A robot dog for cable channel inspection

Abstract

The present invention discloses a robot dog for cable channel inspection, comprising: a power source, two relatively installed power components, a rotating part is fixed on one side of the power component, a main arm is fixed on the surface of the rotating part, a support arm is movably connected to the surface of the main arm through a pin shaft, and an upper connecting ear is movably connected to the surface of the support arm; a pressure regulating component is fixedly connected to the lower surface of the upper connecting ear, a gas-tight seal chamber is fixedly connected to the lower surface of the pressure regulating component, an upper sealing disk is fixedly connected to the lower surface of the gas-tight seal chamber, an inner wall of the upper sealing disk is fixed with a rubber air cushion through an upper fixed plate, and the inner wall of the lower sealing disk is sealed and fixed with the bottom of the rubber air cushion through a lower fixed plate; an air pump is fixedly fixed on the surface of the upper connecting ear, one end of the air pump is connected to the inner wall of the gas-tight seal chamber through a hose, and an electromagnetic control body is provided through the inner support bone and the gas-tight seal chamber. The present invention can make up for the problem of insufficient instantaneous high-intensity power output of the power component.

Description

Technical Field

[0001] The invention belongs to the technical field of power inspection, and in particular relates to a robot dog used for cable channel inspection. Background Art

[0002] During the construction of power tunnels, ventilation, drainage, anti-leakage, cable optical fiber temperature measurement, video monitoring, cable metal sheath grounding current monitoring, environmental monitoring, emergency intercom and other systems have been built. Through the implementation of these systems, the intelligent monitoring of power tunnels has been basically realized, laying the foundation for the safe operation of the cable network. These intelligent monitoring systems are installed in fixed positions in the tunnel. They are a fixed and discrete monitoring system. The system has the characteristics of large coverage, stable and reliable operation, and good economy. However, it also has the disadvantages of not being able to achieve complete coverage of the situation in the tunnel. When an emergency occurs, the on-site situation cannot be collected to the monitoring center in the first time and clearly. It is impossible to take effective treatment measures for specific parts of the tunnel or cable when necessary. Therefore, the inspection machine makes up for the missing loopholes.

[0003] Currently, this type of cable channel inspection robot dogs all have a controller and an actuator as the basic frame, on which necessary accessories such as a radar power supply are installed. Most of the current actuators have a problem when driven because they are designed to prevent rigid transmission, so that the normal walking of the whole body can meet the needs. When jumping on complex terrain, there will be weak power transmission, making it difficult for its jumping force to meet the use needs. Summary of the invention

[0004] The technical problem to be solved by the embodiments of the present invention is to provide a robot dog for cable channel inspection to improve power output.

[0005] In order to solve the above technical problems, the present invention provides a robot dog for cable channel inspection, comprising:

[0006] A power source, two tripods are fixed on both sides of the power source, the two tripods on the corresponding side are commonly fixedly connected to a crossbeam, two power components installed oppositely are arranged on both sides of the crossbeam, a rotating member is fixed on one side of the power component, a main arm is fixed on the surface of the rotating member, the main arm is movably connected to a support arm, and the support arm is movably connected to an upper connection ear;

[0007] The lower surface of the upper connecting ear is fixedly connected with a pressure regulating assembly, the lower surface of the pressure regulating assembly is fixedly connected with an airtight chamber, the lower surface of the airtight chamber is fixedly connected with an upper sealing disk, the inner wall of the upper sealing disk is fixed with a rubber air cushion through an upper fixed piece, the inner wall of the airtight chamber is penetrated by an inner support bone fixedly connected to the pressure regulating assembly, the surface of the inner support bone is limitedly slidably connected with an outer support bone, the bottom of the outer support bone is fixedly connected with a lower sealing disk and a lower connecting ear, and the inner wall of the lower sealing disk is sealed and fixed to the bottom of the rubber air cushion through the lower fixed piece;

[0008] An air pump is fixedly passed through the surface of the upper connecting ear, one end of the air pump is connected to the inner wall of the airtight chamber through a hose, the corresponding two lower connecting ears are movably connected and jointly equipped with supporting feet, and an electromagnetic control body is jointly passed through the inner supporting bone and the airtight chamber.

[0009] Furthermore, the power assembly includes a motor frame installed on the surface of the beam, a driver is fixed to the inner wall of the motor frame, the output shaft of the driver is connected to a wheel disc through a coupling, the wheel disc is attached to the inner wall of the wheel cover, and a connecting piece is fixed to one side of the wheel cover.

[0010] Furthermore, the rotating member includes an additional frame installed in cooperation with the motor frame, the inner wall of the additional frame is provided with a positioning plate that is engaged and driven with the connecting member for limited rotation, and one side of the positioning plate is transmission-connected to a mounting plate located on the inner wall of the additional frame and passes through and rotates.

[0011] Furthermore, the pressure regulating assembly includes a lower cover body fixed to the airtight chamber and connected to the inner support bone, an upper cover body is installed on the inner wall of the lower cover body, a piston is slid between the upper cover body and the inner wall of the lower cover body, a screw is threaded through the surface of the piston, the surface of the screw is rotatably connected to the surface of the upper cover body, and a bearing frame for rotational support is provided at the bottom end of the screw.

[0012] Furthermore, tension springs are installed on the opposite surfaces of the lower stator and the upper stator, an interface for connecting with the hose is provided on the surface of the airtight chamber, and an opening for controlling the rotation of the screw is provided on the surface of the upper connecting ear.

[0013] Furthermore, the electromagnetic control body includes an outer shell body that passes through the airtight chamber and the inner support bone, a head ring is fixed to the inner wall of the outer shell body, a slide cylinder is slidably connected to the inner wall of the outer shell body, a metal ring is fixedly connected to the surface of the slide cylinder, and an electromagnet that cooperates with the metal ring is fixedly connected to the inner wall of the outer shell body.

[0014] Furthermore, the inner wall of the slide cylinder is fixedly connected with a sliding sleeve for being sleeved on the surface of the valve core to limit its sliding, the surface of the valve core is provided with a spring, and both ends of the valve core are hollowly arranged in a through shape, a plurality of first through holes are opened on the surface of the outer shell, and a plurality of second through holes are opened on the surface of the slide cylinder.

[0015] Furthermore, a controller is arranged above the power supply, a radar is installed on the surface of the controller, a partition is fixed through the surface of the radar, vertical frames are installed on both sides of the partition, the vertical frames are fixed on the surface of the corresponding beams, and a power supply for supplying power to the power components after the power supply contact is arranged on the surface of the vertical frames.

[0016] Furthermore, a fastening sleeve for cooperating with the threaded connection of the inner support bone is fixed on the surface of the upper sealing disk, and magnetic rings are provided on opposite sides of the inner walls of the inner support bone and the outer support bone, and the magnetic poles of the two magnetic rings on opposite sides have the same direction.

[0017] Furthermore, a plurality of linings for maintaining shape are fitted on the inner wall of the rubber air cushion, and the outer support ribs are in communication with the inner wall of the rubber air cushion.

[0018] The implementation of the present invention has the following beneficial effects: when in use, the power component drives the main arm to rotate through the rotating part. When the main arm rotates, the corresponding upper connecting ear is pulled by the support arm to change its height. The two power components on the same side cooperate with each other to enable their two movably connected lower connecting ears to achieve walking mimicry. When jumping, as the whole body squats and accumulates power, the main arm rotates and is pulled up by the support arm, and then the air pump inflates the airtight chamber. When the airflow reaches a certain value, the electromagnetic control body is started to make its air pressure rush into the rubber air cushion, thereby further lengthening the tension spring and forming a kinetic energy stroke of the jump as a whole, thereby compensating for the problem of insufficient instantaneous high-intensity power output of the power component. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 The figure is a schematic diagram of the overall structure of a robot dog for cable channel inspection according to an embodiment of the present invention.

[0021] Figure 2 It is a schematic diagram of the three-dimensional structure of the crossbeam in an embodiment of the present invention.

[0022] Figure 3It is a schematic diagram of the three-dimensional structure of two power components corresponding to the same side in an embodiment of the present invention.

[0023] Figure 4 It is a schematic diagram of the three-dimensional cross-sectional structure of the power component in an embodiment of the present invention.

[0024] Figure 5 Schematic diagram of the three-dimensional structure of the rubber air cushion in an embodiment of the present invention.

[0025] Figure 6 It is a schematic diagram of the three-dimensional cross-sectional structure of the rubber air cushion in an embodiment of the present invention.

[0026] Figure 7 Schematic diagram of the exploded structure of the voltage regulating assembly in an embodiment of the present invention.

[0027] Figure 8 It is a schematic diagram of the three-dimensional cross-sectional structure of the inner support bone in an embodiment of the present invention.

[0028] Fig. 9 It is a schematic diagram of the three-dimensional cross-sectional structure of the electromagnetic control body in an embodiment of the present invention.

[0029] The accompanying drawings are marked as follows: 1, power supply; 2, tripod; 3, crossbeam; 4, stand; 5, partition; 6, power assembly; 61, motor frame; 62, driver; 63, wheel disc; 64, wheel cover; 65, connecting piece; 7, rotating piece; 71, additional frame; 72, positioning plate; 73, mounting plate; 8, pressure regulating assembly; 81, lower cover; 82, upper cover; 83, piston; 84, screw; 9, electromagnetic control body; 91, outer shell; 92, head ring; 93, slide cylinder; 94, valve core; 95, metal ring; 96, electromagnet; 97, spring spring; 98. first through hole; 99. second through hole; 10. main arm; 11. support arm; 12. upper connecting ear; 13. airtight chamber; 14. inner support bone; 15. outer support bone; 16. fastening sleeve; 17. upper sealing plate; 18. lower sealing plate; 19. rubber air cushion; 20. lower connecting ear; 21. tension spring; 22. upper stator; 23. lower stator; 24. lining; 25. air pump; 26. hose; 27. interface; 28. opening; 29. ​​magnetic ring; 30. bearing frame; 31. power supply; 32. controller; 33. radar. DETAILED DESCRIPTION

[0030] The following descriptions of the embodiments are made with reference to the accompanying drawings to illustrate specific embodiments in which the present invention can be implemented. It should be noted that the directions and positions mentioned in the embodiments of the present invention, such as "upper", "lower", "front", "back", "left", "right", "inside", "outside", "top", "bottom", "side", etc., are only with reference to the directions or positions of the accompanying drawings. Therefore, the directions and positions used are used to illustrate and understand the present invention, rather than to limit the scope of protection of the present invention.

[0031] Please also refer to Figure 1-Figure 9 As shown, an embodiment of the present invention provides a robot dog for cable channel inspection, comprising:

[0032] A power source 1, two tripods 2 are fixed on both sides of the power source 1, and the two tripods 2 on the corresponding side are commonly fixedly connected to a crossbeam 3. Two relatively installed power components 6 are arranged on both sides of the crossbeam 3, a rotating part 7 is fixed on one side of the power component 6, a main arm 10 is fixed on the surface of the rotating part 7, a support arm 11 is movably connected to the surface of the main arm 10 through a pin shaft, and an upper connecting ear 12 is movably connected to the surface of the support arm 11.

[0033] The lower surface of the upper connecting ear 12 is fixedly connected to the pressure regulating component 8, the lower surface of the pressure regulating component 8 is fixedly connected to the airtight sealing chamber 13, the lower surface of the airtight sealing chamber 13 is fixedly connected to the upper sealing disk 17, the inner wall of the upper sealing disk 17 is fixed with a rubber air cushion 19 through an upper fixed plate 22, the inner wall of the airtight sealing chamber 13 is penetrated by an inner support bone 14 fixedly connected to the pressure regulating component 8, the surface of the inner support bone 14 is limitedly slid with an outer support bone 15, the bottom of the outer support bone 15 is fixedly connected to the lower sealing disk 18 and the lower connecting ear 20, the inner wall of the lower sealing disk 18 is sealed and fixed to the bottom of the rubber air cushion 19 through a lower fixed plate 23.

[0034] An air pump 25 is fixedly passed through the surface of the upper connecting ear 12, and one end of the air pump 25 is connected to the inner wall of the airtight chamber 13 through a hose 26. The corresponding two lower connecting ears 20 are movably connected and are jointly equipped with support feet. The inner support bone 14 and the surface of the airtight chamber 13 are jointly passed through by an electromagnetic control body 9.

[0035] Specifically, a controller 32 is arranged above the power source 1, a radar 33 is installed on the surface of the controller 32, a partition 5 is fixed through the surface of the radar 33, a stand 4 is installed on both sides of the partition 5, the stand 4 is fixed on the surface of the corresponding beam 3, and a power supply 31 for supplying power to the power component 6 after the power source 1 is powered on is arranged on the surface of the stand 4. By setting the controller 32, the controller 32 plays a control effect through the PLC, and the controller 32 and the radar 33 are installed close to the surface of the partition 5, so that the overall disassembly is easier; the radar 33 can monitor the environment inside the tunnel in real time, and its monitoring results can be directly connected to the controller 32 for judgment, reducing data transmission delay.

[0036] Two tripods 2 are fixed on both sides of the power source 1; the two tripods 2 on the same side are fixedly connected to a crossbeam 3, which plays the role of supporting the overall structure. Two power components 6 are arranged on both sides of the crossbeam 3 and are installed opposite to each other. A rotating member 7 is fixed on one side of the power component 6, and a main arm 10 is fixed on the surface of the rotating member 7. The main arm 10 is movably connected to a support arm 11, and the support arm 11 is movably connected to an upper connection ear 12.

[0037] The lower surface of the upper connecting ear 12 is fixedly connected with the pressure regulating assembly 8, the lower surface of the pressure regulating assembly 8 is fixedly connected with the airtight chamber 13, the lower surface of the airtight chamber 13 is fixedly connected with the upper sealing disk 17, the inner wall of the upper sealing disk 17 is fixed with the rubber air cushion 19 through the upper fixed plate 22, the inner wall of the airtight chamber 13 is penetrated with the inner support bone 14 fixedly connected with the pressure regulating assembly 8, the surface of the inner support bone 14 is limitedly slid with the outer support bone 15, the bottom of the outer support bone 15 is fixedly connected with the lower sealing disk 18 and the lower connecting ear 20, and the inner wall of the lower sealing disk 18 is sealed and fixed with the bottom of the rubber air cushion 19 through the lower fixed plate 23. The surface of the upper connecting ear 12 is penetrated with the air pump 25, one end of the air pump 25 is connected with the inner wall of the airtight chamber 13 through the hose 26, the corresponding two lower connecting ears 20 are movably connected and are jointly installed with the support feet, and the inner support bone 14 and the surface of the airtight chamber 13 are jointly penetrated with the electromagnetic control body 9.

[0038] The opposite surfaces of the lower stator 23 and the upper stator 22 are jointly installed with tension springs 21 , the surface of the airtight chamber 13 is provided with an interface 27 for connecting with a hose 26 , and the surface of the upper connecting ear 12 is provided with an opening 28 for controlling the rotation of the screw 84 .

[0039] The surface of the upper sealing plate 17 is fixed with a fastening sleeve 16 for threaded connection with the inner support bone 14. The inner support bone 14 and the inner wall of the outer support bone 15 are both provided with a magnetic ring 29 on the opposite side, and the magnetic poles of the two magnetic rings 29 on the opposite side are in the same direction. Due to the repulsive force between the same poles of the magnetic rings 29, when the inner support bone 14 and the outer support bone 15 collide with each other at high speed, the distance can be maintained to prevent violent collision and ensure the stability of the structure. By providing the fastening sleeve 16, the inner support bone 14 can be further fixed to maintain the sealing of the airtight chamber 13.

[0040] The inner wall of the rubber air cushion 19 is fitted with a plurality of linings 24 for shape retention, and the outer support frame 15 is connected to the inner wall of the rubber air cushion 19. The lining 24 can maintain the basic shape of the local position of the rubber air cushion 19 to prevent disordered folding; at the same time, it can bend when expanded so that it can fit to maintain strength.

[0041] The power assembly 6 includes a motor frame 61 mounted on the surface of the crossbeam 3, a driver 62 is fixed to the inner wall of the motor frame 61, the output shaft of the driver 62 is connected to a wheel disc 63 through a coupling, the wheel disc 63 is attached to the inner wall of the wheel cover 64, and a connector 65 is fixed to one side of the wheel cover 64. The rotating member 7 includes an additional frame 71 mounted in cooperation with the motor frame 61, and a positioning plate 72 that is engaged with the connector 65 is provided on the inner wall of the additional frame 71 for limited rotation, and one side of the positioning plate 72 is connected to a mounting plate 73 that is located on the inner wall of the additional frame 71 and penetrates and rotates.

[0042] The pressure regulating assembly 8 includes a lower cover body 81 fixed to the airtight chamber 13 and connected to the inner support bone 14, an upper cover body 82 is installed on the inner wall of the lower cover body 81, a piston 83 slides between the upper cover body 82 and the inner wall of the lower cover body 81, a screw 84 is threaded through the surface of the piston 83, the surface of the screw 84 is rotatably connected to the surface of the upper cover body 82, and a bearing frame 30 for rotational support is arranged at the bottom end of the screw 84. By setting the pressure regulating assembly 8, the upper cover body 82 and the lower cover body 81 are matched, and the controller 32 fine-tunes the internal connection distance, so that it can adapt to the leg length of different models of mechanical dogs during actual installation; and the internal piston 83 can slide in a fully sealed manner to maintain gas; after the screw 84 penetrates the surface of the upper cover body 82, it cooperates with the bearing frame 30 to maintain its structure and keep it in a stable state.

[0043] The electromagnetic control body 9 includes an outer shell 91 that passes through the airtight chamber 13 and the inner support frame 14, a head ring 92 is fixed to the inner wall of the outer shell 91, a slide cylinder 93 slides through the inner wall of the outer shell 91, a metal ring 95 is fixedly connected to the surface of the slide cylinder 93, an electromagnet 96 that cooperates with the metal ring 95 is fixedly connected to the inner wall of the outer shell 91, a sliding sleeve that is used to be sleeved on the surface of the valve core 94 to limit its sliding is fixedly connected to the inner wall of the slide cylinder 93, a spring 97 is arranged on the surface of the valve core 94, and both ends of the valve core 94 are hollowly arranged in a through shape, a plurality of first through holes 98 are opened on the surface of the outer shell 91, and a plurality of second through holes 99 are opened on the surface of the slide cylinder 93.

[0044] The electromagnet 96 controls the metal ring 95 so that the metal ring 95 can drive the slide 93 to slide and break away from the sealing state formed by the head ring 92, so that the high-pressure airflow can circulate after passing through the first through hole 98 and the head ring 92; at the same time, when continuous stamping is performed, if there is an electronic judgment failure, or there is a problem with the air pump 25 causing continuous inflation, so that the pressure on the inner wall of the airtight chamber 13 exceeds the normal use range and there are certain safety hazards, due to the action of the first through hole 98, and the electromagnet 96 is not started at this time, the high-pressure airflow enters the second through hole 99, so that under the trend of the gas acting towards low pressure, the internal valve core 94 presses the spring 97 until one end of the valve core 94 moves to the position of the second through hole 99, so that the internal high-pressure gas overflows outward and the internal high-pressure gas is kept under pressure; thus, in this fault state, safe and stable use can still be guaranteed. In addition, while realizing the control of on and off, this structure can realize safety insurance when the preset inflation pressure is too large, keep unloading, and ensure the limitation of the maximum jump degree.

[0045] The four power components 6 are driven by the controller 32 on the surface. The four power components 6 use a stepper motor as a driver 62 to control the rotating part 7 to rotate the main arm 10. When the main arm 10 rotates, the connecting part 65 on the corresponding side is controlled to move through the support arm 11, and the other power component 6 in the same group is controlled in the same way, so that under the control of the height difference between each other, the corresponding two mutually movably connected connecting parts 65 can realize simulated step movement.

[0046] At this time, based on the interference fit transmission state of the power component 6 and the connecting piece 65, over-driving is prevented from causing the driver 62 coupling to break, resulting in the overall instantaneous transmission force being unable to be in a large state, thus avoiding the problem of being unable to jump under load when mounting more equipment.

[0047] When jumping to avoid obstacles, under the control of the two power components 6 in the same group, the whole body forms a jumping and charging state. At this time, the power supply 1 is in a tilted state, and the radar 33 ensures that there are no obstacles on the jumping trajectory; the air pump 25 is started, and the inside of the airtight chamber 13 is pressurized through the hose 26; when the pressure is appropriate, the electromagnet 96 in the electromagnetic control body 9 is started to attract the metal ring 95 to achieve connectivity. At this time, the airflow rushes into the inner support bone 14, and enters the outer support bone 15 along with the inner support bone 14, until it enters the rubber air cushion 19, realizing the instantaneous filling of the rubber air cushion 19. This instantaneous expansion force depends on the pressure value of the injected gas of the air pump 25, so that it can jump.

[0048] During the jumping process, the tension spring 21 is stretched instantaneously. After landing, the electromagnet 96 continues to be in the started state, so that the air pump 25 is closed and the hose 26 is always in the connected state. Then after landing, under the support of the overall gravity, the air flow begins to flow back rapidly, so that the air flow velocity is proportional to the impact force, achieving the unloading and buffering of landing. At this time, the rubber air cushion 19 is folded again.

[0049] The tension spring 21 maintains pressure on the rubber air cushion 19 through the upper fixed plate 22 and the lower fixed plate 23, the upper sealing plate 17 and the lower sealing plate 18, so that the pressure inside the whole can be maintained at all times. At the same time, during the simulated movement, it can achieve the effect of shock absorption and reduce the amplitude of the body during movement. With the cooperation of the tension spring 21 and the internal high-pressure gas, the operation of the whole equipment is more stable.

[0050] Based on the internal gas and the tension spring 21 cooperating to reduce shock, the staff can rotate the screw 84 so that the screw 84 drives the piston 83 to move in the closed space formed by the upper cover 82 and the lower cover 81, so that the gas pressure inside the rubber air cushion 19 can be slightly controlled, so that the overall shock absorption performance can be adjusted, and the shock absorption effect of the two rubber air cushions 19 corresponding to the same group in the four groups can be adjusted separately, so that the two elasticities are differentiated and matched to achieve a better coordinated shock absorption effect. When mimicking walking, the part at the rear is harder and the part at the front is softer, so as to achieve stable support and stable coordination of shock absorption in the walking state, just like when the human body walks, the foot lands on the ground and is directly impacted, and after landing, it is more supported, the elasticity is greater during direct impact, and the support after landing is harder, there is no vibration and it can maintain support, so as to achieve the coordinated shock absorption effect of the mimicking walking state.

[0051] The rubber air cushion 19 is always subjected to the tension of the tension spring 21, and its interior is always kept in a certain pressure state; the rubber air cushion 19 is always in a taut folded state, and at the same time, during the expansion and folding process of the rubber air cushion 19, the inner support bone 14 slides on the inner wall of the outer support bone 15, maintaining the overall rigidity and being able to achieve telescopic coordination. When the rubber air cushion 19 expands to the maximum instantaneously, the inner support bone 14 and the outer support bone 15 also slide against each other to the maximum sliding limit, and at this time, the two magnetic blocks on the opposite sides of the inner wall of the inner support bone 14 and the outer support bone 15 are close to each other, so that the magnetic repulsion force is maintained, and the internal structure is kept unloaded under a large impact force to reduce damage. It should be noted that, since the inner support bone 14 and the outer support bone 15 are in a connected state, and there is no clear hole or the like between the outer support bone 15 and the rubber air cushion 19, the gap between the inner support bone 14 and the outer support bone 15 sliding against each other realizes gas communication and enters the rubber air cushion 19. At the same time, since there is no large flow opening, when the high-pressure gas instantly enters the inner support and outer support bones 15, due to the fast gas flow rate, a higher pressure is formed inside the rubber air cushion 19 than that of the rubber air cushion 19, so that the rubber air cushion 19 can be expanded and stretched, thereby guiding the expansion and contraction operation of the rubber air cushion 19.

[0052] It is not difficult to see from the structure described in the above embodiment that as the driver 62 drives the wheel disc 63 to rotate through the coupling, the surface of the wheel disc 63 is gear-shaped, and the gear-shaped position is made of rubber material, which is squeezed inside the wheel cover 64, and the tight fit has an interference fit to rotate, so that the wheel cover 64 drives the positioning plate 72 of the rotating member 7 to rotate through the connecting member 65. The positioning plate 72 and the mounting plate 73 are both held and supported by the additional frame 71. Through this transmission mode, a fast-response stable transmission can be achieved, and at the same time, when it is interfered by excessive external force or stuck, it can prevent the driver 62 from causing damage to the structure.

[0053] From the above description, it can be seen that compared with the prior art, the beneficial effects of the present invention are: when in use, the power component drives the main arm to rotate through the rotating part, and when the main arm rotates, the corresponding upper connecting ear is pulled by the support arm to change the height, and the two power components on the same side cooperate with each other to enable their two movably connected lower connecting ears to achieve walking mimicry walking; when jumping, as the whole body squats and accumulates power, the main arm rotates and is pulled up by the support arm, and then the air pump inflates the airtight chamber, and when the airflow reaches a certain value, the electromagnetic control body is started to make its air pressure rush into the rubber air cushion, thereby achieving further elongation of the tension spring and forming a jumping kinetic energy stroke as a whole, thereby compensating for the problem of insufficient instantaneous high-intensity power output of the power component.

[0054] The above disclosure is only the preferred embodiment of the present invention, which certainly cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims

1. A robot dog for cable channel inspection, characterized in that: include: A power source, two tripods are fixed on both sides of the power source, the two tripods on the corresponding side are commonly fixedly connected to a crossbeam, two power components installed oppositely are arranged on both sides of the crossbeam, a rotating member is fixed on one side of the power component, a main arm is fixed on the surface of the rotating member, the main arm is movably connected to a support arm, and the support arm is movably connected to an upper connection ear; The lower surface of the upper connecting ear is fixedly connected with a pressure regulating assembly, the lower surface of the pressure regulating assembly is fixedly connected with an airtight chamber, the lower surface of the airtight chamber is fixedly connected with an upper sealing disk, the inner wall of the upper sealing disk is fixed with a rubber air cushion through an upper fixed piece, the inner wall of the airtight chamber is penetrated by an inner support bone fixedly connected to the pressure regulating assembly, the surface of the inner support bone is limitedly slidably connected with an outer support bone, the bottom of the outer support bone is fixedly connected with a lower sealing disk and a lower connecting ear, and the inner wall of the lower sealing disk is sealed and fixed to the bottom of the rubber air cushion through a lower fixed piece; An air pump is fixedly mounted on the surface of the upper connecting ear, one end of the air pump is connected to the inner wall of the airtight chamber through a hose, and the two corresponding lower connecting ears are movably connected and are jointly equipped with a support foot, and an electromagnetic control body is jointly mounted on the inner support bone and the airtight chamber; The power assembly includes a motor frame mounted on the surface of the crossbeam, a driver is fixed to the inner wall of the motor frame, an output shaft of the driver is connected to a wheel disc through a coupling, the wheel disc is attached to the inner wall of the wheel cover, and a connecting piece is fixed to one side of the wheel cover; The rotating member comprises an additional frame mounted in cooperation with the motor frame, the inner wall of the additional frame is provided with a positioning plate which is engaged and driven with the connecting member, and one side of the positioning plate is drivingly connected with a mounting plate which is located on the inner wall of the additional frame and penetrates and rotates; The pressure regulating assembly comprises a lower cover body fixed to the airtight chamber and connected to the inner support bone, an upper cover body is installed on the inner wall of the lower cover body, a piston is slidably provided between the upper cover body and the inner wall of the lower cover body, a screw is threadedly penetrated on the surface of the piston, the surface of the screw is rotatably connected to the surface of the upper cover body, and a bearing frame for rotatable support is provided at the bottom end of the screw; The opposite surfaces of the lower stator and the upper stator are jointly provided with tension springs, the surface of the airtight chamber is provided with an interface for cooperating with the hose, and the surface of the upper connecting ear is provided with an opening for controlling the rotation of the screw.

2. The robot dog for cable channel inspection according to claim 1, characterized in that: The electromagnetic control body includes an outer shell that passes through the airtight chamber and the inner support frame, a head ring is fixed to the inner wall of the outer shell, a slide cylinder is slidably connected to the inner wall of the outer shell, a metal ring is fixedly connected to the surface of the slide cylinder, and an electromagnet that cooperates with the metal ring is fixedly connected to the inner wall of the outer shell.

3. The robot dog for cable channel inspection according to claim 2, characterized in that: The inner wall of the slide cylinder is fixedly connected with a sliding sleeve for being sleeved on the surface of the valve core to limit its sliding. The surface of the valve core is provided with a spring, and both ends of the valve core are hollow and through-shaped. The surface of the outer shell is provided with a plurality of first through holes, and the surface of the slide cylinder is provided with a plurality of second through holes.

4. The robot dog for cable channel inspection according to claim 1, characterized in that: A controller is arranged above the power supply, a radar is installed on the surface of the controller, a partition is fixed through the surface of the radar, stands are installed on both sides of the partition, the stands are fixed on the surface of the corresponding beam, and a power supply for supplying power to the power components after the power supply contact is arranged on the surface of the stand.

5. The robot dog for cable channel inspection according to claim 1, characterized in that: A fastening sleeve for cooperating with the inner support bone threaded connection is fixed on the surface of the upper sealing disk. Magnetic rings are arranged on opposite sides of the inner walls of the inner support bone and the outer support bone, and the magnetic poles of the two magnetic rings on opposite sides have the same direction.

6. The robot dog for cable channel inspection according to claim 1, characterized in that: The inner wall of the rubber air cushion is fitted with a plurality of linings for maintaining the shape, and the outer support bone is in a communicating state with the inner wall of the rubber air cushion.

Images