Intelligent unattended station patrol robot

Abstract

The intelligent unattended station patrol robot comprises a robot base, an electric push rod is mounted in the middle of the top face of the robot base, a bottom plate is fixed to the top of the electric push rod, a mounting base is arranged at the top of the bottom plate, and a base is arranged on the top face of the mounting base; a camera for acquiring information is mounted at the top of the base; the inspection robot further comprises a self-balancing assembly which is arranged between the installation base and the base, and the self-balancing assembly keeps the horizontal position of the camera when the inspection robot walks on the gradient ground. The stable supporting assemblies are symmetrically arranged on the left side and the right side of the mounting base; and the guide assembly is arranged at the top of the bottom plate. According to the intelligent unattended station patrol robot, when passing through the gradient ground in the advancing process, self-balancing can be achieved, the patrol horizontal view angle and height of the camera can be kept, and auxiliary support is improved to prevent the camera from shaking while balance is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of patrol robots, and in particular to an intelligent unmanned station patrol robot. Background Art

[0002] Intelligent unmanned site inspection robots are one of the important achievements of modern industrial automation and intelligent technology. Inspection robots are widely used in various industrial fields such as substations, power plants, oil fields, gas fields, etc. In substations, robots can monitor the operating status of key equipment such as transformers and switch cabinets; in power plants, they can detect the temperature and vibration of equipment such as boilers and steam turbines; in oil fields and gas fields, they can monitor pipeline leakage, equipment failure and other problems. There are many types of inspection robots, and their appearances vary according to needs. The mechanical dog shape is one of them. It has all-weather autonomous inspections, environmental monitoring and data collection, equipment status monitoring, safety protection and emergency response, as well as remote control and interaction. Through advanced technical characteristics and a wide range of application scenarios, robots can efficiently and accurately complete inspection tasks in an unmanned environment, providing strong guarantees for industrial production and operations, which not only improves inspection efficiency and quality, but also reduces labor costs and risks. However, the existing patrol robots still have the following problems during use: when the patrol robot is performing patrol operations in the outdoor environment of an oil field or pipeline project, during the walking process of the patrol robot, if there are uneven places on the route, the robot will directly pass through the walking parts, and when passing through the uneven places, the camera of the patrol robot will be in a tilted state, and the angle of camera acquisition will change, and the accurate same patrol angle will be lost. In addition, the center of gravity of the camera will shift during the movement after the tilt, and it is easy to shake, resulting in a patrol blind spot that affects the image clarity, thereby affecting the patrol operation and causing negligence.

[0003] Therefore, we proposed an intelligent unmanned station patrol robot to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent unmanned station patrol robot to solve the problem of the existing station patrol robots on the market proposed in the above background technology. When passing through uneven places, the camera of the patrol robot will be in a tilted state. After the angle of camera acquisition changes, the accurate patrol angle will be lost, and the center of gravity of the camera will shift during the movement after the tilt, which is prone to shaking, resulting in a patrol blind spot that affects the image clarity, thereby affecting the patrol operation and causing negligence.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an intelligent unmanned station patrol robot, comprising a robot base, and a walking mechanical leg is installed at the bottom of the robot base, the base and the mechanical leg form a mechanical dog shape as a whole, and an electric push rod is installed in the middle of the top surface of the robot base, a bottom plate is fixed on the top of the electric push rod, and a mounting seat is arranged on the top of the bottom plate, and a base is arranged on the top surface of the mounting seat, and a camera for collecting information is installed on the top of the base; It also includes: a self-balancing component, which is arranged between the mounting seat and the base, and the self-balancing component keeps the camera in a horizontal position when the patrol robot walks on a sloped ground, and distance sensors are symmetrically installed on both sides of the top of the mounting seat and both sides of the bottom of the base; A stabilizing support component, which is symmetrically arranged on the left and right sides of the mounting seat, and provides stable support to prevent shaking when the camera maintains balance; The guide component is arranged on the top of the bottom plate, and the guide component is used in conjunction with the stable support component to provide guide support for the stable support component.

[0006] Preferably, the self-balancing assembly includes a slide groove symmetrically opened at the bottom of the base, and a slide plate is slidably connected in the slide groove, and a balance frame is hinged at the bottom of the slide plate, and the balance frame is supported below the base.

[0007] Preferably, the bottom of the balance frame is sealingly and slidingly connected in the vertical groove, and the vertical groove is symmetrically opened on the top of the mounting seat, and the bottoms of the vertical grooves on both sides are connected by connecting pipes, and the connecting pipes maintain smooth airflow in the vertical grooves on both sides, and at the same time, the vertical grooves and the connecting pipes form a "U"-shaped pipe structure.

[0008] Preferably, the stabilizing support assembly includes a convex tooth arranged on the inner side of the balancing frame, and the outer side of the convex tooth is meshed with the gear, and the gear bearing is symmetrically connected to the left and right sides of the inside of the mounting seat, and the shaft of the gear is connected to the support plate through a sprocket mechanism, and the support plate is symmetrically rotatably connected to the left and right sides of the outside of the mounting seat.

[0009] Preferably, the bottom of the support plate is sealingly and slidably connected to an extension plate, the bottom of the extension plate is configured as a cylindrical structure, and the outer side of the bottom of the extension plate is covered with a rubber pad.

[0010] Preferably, a push plate is fixed to the side of the support plate, and the push plate is sealingly and slidably connected to the oil chamber, and the oil chamber is symmetrically opened on the left and right sides of the mounting seat, and the push plate and the oil chamber are both arranged as arc structures, the oil chamber is connected with the interior of the support plate through an oil pipe, and a spring is installed between the interior of the support plate and the extension plate.

[0011] Preferably, the guide assembly includes a pull rope fixedly mounted on the outside of the electric push rod, and the top of the pull rope is wound around the screw, and the screw bearing is connected to the transverse groove, and the transverse groove is symmetrically opened on the top of the bottom plate, and a guide plate is threadedly connected to the screw.

[0012] Preferably, the guide plate forms an opening and closing sliding structure through a screw rod and a transverse groove, and a torsion spring is installed on the screw rod, and the positions of the guide plate and the extension plate correspond.

[0013] Preferably, when the patrol robot walks on a sloping road, the distance sensor detects the swing of the camera, thereby activating the electric push rod to adjust the height, thereby maintaining the camera at a uniform patrol height under different road conditions.

[0014] Compared with the prior art, the beneficial effects of the intelligent unmanned station inspection robot of the present invention are: during use, the inspection robot is in the shape of a mechanical dog, which is flexible and convenient. When passing through a sloped ground during movement, it can self-balance to maintain the camera's inspection horizontal viewing angle and height, and provide auxiliary support to prevent the camera from shaking while balancing. The specific contents are as follows: 1. By setting up the self-balancing component, when the patrol robot dog encounters a slope change on the route, the distance sensor will detect the data change, and then the electric push rod will push the bottom plate and the mounting seat to adjust the height, so that the camera can maintain a uniform patrol height during self-balancing. After the base moves, the slide plate will move in the slide groove due to gravity, driving the corresponding balance frame at the bottom to slide in the output, the balance frame on the lower side will be lifted, and the balance frame on the higher side will be pressed down. The gas on both sides will circulate through the connecting pipe fittings. The connecting pipe and the vertical groove directly form a "U"-shaped tube. The two sides of the "U"-shaped tube are of equal height, so that when passing through a sloping road, the camera can still maintain horizontal stability and a horizontal patrol angle; 2. Through the stable support assembly, when self-balancing, the balance frame slides upward to drive the convex teeth to move upward, and the convex teeth move upward to drive the gears to rotate. After the gears rotate, the outer support plate is driven to rotate through the sprocket mechanism. After the support plate rotates, it will drive the bottom extension plate to rotate synchronously, so as to provide auxiliary support for the side with greater force. The push plate slides synchronously in the oil cavity, and then squeezes out the oil in the oil cavity and transports it to the inside of the support plate through the oil pipe. When the pressure inside the support plate increases, the extension plate will be pushed out, so that the extension plate rotates and extends at the same time, preventing the camera from shaking due to gravity offset during use, which affects the collection of patrol information; 3. Through the setting of the guide component, when the height of the electric push rod is adjusted, the pull rope is pulled, and the pull rope will drive the screw to rotate, and then reverse the torsion spring. After the screw rotates, it will drive the guide plate to slide in the horizontal groove. After the guide plate slides, it will guide the movement of the extension plate, guiding the extension plate to expand, support and rotate and reset. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of the overall upper three-dimensional structure of the present invention; Figure 3 This is a schematic diagram of the bottom structure of the base of the present invention when viewed from above; Figure 4 It is a schematic diagram of the front cross-section structure of the connection between the mounting seat and the base of the present invention; Figure 5 This is a schematic diagram of the explosion structure of the connection between the mounting seat and the base of the present invention; Figure 6 For the present invention Figure 5 The enlarged structural diagram at A in the middle; Figure 7 It is a schematic cross-sectional structure diagram of the connection part between the support plate and the extension plate of the present invention; Figure 8 For the present invention Figure 7 The enlarged structural diagram at B in the middle; Fig. 9 It is a schematic diagram of the internal cross-sectional structure of the bottom plate of the present invention; Fig.10 For the present invention Fig. 9 Enlarged structural diagram at point C in the middle.

[0016] In the figure: 1. robot base; 2. mechanical legs; 3. electric push rod; 4. bottom plate; 5. mounting base; 6. base; 7. camera; 8. distance sensor; 9. self-balancing assembly; 901. slide; 902. slide plate; 903. balance frame; 904. vertical groove; 905. connecting pipe; 10. stable support assembly; 101. convex teeth; 102. gears; 103. support plate; 104. extension plate; 105. push plate; 106. oil chamber; 107. oil pipe; 108. spring; 11. guide assembly; 111. pull rope; 112. screw; 113. transverse groove; 114. guide plate; 115. torsion spring. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] See also Figure 1 - Fig.10 As shown, the present invention provides a technical solution: an intelligent unmanned station patrol robot, comprising a robot base 1, and a walking mechanical leg 2 is installed at the bottom of the robot base 1, the base 1 and the mechanical leg 2 form a mechanical dog shape as a whole, and an electric push rod 3 is installed in the middle of the top surface of the robot base 1, a bottom plate 4 is fixed on the top of the electric push rod 3, and a mounting seat 5 is arranged on the top of the bottom plate 4, and a base 6 is arranged on the top surface of the mounting seat 5, and a camera 7 for collecting information is installed on the top of the base 6, First, several basic parts of the patrol robot are introduced. When in use, the mechanical legs 2 on the robot base 1 are used for the patrol robot to walk. The appearance of the mechanical dog is light and fast. The electric push rod 3 on the robot base 1 is used to support the bottom plate 4, and the patrol height can also be adjusted according to needs. The mounting seat 5 on the bottom plate 4 is provided with a base 6, and the base 6 is provided with a camera 7 for collecting information, which can automatically identify the equipment and environmental information in the station; Embodiment 1: In order to keep the camera 7 of the patrol robot at the same patrol level when passing through a sloped road, the following solution is proposed. Figure 1 - Figure 5 As shown; A self-balancing component 9 is provided between the mounting seat 5 and the base 6, and the self-balancing component 9 keeps the camera 7 in a horizontal position when the patrol robot walks on a sloped ground, and distance sensors 8 are symmetrically installed on both sides of the top of the mounting seat 5 and both sides of the bottom of the base 6. When the patrol robot walks on a sloped road, the distance sensor 8 detects the swing of the camera 7, thereby starting the electric push rod 3 to adjust the height, thereby keeping the camera 7 at a uniform patrol height under different road conditions; When an imbalance is detected, when the patrol robot dog encounters a slope change on its route, the base 6 will move on the mounting base 5 to maintain the balance of the camera 7. After the base 6 moves, the distance sensor 8 will detect the data change, and then transmit the signal to the electric push rod 3 through the processor. The electric push rod 3 will push the bottom plate 4 and the mounting base 5 to adjust the height, so that the camera 7 can maintain a uniform patrol height during self-balancing and always maintain the optimal patrol height; The self-balancing component 9 includes a slide groove 901 symmetrically opened at the bottom of the base 6, and a slide plate 902 is slidably connected in the slide groove 901, and a balance frame 903 is hinged at the bottom of the slide plate 902, and the balance frame 903 is supported below the base 6, and the bottom of the balance frame 903 is sealed and slidably connected to the vertical groove 904, and the vertical groove 904 is symmetrically opened at the top of the mounting seat 5, and the bottoms of the vertical grooves 904 on both sides are connected through a connecting pipe 905, and the connecting pipe 905 maintains smooth airflow in the vertical grooves 904 on both sides, and the vertical grooves 904 and the connecting pipe 905 form a "U"-shaped pipe structure; When performing self-balancing, please refer to Figure 1 - Figure 5 As shown, after the base 6 is activated, the slide plate 902 will be driven to move in the slide groove 901 due to the action of gravity, and then the corresponding balance frame 903 at the bottom will be driven to slide in the vertical groove 904, the balance frame 903 on the lower side will be lifted, and the balance frame 903 on the higher side will be pressed down, and the gas on both sides will flow through the connecting pipe 905, and the connecting pipe 905 and the vertical groove 904 directly form a "U"-shaped tube, and the inside of the two sides of the "U"-shaped tube is equal, so that when passing through a sloping road, the camera 7 can still be kept horizontal and stable, and the horizontal patrol angle can be maintained; Embodiment 2: In order to reduce the shaking of the camera 7 when the patrol robot maintains balance and avoid unclear images during the patrol process, the following solution is proposed. Please refer to Figure 1 - Figure 8 As shown; The stable support assembly 10 is symmetrically arranged on the left and right sides of the mounting seat 5, and the stable support assembly 10 provides stable support to prevent shaking when the camera 7 maintains balance. The stable support assembly 10 includes a convex tooth 101 arranged on the inner side of the balance frame 903, and the outer side of the convex tooth 101 is meshed and connected with a gear 102, and the gear 102 is symmetrically bearing-connected to the left and right sides of the inside of the mounting seat 5, and the shaft of the gear 102 is connected to the support plate 103 through a sprocket mechanism, and the support plate 103 is symmetrically rotationally connected to the left and right sides of the outside of the mounting seat 5, and the bottom of the support plate 103 is sealed and slidably connected with an extension plate 104, and the bottom of the extension plate 104 is set to a cylindrical structure, and the bottom outer side of the extension plate 104 is covered with a rubber pad; When rotating the support, please refer to Figure 1 - Figure 8As shown, when the balance frame 903 slides upward, it will drive the convex tooth 101 to move upward synchronously. After the convex tooth 101 moves upward, it will drive the gear 102 to rotate. After the gear 102 rotates, it drives the outer support plate 103 to rotate through the sprocket mechanism. After the support plate 103 rotates, it will drive the bottom extension plate 104 to rotate synchronously, so as to provide auxiliary support for the side with greater force, thereby preventing the camera 7 from shaking due to gravity offset during use, thereby affecting the patrol information collection work; A push plate 105 is fixed to the side of the support plate 103, and the push plate 105 is sealed and slidably connected to the oil chamber 106, and the oil chamber 106 is symmetrically opened on the left and right sides of the inside of the mounting seat 5, and the push plate 105 and the oil chamber 106 are both arranged in an arc structure, and the oil chamber 106 is connected to the inside of the support plate 103 through an oil pipe 107, and a spring 108 is installed between the inside of the support plate 103 and the extension plate 104; When the length is extended, please refer to Figure 5 - Figure 8 As shown, when the support plate 103 rotates, the push plate 105 is driven to slide synchronously in the oil chamber 106, thereby squeezing out the oil in the oil chamber 106 and transporting it to the inside of the support plate 103 through the oil pipe 107. When the pressure inside the support plate 103 increases, the extension plate 104 is pushed out, thereby making the extension plate 104 extend while rotating, and the extension speed of the extension plate 104 is greater than the moving speed of the guide plate 114, thereby supporting the guide plate 114. At this time, the spring 108 is stretched, and after resetting at a later time, the spring 108 drives the extension plate 104 to be retracted into the inside of the support plate 103; Embodiment 3: In order to make the support component smoothly extend and retract during use, so that the guide assembly 11 cooperates to enhance the stability of the support, the following solution is proposed. Please refer to Figure 1 - Figure 3 and Fig. 9 and Fig.10 As shown, A guide assembly 11, which is arranged on the top of the bottom plate 4, and is used in conjunction with the stable support assembly 10 to provide guide support for the stable support assembly 10. The guide assembly 11 includes a pull rope 111 fixedly mounted on the outside of the electric push rod 3, and the top of the pull rope 111 is wound around a screw rod 112, and the screw rod 112 is connected to a horizontal groove 113 by a bearing, and the horizontal groove 113 is symmetrically opened on the top of the bottom plate 4, and a guide plate 114 is threadedly connected to the screw rod 112, and the guide plate 114 forms an opening and closing sliding structure through the screw rod 112 and the horizontal groove 113, and a torsion spring 115 is installed on the screw rod 112, and the position of the guide plate 114 corresponds to that of the extension plate 104; During guidance, in the initial state, the guide plate 114 is not in contact with the extension plate 104, and then the extension plate 104 is extended and then contacts with it, so that a triangular support is formed between the stable support assembly 10, the mounting seat 5 and the base plate 4, thereby maintaining the stability of the camera 7 and reducing the shaking. When the electric push rod 3 is adjusted in height, the pull rope 111 will be pulled, and the pull rope 111 will drive the screw 112 to rotate, and then reverse the torsion spring 115. After the screw 112 rotates, it will drive the guide plate 114 to slide in the transverse groove 113. After the guide plate 114 slides, it will guide the movement of the extension plate 104, and guide the extension plate 104 to expand the support and rotate and reset.

[0019] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

[0020] In the description of the present invention, unless otherwise specified, "plurality" means two or more than two; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0021] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0022] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent unmanned station inspection robot, comprising a robot base (1), wherein the bottom of the robot base (1) is provided with walking mechanical legs (2), the base (1) and the mechanical legs (2) as a whole form a mechanical dog shape, and an electric push rod (3) is installed in the middle of the top surface of the robot base (1), a bottom plate (4) is fixed on the top of the electric push rod (3), a mounting seat (5) is arranged on the top of the bottom plate (4), and a base (6) is arranged on the top surface of the mounting seat (5), and a camera (7) for collecting information is installed on the top of the base (6); Features: Also includes: A self-balancing component (9), the self-balancing component (9) being arranged between the mounting seat (5) and the base (6), and the self-balancing component (9) maintaining the horizontal position of the camera (7) when the patrol robot walks on a sloped ground, and distance sensors (8) are symmetrically installed on both sides of the top of the mounting seat (5) and both sides of the bottom of the base (6); A stabilizing support component (10), wherein the stabilizing support component (10) is symmetrically arranged on the left and right sides of the mounting seat (5), and the stabilizing support component (10) provides stable support to prevent shaking when the camera (7) maintains balance; A guide component (11), wherein the guide component (11) is arranged on the top of the bottom plate (4), and the guide component (11) is used in conjunction with the stabilizing support component (10) to provide guide support for the stabilizing support component (10).

2. The intelligent unmanned station patrol robot according to claim 1 is characterized in that: The self-balancing component (9) comprises a slide groove (901) symmetrically arranged at the bottom of the base (6), a slide plate (902) being slidably connected in the slide groove (901), a balance frame (903) being hinged at the bottom of the slide plate (902), and the balance frame (903) being supported below the base (6).

3. The intelligent unmanned station patrol robot according to claim 2 is characterized in that: The bottom of the balancing frame (903) is sealingly slidably connected to the vertical groove (904), and the vertical groove (904) is symmetrically opened on the top of the mounting seat (5), and the bottoms of the vertical grooves (904) on both sides are connected through a connecting pipe (905), and the connecting pipe (905) maintains smooth air flow in the vertical grooves (904) on both sides, and the vertical groove (904) and the connecting pipe (905) form a "U"-shaped pipe structure.

4. The intelligent unmanned station patrol robot according to claim 1, characterized in that: The stabilizing support assembly (10) comprises a convex tooth (101) arranged on the inner side of the balancing frame (903), and the outer side of the convex tooth (101) is meshedly connected with a gear (102), and the gear (102) is symmetrically bearing-connected to the left and right sides of the interior of the mounting seat (5), and the shaft of the gear (102) is connected to the support plate (103) through a sprocket mechanism, and the support plate (103) is symmetrically rotationally connected to the left and right sides of the exterior of the mounting seat (5).

5. The intelligent unmanned station patrol robot according to claim 4 is characterized in that: The bottom of the support plate (103) is sealingly and slidably connected to the extension plate (104), the bottom of the extension plate (104) is arranged as a cylindrical structure, and the outer side of the bottom of the extension plate (104) is covered with a rubber pad.

6. The intelligent unmanned station patrol robot according to claim 4 is characterized in that: A push plate (105) is fixed to the side of the support plate (103), and the push plate (105) is sealingly slidably connected to the oil chamber (106), and the oil chamber (106) is symmetrically opened on the left and right sides of the interior of the mounting seat (5), and the push plate (105) and the oil chamber (106) are both arranged as arc structures, and the oil chamber (106) is connected to the interior of the support plate (103) through an oil pipe (107), and a spring (108) is installed between the interior of the support plate (103) and the extension plate (104).

7. The intelligent unmanned station patrol robot according to claim 1 is characterized in that: The guide assembly (11) comprises a pull rope (111) fixedly mounted on the outside of the electric push rod (3), the top of the pull rope (111) is wound around the screw rod (112), the bearing of the screw rod (112) is connected to the transverse groove (113), and the transverse groove (113) is symmetrically opened at the top of the bottom plate (4), and a guide plate (114) is threadedly connected to the screw rod (112).

8. The intelligent unmanned station patrol robot according to claim 7 is characterized in that: The guide plate (114) forms an opening and closing sliding structure through the screw rod (112) and the transverse groove (113), and a torsion spring (115) is installed on the screw rod (112), and the positions of the guide plate (114) and the extension plate (104) correspond.

9. The intelligent unmanned station patrol robot according to claim 1, characterized in that: When the patrol robot walks on a sloping road, the distance sensor (8) detects the swing of the camera (7), thereby activating the electric push rod (3) to adjust the height, thereby maintaining the camera (7) at a uniform patrol height under different road conditions.

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