Distribution network automatic inspection robot with self-protection function

Abstract

The distribution network automatic inspection robot with the self-protection function comprises a bottom plate, a first shell and a second shell are fixedly connected to the upper surface of the bottom plate, a gap is formed between the first shell and the second shell, and mounting plates and fixing plates are fixedly connected to the upper surfaces of the first shell and the second shell. A steering mechanism is installed on the bottom plate and used for steering of the robot. A lifting mechanism is installed on the upper surface of the bottom plate and used for controlling the robot. A camera mechanism is mounted at the top of the mounting plate. The effect is that the first protection shell and the second protection shell can cover the camera, and the camera is prevented from being collided. And through the mechanical arm mechanism, the overturned robot is returned, and autonomous returning patrol of the robot is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to an automatic inspection robot for distribution networks. Background Art

[0002] A robot is a machine device that performs tasks automatically. It can accept human commands, run pre-programmed programs, or act according to principles formulated with artificial intelligence technology. Its task is to assist or replace human work. It is a product of advanced integration of cybernetics, mechanical electronics, computers, materials and bionics, and has important uses in industry, medicine, agriculture, services, construction and even the military.

[0003] Mecanum wheels are products of the Swedish Mecanum company. This all-round mobility is based on the principle of a central wheel with many axles located around the wheel. These angled peripheral axles convert part of the wheel steering force into a wheel normal force. Robots using this type of wheel have flexible movement capabilities. When general automatic inspection robots are inspecting, long-distance remote control may encounter uneven roads, causing the robot to overturn. The robot cannot reset itself, which may damage the camera and fail to complete the inspection task, which cannot meet actual needs. Summary of the invention

[0004] The invention discloses a distribution network automatic inspection robot with a self-protection function, which solves the above technical problems.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: A distribution network automatic inspection robot with a self-protection function comprises a bottom plate, a first shell and a second shell are fixedly connected to the upper surface of the bottom plate, a gap is formed between the first shell and the second shell, a mounting plate and a fixing plate are fixedly connected to the upper surfaces of the first shell and the second shell, and the mounting plate is a door-shaped; The bottom plate is equipped with a steering mechanism, which is used for steering the robot; A lifting mechanism is installed on the upper surface of the bottom plate at the interval between the first shell and the second shell, and the lifting mechanism is used to control the lifting and lowering of the robot camera mechanism and the opening and closing of the protection mechanism; A camera mechanism is installed on the top of the mounting plate, and the camera mechanism is used to shoot the inspection; Two fixing plates are installed on the top of the first shell and the second shell respectively. The fixing plates of the first shell and the second shell are arranged in pairs. A protection mechanism is installed between the pairs of fixing plates. The protection mechanism is used to protect the camera mechanism. The lifting mechanism comprises a base fixedly connected to the upper surface of the bottom plate, a lifting motor is fixedly connected to the top of the base, a threaded rod is fixedly connected to one end of the output shaft of the lifting motor, a lifting cylinder is threadedly connected to one end of the threaded rod, and the threaded rod freely passes through the top of the mounting plate; The camera mechanism includes a camera, which is fixed on a lifting plate, the bottom of which is fixed on a fixed plate, two sides of which are symmetrically fixedly connected with a T-shaped member, the outer side of which is provided with a vertical rack, a through hole is provided in the middle of the fixed plate, the fixed plate passes through the through hole, and a lifting plate located above the fixed plate is sleeved with a sliding spring; The protection mechanism comprises a first protection shell and a second protection shell which are rotatably connected to the inner side of the fixed plate, and the bottoms of the first protection shell and the second protection shell are respectively provided with incomplete gears, and the incomplete gears are meshed with the racks; The first protective shell and the second protective shell are provided with a safety groove mechanism, and the safety groove mechanism is used to cover the camera.

[0006] The steering mechanism comprises a plurality of fixed blocks fixedly connected to the four corners of the upper surface of the bottom plate, a motion motor is fixed on the fixed block, one end of the motion motor output shaft is fixedly connected to a Mecanum wheel, and the Mecanum wheel is a wheel connected to a plurality of oblique wheels.

[0007] A mechanical arm mechanism is installed on the top of the base to prevent the robot from tipping over. The mechanical arm mechanism includes a fixing ring fixedly connected to the top of the base, and the threaded rod passes through the fixing ring without contact. The upper surface of the fixing ring is rotatably connected with small arms on both sides, one end of the small arm is rotatably connected to the large arm, and one end of the large arm is rotatably connected to a connecting plate. The threaded rod is sleeved with a moving cylinder, and the moving cylinder has no contact with the threaded rod. Active plates are rotatably connected to both sides of the moving cylinder, the bottom of the active plate is hinged to the small arm, and the middle part of the active plate is hinged to the lower end of the connecting plate. The lower end of the large arm is fixedly connected with a contact rubber head, and a return spring is sleeved on the threaded rod, and the return spring is located between the fixing ring and the moving cylinder.

[0008] The safety groove mechanism includes protective cavities respectively arranged inside the first protective shell and the second protective shell, a reserved cavity is arranged at the bottom of the protective cavity, a half hole is arranged at the bottom of the reserved cavity, and the half hole is used to accommodate the mounting neck between the bottom of the camera and the lifting plate, and a plurality of air storage grooves are respectively arranged at the middle and upper parts of the inner wall of the protective cavity, and the inner edges of the first protective shell and the second protective shell are provided with corresponding embedded sealing grooves and sealing protrusions.

[0009] The motion motor and the lifting motor are electrically connected to a battery, and the battery is fixed in the first protective shell or the second protective shell.

[0010] The outer shapes of the first protective shell and the second protective shell are symmetrically designed, and the first outer shell and the second outer shell are symmetrically arranged.

[0011] As can be seen from the above, the automatic inspection robot for distribution network with self-protection function provided by the present invention has the following technical effects: 1. The fixed plate slides downward to drive the rack to slide downward, and the rack engages with the incomplete gear, so that the first protective shell and the second protective shell rotate respectively, so that the originally opened first protective shell and the second protective shell close to cover the camera, thereby preventing the camera from being bumped during the overturning process and protecting the camera.

[0012] 2. Through the mechanical arm mechanism, the overturned robot is restored to its right position, and the robot returns to its position for inspection autonomously. The robot continues to move forward to complete the inspection task.

[0013] 3. The sealing groove and sealing protrusion seal the internal space to prevent water leakage. During the dumping process, the camera will not be damaged even if there is water. Multiple air storage tanks store a small amount of air. When the sealing effect of the sealing groove and the sealing protrusion is not good, the small amount of air inside can slow down the speed of water inflow and give the robot enough time to turn over. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the main structure of the present invention; Figure 2 It is a structural schematic diagram of the first housing of the present invention when it is not installed; Figure 3 It is a schematic diagram of the lifting cylinder structure of the present invention; Figure 4 It is a schematic diagram of the part where the lifting mechanism of the present invention is located; Figure 5 It is a structural schematic diagram of the part where the fixed plate of the present invention is located; Figure 6 It is a schematic diagram of the structure of the upper arm of the present invention; Figure 7 This is a schematic diagram of the first protective shell structure of the present invention; Figure 8 This is a schematic diagram of the second protective shell structure of the present invention; Fig. 9 Schematic diagram of the automatic flip back to normal state.

[0015] In the figure: 1. bottom plate; 2. Mecanum wheel; 3. first shell; 4. mounting plate; 5. first protective shell; 6. second protective shell; 7. second shell; 8. fixing plate; 9. base; 10. motion motor; 11. fixing block; 12. oblique wheel; 13. threaded rod; 14. lifting cylinder; 15. fixing plate; 16. T-shaped member; 17. lifting plate; 18. camera; 19. lifting motor; 20. fixing ring; 21. return spring; 22. active plate; 23. motion cylinder; 24. connecting plate; 25. upper arm; 26. lower arm; 27. contact rubber head; 28. incomplete gear; 29. ​​rack; 30. downward sliding spring; 31. sealing groove; 32. air storage tank; 33. protective cavity; 34. reserved cavity; 35. sealing protrusion. DETAILED DESCRIPTION

[0016] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0017] The invention discloses a distribution network automatic inspection robot with a self-protection function, which is mainly used in scenarios where a general automatic inspection robot may encounter uneven road surface during inspection due to long-distance remote control, causing the robot to overturn, and the robot cannot reset itself and cannot complete the inspection task.

[0018] Reference Figure 1-Figure 9 The upper surface of the base plate 1 is fixedly connected with a first shell 3 and a second shell 7, and there is a gap between the first shell 3 and the second shell 7. The upper surfaces of the first shell 3 and the second shell 7 are fixedly connected with a mounting plate 4 and a fixing plate 8, and the mounting plate 4 is a door type.

[0019] The bottom plate 1 is equipped with a steering mechanism, which is used for steering the robot. The upper surface of the bottom plate 1 is provided with a lifting mechanism at the interval between the first shell 3 and the second shell 7, which is used to control the lifting and lowering of the robot's camera mechanism and the opening and closing of the protection mechanism. The top of the mounting plate 4 is provided with a camera mechanism, which is used for photographing inspections.

[0020] Two fixing plates 8 are installed on the top of the first shell 3 and the second shell 7 respectively. The fixing plates 8 of the first shell 3 and the second shell 7 are arranged in pairs. A protection mechanism is installed between the pairs of fixing plates 8 to protect the camera mechanism.

[0021] The steering mechanism includes a plurality of fixed blocks 11 fixedly connected to the four corners of the upper surface of the base plate 1, a motion motor 10 is fixedly connected to the fixed blocks 11, and a Mecanum wheel 2 is fixedly connected to one end of the output shaft of the motion motor 10, and the Mecanum wheel 2 is a wheel connected to a plurality of oblique wheels 12.

[0022] Reference Figure 1 , Figure 3 , Figure 4 , Figure 5 and Figure 6 In a preferred embodiment, the lifting mechanism includes a base 9 fixedly connected to the upper surface of the base plate 1, a lifting motor 19 is fixedly connected to the top of the base 9, a threaded rod 13 is fixedly connected to one end of the output shaft of the lifting motor 19, a lifting cylinder 14 is threadedly connected to one end of the threaded rod 13, and the threaded rod 13 does not contact the mounting plate 4 and can pass freely through the top of the mounting plate 4.

[0023] A mechanical arm mechanism is installed on the top of the base 9, and the mechanical arm mechanism is used to prevent the robot from tipping over. The mechanical arm mechanism includes a fixing ring 20 fixedly connected to the top of the base 9, and the threaded rod 13 passes through the fixing ring 20 without contact. The upper surface of the fixing ring 20 is rotatably connected to the small arms 26 on both sides, and one end of the small arm 26 is rotatably connected to the large arm 25, and one end of the large arm 25 is rotatably connected to the connecting plate 24. The threaded rod 13 is sleeved with a moving cylinder 23, and the moving cylinder 23 is not in contact with the threaded rod 13. The two sides of the moving cylinder 23 are rotatably connected to the active plates 22, and the bottom of the active plate 22 is hinged to the small arm 26, and the middle of the active plate 22 is hinged to the lower end of the connecting plate 24. The lower end of the large arm 25 is fixedly connected to a contact rubber head 27, and a return spring 21 is sleeved on the threaded rod 13, and the return spring 21 is located between the fixing ring 20 and the moving cylinder 23.

[0024] Reference Figure 1 , Figure 2 , Figure 3 and Figure 5 In a preferred embodiment, the camera mechanism includes a camera 18, which is fixed on a lifting plate 17. The bottom of the lifting plate 17 is fixed on a fixed plate 15. T-shaped components 16 are symmetrically connected on both sides of the fixed plate 15. A vertical rack 29 is provided on the outer side of the T-shaped component 16. A through hole is provided in the middle of the fixed plate 15. The fixed plate 15 passes through the through hole. The lifting plate 17 located above the fixed plate 15 is sleeved with a sliding spring 30.

[0025] Reference Figure 1 , Figure 2 , Figure 3 and Figure 5 In a preferred embodiment, it includes a first protective shell 5 and a second protective shell 6 rotatably connected to the inner side of a fixed plate 8, and an incomplete gear 28 is respectively provided at the bottom of the first protective shell 5 and the second protective shell 6, and the incomplete gear 28 is meshed with a rack 29.

[0026] A safety groove mechanism is respectively provided on one side of the first protective shell 5 and the second protective shell 6 , and the safety groove mechanism is used to protect the camera 18 .

[0027] Reference Figure 1 , Figure 2 , Figure 7 and Figure 8 In a preferred embodiment, the safety groove mechanism includes a protective cavity 33 respectively arranged inside the first protective shell 5 and the second protective shell 6, and a reserved cavity 34 is respectively arranged at the bottom of the protective cavity 33 on one side of the first protective shell 5 and the second protective shell 6, and a half hole is arranged at the bottom of the reserved cavity 34, and the half hole is used to accommodate the mounting neck between the bottom of the camera 18 and the lifting plate 17. A plurality of air storage grooves 32 are respectively arranged at the middle and upper parts of the inner wall of the protective cavity 33, and the inner edges of the first protective shell 5 and the second protective shell 6 are provided with corresponding embedded sealing grooves 31 and sealing protrusions 35. The sealing groove 31 and the sealing protrusion 35 are used in conjunction with each other.

[0028] The motion motor 10 and the lifting motor 19 are electrically connected to the battery, and the battery is fixed in the first protective shell 5 or the second protective shell 6.

[0029] The protective cavity 33 on the first protective shell 5 and the second protective shell 6 is larger than the outer shape of the camera 18 and may not contact the camera 18 , thereby playing a role in reducing vibration.

[0030] When the robot is in use, it is placed on the ground and moves by remote control. The robot controller has a wireless transmission function for image signals, and transmits the images taken by the camera 18 to the terminal, thereby realizing the remote inspection task. The movement of the robot is realized by controlling the four motion motors 10 on the base plate 1. Since the oblique wheels 12 on each motion motor 10 are installed in different directions, the forward and backward movement of the base plate 1 can be controlled by controlling the rotation direction of the four motion motors 10, and the steering and lateral movement of the base plate 1 can also be realized, so that the robot has flexible movement ability and can cope with complex road conditions.

[0031] In case of robot tipping over, the lifting motor 19 is controlled to rotate, driving the threaded rod 13 to rotate, so that the lifting cylinder 14 moves downward. The downward spring 30 is originally in a compressed state. The lifting cylinder 14 moves downward, and the elastic force of the downward spring 30 is released, so that the fixed plate 15 moves downward under the elastic force, driving the lifting plate 17 and the camera 18 to move downward, lowering the height of the camera 18 and reducing the probability of the fixed plate 15 being broken during the robot tipping over. The fixed plate 15 slides downward, driving the rack 29 to slide downward, and the rack 29 and the incomplete gear 28 engage, so that the first protective shell 5 and the second protective shell 6 rotate respectively, so that the originally opened first protective shell 5 and the second protective shell 6 begin to close, covering the camera 18, and preventing the camera 18 from being hit by foreign objects during the tipping over process.

[0032] The sealing groove 31 on the first protective shell 5 and the sealing protrusion 35 on the second protective shell 6 are used together to seal the internal space and prevent water leakage. During the tipping process, the camera 18 will not be damaged even if there is water. The multiple air storage grooves 32 on the first protective shell 5 and the second protective shell 6 store a small amount of air. When the sealing effect of the sealing groove 31 and the sealing protrusion 35 is not good, the small amount of air inside can slow down the speed of water ingress, giving the robot enough time to turn over.

[0033] By controlling the threaded rod 13 to continue to rotate, the lifting cylinder 14 continues to slide downward, the lifting cylinder 14 is separated from the fixed plate 15, the lifting cylinder 14 contacts the moving cylinder 23, the lifting cylinder 14 squeezes the moving cylinder 23 to make the moving cylinder 23 slide downward, the active plate 22 and the small arm 26 rotate outward, the active plate 22 drives the connecting plate 24 to rotate, the big arm 25 deflects outward, and the contact rubber head 27 is extended to the outside of the bottom plate 1. Due to the symmetrical design of the contact rubber head 27, the contact rubber head 27 is pushed to the ground on the tipping side, so that the overturned robot is straightened, the lifting motor 19 is controlled to reverse, the lifting cylinder 14 returns to its original position, the return spring 21 returns the moving cylinder 23 to its original position, and similarly the connecting plate 24, the big arm 25 and the small arm 26 are retracted, and the robot continues to move forward to complete the inspection task.

Claims

1. A distribution network automatic inspection robot with a self-protection function, comprising a base plate (1), characterized in that: The upper surface of the bottom plate (1) is fixedly connected to a first outer shell (3) and a second outer shell (7), a gap is provided between the first outer shell (3) and the second outer shell (7), and the upper surfaces of the first outer shell (3) and the second outer shell (7) are fixedly connected to a mounting plate (4) and a fixing plate (8), and the mounting plate (4) is door-shaped; The base plate (1) is equipped with a steering mechanism, which is used for steering the robot; A lifting mechanism is installed on the upper surface of the bottom plate (1) at the interval between the first shell (3) and the second shell (7), and the lifting mechanism is used to control the lifting and lowering of the camera mechanism of the robot and the opening and closing of the protection mechanism; A camera mechanism is installed on the top of the mounting plate (4), and the camera mechanism is used to photograph the inspection; Two fixing plates (8) are installed on the top of the first housing (3) and the second housing (7), respectively. The fixing plates (8) of the first housing (3) and the second housing (7) are arranged in pairs. A protection mechanism is installed between the pairs of fixing plates (8), and the protection mechanism is used to protect the camera mechanism. The lifting mechanism comprises a base (9) fixedly connected to the upper surface of the base plate (1), a lifting motor (19) fixedly connected to the top of the base (9), a threaded rod (13) fixedly connected to one end of the output shaft of the lifting motor (19), a lifting cylinder (14) threadedly connected to one end of the threaded rod (13), and the threaded rod (13) freely passes through the top of the mounting plate (4); The camera mechanism comprises a camera (18), the camera (18) being fixed on a lifting plate (17), the bottom of the lifting plate (17) being fixed on a fixed plate (15), the two sides of the fixed plate (15) being symmetrically connected to a T-shaped member (16), the outer side of the T-shaped member (16) being provided with a vertical rack (29), a through hole being provided in the middle of the fixed plate (15), the fixed plate (15) passing through the through hole, and a sliding spring (30) being sleeved on the lifting plate (17) located above the fixed plate (15); The protection mechanism comprises a first protection shell (5) and a second protection shell (6) which are rotatably connected to the inner side of the fixed plate (8); the bottoms of the first protection shell (5) and the second protection shell (6) are respectively provided with an incomplete gear (28); the incomplete gear (28) is meshed with a rack (29); The first protective shell (5) and the second protective shell (6) are provided with a safety slot mechanism, and the safety slot mechanism is used to cover the camera (18).

2. The automatic inspection robot for distribution network with self-protection function according to claim 1 is characterized in that: The steering mechanism comprises a plurality of fixed blocks (11) fixedly connected to the four corners of the upper surface of the base plate (1), a motion motor (10) being fixed to the fixed blocks (11), and a Mecanum wheel (2) being fixedly connected to one end of an output shaft of the motion motor (10).

3. The automatic inspection robot for distribution network with self-protection function according to claim 1 is characterized in that: A mechanical arm mechanism is installed on the top of the base (9) to prevent the robot from tipping over. The mechanical arm mechanism comprises a fixing ring (20) fixedly connected to the top of the base (9). The threaded rod (13) passes through the fixing ring (20) without contacting the fixing ring. Small arms (26) are rotatably connected to the two sides of the upper surface of the fixing ring (20). One end of the small arm (26) is rotatably connected to the large arm (25). One end of the large arm (25) is rotatably connected to the connecting plate (24). The threaded rod (13) is sleeved with a moving cylinder ( 23), the moving cylinder (23) has no contact with the threaded rod (13), the two sides of the moving cylinder (23) are rotatably connected with active plates (22), the bottom of the active plate (22) is hinged with the small arm (26), the middle of the active plate (22) is hinged with the lower end of the connecting plate (24), the lower end of the large arm (25) is fixedly connected with a contact rubber head (27), the threaded rod (13) is sleeved with a return spring (21), and the return spring (21) is located between the fixing ring (20) and the moving cylinder (23).

4. The automatic inspection robot for distribution network with self-protection function according to claim 1 is characterized in that: The safety groove mechanism comprises a protective cavity (33) respectively arranged inside the first protective shell (5) and the second protective shell (6); a reserved cavity (34) is arranged at the bottom of the protective cavity (33); a half hole is arranged at the bottom of the reserved cavity (34); the half hole is used to accommodate the mounting neck between the bottom of the camera (18) and the lifting plate (17); a plurality of air storage grooves (32) are respectively arranged at the middle and upper parts of the inner walls of the protective cavities (33); and the inner edges of the first protective shell (5) and the second protective shell (6) are provided with correspondingly engaged sealing grooves (31) and sealing protrusions (35).

5. The automatic inspection robot for distribution network with self-protection function according to claim 2 is characterized in that: The motion motor (10) and the lifting motor (19) are electrically connected to a battery, and the battery is fixed in the first protective shell (5) or the second protective shell (6).

6. The automatic inspection robot for distribution network with self-protection function according to claim 1 is characterized in that: The outer shapes of the first protective shell (5) and the second protective shell (6) are symmetrically designed, and the first outer shell (3) and the second outer shell (7) are symmetrically arranged.

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