply two, 44-circuit board two .

Implementation

In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below through the drawings and examples. However, it should be understood that the specific embodiments described here are only used to explain the present invention and are not used to limit the scope of the present invention. Furthermore, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily confusing the concepts of the present invention.

As shown in Figures 1 to 8, this embodiment proposes an intelligent inspection robot including a guide rail 13, a main body mechanism and a detection mechanism.

The guide rail 13 includes an upper auxiliary mounting rail 135, a connecting piece 136 and a lower hanging rail 137. The upper auxiliary mounting rail 135, the connecting piece 136 and the lower hanging rail 137 are integrally formed and made of aluminum alloy. The cross section of the upper auxiliary mounting rail 135 is It has a gable shape and is provided with two installation slots 138. The overall installation and fixation are carried out through the two installation slots 138. The connector 136 is provided with a power-taking slot. The power-taking slot is provided with double sliding contact wires 134 and a lower hanging rail. Guide wheel rails 131 are provided on both sides of the guide groove 137, a guide groove 132 is provided in the middle of the lower part, and pressing grooves 133 are provided on both sides of the guide groove 132.

The main body mechanism includes an upper plate assembly. The upper plate assembly includes an upper plate 1. There are transmission shaft bearing seats 21 on both sides below the upper plate 1. Both ends of the transmission shaft 2 pass through the transmission shaft bearing seats 21 and are connected to the small pulley 3. The upper plate There are driving shaft bearing seats 41 on both sides of 1. The driving roller shaft 4 passes through the driving shaft bearing seat 41 and is connected to the driving wheel 5 at one end and the large pulley 6 at the other end. The small pulley 3 and the large pulley 6 are connected by a belt 7.

Two motors are arranged side by side on one side of the transmission shaft 2 and below the upper plate 1. Each motor is fixed on the motor holder 8 and connected to the small bevel gear 9. The motor is divided into motor one 10 and motor two 11. The transmission shaft 2 One end is fixedly connected with a large bevel gear 12. The motor 10 drives the small bevel gear 9 and the large bevel gear 12 at one end to rotate, which in turn drives the transmission shaft 2 and the driving wheel 5 to rotate. The driving wheel 5 is pressed against the guide rail 13 On the guide wheel rail 131, linear walking is realized.

The upper plate 1 is also provided with a guide ball 14 and a pressing device 15 respectively on both sides. The guide ball 14 and the pressing device 15 are arranged vertically with the driving wheel 5. The guide ball 14 is rotatably connected in the guide groove 132 on the lower side of the guide rail 13 to achieve Free to turn and walk.

The clamping device 15 includes two clamping seats symmetrically arranged with each other, two driven wheels 152 are arranged on the driven shaft 151, the clamping seat includes a fixed block 153 and a clamping block 154, the fixed block 153 and the clamping block 154 are connected by a spring 155, the driven shaft 151 is fixedly connected with the clamping block 154, the expansion and contraction of the clamping block 154 is realized, and then the expansion and contraction of the driven wheel 152 is driven, the driven wheel 152 is stuck in the clamping groove 133 on the lower side of the guide rail 13, the clamping groove 133 is located on both sides of the guide groove 132, and is stably connected to the guide rail 13;

A power-taking device 16 is also provided on the upper plate 1. The power-taking device 16 is located on one side of one of the clamping devices 15. The power-taking device 16 includes a power-taking part 161 and an insulating shell 162. The insulating shell 162 is connected to the upper plate 1 by bolts. The power-taking part 161 contacts the double busbars 134 on the connecting piece 136 of the guide rail 13 to take power, thereby achieving power-taking while running. The power-using occasions are not restricted, and the operation is safe and stable.

There are side plates on both sides of the upper plate 1. A driver 17 is connected to the outside of the two side plates. The upper end of the driver 17 is connected to a limit switch 171. A groove 111 is provided in the middle of the upper plate 1. The encoder 18 is fixed in the groove through bolts. In slot one 111 and electrically connected to motor one 10, encoder one 18 records the number of revolutions of motor one 10. When a certain number of revolutions is reached, encoder one 18 transmits the signal to the controller, and the controller controls the action of limit switch 171 , to achieve straight walking and turning along the track.

The above are the various components during straight walking and turning. At the same time, in order to expand the robot's detection field of view and range, the present invention also provides a vertical movement device, including a telescopic sleeve 19 and a telescopic mechanism. The telescopic mechanism includes a reel 20, a press The spool assembly 21 and the wire pulley 22 are also connected to the other end of the transmission shaft 2 with a large bevel gear 23. The large bevel gear 23 is fixedly connected to the reel 20 through a bearing and does not rotate coaxially with the transmission shaft 2. The motor Two 11 drives the small bevel gear 9 and the large bevel gear 223 to rotate and connect, and then drives the reel 20 to rotate; the side plates on both sides of the upper plate 1 include a front plate 24 and a rear plate 25, and the rear plate 25 is fixed with pressure by bolts. The spool assembly 21 and the wire pulley 22 are provided with a lower plate 26 at the upper end of the telescopic sleeve 19. The lower plate 26 is provided with a groove 2. The movable pulley 27 is fixed on both sides of the groove 2 through the movable pulley seats 271 on both sides. The telescopic sleeve 19 The lower end is provided with a fixed bracket 28, one end of the pull wire is fixed on the reel 20, and the other end passes through the spool assembly 21, the guide wheel 22, the moving pulley 27 and the telescopic sleeve 19 in order to connect with the fixed bracket 28. Specifically, the telescopic sleeve The tube 19 is set as a 6-section carbon fiber telescopic sleeve, which has a simple structure, is light and flexible, and operates smoothly. Two telescopic sleeves 19 are provided to connect the detection device and the main body to achieve a stable connection between the two. A fixed bracket 28 is provided There is a detection device, and the expansion and contraction of the telescopic sleeve 19 drives the detection device to move in the vertical direction, which expands the detection field of view and improves the accuracy of detection.

It also includes a ratchet 48, a pawl 49, an electromagnet 50 and an electromagnetic lock 51. The ratchet 48 is coaxially arranged with the large bevel tooth 23 and the reel 20. The pawl 49 and the ratchet 48 are arranged in cooperation, and the pawl 49 is fixed by the pawl. The bracket 491 is fixed on the lower side of the upper plate 1. An electromagnet 50 is provided above one end of the pawl 49. The electromagnet 50 and the pawl 49 attract each other. An electromagnetic lock 51 is provided below one end of the pawl 49. The electromagnetic lock 51 is fixed on the lower side of the upper plate 1. On the board 26, the electromagnetic lock 51 and the electromagnet 50 are located in the same vertical direction, and the electromagnetic lock 51 can telescope and control the rotation of the reel 20 to realize the free telescopic expansion and contraction of the telescopic sleeve 19.

The detection device includes two rotating devices 29 , a partial discharge sensor 45 , a camera 46 and a thermal imager 47 . Card slots 281 are provided on both sides of the fixed bracket 28 .

The rotating device 29 includes a rotating motor 291, an upper bracket 292 and a lower bracket 293. The motor adopts a stepper motor. The lower bracket 293 is provided with an inner cavity on one side and a bearing seat 2931 in the middle of the inner chamber. The upper bracket 292 is installed on the bearing seat through bearings. 2931, a limit seat 2932 is also provided on one side of the inner cavity. The limit seat 2932 is set in an L shape. A limit bar 2921 is provided on the outside of the upper bracket 292. When the upper bracket 292 rotates, the limit bar 2921 is restricted by the limit seat 2932. to limit the rotation range of the upper bracket 292 to achieve 360-degree rotation of the upper bracket 292; two gears 2933 are arranged around the inner cavity, and a toothed disc 2922 is arranged around the side of the upper bracket 292 close to the lower bracket 293, and the toothed disc 2922 is connected with the lower bracket 293. The gears 2933 can rotate in cooperation with each other. The rotating motor 291 is fixed on the other side of the lower bracket 293 and is connected to one of the gears 2933 through the lower bracket 293, driving the rotation of the gear 2933 and the toothed plate 2922 to drive the rotation of the upper bracket 292.

In order to facilitate the rotating motor 291 to promptly and accurately receive the control instructions issued by the controller and respond promptly, the second encoder 2934 and the fifth circuit board 2935 are fixed on the lower bracket 293 and on one side of the rotating motor 291. The inner cavity of the lower bracket 293 Circuit board six 2936 is provided inside. Circuit board five 2935 and circuit board six 2936 are electrically connected to encoder two 2934 respectively. Electromagnetic board 2937 is provided on both sides of circuit board six 2936. The two electromagnetic boards 2937 are horizontally arranged cuboids and vertical ones respectively. Set rectangular parallelepiped.

The upper bracket 292 is provided with a second electromagnetic 2923 on one side of the gear 2933. The first electromagnetic 2937 and the second electromagnetic 2923 attract each other and are used to position the starting positions of forward and reverse rotation of the rotating motor 291 respectively.

It also includes a clamping plate 30 and a fixing plate 31. A plurality of clamping columns 2924 are arranged around the upper bracket 292. A plurality of clamping grooves 301 are arranged around the clamping plate 30. The clamping plate 30 is positioned on the upper bracket 292 by the mutual clamping of the clamping grooves 301 and the clamping columns 2924, and is fixedly connected by screws. There is a through hole in the middle of the clamping plate 30. The fixing plate 31 is clamped in the through hole and is fixedly connected to the upper bracket 292 by screws.

The rotating motors 291 on both sides are respectively stuck in the slots 281 on both sides, and the lower brackets 293 on both sides are fixedly connected to both sides of the fixed bracket 28 through screws, forming a continuous and stable connection.

The fixed plate 31 on one side is connected to the connecting bracket 32. Position sensors 34 are provided at both ends of the connecting bracket 32 to facilitate real-time monitoring of the location of the inspection robot and facilitate other equipment to make corresponding actions; the connecting bracket 32 It includes a main bracket 321 and a side bracket 322. Both position sensors 34 are provided with grooves 3. One end of the partial discharge sensor 45 passes through one of the grooves 3 and is connected to the main bracket 321 to ensure the stability of the connection. The partial discharge sensor 45 is also fixedly connected with the side bracket 322 through screws.

The fixed plate 31 on the other side is connected to the second connecting bracket 33. One end of the connecting bracket 33 is connected to the camera 46. A heat sink 35 is provided between the camera 46 and the second connecting bracket 33. The other side of the connecting bracket 33 is connected to There is a thermal imager 47, and a heat sink 36 is provided between the thermal imager 47 and the connecting bracket 233. The camera 46 and the thermal imager 47 have good heat dissipation when working.

The small bracket 37 is also included, and the small bracket 37 is connected to both sides of the fixed bracket 28. A switch mounting seat 371 is installed on the small bracket 37. The network switch 38 is perpendicular to the bottom of the fixed bracket 28, and its side is fixedly connected to the small bracket 37 through the switch mounting seat 371; by setting the connection between the small bracket 37 and the fixed bracket 28, the connection structure is simple, the network switch 38 is located between the small bracket 37 and the fixed bracket 28, the space utilization is reasonable, the volume is small, the connection between them is convenient, the data exchange is stable, and the practicability is strong; the power supply 39 is located on one side of the network switch 38, and the circuit board 40 and Circuit board four 41 is respectively installed on both sides of the small bracket 37, circuit board three 42 and power supply two 43 are installed on the right side of the fixed bracket 28, circuit board two 44 is installed on the small bracket 37 and is located on the opposite side of circuit board one 40, power supply one 39 and power supply two 43 are respectively electrically connected to the power taking device 16, power supply one 39 is used for supplying power to the rotating device 29, position sensor 34 and partial discharge sensor 45 located on the left side, power supply two 43 is used for supplying power to the rotating device 29, camera 46 and thermal imager 47 located on the right side, circuit board three 42 and circuit board four 41 are respectively electrically connected to the camera 46 and thermal imager 47.

The working process of the present invention is as follows: first, the driven wheel 152 of the clamping device 15 is clamped in the clamping grooves 133 on both sides below the guide rail 13, the guide ball 14 is located in the guide groove 132, the driving wheel 5 is fitted with the guide wheel rail 131 of the guide rail 13, and the power taking part 161 of the power taking device 16 is in contact with the busbar 134 of the guide rail 13, so as to realize the overall straight-line walking and free turning, and the encoder 18 and the limit switch 171 cooperate with each other to accurately locate the walking position; the pull wire drives the free extension and retraction of the telescopic sleeve 19 through the rotation of the winding wheel 20, so as to realize the vertical movement of the detection device, and the rotating device 29 of the detection device rotates 360 degrees, which doubles the detection range and improves the detection accuracy.

The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.

Claims (9)

1. The utility model provides an intelligent inspection robot, includes guide rail, main part mechanism and detection device, the guide rail includes supplementary mounting rail, hangs the rail down and connects supplementary mounting rail and hangs the connecting piece of rail down, go up supplementary mounting rail and be equipped with two mounting grooves, its characterized in that: the lower suspension rail is characterized in that guide wheel rails are arranged on two sides of the lower suspension rail, a guide groove is formed in the lower side of the lower suspension rail, the main body mechanism comprises a telescopic guide mechanism, the telescopic guide mechanism comprises a guide mechanism, a telescopic driving mechanism and a motor driving mechanism, the motor driving mechanism drives the guide mechanism and the telescopic driving mechanism to move respectively, the guide mechanism comprises an upper plate, guide wheel groups and guide spheres which are positioned on two sides of the upper plate, each guide wheel group comprises a driving wheel, the driving wheels are tightly attached to the guide wheel rails, the guide spheres are vertically arranged with the driving wheels, the upper ends of the guide spheres are clamped in the guide grooves and can rotate relative to the guide grooves, the telescopic guide wheels further comprise telescopic sleeves, the telescopic driving mechanism is connected with the telescopic sleeves, the bottom ends of the telescopic sleeves are provided with fixing brackets, and the fixing brackets are provided with detection devices;

the motor driving mechanism comprises two motors and bevel gears which are arranged side by side, the two motors respectively drive the guiding mechanism and the telescopic driving mechanism to move through the cooperation of the bevel gears, the guiding wheel set further comprises a transmission shaft, the transmission shaft is located below the lower plate, the two motors are close to the transmission shaft, the telescopic driving mechanism is sleeved on the transmission shaft through a bearing and driven to rotate through one of the motors, the telescopic driving mechanism comprises a winding wheel and a movable pulley assembly, the winding wheel is sleeved on the transmission shaft through a bearing, the movable pulley assembly is fixed on the lower plate at the upper end of a telescopic tube, the telescopic tube penetrates through the movable pulley assembly through a stay wire and is connected with the winding wheel to achieve extension of the length, and the other motor is connected with the transmission shaft through the cooperation of the bevel gears to achieve rotation of the guiding wheel set.

2. The intelligent inspection robot of claim 1, wherein: the guide mechanism further comprises a pressing device, the pressing device is located on the upper plate and located on the outer side of the guide sphere, the pressing device comprises a driven shaft and two pressing seats which are symmetrically arranged, the driven shaft is provided with a driven wheel, the pressing seats comprise a fixed block and a pressing block, the fixed block and the pressing block are connected through a spring, the two pressing blocks are connected through the driven shaft, pressing grooves are further formed in two sides of the lower end of the lower suspension rail and located on two sides of the guide groove, and the driven wheel is clamped in the pressing grooves.

3. The intelligent inspection robot of claim 1, wherein: still including getting electric installation, get electric installation and be fixed in on the upper plate, get electric installation and include get electric portion and insulating housing, insulating housing fixes on the upper plate, the connecting piece is equipped with gets the electric tank, it is equipped with the wiping line to get in the electric tank, the wiping line is two wiping lines, get electric portion and two wiping line contact electricity.

4. The intelligent inspection robot of claim 1, wherein: still include ratchet and pawl, ratchet and big bevel gear, the coaxial setting of reel, pawl and ratchet cooperation set up, the pawl passes through pawl fixed bolster to be fixed in the upper plate downside, the top of pawl one end is equipped with the electro-magnet, electro-magnet and pawl mutual attraction, the below of pawl one end is equipped with the electromagnetic lock, the electromagnetic lock can stretch out and draw back.

5. The intelligent inspection robot of claim 1, wherein: the wire drawing device is characterized by further comprising a wire pressing shaft assembly and a wire guide wheel, wherein a front plate is arranged on one side of the lower plate, the wire pressing shaft assembly and the wire guide wheel are arranged on the front plate, and a wire drawing wire sequentially penetrates through the wire pressing shaft assembly, the wire guide wheel and the movable pulley assembly after coming down from the wire winding wheel and is connected with the telescopic sleeve.

6. The intelligent patrol robot of any one of claims 1-5, wherein: still include limit switch and encoder one, the both sides of upper plate are equipped with the curb plate, the curb plate outside is connected with the driver, the driver upper end is connected with limit switch, be equipped with the recess in the middle of the upper plate, encoder one passes through the bolt fastening in the recess, and is connected with drive guiding axle pivoted motor electricity.

7. The intelligent inspection robot of claim 1, wherein: the detection device comprises a rotation device, a partial discharge sensor, a camera, a thermal imager and a position sensor, wherein the rotation device comprises a first rotation device and a second rotation device, the rotation end of the first rotation device is provided with a first connection support, the first connection support is connected with the partial discharge sensor, the two ends of the first connection support are also provided with the position sensor, the rotation end of the second rotation device is provided with a second connection support, one side of the second connection support is connected with the camera, and the other side of the second connection support is connected with the thermal imager.

8. The intelligent inspection robot of claim 7, wherein: the rotating device comprises a rotating motor and a rotating support, wherein the rotating support comprises an upper support and a lower support, the upper support and the lower support are connected through bearings, an inner cavity is formed in the lower support, a plurality of gears are arranged in the inner cavity, the rotating motor is connected with one of the gears for rotation, a fluted disc is arranged on the left side of the upper support in a circle, the gears and the fluted disc mutually cooperate to drive the upper support to rotate and connect, the rotating device further comprises a pressing plate and a fixing plate, the pressing plate is connected with the upper support in a clamping mode, the fixing plate is clamped in the hollow of the pressing plate, and the fixing plates are fixedly connected with the first connecting support and the second connecting support respectively.

9. The intelligent inspection robot of claim 8, wherein: the inner cavity of the lower support is also provided with a limiting seat, the periphery of the upper support is provided with a limiting strip, the limiting strip corresponds to the limiting seat, the lower support further comprises a second encoder and a circuit board, the second encoder is fixed on the outer side of the lower support, the circuit board is positioned in the inner cavity of the lower support, two electromagnets I are arranged on two sides of the circuit board, an electromagnet II is arranged on the upper support, and the electromagnet I and the electromagnet II are attracted mutually.