Electric power inspection robot capable of crossing obstacles

Abstract

The invention relates to the technical field of inspection robots, in particular to an electric inspection robot capable of crossing obstacles. Comprising a robot body, and sensing equipment and detection equipment are arranged at the top of the robot body and used for data collection and anomaly detection respectively; at least one connecting assembly is arranged in the robot body, walking assemblies are arranged at the two ends of each connecting assembly respectively, a driven wheel connected through a movable piece is arranged in each walking assembly, and the movable pieces are used for adjusting the angle according to the terrain and enhancing the obstacle crossing performance. The invention aims to provide the electric power inspection robot capable of crossing obstacles, and the obstacle crossing ability of the robot during inspection can be enhanced.

Description

Technical Field

[0001] The invention relates to the technical field of inspection robots, and in particular to an electric power inspection robot capable of climbing over obstacles. Background Art

[0002] Power inspection robots are a type of automated equipment specially designed for power system inspections. They are usually equipped with a variety of sensors and detection equipment and can perform regular or irregular inspection tasks in power facilities such as substations, transmission lines, and distribution networks. The main purpose of these robots is to improve the safety, reliability, and efficiency of the power system while reducing the risks and costs of manual inspections.

[0003] Most of the existing inspection robots are equipped with wheeled walking mechanisms, and their obstacle-crossing capabilities are limited: wheeled robots have point contact with the ground, which limits their adaptability and obstacle-crossing capabilities in unstructured environments. Wheeled robots can operate quickly and efficiently in structured environments, but in unstructured environments, such as encountering uneven ground, their obstacle-crossing capabilities are poor; each posture of a wheeled robot must have at least two points in contact with the ground to maintain stability, which means that in the process of climbing over obstacles, the wheeled robot may need additional support or balancing mechanisms to maintain stability. In addition, the offset of the center of gravity is a contradiction with the elongation of the robot's inspection equipment. The excessive size of the inspection equipment will also lead to a decrease in the robot's maneuverability on a flat surface.

[0004] Therefore, the present application provides a power inspection robot that can climb over obstacles to solve the problems raised in the above background technology. Summary of the invention

[0005] The purpose of the present invention is to provide an electric power inspection robot that can climb over obstacles, so as to solve the problem that the existing electric power inspection robot has poor obstacle climbing performance during operation.

[0006] In order to solve the above technical problems, the present invention provides an electric power inspection robot capable of climbing over obstacles, comprising a robot body, a sensing device and a detection device are arranged on the top of the robot body, which are used for data collection and abnormality detection respectively;

[0007] At least one set of connecting components is arranged in the robot body, and walking components are arranged at both ends of the connecting components. Each walking component is provided with a driven wheel connected by a movable plate. The movable plate is used to adjust the angle according to the terrain to enhance the obstacle crossing performance.

[0008] A further improvement of the technical solution of the present invention is that each walking component includes a driving shaft connected to the connecting component, and limit rings are respectively arranged at both ends of the driving shaft through bearing sleeves, a driving wheel is arranged between the two limit rings, and tripods are respectively arranged at the bottom of the two limit rings. The two tripods are arranged parallel to each other, and the corresponding corners of the two tripods are connected by a fixed block. A groove is provided on the fixed block, and one end of the adjusting arm is connected to the groove along the forward direction, and a double-outlet shaft is arranged at the other end of the adjusting arm, and adjusting wheels are arranged at both ends of the double-outlet shaft.

[0009] A further improvement of the technical solution of the present invention is that driven shafts are respectively arranged on both sides of the bottom of the fixed block, both ends of the driven shafts are movably connected to movable plates, the two movable plates are arranged parallel to each other, and two driven wheels are arranged on each movable plate.

[0010] A further improvement of the technical solution of the present invention is that the driven shaft and the double-output shaft are arranged relatively parallel.

[0011] A further improvement of the technical solution of the present invention is that the tripod, the limiting ring and the fixing block are all arranged in one piece.

[0012] A further improvement of the technical solution of the present invention is that the driving wheel and the limiting ring are coaxially arranged, and the diameter of the driving wheel is larger than the diameter of the limiting ring.

[0013] A further improvement of the technical solution of the present invention is that the circumferential surfaces of the driven wheel, the adjusting wheel and the driving wheel all abut against the set track, the driven wheel and the adjusting wheel have the same structure, and the circumferential surface of the driving wheel is provided with a groove adapted to the inner side of the track.

[0014] A further improvement of the technical solution of the present invention is that the connecting component includes a fixing frame arranged in the robot body, a gearbox is arranged on the fixing frame, transmission blocks are respectively arranged at both ends of the gearbox, and the upper end of the transmission block is connected to the driving shaft.

[0015] A further improvement of the technical solution of the present invention is that a connecting plate is provided on one side of the transmission block close to the robot body, the connecting plate is in a triangular structure, and the connecting plate is fixed to the outer side wall of the robot body by bolts.

[0016] A further improvement of the technical solution of the present invention is that shock-absorbing springs are respectively arranged on both sides of the fixing frame, the top ends of the shock-absorbing springs are connected to the robot body, two motors are arranged on the gearbox, the motors are electrically connected to the batteries, and the batteries are respectively electrically connected to the sensing device and the detection device.

[0017] By adopting the above technical solution, the present invention has the following beneficial effects:

[0018] 1. The present invention provides an electric power inspection robot capable of climbing over obstacles. The walking assembly of the inspection robot has strong obstacle climbing performance and can adapt to complex terrain, such as uneven ground, and the crawler structure has high traction and strong applicability. Specifically, a driven wheel, an adjusting wheel and a driving wheel are arranged in the crawler. The driving wheel and the driven wheel form a triangular structure, which is not easy to roll over when climbing over obstacles, and can move the center of gravity of the walking assembly downward, making the walking assembly more stable. The adjusting wheel makes the crawler protrude. By rotating the adjusting arm, the crawler between the driven wheel and the adjusting wheel can be adjusted, thereby adjusting the angle between the crawler and the ground, and then controlling the contact angle between the crawler and the obstacle. The angle between this section of the crawler and the ground is 120°-135°, which has stronger obstacle climbing performance.

[0019] 2. The present invention provides an electric power inspection robot that can climb over obstacles. Limiting rings are respectively arranged at both ends of the driving shaft of the inspection robot through bearing sleeves, and tripods are respectively arranged at the bottom of the two limiting rings. The two tripods are arranged parallel to each other, which is beneficial to increase the lateral width of the walking component and enhance the stability of the walking component when climbing over obstacles.

[0020] 3. The present invention provides an electric power inspection robot that can climb over obstacles. Both ends of the driven shaft of the inspection robot are movably connected to movable plates, and the movable plates can rotate around the center of the driven shaft, which is conducive to adapting to the angle of climbing over the obstacle. Specifically, when the track covers the obstacle, the driven wheel on the front side will rise, and the movable plate will rotate around the driven shaft, which will lift the robot body on the one hand and press down the driven wheel on the rear side of the movable plate on the other hand. The pressed driven wheel applies pressure to the track, and the track applies pressure to the ground to enhance friction, thereby enhancing the robot's obstacle climbing performance and reducing slipping. In addition, since the movable plate can rotate, the driven wheels on the front and rear sides can both be against the track and can adapt to the angle of the obstacle without hanging, which is conducive to increasing stability.

[0021] 4. The present invention provides an electric power inspection robot that can climb over obstacles. The connecting plate of the inspection robot is in a triangular structure, and the connecting plate is fixed to the outer wall of the robot body by bolts, which is beneficial to increase the installation area of ​​the walking component and the robot body, thereby enhancing the firmness of the connection between the walking component. The two ends of the transmission block are respectively connected to the walking component and the gearbox up and down, so that the position of the robot body is lower, the center of gravity is lowered, and it is not easy to roll over. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 The figure is a schematic diagram of an electric power inspection robot capable of climbing over obstacles;

[0024] Figure 2 A side view of an electric power inspection robot capable of climbing over obstacles;

[0025] Figure 3 It is a structural schematic diagram of the walking assembly of the present invention;

[0026] Figure 4 It is a structural schematic diagram of another aspect of the walking assembly of the present invention;

[0027] Figure 5 It is a structural schematic diagram of the walking assembly without tracks of the present invention;

[0028] Figure 6 It is a side view of the walking assembly of the present invention in a trackless state;

[0029] Figure 7 It is a structural schematic diagram of the tripod of the present invention;

[0030] Figure 8 It is a structural schematic diagram of the movable sheet of the present invention;

[0031] Fig. 9 It is a schematic diagram of the structure of the connection assembly of the present invention.

[0032] Figure numerals: 1. robot body; 2. sensing device; 3. detection device; 4. crawler track; 41. slot; 5. walking assembly; 501. driving shaft; 502. limiting ring; 503. driving wheel; 504. tripod; 505. fixing block; 506. groove; 507. adjusting arm; 508. double-output shaft; 509. adjusting wheel; 510. driven shaft; 511. movable sheet; 512. driven wheel; 6. connecting assembly; 61. fixing frame; 62. gearbox; 63. transmission block; 64. connecting plate; 65. shock-absorbing spring; 7. motor. DETAILED DESCRIPTION

[0033] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. 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.

[0034] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0035] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] The present invention is further explained below in conjunction with specific implementation modes.

[0037] like Figure 1-Figure 9As shown, the present embodiment provides a power inspection robot capable of climbing over obstacles, including a robot body 1, a sensor device 2 and a detection device 3 are arranged on the top of the robot body 1, which are used for data collection and abnormality detection respectively; at least one set of connection components 6 is arranged in the robot body 1, and two sets are arranged in the present embodiment, and walking components 5 are arranged at both ends of the connection components 6, and each walking component 5 is provided with a driven wheel 512 connected by a movable sheet 511, and the movable sheet 511 is used to adjust the angle according to the terrain to enhance the obstacle crossing performance. Each walking component 5 includes a driving shaft 501 connected to the connecting component 6, and the two ends of the driving shaft 501 are respectively provided with limiting rings 502 through bearing sleeves, and a driving wheel 503 is arranged between the two limiting rings 502, and the driving wheel 503 and the limiting ring 502 are arranged coaxially, and the diameter of the driving wheel 503 is larger than the diameter of the limiting ring 502. A tripod 504 is respectively arranged at the bottom of the two limiting rings 502. The two tripods 504 are arranged parallel to each other, which is conducive to increasing the lateral width of the walking assembly 5 and enhancing the stability of the walking assembly 5 when crossing obstacles; the corresponding corners of the two tripods 504 are connected by a fixing block 505, and a groove 506 is provided on the fixing block 505. One end of the adjusting arm 507 is connected to the groove 506 along the forward direction. The adjusting arm 507 and the groove 506 are penetrated by bolts. The adjusting arm 507 rotates in the groove 506 to adjust the angle and is fixed by bolts. A double shaft 508 is arranged at the other end of the adjusting arm 507, and adjusting wheels 509 are arranged at both ends of the double shaft 508. The tripod 504, the limiting ring 502 and the fixing block 505 are all arranged in one piece, which is conducive to increasing the firmness of the connection and increasing the service life of the walking assembly 5.

[0038] like Figure 3-Figure 8 As shown, in this embodiment, driven shafts 510 are respectively arranged on both sides of the bottom of the fixed block 505, and both ends of the driven shaft 510 are movably connected to the movable sheet 511. The two movable sheets 511 are arranged parallel to each other, and two driven wheels 512 are arranged on each movable sheet 511. The movable sheet 511 can rotate around the center of the driven shaft 510, which is conducive to adapting to the angle of climbing over the obstacle. When the track 4 covers the obstacle, the driven wheel 512 on the front side will rise, and the movable sheet 511 rotates around the driven shaft 510, on the one hand, the robot body 1 is lifted, and on the other hand, the driven wheel 512 on the rear side of the movable sheet 511 is pressed down. The pressed driven wheel 512 applies pressure to the track 4, and the track 4 applies pressure to the ground to enhance friction, thereby enhancing the obstacle-crossing performance of the robot and reducing slipping. In addition, since the movable sheet 511 is rotatable, the driven wheels 512 on the front and rear sides can both abut against the track 4 and can adapt to the angle of the obstacle without hanging, which is conducive to increasing stability.

[0039] like Figure 3-Figure 8As shown, in this embodiment, the driven shaft 510 is arranged relatively parallel to the double-output shaft 508; the circumferential surfaces of the driven wheel 512, the adjusting wheel 509 and the driving wheel 503 all abut against the set track 4, the driven wheel 512 and the adjusting wheel 509 have the same structure, and the circumferential surface of the driving wheel 503 is provided with a groove 41 adapted to the inner side surface of the track 4. The walking component 5 of the inspection robot has strong obstacle-crossing performance and can adapt to complex terrain, such as uneven ground, and the track 4 structure has high traction and strong applicability. Specifically, a driven wheel 512, an adjusting wheel 509 and a driving wheel 503 are arranged in the track 4. The driving wheel 503 and the driven wheel 512 form a triangular structure, which is not easy to roll over when crossing obstacles, and can move the center of gravity of the walking component 5 downward, making the walking component 5 more stable. The adjusting wheel 509 makes the track 4 protrude. By rotating the adjusting arm 507, the track 4 between the driven wheel 512 and the adjusting wheel 509 can be adjusted, thereby adjusting the angle between the track 4 and the ground, and then controlling the contact angle between the track 4 and the obstacle. The angle between this section of the track 4 and the ground is 120°-135°, which has stronger obstacle-crossing performance.

[0040] like Figure 1 , Figure 4 , Fig. 9 As shown, in this embodiment, the connection assembly 6 includes a fixing frame 61 disposed in the robot body 1, a gearbox 62 is disposed on the fixing frame 61, and the fixing frame 61 supports the gearbox 62. Transmission blocks 63 are respectively disposed at both ends of the gearbox 62, and the upper end of the transmission block 63 is connected to the drive shaft 501. A connecting plate 64 is disposed on the side of the transmission block 63 close to the robot body 1, and the connecting plate 64 is in a triangular structure. The connecting plate 64 is fixed to the outer wall of the robot body 1 by bolts; since the connecting plate 64 is in a triangular plate structure, it is beneficial to increase the installation area of ​​the walking assembly 5 and the robot body 1, thereby enhancing the firmness of the connection of the walking assembly 5. The two ends of the transmission block 63 are respectively connected to the walking assembly 5 and the gearbox 62, so that the position of the robot body 1 is lower, the center of gravity is lowered, and it is not easy to roll over. Shock-absorbing springs 65 are respectively arranged on both sides of the fixing frame 61, and the top ends of the shock-absorbing springs 65 are connected to the robot body 1 for buffering and shock absorption to protect the internal equipment of the robot. Two motors 7 are arranged on the gearbox 62, and the motors 7 are electrically connected to the battery, and the battery is electrically connected to the sensor device 2 and the detection device 3 respectively. The heights of the sensor device 2 and the detection device 3 are both higher than the height of the walking component 5 to prevent affecting the inspection.

[0041] The working principle of the technical solution provided by the present invention when used is as follows:

[0042] When the power inspection robot is working, the electric energy of the battery is supplied to the sensor device 2, the detection device 3 and the motor 7 respectively. The sensor device 2 and the detection device 3 are used for data collection and abnormality detection respectively. The motor 7 drives the transmission block 63 through the speed box. The upper end of the transmission block 63 is connected to the driving shaft 501, driving the driving shaft 501 to rotate. The driving wheel 503 is arranged outside the driving shaft 501. The circumferential surface of the driving wheel 503 is provided with a groove 41 adapted to the inner side surface of the crawler 4. The groove 41 is engaged with the inner side surface of the crawler 4 and rotates together. The rotation of the driving shaft 501 drives the crawler 4 to rotate, providing power to the crawler 4.

[0043] Limiting rings 502 are respectively provided at both ends of the driving shaft 501 through bearing sleeves, and tripods 504 are respectively provided at the bottom of the two limiting rings 502. The two tripods 504 are arranged parallel to each other to increase the lateral width of the walking component 5 and enhance the stability of the walking component 5 when crossing obstacles. The corresponding corners of the two tripods 504 are connected by a fixing block 505. A groove 506 is provided on the fixing block 505. One end of an adjusting arm 507 is connected to the groove 506 along the forward direction. Bolts penetrate the adjusting arm 507 and the groove 506 together. The adjusting arm 507 rotates in the groove 506 to adjust the angle and is fixed by bolts. A double-outlet shaft 508 is provided at the other end of the adjusting arm 507, and adjusting wheels 509 are provided at both ends of the double-outlet shaft 508. A driven shaft 510 is respectively arranged on both sides of the bottom of the fixed block 505, and both ends of the driven shaft 510 are movably connected to a movable piece 511. The two movable pieces 511 are arranged parallel to each other, and two driven wheels 512 are arranged on each movable piece 511. The movable piece 511 can rotate around the center of the driven shaft 510 to adapt to the angle of climbing over the obstacle. When the track 4 covers the obstacle, the driven wheel 512 on the front side will rise, and the movable piece 511 rotates around the driven shaft 510, which, on the one hand, lifts the robot body 1, and on the other hand, presses down the driven wheel 512 on the rear side of the movable piece 511. The pressed driven wheel 512 applies pressure to the track 4, and the track 4 applies pressure to the ground to enhance friction, thereby enhancing the obstacle-crossing performance of the robot and reducing slipping. In addition, since the movable piece 511 is rotatable, the driven wheels 512 on the front and rear sides can both abut against the track 4 and can adapt to the angle of the obstacle, and will not be suspended, which is conducive to increasing stability. A driven wheel 512, an adjusting wheel 509 and a driving wheel 503 are arranged in the track 4. The driving wheel 503 and the driven wheel 512 form a triangular structure, which is not easy to roll over when overcoming obstacles and can move the center of gravity of the walking component 5 downward, making the walking component 5 more stable. The adjusting wheel 509 makes the track 4 protrude. By rotating the adjusting arm 507, the track 4 between the driven wheel 512 and the adjusting wheel 509 can be adjusted, thereby adjusting the angle between the track 4 and the ground, and then controlling the contact angle between the track 4 and the obstacle. The angle between this section of the track 4 and the ground is 120°-135°, which has a stronger obstacle-crossing performance.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A power inspection robot capable of climbing over obstacles, characterized in that: The robot comprises a robot body (1), wherein a sensing device (2) and a detection device (3) are arranged on the top of the robot body (1), which are used for data collection and abnormality detection respectively; At least one set of connection components (6) is arranged in the robot body (1), and walking components (5) are arranged at both ends of the connection components (6). Each walking component (5) is provided with a driven wheel (512) connected via a movable sheet (511), and the movable sheet (511) is used to adjust the angle according to the terrain to enhance the obstacle crossing performance.

2. The electric power inspection robot capable of climbing over obstacles according to claim 1, characterized in that: Each walking assembly (5) comprises a driving shaft (501) connected to the connecting assembly (6); two ends of the driving shaft (501) are respectively provided with limiting rings (502) through bearing sleeves; a driving wheel (503) is arranged between the two limiting rings (502); a tripod (504) is respectively arranged at the bottom of the two limiting rings (502); the two tripods (504) are arranged parallel to each other; the corresponding corners of the two tripods (504) are connected by a fixing block (505); a groove (506) is provided on the fixing block (505); one end of an adjusting arm (507) is connected to the groove (506) along the forward direction; a double-exit shaft (508) is arranged at the other end of the adjusting arm (507); and adjusting wheels (509) are arranged at both ends of the double-exit shaft (508).

3. The electric power inspection robot capable of climbing over obstacles according to claim 2, characterized in that: Driven shafts (510) are respectively arranged on both sides of the bottom of the fixed block (505), and both ends of the driven shaft (510) are movably connected to movable plates (511). The two movable plates (511) are arranged parallel to each other, and each movable plate (511) is provided with two driven wheels (512).

4. The electric power inspection robot capable of climbing over obstacles according to claim 3, characterized in that: The driven shaft (510) and the double-output shaft (508) are arranged relatively parallel to each other.

5. The electric power inspection robot capable of climbing over obstacles according to claim 2, characterized in that: The tripod (504), the limiting ring (502) and the fixing block (505) are all integrally arranged.

6. The electric power inspection robot capable of climbing over obstacles according to claim 2, characterized in that: The driving wheel (503) and the limiting ring (502) are coaxially arranged, and the diameter of the driving wheel (503) is greater than the diameter of the limiting ring (502).

7. The electric power inspection robot capable of climbing over obstacles according to claim 3, characterized in that: The circumferential surfaces of the driven wheel (512), the regulating wheel (509) and the driving wheel (503) all abut against the set crawler belt (4); the driven wheel (512) and the regulating wheel (509) have the same structure; and the circumferential surface of the driving wheel (503) is provided with a slot (41) adapted to the inner side surface of the crawler belt (4).

8. The electric power inspection robot capable of climbing over obstacles according to claim 2, characterized in that: The connection assembly (6) comprises a fixing frame (61) arranged in the robot body (1), a gearbox (62) being arranged on the fixing frame (61), transmission blocks (63) being arranged at both ends of the gearbox (62), and the upper end of the transmission block (63) being connected to the driving shaft (501).

9. The electric power inspection robot capable of climbing over obstacles according to claim 8, characterized in that: A connecting plate (64) is provided on one side of the transmission block (63) close to the robot body (1); the connecting plate (64) is in a triangular structure and is fixed to the outer side wall of the robot body (1) by means of bolts.

10. The electric power inspection robot capable of climbing over obstacles according to claim 8, characterized in that: Shock-absorbing springs (65) are respectively arranged on both sides of the fixing frame (61), and the top ends of the shock-absorbing springs (65) are connected to the robot body (1). Two motors (7) are arranged on the gearbox (62), and the motors (7) are electrically connected to the battery, and the battery is electrically connected to the sensor device (2) and the detection device (3).

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