A mother-and-child type power tunnel inspection robot

Abstract

This invention provides a mother-and-child type power tunnel inspection robot, comprising: a mobile robot including a frame and two tracked mobile units mounted on the frame, a lifting unit, and a camera unit. The two tracked mobile units are respectively located on both sides of the frame. The lifting unit includes a lifting mechanism mounted on the frame and a lifting platform connected to the lifting mechanism. The lifting platform is used to carry a maintenance robot. The camera unit includes a leveling mechanism mounted on the frame and a camera mounted on the leveling mechanism; and the maintenance robot. In this invention, the mobile robot can drive the maintenance robot located on the lifting unit to move, and the maintenance robot can repair fault points in the power tunnel. The tracked mobile units of the mobile robot enable the invention to move off existing tracks and have a certain obstacle-crossing capability. The camera unit can observe the environment inside the power tunnel, which can improve the obstacle avoidance capability of the invention.

Description

Technical Field

[0001] This invention relates to the field of inspection robot technology, specifically to a mother-daughter type power tunnel inspection robot. Background Technology

[0002] A power tunnel inspection robot is a robot that works inside power tunnels, primarily used for the inspection and maintenance of the tunnels themselves and the equipment within them. This robot can be equipped with various sensors and cameras, and uses different operating devices to perform automated inspection and maintenance. Workers only need to observe the data transmitted from the cameras mounted on the power tunnel inspection robot to determine the location of faults and the status of repairs.

[0003] However, most existing power tunnel inspection robots can only move along existing tracks and require that there are no obstructions in the path before they can move. This results in weak obstacle crossing and avoidance capabilities and limitations for existing power tunnel inspection robots. Summary of the Invention

[0004] This invention is made to solve the above-mentioned problems, and its purpose is to provide a mother-daughter type power tunnel inspection robot.

[0005] This invention provides a mother-daughter type power tunnel inspection robot, characterized by the following features: a mobile robot, including a frame and two tracked mobile units mounted on the frame, a lifting unit, and a camera unit; the two tracked mobile units are respectively located on both sides of the frame; the lifting unit includes a lifting mechanism mounted on the frame and a lifting platform connected to the lifting mechanism, the lifting platform being used to carry the maintenance robot; the camera unit includes a leveling mechanism mounted on the frame and a camera mounted on the leveling mechanism; and the maintenance robot.

[0006] The mother-daughter type power tunnel inspection robot provided by the present invention also has the following features: the tracked mobile unit includes an upper leg assembly, two lower leg assemblies, two tracked moving mechanisms, and two first driving devices. The upper leg assembly is connected to the frame, and the two lower leg assemblies are rotatably connected to the upper leg assembly. The two tracked moving mechanisms are respectively disposed on the two lower leg assemblies, and the two first driving devices are respectively connected to the two tracked moving mechanisms to drive the corresponding tracked moving mechanisms to run.

[0007] The mother-daughter type power tunnel inspection robot provided by the present invention also has the following features: the upper leg assembly includes a first frustum frame, the first frustum frame includes two first trapezoidal plates, the upper end faces of the two first trapezoidal plates are connected to the frame, and the two first trapezoidal plates are arranged parallel to each other.

[0008] The mother-daughter type power tunnel inspection robot provided by the present invention also has the following features: the lower leg assembly includes two connecting plates and a second frustum frame, one end of the two connecting plates is respectively hinged to the plate surface at the same side of the lower bottom corner of the two first trapezoidal plates, the second frustum frame includes two second trapezoidal plates, the other end of the two connecting plates is respectively hinged to the plate surface at the midpoint of the lower bottom edge of the two second trapezoidal plates, and the two second trapezoidal plates are arranged parallel to each other.

[0009] The mother-daughter type power tunnel inspection robot provided by the present invention also has the following features: the tracked mobile unit further includes two shock absorption mechanisms, both of which are located on the upper leg assembly, one end of each shock absorption mechanism is connected to the frame, and the other end of each shock absorption mechanism is connected to the two lower leg assemblies respectively.

[0010] The mother-daughter type power tunnel inspection robot provided by this invention also has the following features: the leveling mechanism includes a support platform, a camera platform, multiple telescopic rods, and a third drive device. The support platform is mounted on the frame, one end of the multiple telescopic rods is hinged to the support platform, and the other end of the multiple telescopic rods is hinged to the camera platform. The third drive device is connected to the multiple telescopic rods and is used to control the extension, retraction, and rotation of the multiple telescopic rods. The camera platform is located above the support platform, and the multiple telescopic rods, together with the camera platform and the support platform, form a platform structure.

[0011] The mother-daughter type power tunnel inspection robot provided by the present invention also has the following features: the lifting mechanism includes a first sprocket, a second sprocket, a chain and a second drive device. The first sprocket is mounted on the frame, the second sprocket is mounted on the lifting platform, the chain is sleeved on the first sprocket and the second sprocket, and the second drive device is connected to the first sprocket to drive the first sprocket to rotate.

[0012] The mother-daughter type power tunnel inspection robot provided by the present invention also has the following feature: a guide rod is provided between the lifting platform and the frame.

[0013] The mother-daughter type power tunnel inspection robot provided by the present invention also has the following features: the mobile robot further includes a sensing unit and a transmission unit. The sensing unit is mounted on the frame and includes an ultrasonic sensor, a gas sensor, and a temperature sensor. The transmission unit is mounted on the frame and includes a wireless data transmission module.

[0014] The mother-daughter type power tunnel inspection robot provided by the present invention also has the following features: the mother-daughter type power tunnel inspection robot further includes a control unit, which controls the operation of the mobile robot and the maintenance robot; wherein, the control unit can control the maintenance robot to leave or return to the lifting platform in the mobile robot.

[0015] The role and effect of invention

[0016] According to the present invention, a mother-and-child type power tunnel inspection robot is provided, wherein the mobile robot can drive a maintenance robot located on a lifting unit to move, and the maintenance robot repairs fault points within the power tunnel. Because tracked mobile units are provided on both sides of the mobile robot's frame, and these tracked mobile units can ignore most terrain and maintain good stability during movement, the present invention can move without existing tracks and has a certain obstacle-crossing capability. Furthermore, because the camera unit can observe the environment within the power tunnel, the obstacle avoidance capability of the present invention is improved, thereby enhancing its practical effectiveness. Attached Figure Description

[0017] Figure 1 This is a front view of the mother-daughter power tunnel inspection robot in an embodiment of the present invention;

[0018] Figure 2 This is a side view of the mother-daughter power tunnel inspection robot in an embodiment of the present invention;

[0019] Figure 3 This is a top view of the mother-daughter power tunnel inspection robot in an embodiment of the present invention;

[0020] Figure 4 This is a schematic diagram of the leveling mechanism in an embodiment of the present invention;

[0021] Figure 5 This is a front view of the leveling mechanism in an embodiment of the present invention.

[0022] 10. Mobile robot; 11. Frame; 12. Tracked mobile unit; 121. Upper leg assembly; 1211. First trapezoidal plate; 122. Lower leg assembly; 1221. Second trapezoidal plate; 1222. Connecting plate; 123. Tracked movement mechanism; 124. Shock absorption mechanism; 1241. Support rod; 1242. Connecting rod; 1243. Spring; 13. Lifting unit; 131. Lifting platform; 132. Lifting mechanism; 133. Guide rod; 14. Camera unit; 141. Leveling mechanism; 1411. Support platform; 1412. Camera platform; 1413. Telescopic rod; 142. Camera; 15. Sensing unit; 151. Ultrasonic sensor; 152. Gas sensor; 153. Temperature sensor; 16. Transmission unit; 20. Maintenance robot. Detailed Implementation

[0023] To make the technical means, creative features, objectives and effects of this invention easier to understand, the following embodiments are described in detail with reference to the accompanying drawings.

[0024] Example

[0025] Figure 1 This is a front view of the mother-daughter type power tunnel inspection robot in an embodiment of the present invention. Figure 2 This is a side view of the mother-daughter type power tunnel inspection robot in an embodiment of the present invention. Figure 3 This is a top view of the mother-daughter type power tunnel inspection robot in an embodiment of the present invention.

[0026] like Figure 1 , Figure 2 as well as Figure 3 As shown, this embodiment provides a mother-daughter type power tunnel inspection robot, including: a mobile robot 10, a maintenance robot 20, and a control unit. The mobile robot 10 is used to move the maintenance robot 20 to the fault point in the power tunnel. The maintenance robot 20 is used to repair the fault point in the power tunnel. The control unit controls the operation of the mobile robot 10 and the maintenance robot 20. The control unit can control the maintenance robot 20 to leave or return to the mobile robot 10. In this embodiment, the maintenance robot 20 is preferably a robot in the prior art capable of handling and repairing faults in the power tunnel and capable of receiving signal commands.

[0027] The mobile robot 10 includes a frame 11, two tracked mobile units 12, a lifting unit 13, a camera unit 14, a sensing unit 15, and a transmission unit 16.

[0028] Two tracked mobile units 12 are respectively located on both sides of the frame 11. Each tracked mobile unit 12 includes an upper leg assembly 121, two lower leg assemblies 122, two tracked moving mechanisms 123, two first drive devices, and two shock absorption mechanisms 124. In this embodiment, the upper leg assembly 121 includes a first frustum frame, which includes two first trapezoidal plates 1211. The upper surfaces of the two first trapezoidal plates 1211 are connected to the frame 11, and the two first trapezoidal plates 1211 are arranged parallel to each other. The lower leg assembly 122 includes two connecting plates 1222 and a second frustum frame. One end of the two connecting plates 1222 is hinged to the plate surface at the lower corner on the same side of the two first trapezoidal plates 1211. The second frustum frame includes two second trapezoidal plates 1221. The other ends of the two connecting plates 1222 are hinged to the plate surface at the midpoint of the upper bottom edge of the two second trapezoidal plates 1221, and the two second trapezoidal plates 1221 are arranged parallel to each other.

[0029] In this embodiment, the tracked moving mechanism 123 is disposed between the two second trapezoidal plates 1221, enabling the two second trapezoidal plates 1221 to function as a running frame supporting the tracked moving mechanism 123. This allows the tracked moving mechanism 123 in the mobile robot 10 to have both an attack angle and a retreat angle, thereby improving the mobile robot 10's ability to climb steps. When the mobile robot 10 moves, the first drive device first operates, driving the corresponding tracked moving mechanism 123 to work. Then, the tracked moving mechanism 123 drives the corresponding two second trapezoidal plates 1221 to move. Next, the four second trapezoidal plates 1221 located on the same side of the frame 11 drive the two first trapezoidal plates 1211 on the same side of the second trapezoidal plates 1221 to move via corresponding connecting plates 1222. Finally, the four first trapezoidal plates 1211 located on both sides of the frame 11 drive the frame 11 to move. When the mobile robot 10 crosses obstacles or moves on uneven surfaces, because the connecting plate 1222 is hinged to the corresponding first trapezoidal plate 1211 and second trapezoidal plate 1221, the connecting plate 1222 can fully accept the changes in the moving angle brought about by the mobile robot 10 during the movement, without affecting the four first trapezoidal plates 1211 connected to the frame 11. Therefore, the mobile robot 10 can ensure the stability of the frame 11 during the movement, thereby ensuring that the maintenance robot 20 located on the lifting unit 13 is not easy to fall off, thus ensuring the working effect of the present invention.

[0030] In this embodiment, the shock absorption mechanism 124 includes two support rods 1241, a telescopic connecting rod 1242, and a spring 1243. One support rod 1241 is vertically disposed between two corresponding first trapezoidal plates 1211, and the other support rod 1241 is vertically disposed between two corresponding connecting plates 1222. The two ends of the connecting rod 1242 are respectively connected to the two support rods 1241, and the spring 1243 is sleeved on the connecting rod 1242. The two first trapezoidal plates 1211 and the two connecting plates 1222 connected to the two support rods 1241 are connected. When the mobile robot 10 moves, the second trapezoidal plate 1221, the connecting plate 1222, and the first trapezoidal plate 1211 will be subjected to pressure. At this time, the spring 1243 in the shock absorption mechanism 124, together with the telescopic connecting rod 1242, can relieve the pressure on the first trapezoidal plate 1211, thereby ensuring the stability of the frame 11 during movement, and thus ensuring that the camera unit 14, sensing unit 15 and transmission unit 16 on the frame 11 can work normally.

[0031] In this embodiment, the first driving device is preferably a servo motor, which ensures that the tracked movement mechanism 123 can work normally, thereby ensuring the stability of the mobile robot 10 during movement. The tracked movement mechanism 123 includes tracks, sprockets supporting the tracks, and rollers, which enables the mobile robot 10 to adapt to relatively complex road terrain and uneven road surfaces, thereby improving the mobility of the mobile robot 10.

[0032] like Figure 1 and Figure 2 As shown, the lifting unit 13 includes a lifting mechanism 132 mounted on a frame 11 and a lifting platform 131 connected to the lifting mechanism 132. The lifting platform 131 is used to carry the maintenance robot 20. The lifting mechanism 132 includes a first sprocket, a second sprocket, a chain, and a second drive device. The first sprocket is mounted on the frame 11, the second sprocket is mounted on the lifting platform 131, the chain is sleeved on the first and second sprockets, and the second drive device is connected to the first sprocket to drive it to rotate. In this embodiment, the second drive device is preferably a servo motor. Because the second drive device can drive the first and second sprockets, in conjunction with the chain, to raise or lower the lifting platform 131, when the mobile robot 10 reaches the fault point in the power tunnel, the lifting platform 131 can lower the maintenance robot 20 to repair the fault point in the power tunnel, thereby ensuring the overall practical effect of the invention. In addition, a guide rod 133 is provided between the lifting platform 131 and the frame 11, which can improve the stability of the lifting platform 131 during the lifting process when the second drive device drives the first sprocket and the second sprocket to work with the chain to raise or lower the lifting platform 131. This ensures that the maintenance robot 20 is not easy to fall off the lifting platform 131, thereby improving the protection of the maintenance robot 20.

[0033] Figure 4 This is a schematic diagram of the leveling mechanism in an embodiment of the present invention. Figure 5 This is a front view of the leveling mechanism in an embodiment of the present invention.

[0034] like Figure 1 , Figure 2 , Figure 3 , Figure 4 as well as Figure 5As shown, the camera unit 14 includes a leveling mechanism 141 mounted on the frame 11 and a camera 142 mounted on the leveling mechanism 141. The leveling mechanism 141 includes a support platform 1411, a camera platform 1412, multiple telescopic rods 1413, and a third drive device. The support platform 1411 is mounted on the frame 11. One end of each telescopic rod 1413 is hinged to the support platform 1411, and the other end is hinged to the camera platform 1412. The third drive device is connected to the multiple telescopic rods 1413 and is used to control the extension, retraction, and rotation of the multiple telescopic rods 1413. The camera platform 1412 is located above the support platform 1411, and the multiple telescopic rods 1413, the camera platform 1412, and the support platform 1411 form a platform structure. In this embodiment, the third drive device is preferably a servo motor, and the camera 142 is preferably an infrared camera 142, thereby enabling infrared night vision operation. During operation, the third drive device first controls the extension, retraction, and rotation of multiple telescopic rods 1413. Then, the telescopic rods 1413 drive the camera platform 1412 to rise, fall, or rotate, enabling the camera 142 on the camera platform 1412 to observe the surrounding environment of the mobile robot 10. This allows the mobile robot 10 to avoid impassable terrain during movement, improving its stability. The multiple telescopic rods 1413, together with the camera platform 1412 and the support platform 1411, always form a platform structure, ensuring the stability of the camera 142 on the camera platform 1412 during rising, falling, or rotating. Furthermore, when the maintenance robot 20 repairs fault points within the power tunnel, the third drive device controls the camera platform 1412 to rise, fall, or rotate via the multiple telescopic rods 1413, allowing the camera 142 on the camera platform 1412 to observe the working status and repair progress of the maintenance robot 20, enhancing the practical effectiveness of the invention during operation.

[0035] like Figure 1 , Figure 2 as well as Figure 3As shown, both the sensing unit 15 and the transmission unit 16 are mounted on the frame 11. The sensing unit 15 includes an ultrasonic sensor 151, a gas sensor 152, and a temperature sensor 153, while the transmission unit 16 includes a wireless data transmission module. In this embodiment, the ultrasonic sensor 151 is positioned around the frame 11 to sense the environment of the mobile robot 10 within the power tunnel and monitor for obstacles obstructing its path. The gas sensor 152 is mounted on the frame 11 to sense the gas within the power tunnel, improving the observation of the environment. The temperature sensor 153 is mounted on the frame 11 and positioned away from heat-generating components to address the issue of temperature measurement being impossible using contact methods in certain situations. The camera 142, ultrasonic sensor 151, gas sensor 152, and temperature sensor 153 all transmit information to the wireless data transmission module. The F2116 industrial-grade wireless data transmission module is preferred. This module is small, EMC-tested, stable, and reliable, with an operating temperature range of -35℃ to 75℃. Its metal casing is suitable for industrial control applications and allows for use in power tunnels. This ensures that the information from the mobile robot 10 within the power tunnel and the maintenance robot 20's repair work at fault points can be transmitted back to the workers without interference from electromagnetic waves within the tunnel, thus achieving the goal of facilitating workers' access.

[0036] The role and effect of the embodiments

[0037] According to the mother-daughter type power tunnel inspection robot involved in this embodiment, because tracked mobile units are arranged on both sides of the mobile robot's frame, and these tracked mobile units can ignore most terrains and have good stability during movement, this invention can move without existing tracks and has a certain obstacle-crossing ability. Furthermore, because the camera unit can observe the environment inside the power tunnel, the obstacle avoidance ability of the mobile robot is improved, thereby enhancing the practical effect of this invention.

[0038] According to the mother-daughter type power tunnel inspection robot involved in this embodiment, the tracked movement mechanism enables the mobile robot to adapt to more complex road terrain and uneven road surfaces, thereby improving the mobility of the mobile robot.

[0039] According to the mother-daughter type power tunnel inspection robot involved in this embodiment, because the tracked moving mechanism is located between two second trapezoidal plates, the two second trapezoidal plates can serve as the driving frame for supporting the tracked moving mechanism. Thus, the tracked moving mechanism in this invention can simulate the tracked moving mechanism used in military vehicles, giving the tracked moving mechanism in this invention an attack angle and a retreat angle, thereby improving the mobile robot's ability to climb steps.

[0040] According to the mother-daughter type power tunnel inspection robot involved in this embodiment, since the connecting plate and the corresponding first trapezoidal plate and second trapezoidal plate are both hinged, the connecting plate can fully accept the changes in the movement angle brought about by the movement of the mobile robot. Therefore, the mobile robot can ensure the stability of the frame during movement, thereby ensuring that the maintenance robot located on the lifting unit is not easy to fall off, thus ensuring the working effect of the present invention.

[0041] According to the mother-daughter type power tunnel inspection robot involved in this embodiment, because the second drive device can drive the first sprocket and the second sprocket in conjunction with the chain to raise or lower the lifting platform, so that when the mobile robot reaches the fault point in the power tunnel, the lifting platform can lower the maintenance robot to repair the fault point in the power tunnel, thereby ensuring the overall practical effect of the invention.

[0042] According to the mother-daughter type power tunnel inspection robot involved in this embodiment, because the spring 1243 in the shock absorption mechanism, together with the telescopic connecting rod 1242, can relieve the pressure on the first trapezoidal plate, the frame can be kept stable during movement, thereby ensuring that the camera unit, sensing unit and transmission unit on the frame can work normally.

[0043] According to the mother-daughter type power tunnel inspection robot involved in this embodiment, because the third drive device can control the extension, retraction and rotation of multiple telescopic rods, the camera on the camera platform can observe the surrounding environment of the mobile robot, thereby enabling the mobile robot to avoid inaccessible terrain during movement and improving the stability of the mobile robot during movement.

[0044] According to the mother-daughter type power tunnel inspection robot involved in this embodiment, because the third drive device can control the extension, retraction and rotation of multiple telescopic rods, the camera on the camera platform can observe the working status and maintenance situation of the maintenance robot, thereby improving the practical effect of the present invention in the working process.

[0045] According to the mother-daughter type power tunnel inspection robot involved in this embodiment, because a guide rod is provided between the lifting platform and the frame, the second drive device can drive the first sprocket and the second sprocket to raise or lower the lifting platform in conjunction with the chain, thereby improving the stability of the lifting platform during the lifting process, thus ensuring that the maintenance robot is not easy to fall off the lifting platform, thereby improving the protection of the maintenance robot.

[0046] According to the mother-daughter type power tunnel inspection robot involved in this embodiment, the F2116 industrial-grade wireless data transmission module is preferentially selected for the wireless data transmission module. This allows the information on the environment inside the power tunnel where the mobile robot is located and the maintenance status of the fault point by the maintenance robot to be transmitted back to the workers without interference from various electromagnetic waves in the power tunnel, thereby enabling the present invention to achieve the purpose of facilitating the workers.

[0047] The above embodiments are preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention.

Claims

1. A mother-daughter type power tunnel inspection robot, characterized in that, include: The mobile robot includes a frame and two tracked mobile units mounted on the frame, a lifting unit, and a camera unit. The two tracked mobile units are respectively located on both sides of the frame. The lifting unit includes a lifting mechanism mounted on a frame and a lifting platform connected to the lifting mechanism. The lifting platform is used to carry the maintenance robot described below. The camera unit includes a leveling mechanism mounted on the frame and a camera mounted on the leveling mechanism; and Repair robots The tracked mobile unit includes an upper leg assembly, two lower leg assemblies, two track moving mechanisms, and two first drive devices. The upper leg assembly is connected to the frame. Both lower leg assemblies are rotatably connected to the upper leg assembly. The two track movement mechanisms are respectively mounted on the two lower leg assemblies. The two first drive devices are respectively connected to the two tracked moving mechanisms, and are used to drive the corresponding tracked moving mechanisms to operate. The lifting mechanism includes a first sprocket, a second sprocket, a chain, and a second drive device. The first sprocket is mounted on the frame. The second sprocket is mounted on the lifting platform. The chain is fitted onto the first sprocket and the second sprocket. The second drive device is connected to the first sprocket and is used to drive the first sprocket to rotate. A guide rod is provided between the lifting platform and the frame.

2. The mother-daughter type power tunnel inspection robot according to claim 1, characterized in that: in, The upper leg assembly includes a first frustum frame. The first frustum frame includes two first trapezoidal plates, the upper surfaces of which are connected to the frame, and the two first trapezoidal plates are arranged parallel to each other.

3. The mother-daughter type power tunnel inspection robot according to claim 2, characterized in that: in, The lower leg assembly includes two connecting plates and a second frustum frame. One end of each of the two connecting plates is hinged to the bottom corner of the two first trapezoidal plates on the same side. The second frustum frame includes two second trapezoidal plates. The other ends of the two connecting plates are respectively hinged to the plate surface at the midpoint of the bottom edge of the two second trapezoidal plates. The two second trapezoidal plates are arranged parallel to each other.

4. The mother-daughter type power tunnel inspection robot according to claim 1, characterized in that: in, The tracked mobile unit also includes two shock absorption mechanisms. Both shock-absorbing mechanisms are mounted on the upper leg assembly, with one end of each shock-absorbing mechanism connected to the frame and the other end of each shock-absorbing mechanism connected to the two lower leg assemblies respectively.

5. The mother-daughter type power tunnel inspection robot according to claim 1, characterized in that: in, The leveling mechanism includes a support platform, a camera platform, multiple telescopic rods, and a third drive device. The support platform is mounted on the frame. One end of each of the multiple telescopic rods is hinged to the support platform. The other end of each of the telescopic rods is hinged to the camera platform. The third driving device is connected to the multiple telescopic rods and is used to control the extension, retraction and rotation of the multiple telescopic rods; The camera platform is located above the support platform, and multiple telescopic rods together with the camera platform and the support platform form a platform structure.

6. The mother-daughter type power tunnel inspection robot according to claim 1, characterized in that: in, The mobile robot also includes a sensing unit and a transmission unit. The sensing unit is mounted on the frame and includes an ultrasonic sensor, a gas sensor, and a temperature sensor. The transmission unit is mounted on the rack, and the transmission unit includes a wireless data transmission module.

7. The mother-daughter type power tunnel inspection robot according to any one of claims 1 to 6, characterized in that: in, The mother-daughter type power tunnel inspection robot also includes: The control unit controls the operation of the mobile robot and the maintenance robot; wherein the control unit is capable of controlling the maintenance robot to leave or return to the lifting platform in the mobile robot.

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